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RCX142
Yamaha RCX142 User Manual
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1
2
Introduction
Our sincere thanks for your purchase of this
Y
AMAHA robot controller
.
This manual explains ho
w to install and operate the robot controller
. Be sur
e to read this
manual carefully as well as related manuals and comply with their instructions for using
the
Y
AMAHA robot controllers safely and correctly
.
Refer to the "Programming Manual" for detailed information on robot programs.
2
4
Table of Contents
Table of Contents
9
Chapter 1 Safety
17
Safety
19
Safety Precautions During Robot Operation
20
Safety Precautions During Maintenance
20
Motor Overload Precautions
20
Warning Labels
21
Warning Marks
21
Warranty
22
Operating Environment
23
Chapter 2 System Overview
25
System Overview
27
Main System Configuration
27
Axis Definition for the RCX142 Series
29
Part Names and Functions
30
RCX142 (Maximum Number of Axes: 4 Axes)
30
Rcx142-T
30
Controller System
31
Rcx142
31
Rcx142-T
32
Optional Devices
33
MPB Programming Box
33
Expansion I/O Board
33
Regenerative Unit
33
Basic Sequence from Installation to Operation
34
Chapter 3 Installation
35
Unpacking
37
Packing Box
37
Installing the Robot Controller
38
Installation
38
Installation Methods
39
Connector Names
41
Connecting to the Power
42
AC200 to 230V Single-Phase Specifications
42
Power Capacity
42
Installing an External Leakage Breaker
44
Installing a Circuit Protector
44
Installing a Current Control Switch
44
Connecting the Robot Cables
45
Connecting the MPB Programming Box
46
I/O Connections
47
Connecting a Host Computer
48
Connecting the Absolute Battery
49
Replacing the Absolute Battery
52
Connecting a Regenerative Unit
53
Precautions for Cable Routing and Installation
54
Wiring Methods
54
Precautions for Installation
55
Methods of Preventing Malfunctions
55
Checking the Robot Controller Operation
56
Cable Connection
56
Emergency Stop Input Signal Connection
57
Operation Check
58
Chapter 4 Operation
59
Operation Overview
63
The RCX Robot Controller
64
Part Names
64
Main Functions
64
MPB Programming Box
65
Part Names
65
Main Functions
66
Connection to the Robot Controller
67
Turning Power on and off
68
Operation Keys
69
MPB Screen
69
Operation Key Layout
70
Basic Key Operation
71
Function Keys
72
Control Keys
74
Data Keys
76
Other Keys
76
Emergency Stop
77
Emergency Stop Reset
78
Mode Configuration
80
Basic Operation Modes
80
Other Operation Modes
81
Mode Hierarchy
82
SERVICE" Mode
86
Operation Device
86
Prohibition of "AUTO" Mode Operation
86
Hold-To-Run Function
86
Limitations on Robot Operating Speed
86
AUTO" Mode
87
Automatic Operation
90
Stopping the Program
91
Resetting the Program
92
Switching Task Display
94
Switching the Program
95
Changing the Automatic Movement Speed
96
Executing the Point Trace
96
PTP Motion Mode
98
ARCH Motion Mode
100
Linear Interpolation Motion Mode
102
Direct Command Execution
104
Break Point
105
Setting Break Points
105
Deleting Break Points
106
Executing a Step
107
Executing the Next Step
107
Skipping a Step
107
PROGRAM" Mode
108
Scrolling a Program Listing
109
Program Editing
110
Cursor Movement
112
Insert/Overwrite Mode Switching
112
Inserting a Line
113
Deleting a Character
113
Deleting a Line
114
User Function Key Display
114
Quitting Program Editing
115
Specifying the Copy/Cut Lines
115
Copying the Selected Lines
115
Cutting the Selected Lines
116
Pasting the Data
116
Backspace
116
Line Jump
117
Searching a Character String
118
Directory
119
Cursor Movement
120
Registering a New Program Name
120
Directory Information Display
121
Copying a Program
122
Erasing a Program
123
Renaming a Program
124
Changing the Program Attribute
125
Displaying Object Program Information
125
Creating a Sample Program Automatically
126
Compiling
128
Line Jump and Character String Search
129
Registering User Function Keys
129
Resetting an Error in the Selected Program
132
MANUAL" Mode
133
Manual Movement
136
Displaying and Editing Point Data
139
Point Data Input and Editing
140
Restoring Point Data
141
Point Data Input by Teaching
142
Point Data Input by Direct Teaching
146
Point Jump Display
146
Copying Point Data
147
Erasing Point Data
148
Point Data Trace
149
Point Comment Input and Editing
150
Point Data Input by Teaching
151
Point Comment Input and Editing
151
Jump to a Point Comment
152
Copying a Point Comment
153
Erasing Point Comments
154
Point Comment Search
155
Point Data Error Reset
156
Displaying, Editing and Setting Pallet Definitions
157
Editing Pallet Definitions
159
Point Setting in Pallet Definition
160
Editing the Point in Pallet Definition
161
Setting the Point in Pallet Definition by Teaching
161
Pallet Definition by Teaching
162
Copying a Pallet Definition
164
Deleting a Pallet Definition
165
Changing the Manual Movement Speed
166
Displaying, Editing and Setting Shift Coordinates
167
Editing Shift Coordinates
170
Restoring Shift Coordinates
171
Editing the Shift Coordinate Range
171
Restoring a Shift Coordinate Range
173
Shift Coordinate Setting Method 1
173
Shift Coordinate Setting Method 2
175
Displaying, Editing and Setting Hand Definitions
177
Editing Hand Definitions
183
Restoring Hand Definitions
184
Hand Definition Setting Method 1
184
Changing the Display Units
186
Absolute Reset
187
Checking Absolute Reset
188
Absolute Reset on each Axis
189
Absolute Reset on All Axes
194
Setting the Standard Coordinates
198
Setting the Standard Coordinates by 4-Point Teaching
201
Setting the Standard Coordinate by 3-Point Teaching
203
Setting the Standard Coordinates by Simple Teaching
205
Executing the User Function Keys
207
SYSTEM" Mode
208
Parameters
210
Robot Parameters
212
Axis Parameters
217
Other Parameters
233
Parameters for Option Boards
243
Option DIO Setting
244
Serial I/O Setting
245
Setting the Network Parameters
247
Communication Parameters
249
OPTION Parameters
255
Setting the Area Check Output
256
Setting the "SERVICE" Mode
261
Saving the "SERVICE" Mode Parameters
266
Help Display in "SERVICE" Mode
266
SIO Settings
267
Double-Carrier Setting
270
Before Using a Double-Carrier
270
Setting the Double-Carrier Parameters
271
Initialization
274
Initializing the Parameters
275
Initializing the Memory
276
Initializing the Communication Parameters
277
Clock Setting
278
System Generation
279
Self Diagnosis
280
Controller Check
280
Error History Display
281
Displaying the Total Operation Time
282
System Error Details Display
282
Backup Processes
283
Internal Flash ROM
283
Loading Files
284
Saving Files
285
Initializing the Files
285
MONITOR" Mode
286
UTILITY" Mode
289
Canceling Emergency Stop; Motor Power and Servo On/Off
290
Canceling Emergency Stop
290
Motor Power and Servo On/Off
291
Enabling/Disabling the Sequence Execution Flag
292
Changing the Arm Type
293
Resetting the Output Ports
294
Changing the Execution Level
295
Changing the Execution Level
296
Displaying the Help Message
297
Changing the Access Level (Operation Level)
298
Entering the Password
298
Changing the Access Level
299
Displaying the Help Message
299
Chapter 5 Two-Robot Setting
301
Explanation of Two-Robot Setting
303
Two-Robot Setting
303
System Configuration Example
304
Operations and Data When Using the Two-Robot Setting
305
AUTO" Mode
305
Changing the Automatic Movement Speed
305
Executing the Point Trace
306
MANUAL" Mode
307
Current Position
307
Manual Movement
308
Point Data
310
Pallet Definition
312
Input by Point Data Direct Teaching
312
Pallet Definition by Teaching
313
Setting the Point in Pallet Definition by Teaching
313
Changing the Manual Movement Speed
314
Shift Coordinates
315
Shift Coordinates Setting Method 1
317
Shift Coordinates Setting Method 2
318
Hand Definition
319
Hand Definition Setting Method 1
319
Absolute Reset
321
Checking Absolute Reset Status
321
Absolute Reset on each Axis (Mark Method)
322
Absolute Reset on each Axis (Stroke End Method / Sensor Method)
323
Absolute Reset on All Axes
324
SYSTEM" Mode
326
SYSTEM" Mode Initial Screen Format
326
Robot Parameters Screen Format
327
Axis Parameters Screen Format
327
Setting the Area Check Output
328
Double-Carrier Collision Prevention
329
Error Message Displays
333
Programming
334
Robot Languages Used in the Two-Robot Setting
334
Chapter 6 Parallel I\/O Interface
335
Standard I/O Interface Overview
337
Connector I/O Signals
338
Connector Pin Numbers
339
Typical Input Signal Connection
340
Typical Output Signal Connection
341
Dedicated Outputs
341
General-Purpose Outputs
342
Dedicated Input Signal Description
343
Dedicated Output Signal Description
345
Dedicated I/O Signal Timing Chart
347
Controller Power ON, Servo on and Emergency Stop
347
Absolute Reset
348
Switching to AUTO Mode, Program Reset and Execution
349
Stopping Due to Program Interlocks
350
General-Purpose I/O Signals
351
General-Purpose Input Signals
351
General-Purpose Output Signals
351
General-Purpose Output Signal Reset (Off)
351
Option I/O Interface Overview
352
ID Settings
353
Connector I/O Signals
354
Connector Pin Numbers
355
Typical Input Signal Connection
356
Typical Output Signal Connection
356
General-Purpose I/O Signals
356
General-Purpose Input Signals
356
General-Purpose Output Signals
356
General-Purpose Output Signal Reset (Off)
357
Ratings
358
Caution Items
359
Chapter 7 Safety I\/O Interface
361
Power
363
SAFETY I/O Interface Overview
363
Connector Terminal Numbers
364
Emergency Stop Input Signal Connections
365
Rcx142
365
Rcx142-T
368
Dedicated Input Signal Connections
371
Input Signal Description
372
Chapter 8 Rs-232C Interface
373
Communication Overview
375
Communication Function Overview
376
Communication Specifications
377
Connector
377
Transmission Mode and Communication Parameters
378
Communication Flow Control
379
Flow Control During Transmit
379
Flow Control During Receive
379
Other Caution Items
380
Character Code Table
382
Connecting to a PC
383
Chapter 9 Specifications
385
Controller Basic Specifications
387
RCX142 Basic Specifications
388
RCX142-T Basic Specifications
388
Controller Basic Functions
389
Robot Controller External View
390
RCX142 External View
391
RCX142-T External View
391
MPB Basic Specifications and External View
392
Chapter 10 Troubleshooting
393
Error Messages
395
Robot Controller Error Messages
395
0] Warnings and Messages
397
1] Warnings (Error History Entry)
399
2] Robot Operating Area Errors
399
3] Program File Operating Errors
403
4] Data Entry and Edit Errors
405
5] Robot Language Syntax (Compiling) Errors
405
6] Robot Language Execution Errors
413
9] Memory Errors
418
System Setting or Hardware Errors
420
I/O and Option Board Errors
422
MPB Errors
426
RS-232C Communication Errors
427
Memory Card Errors
429
Motor Control Errors
431
Major Software Errors
438
Major Hardware Errors
439
MPB Error Messages
443
Troubleshooting
445
When Trouble Occurs
445
Acquiring Error Information
446
Acquiring Information from the MPB
446
Acquiring Information from the RS-232C
446
Troubleshooting Checkpoints
447
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Yamaha RCX142 Specifications
General
Brand
Yamaha
Model
RCX142
Category
Controller
Language
English
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