YAMAHA 2-AXIS ROBOT CONTROLLER

RCX221
User’s Manual ENGLISH
E

YAMAHA MOTOR CO., LTD.

IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html E100-Ver. 2.10
Introduction

INTRODUCTION
Our sincere thanks for your purchase of this YAMAHA robot controller.

This manual explains how to install and operate the YAMAHA robot controller. Be sure to
read this manual carefully as well as related manuals and comply with their instructions
for using the YAMAHA robot controller safely and correctly.

Refer to the "Programming Manual" that comes with the robot controller for detailed
information on robot programs.

1
 Before using the robot controller (Be sure to read the following notes)
BEFORE USING THE ROBOT CONTROLLER (BE SURE TO READ THE FOLLOWING NOTES)

Please be sure to perform the following tasks before using the robot controller.
Failing to perform these tasks may cause abnormal robot operation (vibration, noise) when
the power is turned on.

[1] When connecting the power supply to the robot controller

Always make a secure connection to the ground terminal on the robot controller to
ensure safety and prevent malfunctions due to noise.
Reference
Refer to "4. Connecting to the power" in Chapter 3, "Installation".

[2] When connecting robot cables to the robot controller

Be sure to keep robot cables separate from the robot controller power connection
lines and other equipment power lines. Using in close contact with lines carrying
power may cause malfunctions or abnormal operation.

2
Over view of the RCX series

OVERVIEW OF THE RCX SERIES

The YAMAHA RCX series robot controllers were developed based on years of YAMAHA
experience and proven achievements in robotics and electronics. These controllers are
specifically designed to operate YAMAHA industrial robots efficiently and accurately.
Despite their compact size, the RCX series controllers operate efficiently as multi-axis
controllers with a variety of functions.
Major features and functions are:

1. Multi-task function
Up to 8 tasks* can be run simultaneously in a specified priority. (Low priority tasks
are halted while high priority tasks are run.)
I/O parallel processing and interrupt processing are also available, so that operational
efficiency of the total robot system including peripheral units is greatly improved.
(*: Refer to the programming manual for more details on multi-tasking.)

2. Robot language
The RCX series controller comes with a BASIC-like high-level robot language that
conforms to the industrial robot programming language SLIM * 1. This robot language
allows easy programming even of complex movements such as multi-task operations
and uses a compiling method * 2 for rapid execution of programs.
(* 1: Standard Language for Industrial Manipulators)
(* 2: This compiling method checks the syntax in a robot language program, converts
it into intermediate codes, and creates an execution file (object file) before actually
performing the program.)

3. Movement command
• Arch motion
Spatial movement during pick-and-place work can be freely set according to the
work environment. This is effective in reducing cycle time.

4. Maintenance
Software servo control provides unit standardization. This allows connection to most
YAMAHA robot models and simplifies maintenance.

5. CE marking *
As a YAMAHA robot series product, the RCX series robot controller is designed to
conform to machinery directives, low-voltage directives and EMC (Electromagnetic
compatibility) directives. In this case, the robot controller is set to operate under
"SAFE" mode. (* For CE marking compliance, see the CE marking supplement manual.)

This manual explains how to handle and operate the YAMAHA robot controllers
correctly and effectively, as well as I/O interface connections.
Read this manual carefully before installing and using the robot controller. Also refer
to the separate "Programming Manual" and "Robot User's Manual" as needed.

3
 MEMO

4
 General Contents

GENERAL CONTENTS
Introduction 1

Before using the robot controller (Be sure to read the following notes) 2

Overview of the RCX series 3

Chapter 1 USING THE ROBOT SAFELY

1. Safety information 1-1

2. Particularly important cautions 1-3

2.1 System design safety points 1-3
2.2 Installation safety points 1-4
2.3 Wiring safety points 1-5
2.4 Start-up and maintenance safety points 1-6
2.5 Safety precautions during robot operation 1-8
2.6 Precautions for disposal 1-8

3. Safety measures for robots 1-9

3.1 Safety measures for single-axis robots, Cartesian robots,
and pick & place robots 1-9

4. Motor overload precautions 1-9

5. Warning labels and marks 1-9

5.1 Warning labels 1-9
5.2 Warning marks 1-10

6. Industrial robot operating and maintenance personnel 1-10

7. Make daily and periodic inspections 1-11

8. Warranty 1-11

9. Operating environment 1-11

Chapter 2 SYSTEM OVERVIEW

1. System overview 2-1

1.1 Main system configuration 2-1
1.2 RCX22 series axis definition 2-2

2. Part names and functions 2-3

2.1 RCX221 (Maximum number of axes: 2) 2-3
2.2 RCX221HP (Maximum number of axes: 2) 2-3

i
 3. Control system 2-4
3.1 RCX221/RCX221HP 2-4
GENERAL CONTENTS

4. Optional devices 2-5

4.1 RPB programming box 2-5
4.2 I/O expansion 2-5
4.3 Regenerative unit 2-5

5. Basic sequence from installation to operation 2-6

Chapter 3 INSTALLATION

1. Unpacking 3-1
1.1 Packing box 3-1
1.2 Unpacking 3-1

2. Installing the robot controller 3-2

2.1 Installation conditions 3-2
2.2 Installation methods 3-4

3. Connector names 3-6

4. Connecting to the power 3-7

4.1 AC200 to 230V single-phase specifications 3-7
4.1.1 AC power connector wiring 3-8
4.2 Power capacity 3-9
4.3 Installing an external leakage breaker 3-10
4.4 Installing a circuit protector 3-11
4.5 Installing a surge absorber 3-11
4.6 Installing a current control switch 3-12

5. Connecting the robot cables 3-13

6. Connecting the RPB programming box 3-14

7. I/O connections 3-15

8. Connecting a host computer 3-16

9. Connecting a regenerative unit 3-17

10. Precautions for cable routing and installation 3-19

10.1 Wiring methods 3-19
10.2 Precautions for installation 3-21
10.3 Methods of preventing malfunctions 3-21

11. Checking the robot controller operation 3-22

11.1 Cable connection 3-22

ii
11.2 Operation check 3-23
Chapter 4 OPERATION

GENERAL CONTENTS
1. Operation overview 4-1

2. The RCX robot controller 4-2

2.1 Part names 4-2
2.2 Main functions 4-2

3. RPB programming box 4-3

3.1 Part names 4-3
3.2 Main functions 4-3
3.3 Connection to the robot controller 4-4
3.4 Changing the RPB screen settings 4-5

4. Turning power on and off 4-6

5. Operation keys 4-8

5.1 RPB screen 4-8
5.2 Operation key layout 4-9
5.3 Basic key operation 4-10
5.4 Function keys 4-11
5.5 Control keys 4-13
5.6 Data keys 4-15
5.7 Other keys 4-15

6. Emergency stop 4-16

6.1 Emergency stop reset 4-17

7. Mode configuration 4-19

7.1 Basic operation modes 4-19
7.2 Other operation modes 4-20
7.3 Mode hierarchy 4-21

8. "SERVICE" mode 4-26

8.1 Operation device 4-26
8.2 Prohibition of "AUTO" mode operation 4-26
8.3 Hold-to-Run function 4-26
8.4 Limitations on robot operating speed 4-27

9. "AUTO" mode 4-28

9.1 Automatic operation 4-31
9.2 Stopping the program 4-32
9.3 Resetting the program 4-33
9.4 Switching task display 4-35

iii
 9.5 Switching the program 4-36
9.6 Changing the automatic movement speed 4-37
9.7 Executing the point trace 4-38
GENERAL CONTENTS

9.7.1 PTP motion mode 4-40

9.7.2 ARCH motion mode 4-41
9.7.3 Linear interpolation motion mode 4-43
9.8 Direct command execution 4-44
9.9 Break point 4-45
9.9.1 Setting break points 4-46
9.9.2 Deleting break points 4-47
9.10 Executing a step 4-48
9.11 Skipping a step 4-48
9.12 Executing the next step 4-49

10. "PROGRAM" mode 4-50

10.1 Scrolling a program listing 4-51
10.2 Program editing 4-52
10.2.1 Cursor movement 4-54
10.2.2 Insert/Overwrite mode switching 4-55
10.2.3 Inserting a line 4-56
10.2.4 Deleting a character 4-56
10.2.5 Deleting a line 4-56
10.2.6 User function key display 4-57
10.2.7 Quitting program editing 4-58
10.2.8 Specifying the copy/cut lines 4-58
10.2.9 Copying the selected lines 4-59
10.2.10 Cutting the selected lines 4-59
10.2.11 Pasting the data 4-60
10.2.12 Backspace 4-60
10.2.13 Line jump 4-61
10.2.14 Searching a character string 4-62
10.3 Directory 4-63
10.3.1 Cursor movement 4-65
10.3.2 Registering a new program name 4-65
10.3.3 Directory information display 4-66
10.3.4 Copying a program 4-67
10.3.5 Erasing a program 4-68
10.3.6 Renaming a program 4-69
10.3.7 Changing the program attribute 4-70
10.3.8 Displaying object program information 4-71
10.3.9 Creating a sample program automatically 4-72
10.4 Compiling 4-74
10.5 Line jump and character string search 4-75
10.6 Registering user function keys 4-75
10.7 Resetting an error in the selected program 4-79

11. "MANUAL" mode 4-80

11.1 Manual movement 4-82

iv
11.2 Displaying and editing point data 4-85
11.2.1 Point data input and editing 4-87
11.2.1.1 Restoring point data 4-88

GENERAL CONTENTS
11.2.2 Point data input by teaching 4-89
11.2.3 Point data input by direct teaching 4-91
11.2.4 Point jump display 4-92
11.2.5 Copying point data 4-93
11.2.6 Erasing point data 4-95
11.2.7 Point data trace 4-96
11.2.8 Point comment input and editing 4-96
11.2.8.1 Point comment input and editing 4-98
11.2.8.2 Point data input by teaching 4-98
11.2.8.3 Jump to a point comment 4-99
11.2.8.4 Copying a point comment 4-99
11.2.8.5 Erasing point comments 4-101
11.2.8.6 Point comment search 4-102
11.2.9 Point data error reset 4-103
11.3 Displaying, editing and setting pallet definitions 4-104
11.3.1 Editing pallet definitions 4-106
11.3.1.1 Point setting in pallet definition 4-107
11.3.1.1.1 Editing the point in pallet definition 4-108
11.3.1.1.2 Setting the point in pallet definition by teaching 4-108
11.3.2 Pallet definition by teaching 4-109
11.3.3 Copying a pallet definition 4-112
11.3.4 Deleting a pallet definition 4-113
11.4 Changing the manual movement speed 4-114
11.5 Displaying, editing and setting shift coordinates 4-115
11.5.1 Editing shift coordinates 4-117
11.5.1.1 Restoring shift coordinates 4-118
11.5.2 Editing the shift coordinate range 4-119
11.5.2.1 Restoring a shift coordinate range 4-121
11.5.3 Shift coordinate setting method 1 4-122
11.5.4 Shift coordinate setting method 2 4-125
11.6 Displaying, editing and setting hand definitions 4-128
11.6.1 Editing hand definitions 4-131
11.6.1.1 Restoring hand definitions 4-132
11.6.2 Hand definition setting method 1 4-133
11.7 Changing the display units 4-135
11.8 Return-to-origin 4-136
11.8.1 Return-to-origin operation 4-136
11.8.2 Semi-absolute 4-138
11.8.3 Checking the return-to-origin status 4-140
11.8.4 Return-to-origin on each axis 4-141
11.8.5 Return-to-origin on all axes 4-143
11.9 Setting the standard coordinates 4-145
11.10 Executing the user function keys 4-146

12. "SYSTEM" mode 4-147

12.1 Parameters 4-149
12.1.1 Robot parameters 4-151

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 12.1.2 Axis parameters 4-155
12.1.3 Other parameters 4-174
12.1.4 Parameters for option boards 4-187
GENERAL CONTENTS

12.1.4.1 Option DIO setting 4-189

12.1.4.2 Serial IO setting 4-190
12.1.4.3 Setting the network parameters 4-195
12.2 Communication parameters 4-197
12.3 OPTION parameters 4-206
12.3.1 Setting the area check output 4-207
12.3.2 Setting the "SERVICE" mode 4-216
12.3.2.1 Saving the "SERVICE" mode parameters 4-222
12.3.2.2 Help display in "SERVICE" mode 4-223
12.3.3 SIO settings 4-224
12.3.4 Double-carrier setting 4-227
12.3.4.1 Before using a double-carrier 4-227
12.3.4.2 Setting the double-carrier parameters 4-228
12.4 Initialization 4-231
12.4.1 Initializing the parameters 4-232
12.4.2 Initializing the memory 4-233
12.4.3 Initializing the communication parameters 4-234
12.4.4 Clock setting 4-235
12.4.5 System generation 4-236
12.5 Self diagnosis 4-237
12.5.1 Controller check 4-238
12.5.2 Error history display 4-239
12.5.3 Displaying the total operation time 4-240
12.5.4 System error details display 4-241
12.6 Backup processes 4-242
12.6.1 SD memory card 4-243
12.6.1.1 Loading files 4-245
12.6.1.2 Saving files 4-247
12.6.1.3 Deleting files 4-249
12.6.1.4 Previewing files 4-250
12.6.2 Internal flash ROM 4-251
12.6.2.1 Loading files 4-252
12.6.2.2 Saving files 4-254
12.6.2.3 Initializing the files 4-255

13. "MONITOR" mode 4-256

14. "UTILITY" mode 4-259

14.1 Canceling emergency stop; Motor power and servo on/off 4-261
14.1.1 Canceling emergency stop 4-261
14.1.2 Motor power and servo on/off 4-262
14.2 Enabling/disabling the sequence execution flag 4-264
14.3 Resetting the output ports 4-265
14.4 Changing the execution level 4-266
14.4.1 Changing the execution level 4-267
14.4.2 Displaying the Help message 4-268
14.5 Changing the access level (operation level) 4-269

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 14.5.1 Entering the password 4-270
14.5.2 Changing the access level 4-271
14.5.3 Displaying the Help message 4-272

GENERAL CONTENTS
Chapter 5 PARALLEL I/O INTERFACE

1. Standard I/O interface overview 5-1

1.1 ID setting 5-2
1.2 Connector I/O signals 5-3
1.3 Connector pin numbers 5-6
1.4 Connecting the power supply 5-7
1.4.1 NPN/PNP power connector wiring 5-8
1.5 Typical input signal connection 5-9
1.6 Typical output signal connection 5-10
1.7 Dedicated I/O signals 5-11
1.7.1 Dedicated input signals 5-11
1.7.2 Dedicated output signals 5-13
1.8 General-purpose I/O signals 5-15
1.8.1 General-purpose output reset 5-15
1.9 Dedicated I/O signal timing charts 5-16
1.9.1 Turning the power on 5-16
1.9.2 Emergency stop and servo ON 5-18
1.9.3 Return-to-origin 5-19
1.9.4 Mode switching 5-20
1.9.5 Automatic operation 5-21

2. Ratings 5-22

3. Precautions 5-23
Chapter 6 SAFETY I/O INTERFACE

1. SAFETY I/O interface overview 6-1

1.1 Power 6-1
1.2 Connector I/O signals 6-2
1.3 Connector terminal numbers 6-3
1.4 Emergency stop input signal connections 6-4
1.5 Dedicated input signal connections 6-10
1.6 Dedicated output signal connections 6-11
1.7 Input signal description 6-13
1.8 Meaning of output signals 6-14
Chapter 7 RS-232C INTERFACE

1. Communication overview 7-1

2. Communication function overview 7-2

3. Communication specifications 7-3

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 3.1 Connector 7-3
3.2 Transmission mode and communication parameters 7-5
3.3 Communication flow control 7-6
GENERAL CONTENTS

3.3.1 Flow control during transmit 7-6

3.3.2 Flow control during receive 7-6
3.4 Other caution items 7-7
3.5 Character code table 7-9
3.6 Connecting to a PC 7-10
Chapter 8 SPECIFICATIONS

1. Controller basic specifications 8-1

2. Controller basic functions 8-3

3. Controller external view 8-4

3.1 RCX221 external view 8-4
3.2 RCX221HP external view 8-5

4. RPB basic specifications and external view 8-6

Chapter 9 TROUBLESHOOTING

1. Error Messages 9-1

1.1 Robot controller error messages 9-1
[ 0] Warnings and messages 9-3
[ 1] Warnings (error history entry) 9-5
[ 2] Robot operating area errors 9-6
[ 3] Program file operating errors 9-9
[ 4] Data entry and edit errors 9-12
[ 5] Robot language syntax (compiling) errors 9-12
[ 6] Robot language execution errors 9-21
[ 9] Memory errors 9-26
[10] System setting or hardware errors 9-29
[12] I/O and option board errors 9-31
[13] RPB errors 9-35
[14] RS-232C communication errors 9-36
[15] Memory card errors 9-38
[17] Motor control errors 9-40
[21] Major software errors 9-47
[22] Major hardware errors 9-48
1.2 RPB Error Messages 9-53

2. Troubleshooting 9-55
2.1 When trouble occurs 9-55
2.2 Acquiring error information 9-56
2.2.1 Acquiring information from the RPB 9-56
2.2.2 Acquiring information from the RS-232C 9-56
2.3 Troubleshooting checkpoints 9-57

viii
Chapter 1 USING THE ROBOT SAFELY

Contents

1. Safety information 1-1

2. Particularly important cautions 1-3

2.1 System design safety points 1-3
2.2 Installation safety points 1-4
2.3 Wiring safety points 1-5
2.4 Start-up and maintenance safety points 1-6
2.5 Safety precautions during robot operation 1-8
2.6 Precautions for disposal 1-8

3. Safety measures for robots 1-9

3.1 Safety measures for single-axis robots, Cartesian
robots, and pick & place robots 1-9

4. Motor overload precautions 1-9

5. Warning labels and marks 1-9

5.1 Warning labels 1-9
5.2 Warning marks 1-10

6. Industrial robot operating and maintenance

personnel 1-10

7. Make daily and periodic inspections 1-11

8. Warranty 1-11

9. Operating environment 1-11

 1. Safety information

1. Safety information
Before using the YAMAHA robot controller, be sure to read this manual and related Chapter

manuals, and follow their instructions to use the robot controller safely and correctly. 1
Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To

USING THE ROBOT SAFELY

ensure safety of the user's final system that includes YAMAHA robots and controllers,
please take appropriate safety measures as required by the user's individual system.

Industrial robots are highly programmable machines that provide a large degree of
freedom in movement. To use YAMAHA robots and controllers safely and correctly, be
sure to comply with the safety instructions and precautions described in this chapter.
Failure to take necessary safety measures or incorrect handling may result not only in
trouble or damage to the robot and controller, but also in serious accidents involving
injury or death to personnel (robot installer, operator, or service personnel).

This manual describes safety precautions and operating points using the following symbols
and signal words.

w DANGER
"DANGER" INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH, IF NOT
AVOIDED, WILL RESULT IN DEATH OR SERIOUS INJURY.

w WARNING
"WARNING" INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT
AVOIDED, COULD RESULT IN DEATH OR SERIOUS INJURY.

c CAUTION
"CAUTION" indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury or damage to the equipment or loss
of data.

n NOTE
Explains key points in the operation in a simple and clear manner.

1-1
 1. Safety information

Use any of the following approaches to this manual when installing, operating and
adjusting the YAMAHA robot and/or controller so that you can quickly refer to this manual
Chapter when needed.
1 1. Keep the printed version of this manual (available for an additional fee) handy for
ready reference.
USING THE ROBOT SAFELY

2. View the CD-ROM version of this manual on your PC screen.

3. Print out the necessary pages of this manual from the CD-ROM and keep them
handy for ready reference.

To use YAMAHA robots and controllers safely and correctly, always comply with the
safety rules and instructions.
Please note, however, this user's manual cannot cover all items regarding safety. So it is
extremely important that the operator or user have knowledge of safety and make correct
decisions regarding safety.

1-2
 2. Particularly important cautions

2. Particularly important cautions

Particularly important cautions for handling and operating the robot and controller are Chapter

described below. Additional cautions are also described in each chapter. Be sure to 1
comply with those instructions to ensure safety.

USING THE ROBOT SAFELY

2.1 System design safety points

w DANGER
• YAMAHA ROBOT CONTROLLERS AND ROBOTS ARE DESIGNED AND
MANUFACTURED FOR GENERAL-PURPOSE INDUSTRIAL EQUIPMENT. THEY
SHOULD NOT BE USED IN THE FOLLOWING APPLICATIONS:
• MEDICAL EQUIPMENT OR SYSTEMS WHICH WILL AFFECT HUMAN LIFE
• EQUIPMENT DESIGNED TO CARRY OR TRANSPORT PERSONS
• EQUIPMENT OR SYSTEMS WHICH WILL SERIOUSLY AFFECT SOCIETY OR
PUBLIC POLICY
• USE IN ENVIRONMENTS SUBJECT TO VIBRATION, SUCH AS VEHICLES
AND SHIPS
• EACH ROBOT CONTROLLER HAS AN EMERGENCY STOP INPUT TERMINAL TO
TRIGGER EMERGENCY STOP. USING THIS TERMINAL, CONFIGURE A SAFETY
CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL
WORK SAFELY.

w WARNING
• TO CHECK THE OPERATING STATUS OF THE ROBOT CONTROLLER, REFER TO
THIS MANUAL AND RELATED USER'S MANUAL. BUILD THE SYSTEM INCLUDING
THE ROBOT CONTROLLER SO THAT IT WILL ALWAYS WORK SAFELY.
• INSTALL A SIGNAL LIGHT (SIGNAL TOWER, ETC.) AT AN EASY-TO-SEE
POSITION SO THAT THE OPERATOR WILL KNOW THE STOP STATUS OF THE
ROBOT (TEMPORARY STOP, EMERGENCY STOP, ERROR STOP, ETC.).

c CAUTION
• Do not bundle control lines or communication cables together or in close
contact with the main power supply circuit or power lines. As a general
rule, separate them by at least 100mm. Failure to follow this instruction
may cause malfunctions due to noise.

1-3
 2. Particularly important cautions

2.2 Installation safety points

Chapter
w WARNING

1 • ALWAYS GROUND THE GROUND TERMINAL OF THE POWER TERMINAL BLOCK

TO AVOID ELECTRICAL SHOCK.
USING THE ROBOT SAFELY

• SECURELY INSTALL THE CONNECTORS INTO THE ROBOT CONTROLLER, AND

WHEN WIRING THE CONNECTORS, MAKE THE CRIMP, PRESS-CONTACT OR
SOLDER CONNECTIONS CORRECTLY, USING THE TOOL SPECIFIED BY THE
MANUFACTURER.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE
STARTING INSTALLATION OR WIRING WORK. FAILURE TO SHUT OFF ALL
PHASES MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.
• YAMAHA ROBOTS AND ROBOT CONTROLLERS ARE NOT DESIGNED TO BE
EXPLOSION-PROOF. DO NOT USE THEM IN LOCATIONS EXPOSED TO
INFLAMMABLE GASES, GASOLINE OR SOLVENT THAT COULD CAUSE
EXPLOSION OR FIRE. FAILURE TO OBSERVE THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH, OR LEAD TO FIRE.
• USE THE ROBOT CONTROLLER WITHIN THE ENVIRONMENT SPECIFICATIONS
LISTED IN THIS MANUAL.
USING THE CONTROLLER IN AN ENVIRONMENT OUTSIDE THE SPECIFICATION
RANGE MAY CAUSE ELECTRICAL SHOCK, MALFUNCTIONS, PRODUCT
DAMAGE OR DETERIORATED PERFORMANCE.
• INSTALL THE ROBOT CONTROLLER AND PROGRAMMING BOX AT A
LOCATION OUTSIDE THE ROBOT'S WORKING ENVELOPE YET WHERE IT IS EASY
TO OPERATE THE ROBOT AND VIEW ITS MOTION.
• INSTALL THE CONTROLLER IN LOCATIONS WITH ENOUGH SPACE TO PERFORM
WORK (TEACHING, INSPECTION, ETC.) SAFELY. LIMITED SPACE NOT ONLY
MAKES IT DIFFICULT TO PERFORM WORK, BUT CAN ALSO BE A CAUSE OF
INJURY.
• INSTALL THE ROBOT CONTROLLER IN A STABLE, LEVEL LOCATION AND
SECURE IT FIRMLY. AVOID INSTALLING THE ROBOT CONTROLLER UPSIDE
DOWN OR IN A TILTED POSITION.
• PROVIDE SUFFICIENT CLEARANCE AROUND THE ROBOT CONTROLLER FOR
GOOD VENTILATION. POOR VENTILATION MAY CAUSE MALFUNCTION,
BREAKDOWN OR FIRE.
• NEVER DIRECTLY TOUCH THE CONDUCTIVE SECTIONS AND ELECTRONIC
PARTS OTHER THAN THE CONNECTORS, ROTARY SWITCHES, AND DIP
SWITCHES ON THE OUTSIDE PANEL OF THE ROBOT CONTROLLER.
• SECURELY TIGHTEN THE SCREWS ON THE L-SHAPED BRACKETS TO INSTALL THE
ROBOT CONTROLLER. IF NOT SECURELY TIGHTENED, THE SCREWS MAY
BECOME LOOSE CAUSING THE CONTROLLER TO DROP.
• SECURELY INSTALL EACH CONNECTION CABLE CONNECTOR INTO THE
RECEPTACLES OR SOCKETS. POOR CONNECTIONS MAY CAUSE EQUIPMENT
MALFUNCTIONS.
1-4
 2. Particularly important cautions

2.3 Wiring safety points

w
Chapter
WARNING
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE 1
STARTING INSTALLATION OR WIRING WORK. FAILURE TO SHUT OFF ALL

USING THE ROBOT SAFELY

PHASES MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.

c CAUTION
• Make sure that no foreign matter such as cutting chips or wire scraps
enter the robot controller. Malfunctions, breakdown or fire may result if
they have entered.
• Always store the cables connected to the robot controller in a conduit or
clamp them securely in place. If the cables are not stored in a conduit or
properly clamped, excessive play or movement or mistakenly pulling on
the cable may damage the connector or cables, and poor cable contact
may cause equipment malfunctions.
• Do not modify the cables and do not place any heavy object on them.
Handle them carefully to avoid damage. Damaged cables may cause
malfunction or electrical shock.
• If there is a possibility that the cables connected to the robot controller
may be damaged, protect them with a cover, etc.
• Do not apply excessive loads or impacts to the connectors when making
cable connections. The connector pins may become bent or the internal
PC board may be damaged.
• When disconnecting the cable from the robot controller, detach by
gripping the connector itself and not by tugging on the cable. Loosen the
screws on the connector (if fastened with the screws), and then
disconnect the cable. Detaching by pulling on the cable itself may
damage the connector or cables, and poor cable contact may cause
equipment malfunctions.

1-5
 2. Particularly important cautions

2.4 Start-up and maintenance safety points

w
Chapter
DANGER
1 • NEVER ENTER THE ROBOT'S WORKING ENVELOPE WHILE THE ROBOT IS
OPERATING OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS
USING THE ROBOT SAFELY

INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR

DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCK
WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT'S
WORKING ENVELOPE.
• WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE
ROBOT'S WORKING ENVELOPE, SUCH AS FOR TEACHING OR
MAINTENANCE/INSPECTION, ALWAYS CARRY THE PROGRAMMING BOX
WITH YOU SO THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN
CASE OF AN ABNORMAL CONDITION. ALSO SET THE ROBOT OPERATING
SPEED TO 3% OR LESS. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH.
• CHECK THE FOLLOWING POINTS BEFORE OPERATING THE ROBOT.
• NO ONE IS WITHIN THE ROBOT'S WORKING ENVELOPE.
• THE PROGRAMMING BOX IS AT THE SPECIFIED POSITION.
• THERE IS NO ABNORMAL STATE IN THE ROBOT AND RELATED DEVICES.

w WARNING
• ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY
OPERATE THE ROBOT. OPERATION BY ANY PERSON WHO HAS NOT RECEIVED
THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED.
• THE ROBOT AND ROBOT CONTROLLER ARE NOT DESIGNED TO BE
EXPLOSION-PROOF. DO NOT USE THEM IN LOCATIONS EXPOSED TO
INFLAMMABLE GASES, GASOLINE OR SOLVENT THAT COULD CAUSE
EXPLOSION OR FIRE. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH, OR LEAD TO FIRE.
• DO NOT TOUCH ANY ELECTRICAL TERMINAL OF THE ROBOT CONTROLLER.
DOING SO MAY CAUSE ELECTRICAL SHOCK OR EQUIPMENT MALFUNCTIONS.
• ALWAYS CONNECT THE ROBOT AND ROBOT CONTROLLER IN THE CORRECT
COMBINATION. USING THEM IN AN INCORRECT COMBINATION MAY CAUSE
FIRE OR BREAKDOWN.
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE
CLEANING OR TIGHTENING THE TERMINAL SCREWS. FAILURE TO SHUT OFF
ALL PHASES MAY CAUSE ELECTRICAL SHOCK, PRODUCT DAMAGE OR
MALFUNCTIONS.
• DO NOT TOUCH THE ROBOT CONTROLLER AND ROBOT DURING OPERATION.
SOME PARTS IN THE ROBOT CONTROLLER OR ROBOT ARE HOT DURING
OPERATION. TOUCHING THEM MAY CAUSE BURNS.
• DO NOT HANDLE OR OPERATE THE ROBOT CONTROLLER OR PROGRAMMING
BOX WITH WET HANDS. TOUCHING THEM WITH WET HANDS MAY RESULT IN
ELECTRICAL SHOCK OR BREAKDOWN.
1-6
 2. Particularly important cautions

• IMMEDIATELY TURN OFF POWER IF UNUSUAL ODORS, NOISE OR SMOKE ARE

NOTICED DURING OPERATION. CONTINUOUS OPERATION UNDER SUCH A
CONDITION MAY RESULT IN ELECTRICAL SHOCK, FIRE OR BREAKDOWN. Chapter
STOP USING AND CONTACT OUR SALES OFFICE OR SALES REPRESENTATIVE.
• DO NOT DISASSEMBLE OR MODIFY ANY PART IN THE ROBOT CONTROLLER
1

USING THE ROBOT SAFELY

AND PROGRAMMING BOX. DO NOT OPEN ANY COVER. FAILURE TO
FOLLOW THIS INSTRUCTION MAY CAUSE ELECTRICAL SHOCK, BREAKDOWN,
MALFUNCTION, INJURY, OR FIRE.
• IF A COMPONENT USED IN THE ROBOT OR CONTROLLER NEEDS TO BE
REPLACED OR REPAIRED, ALWAYS FOLLOW THE INSTRUCTIONS FROM
YAMAHA. INSPECTION AND MAINTENANCE OF THE CONTROLLER OR ROBOT
BY ANY PERSON WHO DOES NOT HAVE THE REQUIRED KNOWLEDGE AND
EXPERTISE IS DANGEROUS AND MUST BE AVOIDED.
• WHEN PERFORMING MAINTENANCE OR INSPECTION OF THE ROBOT
CONTROLLER UNDER OUR INSTRUCTIONS, WAIT AT LEAST 30 MINUTES AFTER
TURNING THE POWER OFF. SOME COMPONENTS IN THE ROBOT CONTROLLER
MAY BE HOT OR STILL RETAIN A HIGH VOLTAGE SHORTLY AFTER OPERATION,
SO BURNS OR ELECTRICAL SHOCK MAY OCCUR IF THOSE PARTS ARE
TOUCHED.
• DURING STARTUP OR MAINTENANCE WORK, DISPLAY AN EASY TO
UNDERSTAND SIGN OR MESSAGE ON THE PROGRAMMING UNIT OR
OPERATION PANEL TO PREVENT ANYONE OTHER THAN PERSONNEL FOR THAT
WORK FROM MISTAKENLY OPERATING A START OR SELECTOR SWITCH. IF
NEEDED, TAKE OTHER MEASURES SUCH AS LOCKING THE COVER ON THE
OPERATION PANEL.
• DECIDE ON "WORK INSTRUCTIONS" IN CASES WHERE PERSONNEL MUST
WORK WITHIN THE ROBOT'S WORKING ENVELOPE TO PERFORM STARTUP OR
MAINTENANCE WORK. MAKE SURE THE WORKERS KNOW THESE "WORK
INSTRUCTIONS" WELL.

c CAUTION
• When using ferrite cores for noise elimination, fit them to the power cable
as close to the robot controller and/or the robot as possible, to prevent
malfunctions due to noise.
• Back up the robot controller internal data in an external storage device.
The robot controller internal data (programs, point data, etc.) may be lost
or deleted for unexpected reasons. Always make a backup of the
internal data.
• Do not use thinner, benzene, and alcohol to wipe clean the surface of the
programming box. The surface sheet may be damaged or printed letters
or marks might be erased. Use a soft, dry cloth and gently wipe the
surface.

1-7
 2. Particularly important cautions

• Do not use a hard or pointed object to operate the keys on the

programming box. Malfunction or breakdown may result if the keys are
Chapter damaged. Use your fingers to operate the keys.
1 • Do not insert any SD memory card other than specified into the SD
memory card slot of the programming box. Malfunction or breakdown
USING THE ROBOT SAFELY

may result if a wrong memory card is used.

2.5 Safety precautions during robot operation

w DANGER
• NEVER ENTER THE ROBOT'S WORKING ENVELOPE WHILE THE ROBOT IS
OPERATING OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS
INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR
DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCK
WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT'S
WORKING ENVELOPE.
• WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE
ROBOT'S WORKING ENVELOPE, SUCH AS FOR TEACHING OR
MAINTENANCE/INSPECTION, ALWAYS CARRY THE PROGRAMMING BOX
WITH YOU SO THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN
CASE OF AN ABNORMAL CONDITION. ALSO SET THE ROBOT OPERATING
SPEED TO 3% OR LESS. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE
SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH.

w WARNING
• ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY
OPERATE THE ROBOT. OPERATION BY ANY PERSON WHO HAS NOT RECEIVED
THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED.

2.6 Precautions for disposal

c CAUTION
• When disposing of this product discard it as industrial waste. Take
appropriate measures in compliance with legal regulations in your
country or entrust its proper disposal to a company authorized to handle
industrial waste.

1-8
 3. Safety measures for robots

3. Safety measures for robots

3.1 Safety measures for single-axis robots, Cartesian Chapter

robots, and pick & place robots 1

USING THE ROBOT SAFELY

(1) Protective measures against electrical shock:
Use the protective ground terminal to ensure safety.
Refer to the robot user's manual for details.

4. Motor overload precautions

Since abnormal operation (such as overload) of the motor is detected by software, the
controller parameters must be set correctly to match the motor type used in the robot
connected to the controller.
Prior to shipping, the controller parameters are preset to match the robot model to be
used. However, please check the robot model again when connecting it to the controller.

5. Warning labels and marks

5.1 Warning labels
The warning labels shown below are affixed to the controller. To use the YAMAHA robot
and controller safely and correctly, be sure to observe the instructions and caution on the
labels.

(1) "Read Instruction Manual" label

取扱説明書参照

READ INSTRUCTION
MANUAL

This label means that important information you must know is described in the
manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power
supply to the controller, read this manual carefully and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct
direction.

1-9
 6. Industrial robot operating and maintenance personnel

5.2 Warning marks

Chapter The following warning marks are shown on the controller. To use the YAMAHA robot

1 and controller safely and correctly, be sure to observe the instructions and caution of the
marks.
USING THE ROBOT SAFELY

(1) "Electric Hazard" mark

This mark indicates that a high voltage is present.

This mark warns you of possible electrical shock. Do not touch the terminal block
and connectors to avoid electrical shock.

(2) "CAUTION" mark

!
This label means that important information you must know is described in the
manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power
supply to the controller, read this manual carefully and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct
direction.

(3) "High Temperature Hazard" mark

Indicates that the area around this mark may become very hot.
Heatsinks and regenerative unit become hot during and shortly after operation. Do
not touch them to avoid burns.

6. Industrial robot operating and maintenance personnel

Operators or persons who handle the robot such as for teaching, programming, movement
check, inspection, adjustment, and repair must receive appropriate training and also have
the skills needed to perform the job correctly and safely. They must read the user's manual
carefully to understand its contents before attempting the robot operation.

Tasks related to industrial robots (teaching, programming, movement check, inspection,

adjustment, repair, etc.) must be performed by qualified persons who meet requirements
established by local regulations and safety standards for industrial robots.

1-10
 7. Make daily and periodic inspections

7. Make daily and periodic inspections

Always make sure that daily and periodic inspections are performed, and make a pre-work Chapter

check to ensure there are no problems with the robot or related equipment. If a problem 1
or abnormality is found, then promptly repair it or take other measures as necessary.

USING THE ROBOT SAFELY

8. Warranty
For information on the product warranty, please contact your local agent where you
purchased your product.

9. Operating environment
Operating temperature
Operating temperature 0°C to 40°C
The ambient temperature should be maintained within a range of 0 to 40°C in
order to guarantee continuous operation of the robot controller that meets the
initial specifications. If the robot controller is installed in a narrow space, then heat
generated from the controller itself and from peripheral equipment may drive the
temperature above the allowable operating temperature range. This may result in
thermal runaway or malfunctions and may lower component performance along with
shortening their useful service life. So be sure to install the controller in locations
with a vent having a natural air flow. If this proves insufficient, provide forced air-
cooling.
Storage temperature
Storage temperature -10°C to 65°C
The controller should be stored in a location at an ambient temperature between -10
and +65°C when not being used. If the robot controller is stored in a location at high
temperatures for extended periods, deterioration of the electronic components may
occur and the memory backup time may decrease.
Operating humidity
Operating humidity 35% to 85% RH (no condensation)
The ambient humidity should be 35% to 85% RH (no condensation) in order
to guarantee continuous operation of the robot controller that meets the initial
specifications. Installing the robot controller inside an air-conditioned or cooled
housing is recommended when the ambient humidity is high or when condensation
occurs.

1-11
 9. Operating environment

Storage humidity
Storage humidity Below 95% RH (no condensation)
Chapter
The controller should be stored in a location at an ambient humidity below 95% RH
1 (no condensation) when not being used. If the robot controller is stored in a location
at high humidity for an extended period of time, rust may form on the electronic
USING THE ROBOT SAFELY

components in the robot controller.

Vibration and shock
Do not apply strong shocks to the controller. Do not install the controller in locations
subject to large vibrations or shocks. The controller may malfunction or break down
if subjected to large vibrations or shocks.
Environments
The controller is not designed to meet explosion-proof, dust-proof, and drip-proof
specifications, and so do not use it in the following locations. If used in these
locations, component corrosion, improper installation, or fire may result.
1) Environments containing combustible gases or dust particles, or flammable liquids,
etc.
2) Environments where conductive substances such as metal cutting chips are
present.
3) Environments where water, cutting water, oils, dust, metal particles, or organic
solvents are present.
4) Environments containing corrosive gases or substances such as acid or alkali.
5) Environments containing mist such as cutting fluids or grinding fluids.
If using the controller in locations where dust particles of gases may generate, it is
recommended to install the controller in a box with a cooling unit.
Installation location
Always install the robot controller indoors, at a height of less than 1000 meters above
sea level.
Install the controller in a control panel with a structure that does not allow water, oil,
carbon or dust particles to penetrate it.
Do not install the controller in the following locations:
1) Near devices which may be a source of electrical noise, such as large inverters,
high-output high-frequency generators, large contactors, and welding machines.
2) Locations where electrostatic noise is generated.
3) Locations subject to radio frequency interference.
4) Locations where there is a possibility of exposure to radioactivity.
5) Locations where dangerous items such as ignitable, flammable or explosive
materials are present.
6) Near combustible materials.
7) Environments exposed to direct sunlight.
8) Narrow space where tasks (teaching, inspections, etc.) cannot be performed
safely.

1-12
Chapter 2 SYSTEM OVERVIEW

Contents

1. System overview 2-1

1.1 Main system configuration 2-1
1.2 RCX22 series axis definition 2-2

2. Part names and functions 2-3

2.1 RCX221 (Maximum number of axes: 2) 2-3
2.2 RCX221HP (Maximum number of axes: 2) 2-3

3. Control system 2-4

3.1 RCX221/RCX221HP 2-4

4. Optional devices 2-5

4.1 RPB programming box 2-5
4.2 I/O expansion 2-5
4.3 Regenerative unit 2-5

5. Basic sequence from installation to operation 2-6

 1. System over view

1. System over view

The RCX22 series controllers are designed for use with a two-axis robot, mainly for
assembly and pick-and-place applications. Applications also include various inspection
instruments, sealers and spray equipment utilizing linear and circular interpolation Chapter
functions.
2
1.1 Main system configuration

SYSTEM OVERVIEW
Configuration 1: System for controlling one robot
Example: MF50
■ System for controlling one robot

OP.1

SRV
RGEN ERR
RDY

21
OP
E-ST

RCX2 P
MOT
OR

XM
TEM ROB
I/O
RPB or RPB-E
ACIN

L OP.2
RPB
N
L1
N1

TY
SAFE
! -STO
P
EXT.E-12
PIN11
YM

OM
SD/C

PC
YAMAHA robot

PLC

2-1
 1. System over view

Configuration 2: System for controlling two single-axis robots

Example: MR12T + MR12T
■ System for controlling two single-axis robots

Chapter

2
SYSTEM OVERVIEW

OP.1

SRV
RGEN ERR
RDY

21
OP
E-ST

RCX2
OR TEM
P
ROB
MOT I/O

XM
RPB or RPB-E
ACIN

OP.2
L
RPB
N

L1
N1

TY
SAFE
! -STO
P
EXT.E-12
PIN11
YM

OM
SD/C

PC

YAMAHA robot

PLC

1.2 RCX22 series axis definition

The software for the RCX22 series is common to the RCX14 series and allows defining
the main/sub robots and their axes. However, the RCX22 series basically does not require
axis definition since it is a two-axis controller. If using axis definition, refer to the RCX141
user's manual.

2-2
 2. Part names and functions

2. Part names and functions

2.1 RCX221 (Maximum number of axes: 2)

■ RCX221 front view Chapter

RGEN
OP.1
2
RCX221 SRV

SYSTEM OVERVIEW
ERR
RDY
MOTOR E-STOP

XM TEMP

ROB
I/O

ACIN

L
N
RPB
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

2.2 RCX221HP (Maximum number of axes: 2)

■ RCX221HP front view

OP.1
RGEN

RCX221
MOTOR
SRV
ERR
RDY
E-STOP

XM
HPTEMP

ROB
I/O

ACIN

L
N
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

2-3
 3. Control system

3. Control system
The basic block diagram of the control system is shown below.

Chapter
3.1 RCX221/RCX221HP
2 ■ Basic block diagram
SYSTEM OVERVIEW

CN3

CN1
CN1
X-axis motor DRIVER2 BOARD ASSY
CN2
CN3

CN1
CN4
Y-axis motor DRIVER2 BOARD ASSY
CN2

ASSY
CN3 CN4
CN6 CN5

MOTHER BOARD
Regenerative
unit

CN1
CN3
D.POWER BOARD ASSY
CN2

AC200-230V

CN2
CN1
CN4

XY axis motor CN5

CN8

RPB
CPU BOARD ASSY
CN5

SAFETY circuit FAN

CN1 CN12

RS-232C

SD memory card CN2 CN3

CN1 CN1
OP.BOARD OP.BOARD

2-4
 4. Optional devices

4. Optional devices

4.1 RPB programming box

The RPB is a hand-held device used to perform all robot operations, including manual Chapter
operations, program input and editing, teaching and parameter settings.
2
N RPB N RPB-E

SYSTEM OVERVIEW
Selector switch

Emergency stop Emergency stop

button button

N RPB-E (rear side)

RPB connector
Enable switch

4.2 I/O expansion

Interface boards can be selected as needed.

4.3 Regenerative unit

A regenerative unit may be required depending on the robot type.

2-5
 5. Basic sequence from installation to operation

5. Basic sequence from installation to operation

The basic sequence from installation to actual operation is shown below. Refer to this sequence to use the
RCX22 series safely, correctly and effectively. Before beginning the work, read this user's manual thoroughly.
Basic procedure Refer to:
Chapter
Installation, connection and wiring

2 Install the controller. Chapter 3 1. Unpacking

~
10. Precautions for cable
routing and installation
SYSTEM OVERVIEW

• Make cable and connector connections.

• Ground the controller.
• Configure an emergency stop circuit. Chapter 5 Parallel I/O interface
Chapter 6 SAFETY I/O interface

When a serial I/O board is added: See the serial I/O instruction
Set the station number, communication speed, etc. (Setup manuals for detailed
depends on the serial I/O type.) information.
Power ON

Check that the wiring and supply voltage are correct and then turn power on. Chapter 4 4. Turning power on and off

Check that no alarm is issued after turning power on. Chapter 3 11. Checking the robot
controller operation

Chapter 4 12. "SYSTEM" mode

Robot type check Check that the robot type setting in the controller matches (Robot type can be
the robot that is actually connected.
checked on the initial
screen in SYSTEM mode.)
Set the following parameters to optimize the robot operation.
• Tip weight (workpiece weight + tool weight) 12.1.1 Robot parameters
• Tip weight
Parameter initial * Set the "Axis tip weight" parameter if the robot is set to
"MULTI" or has an auxiliary axis. 12.1.2 Axis parameters
setting • + Soft limit
Initial setting

• Soft limits (movement range)

* Before determining soft limit positions by jog movement,
• - Soft limit
• Axis tip weight
return-to-origin must first be complete.
* Always set this parameter when using the robot for the
first time. After that, change it as needed.
11.8 Return-to-origin
Return-to-origin Perform return-to-origin to teach the origin position to the
controller.
* Always perform return-to-origin when using the robot for
the first time. After that, reperform it when the controller
power is turned on before starting robot operation or
when the origin position becomes indefinite
(return-to-origin incomplete).

Parameter setting Set parameters according to the operation conditions. Chapter 4 12.1 Parameters

11.2 Displaying and editing

Data setting

Point data editing Create or edit point data according to the robot operation. point data
11.3 Displaying, editing and
setting pallet definitions

Programming Create programs according to the robot operation. 10. "PROGRAM" mode
See the programming
* Programming is unnecessary if not using a program manual for information
such as in operation with I/O commands.
about the programming
language.
Trial operation

Check that the safety devices such as an emergency stop circuit function correctly.

Make a trial run using step operation and make adjustment as needed. Chapter 4 9.2 Stopping the program
~

9.12 Executing the next step

Operation

Chapter 4 9.1 Automatic operation

~

Start operation. 9.6 Changing the automatic

movement speed

2-6
Chapter 3 INSTALLATION

Contents
1. Unpacking 3-1
1.1 Packing box 3-1
1.2 Unpacking 3-1

2. Installing the robot controller 3-2

2.1 Installation conditions 3-2
2.2 Installation methods 3-4

3. Connector names 3-6

4. Connecting to the power 3-7

4.1 AC200 to 230V single-phase specifications 3-7
4.1.1 AC power connector wiring 3-8
4.2 Power capacity 3-9
4.3 Installing an external leakage breaker 3-10
4.4 Installing a circuit protector 3-11
4.5 Installing a surge absorber 3-11
4.6 Installing a current control switch 3-12

5. Connecting the robot cables 3-13

6. Connecting the RPB programming box 3-14

7. I/O connections 3-15

8. Connecting a host computer 3-16

9. Connecting a regenerative unit 3-17

10. Precautions for cable routing and installation 3-19

10.1 Wiring methods 3-19
10.2 Precautions for installation 3-21
10.3 Methods of preventing malfunctions 3-21

11. Checking the robot controller operation 3-22

11.1 Cable connection 3-22
11.2 Operation check 3-23
 1. Unpacking

1. Unpacking

1.1 Packing box

The robot controller is high precision equipment and is carefully packed in a cardboard
box to avoid shocks and vibrations. If there is any serious damage or dents on the packing
box, please notify your YAMAHA sales dealer without unpacking the box.
Chapter

1.2 Unpacking 3

INSTALLATION
The robot controller is packed with accessories as shown below, according to the order
specifications. Take sufficient care not to apply shocks to the equipment when unpacking.
After unpacking, check the accessories to make sure that nothing is missing.

c CAUTION
The robot and controller are very heavy. Take sufficient care not to drop
them during unpacking as this may damage the equipment or cause bodily
injury.

■ Unpacking
Accessories
RPB

Accessories
RPB terminator 1
L-type bracket set for 1
front and rear panels

RGEN
SRV
ERR
RDY P
OP.1

SAFETY connector 1
E-STO

2 1 Standard
RCX2 Connector guard for
MOTO
R TEMP ROB
I/O
1
XM

ACIN
COM connector
OP.2
L RPB

CD-ROM manual 1
N

L1
N1

FETY
! SA

YM

RG2 TEMP shorting

SD/CO
M

1
connector
RPB programming box 1
I/O interface connector 2 Max.
Option
Connector labels 2 Max.
RGEN cable 1

3-1
 2. Installing the robot controller

2. Installing the robot controller

When installing, choose a proper place for your robot controller, taking into account your
system layout, accessibility for maintenance, etc.

2.1 Installation conditions

Chapter

3 c CAUTION
(1) When carrying the robot controller, use a dolly or similar hand truck and
move it carefully to avoid dropping and resultant damage.
INSTALLATION

(2) Take care not to allow the connectors on the front of the robot controller
to be hit or bumped. Shocks received by the connectors may damage
the PC boards in the controller.
(3) Be sure to give the cables used to connect the controller enough extra
length to avoid strain and pulling at the connectors.
(4) Install the controller inside the control panel.
(5) Keep the controller away from oil and water. If the controller is to be
used under such adverse conditions, put it in a watertight box equipped
with a cooling device.
(6) Install the controller on a flat, level surface. Do not stand the controller
on its side or end, and do not install in an inverted position. Do not install
in locations subject to excessive vibrations.
(7) Do not install the controller in locations where the ambient temperature
may rise higher than the rated temperature.
(8) Do not block the fan vents on the bottom. If blocked, temperature inside
the controller will rise leading to malfunctions, breakdowns or
deterioration of electric components. Always provide a clearance of at
least 17mm from the bottom panel so that the fan works properly.

3-2
 2. Installing the robot controller

■ Clearance for installing the controller

50mm or more

OP.1
RGEN

RCX221 SRV
ERR
RDY
Chapter
MOTOR

XM TEMP
E-STOP
3

INSTALLATION
ROB
I/O

50mm 50mm
or more ACIN or more
L
N
RPB
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

17mm
or more

When installing the robot controller, follow the precautions below.

1. Provide a clearance of at least 50mm from the top and side panels of the controller.
2. Do not block the heat-sink on the side panel.
3. Do not block the fan on the bottom of the controller.

c CAUTION
The cooling fan is located on the bottom of the controller. Do not block the
bottom since air is sucked in through the bottom air vents and flows upward.

3-3
 2. Installing the robot controller

2.2 Installation methods

There are three methods for installing the robot controller as explained below.

1) Using the rubber feet (attached as standard parts)

■ Using the rubber feet

Chapter

3
INSTALLATION

OP.1

SRV
RGEN ERR
RDY

21 OP

RCX2
E-ST

P
OR TEM ROB
MOT I/O

XM

ACIN

L OP.2
RPB
N

L1
N1

TY
SAFE
! -STOP
EXT.E-12
PIN11
YM

OM
SD/C

2) Attaching the L-type brackets (supplied as standard accessories) to the front

■ Attaching the L-type brackets to the front

OP.1

SRV
RGEN
ERR
RDY

21 OP

RCX2
E-ST

P
OR TEM ROB
MOT I/O

XM

ACIN

OP.2
L
RPB
N

L1
N1

TY
SAFE
! -STOP
EXT.E-12
PIN11
YM

OM
SD/C

3-4
 2. Installing the robot controller

3) Attaching the L-type brackets (supplied as standard accessories) to the rear

■ Attaching the L-type brackets to the rear

Chapter

RGEN
SRV
ERR
RDY
OP.1
3
21 OP

RCX2
E-ST

INSTALLATION
P
OR TEM ROB
MOT I/O

XM

ACIN

OP.2
L RPB
N
L1
N1

TY
SAFE
! -STOP
EXT.E-12
PIN11
YM

OM
SD/C

L-type bracket part No. (single item)

Standard (for front and rear) KAS-M410H-000

When attaching an L-type bracket to the top and bottom of the controller, use two
same brackets for one controller.

3-5
 3. Connector names

3. Connector names
Connector names, locations and functions are shown below.
■ RCX connectors

OP.1
RGEN

RCX221
SRV
ERR
RDY
Chapter MOTOR E-STOP 2RGEN
:XM
3 8TEMP XM TEMP

ROB
@ROB I/O
I/O
BOP.1
INSTALLATION

ACIN

L
N
ACIN L1
RPB ;RPB
OP.2
N1

:YM
YM
! SAFETY
.SAFETY EXT.E-STOP
PIN11-12

BOP.2
SD/COM
=COM
>SD
FG

w WARNING
TO PREVENT ELECTRICAL SHOCKS, NEVER TOUCH THE RGEN AND AC IN
TERMINALS WHEN POWER IS SUPPLIED TO THE ROBOT CONTROLLER.

Connector name Function

q XM/YM Connectors for servomotor drive.
w ROB I/O Connectors for servomotor feedback and sensor signals.
Input/output connector for safety function such as emergency
e SAFETY stop.
r RPB Connector for RPB.
t COM RS-232C interface connector.
Connectors attached to optional ports. STD. DIO unit is
y OP. 1, 2 installed on OP. 1.
u SD SD memory card slot.
i RGEN Connector for regenerative unit.
o TEMP Connector for regenerative unit thermal sensor.
Terminal block for power cable. Use ring-tongue terminals to
!0 AC IN make connections.
Ground terminal. Provide Class D grounding
!1 FG (100 ohms or less).

3-6
 4. Connecting to the power

4. Connecting to the power

Attach the power connector to the power cable and insert it into the "AC IN" connector on
the front panel of the controller as shown below.

4.1 AC200 to 230V single-phase specifications

c CAUTION
Before connecting the power cable, be sure to check that the power supply
Chapter

3
voltage matches the power specifications of your controller.

INSTALLATION
w WARNING
• TO PREVENT ELECTRICAL SHOCKS OR MALFUNCTIONS CAUSED BY NOISE,
THE GROUND TERMINAL (PROTECTIVE CONDUCTOR) MUST BE
GROUNDED PROPERLY.
• TO PREVENT ELECTRICAL SHOCKS, NEVER TOUCH THE AC IN TERMINALS
WHEN POWER IS SUPPLIED TO THE ROBOT CONTROLLER.

Symbol Wiring Remarks

L 200 to 230V Live Main power supply Wire cross-section
N 200 to 230V Neutral (for motor power) 2.0 sq mm or more

L1 200 to 230V Live Wire cross-section

Power for control
N1 200 to 230V Neutral 1.25 sq mm or more

Class D grounding
Ground Tightening torque 1.4 Nm
(100 ohms or less)

■ Power terminal (200V to 230V specifications) and ground terminal

ACIN

L
N
L1
RPB
Power terminal
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

Ground terminal

3-7
 4. Connecting to the power

4.1.1 AC power connector wiring

● Length of exposed wire lead

Strip the wire to expose 8 to 9 mm of bare lead.

8 to 9 mm

Chapter

3 ● Wiring
Insert the wire lead into the opening in the power connector in either of the following
INSTALLATION

methods, and make sure the wire is securely attached.

■ When using the accessor y lever

Lever

(1) Attach the lever to the (2) Insert the wire lead all the (3) Release the lever to make
upper slot as shown and way into the opening the wiring connection. Pull
press down on it with (round hole) while still gently on the wire to
your finger to depress holding the lever down. make sure it is securely
the internal spring. attached. (Do not pull
strongly on the wire.)

■ When using a flat-blade screwdriver

(1) Insert the screwdriver (2) Insert the wire with (3) Release the screwdriver
into the upper slot to properly exposed lead all to make the wiring
depress the internal the way into the opening connection. Pull gently on
spring. (round hole). the wire to make sure it is
securely attached. (Do not
pull strongly on the wire.)

c CAUTION
Basically only one wire can be inserted into one wire hole.

3-8
 4. Connecting to the power

4.2 Power capacity

The required power capacity depends on the robot model and the number of axes to be
controlled.

c CAUTION
The power supply voltage for the robot controller must always be regulated
within ±10%. If the voltage drops, the robot controller may issue an abnormal Chapter
voltage alarm causing the robot to trigger emergency stop. In contrast,
operation at a voltage higher than specified may damage the robot
3

INSTALLATION
controller or trigger emergency stop due to detecting an excessive motor
power supply voltage.

Prepare a suitable power supply while referring to the tables below.

■ When connected to 2 axes (Cartesian robot or multi-axis robot)

Axis current sensor value

Power capacity (VA)
X-axis Y-axis
05 05 500
10 05 700
20 05 1500
10 10 900
20 10 1700
2000
20 20
2400 (HP)

* Axis current sensor values can be substituted for each other.

3-9
 4. Connecting to the power

4.3 Installing an external leakage breaker

To ensure safety, a leakage breaker must be installed in the power supply connection
section of the robot controller.
Since the robot controller drives the motors by PWM control of IGBT, leakage current
flows at high frequencies. This might cause the external leakage breaker to malfunction.
When installing an external leakage current breaker, it is important to choose the optimum
Chapter
sensitivity current rating (IΔn).
3 (Check the leakage breaker manufacturer's data sheets to select the optimum product
compatible with inverters.)
INSTALLATION

w WARNING
ELECTRICAL SHOCKS, INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR BREAKS
DOWN WHILE THE ROBOT CONTROLLER IS USED WITHOUT INSTALLING A
LEAKAGE BREAKER.

c CAUTION
1. Leak current was measured with a leak tester with a low-pass filter turned
on (100Hz).
• Leak tester: Hioki Electric 3283
2. When using two or more controllers, sum the leakage current of each
controller.
3. Make sure that the controller is securely grounded.
4. Stray capacitance between the cable and FG may vary depending on
the cable installation condition, causing the leakage current to fluctuate.

Leakage current
RCX221 control power supply (L1, N1)
1mA in total
RCX221 main power supply (L, N)

3-10
 4. Connecting to the power

4.4 Installing a circuit protector

To ensure safety, a circuit protector must be installed in the power supply connection
section of the robot controller.
An inrush current, which might be from several to more than 10 times higher than the
rated current, flows at the instant the controller is turned on or the robot motors start to
operate. When installing an external circuit protector for the robot controller, select a
Chapter
circuit protector that provides optimum operating characteristics.
To ensure proper operation, we recommend using a medium to slow response circuit 3
protector with an inertial delay function. (Refer to the circuit protector manufacturer's

INSTALLATION
data sheets for making the selection.)

w WARNING
ELECTRICAL SHOCKS, INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR BREAKS
DOWN WHILE THE ROBOT CONTROLLER IS USED WITHOUT INSTALLING A
CIRCUIT PROTECTOR.

Rated current Operating characteristics

RCX221 control power supply (L1, N1) 3A
Slow type with inertial delay
RCX221 main power supply (L, N) 10A

4.5 Installing a surge absorber

Be sure to install an external surge absorber to protect the equipment from surge noise
caused by lightning strikes.

Recommended Surge Absorber Model Manufacturer

LT-C12G801WS SOSHIN Electric Co., Ltd.

3-11
 4. Connecting to the power

4.6 Installing a current control switch

When controlling the power on/off of the robot controller from an external device, the
main power supply and control power supply paths must be separated from each other.
When controlling the power on/off by emergency stop, the main power supply must be
turned on or off.
The SAFETY connector on the robot controller provides an output signal that indicates
Chapter
whether the main power supply can be turned on.
3 ■ Power supply switch installation example
INSTALLATION

N
AC200 to 230V

L1

N1

Status from SAFETY signal

3-12
 5. Connecting the robot cables

5. Connecting the robot cables

Connect the robot cables to the "XM", "YM" and "ROB I/O" connectors on the front panel
of the controller as shown below.
The robot cable specifications depend on the robot model, so refer to the robot user's
manual for details.

n NOTE
Check robot cables for bent pins, kinks, and other damage before
Chapter

3
connecting.

INSTALLATION
w WARNING
• THE POWER TO THE CONTROLLER MUST BE OFF WHEN CONNECTING THE
ROBOT CABLES.
• KEEP ROBOT CABLES SEPARATE FROM THE ROBOT CONTROLLER POWER
CONNECTION LINES AND OTHER EQUIPMENT POWER LINES.
USING THEM IN CLOSE CONTACT WITH LINES CARRYING POWER MAY
CAUSE MALFUNCTIONS.

c CAUTION
Always securely connect the robot cables. If they are not securely
connected and fail to make good contact, the robot may malfunction.
Before turning on the controller, make sure again that the cables are
securely connected. Also make sure that the robot is properly grounded. For
details on the grounding method, refer to the robot user's manual.

■ Robot cable connection

OP.1

SRV
RGEN ERR
RDY

21
OP
E-ST

RCX2
R TEMP ROB
MOTO I/O

XM

ACIN

OP.2
L RPB
N
L1
N1

FETY
! SA -STOP
EXT.E 12
PIN11-
YM

OM
SD/C

Connected to YAMAHA robot

3-13
 6. Connecting the RPB programming box

6. Connecting the RPB programming box

As shown in the figure below, the RPB should be connected to the RPB connector on the
front panel of the robot controller. If not connecting the RPB, plug a terminator (supplied
as an accessory) into the RPB connector.

c CAUTION
Use caution since the RPB connector must be connected in the correct
Chapter direction. Connecting in the wrong direction may cause malfunctions or
3 breakdowns.

■ RPB programming box connection

INSTALLATION

OP.1

SRV
ERR
RGEN RDY
E-ST
OP
RPB programming box
21
RCX2 P
OR TEM ROB
MOT I/O

XM

ACIN

OP.2
L RPB
N
L1
N1

TY
SAFE
! -STO
P
EXT.E-12
PIN11
YM

OM
SD/C

● Connecting a terminator
If not connecting the RPB, plug the terminator (supplied) into the RPB connector.
■ Connecting a terminator
OP.1
SRV
RGEN

RCX221
SRV N
ERR RGE ERR
RDY RDY

21
MOTOR E-STOP OP
E-ST

RCX2
XM TEMP

ROB
I/O

P
R TEM ROB
I/O
ACIN

L M
N
RPB
L1
OP.2
ACIN
N1

OP.2
L RPB
YM
! SAFETY
N
EXT.E-STOP
PIN11-12
L1
N1
SD/COM

Y
FET
! SA -STO
P
EXT.E-12
PIN 11
M

c CAUTION
If not connecting the RPB, always be sure to plug the terminator (supplied)
into the RPB connector.
Emergency stop in the robot controller is triggered when the RPB is
disconnected from the robot controller, because a B-contact (normally
closed) type emergency stop button is provided on the RPB. Plug the RPB
terminator into the RPB connector to avoid such an emergency stop.

3-14
 7. I/O connections

7. I/O connections
The various input/output (I/O) signals from peripheral equipment can be connected to the
robot controller. Each I/O is set with a number, and the I/O connector to be used depends
on that number.
For more detailed information on inputs and outputs, see Chapter 5, "Parallel I/O interface"
or see Chapter 6, "SAFETY I/O interface". Chapter
The following describes terms used in the manual.
a. NPN specifications
3

INSTALLATION
NPN specifications indicate that a DO (digital output) type NPN open-collector
transistor is used for the I/O port having a transistor and photocoupler, and a
corresponding DI (digital input) is also used. NPN specifications therefore make use
of a sink output and a source input (see drawing below).
■ Connection for NPN specifications

DO output (sink type)

Current

NPN
N.COM

DI input (source type) P.COM

Current

b. PNP specifications
PNP specifications indicate that a DO (digital output) type NPN open emitter
transistor is used for the I/O port having a transistor and photocoupler, and a
corresponding DI (digital input) is also used. PNP specifications therefore make use
of a source output and a sink input (see drawing below).
■ Connection for PNP specifications

DO output (source type)

P.COM

Current
PNP

DI input (sink type)

Current

N.COM

3-15
 8. Connecting a host computer

8. Connecting a host computer

As a standard feature, the robot controller has an RS-232C interface port for data
communication with a host computer. Most computer models having an RS-232C port can
be interfaced to the robot controller, by connecting the COM connector on the front of
the robot controller to the RS-232C port of the computer using a communication cable.
Chapter
For more detailed information on the RS-232C interface, see "RS-232C Interface" in
Chapter 7.
3
n NOTE
INSTALLATION

D-SUB 9P (female) connector is for RS-232C interface.

■ Host computer connection

OP.1
RGEN

RCX221
SRV
ERR
RDY
MOTOR E-STOP

XM TEMP Straight serial conversion adapter (option)

ROB
I/O

ACIN

L
9 pins 9 pins
N
RPB
L1
OP.2
N1

25 pins 25 pins COM port

YM
! SAFETY
or
EXT.E-STOP
PIN11-12

SD/COM

9 pins 9 pins

Communication cable (option) Host computer

COM connector

3-16
 9. Connecting a regenerative unit

9. Connecting a regenerative unit

When a regenerative unit is required, connect it to the RGEN and TEMP connectors on
the front panel of the controller. The regenerative unit is attached to the right side of the
controller prior to shipping.

n NOTE
• The RCX221 may require a regenerative unit depending on the robot Chapter

type to be connected. 3
• Check the cable and connectors for bent pins, kinks, and other damage

INSTALLATION
before connecting.

w WARNING
• THE POWER TO THE CONTROLLER MUST BE OFF WHEN CONNECTING THE
REGENERATIVE UNIT TO THE CONTROLLER.
• TO PREVENT ELECTRICAL SHOCKS, NEVER TOUCH THE RGEN CONNECTOR
WHEN POWER IS SUPPLIED TO THE CONTROLLER.

c CAUTION
Always securely connect the cable. Poor connections or contact failure
may cause malfunctions.

■ Generative unit connection

RGEN
OP.1 RG2
RCX221
MOTOR
SRV
ERR
RDY
E-STOP
Regenerative unit
RGEN connector
RGEN
XM TEMP TEMP connector
ROB
I/O

ACIN

L Supplied cables
N
TEMP
RPB
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

3-17
 9. Connecting a regenerative unit

■ Regenerative unit block diagram

RCX221 Regenerative unit

RGEN

TEMP
Chapter

3 Thermal sensor (normally closed)

Standard cable length: 300mm
INSTALLATION

c CAUTION
(1) The generative unit becomes hot during operation. Do not touch it to
avoid burns.
Also do not install the generative unit near an object that is vulnerable
to heat.
(2) When the thermal sensor is activated, an RGU overheat alarm occurs to
stop the robot. If this happens, change the resistor to a larger one or
adjust the deceleration time and/or speed to reduce the braking load
factor.
(3) Always connect the thermal sensor cable to the TEMP connector. Failure
to do so will cause an overheat alarm.
If the generative unit is not needed, plug the shorting connector into the
TEMP connector.

3-18
 10. Precautions for cable routing and installation

10. Precautions for cable routing and installation

10.1 Wiring methods

Various cables are used to connect the robot controller to peripheral devices. Follow the
precautions below when making cable routing and connections to avoid malfunctions due
to noise.
Chapter

c CAUTION
As a general guide keep the specified cables separated at least 100mm
3

INSTALLATION
from each other.

1) Keep the DIO cables, SAFETY cable, robot cables and power cable separate from each
other. Never bundle them together.

2) Keep the communication cable, robot cables and power cable separate from each
other. Never bundle them together.

3) Keep robot cables separate from the power cable. Never bundle them together.

4) Keep robot cables away from other equipment power lines. Never bundle them
together.

5) The wiring of electromagnetic contactors, induction motors, solenoid valves or brake

solenoids should be separate from the DIO cable, communication cable, SAFETY
cable and robot cable. Never pass them through the same conduit or bundle them
together.

3-19
 10. Precautions for cable routing and installation

Refer to the drawing below when making the cable connections.

■ Cable connection

DIO cable

Chapter

3 RGEN
OP.1

RCX221
SRV
ERR
INSTALLATION

RDY
MOTOR E-STOP

XM TEMP

ROB
I/O
Robot cable

Power cable
ACIN

L
N
RPB
L1
OP.2
N1

YM
! SAFETY
Communication cable
EXT.E-STOP
PIN11-12

SD/COM

SAFETY cable

3-20
 10. Precautions for cable routing and installation

10.2 Precautions for installation

This robot controller is not designed with an explosion-proof, dust-proof or drip-proof
structure. Do not install it in the following locations or environments
(1) where exposed to flammable gases or liquids.
(2) where conductive debris such as metal cutting chips are spread.
(3) where exposed to corrosive gases such as acid gases and alkaline gases. Chapter
(4) where exposed to cutting oil, grinding fluids and machining mist. 3
(5) near sources of electrical noise, such as large inverters, high-power high-frequency

INSTALLATION
generators, large switching devices, and welding machines.

10.3 Methods of preventing malfunctions

To prevent malfunctions due to noise, take into account the following points.
1) Place a noise filter and ferrite core at a point near the robot controller.
Do not bundle the primary wiring and secondary wiring of the noise filter together.

■ Bad example
L
Primary Secondary N Robot
wiring wiring L1 controller
Noise
N1
filter

Ground wire

• Primary wiring and secondary wiring of the noise filter are bundled together.
• Ground wire is bundled with primary wiring of the noise filter.
2) Always attach a surge absorber to the coil of inductive loads (inductive motor,
solenoid valve, brake solenoid and relay) located near the robot controller.

Example of surge absorber

■ For inductive motor

Single- 3-phase
A phase motor
motor

A
A: Surge killer (Okaya Electric Industries CRE-50500, 3CRE-50500 or equivalen

■ For solenoid valve, solenoid

B C

DC type AC type
B: Diode, varistor, CR elements C: Varistor, CR elements

3-21
 11. Checking the robot controller operation

11. Checking the robot controller operation

This section explains how to check the controller operation using a special connector that
comes with the controller and an applicable robot. Before beginning this check, finish
making connections to the following items.
• Power supply (Do not supply power until you actually begin the operation check.)
Chapter • Robot cable

3 • RPB programming box

• Regenerative unit (if needed)
INSTALLATION

• SAFETY connector (supplied)

(Pins 1 and 10 are shorted, pins 2, 3, 11 and 14 are shorted, and pins 12 and 13 are
shorted in the SAFETY connector.)
The connection status of emergency stop input signal is described in detail in Chapter
6, "SAFETY I/O interface".

11.1 Cable connection

■ Cable connection

OP.1

SRV
RGEN ERR
RDY

21
OP

RCX2
E-ST

P
MOT
OR

XM
TEM ROB
I/O
RPB
ACIN

OP.2
L RPB
N
L1
N1

TY
SAFE
! -STO
P
EXT.E-12
PIN11
YM

OM
SD/C

SAFETY connector YAMAHA robot

(supplied)

3-22
 11. Checking the robot controller operation

11.2 Operation check

After connecting the robot and special connector (supplied) to the controller, turn on the
power to the controller and check the following points.

Normal operation
• The "RDY" and "SRV" LED lamps on the front panel of the controller light up. The
"ERR" LED lamp is off. Chapter
• When the "SAFE" mode setting is enabled and the serial I/O is connected, the "SRV"
LED lamp does not light up.
3

INSTALLATION
Abnormal operation
• The "RDY" and "ERR" LED lamps on the front panel of the controller light up.
However, the "RDY" LED flashes if a serious error has occurred.
• Check the error message displayed on the RPB and take corrective action according
to the description given in Chapter 9, "Troubleshooting".

3-23
 MEMO

3-24
Chapter 4 OPERATION

Contents
1. Operation overview 4-1

2. The RCX robot controller 4-2

2.1 Part names 4-2
2.2 Main functions 4-2

3. RPB programming box 4-3

3.1 Part names 4-3
3.2 Main functions 4-3
3.3 Connection to the robot controller 4-4
3.4 Changing the RPB screen settings 4-5

4. Turning power on and off 4-6

5. Operation keys 4-8

5.1 RPB screen 4-8
5.2 Operation key layout 4-9
5.3 Basic key operation 4-10
5.4 Function keys 4-11
5.5 Control keys 4-13
5.6 Data keys 4-15
5.7 Other keys 4-15

6. Emergency stop 4-16

6.1 Emergency stop reset 4-17

7. Mode configuration 4-19

7.1 Basic operation modes 4-19
7.2 Other operation modes 4-20
7.3 Mode hierarchy 4-21

8. "SERVICE" mode 4-26

8.1 Operation device 4-26
8.2 Prohibition of "AUTO" mode operation 4-26
8.3 Hold-to-Run function 4-26
8.4 Limitations on robot operating speed 4-27
9. "AUTO" mode 4-28
9.1 Automatic operation 4-31
9.2 Stopping the program 4-32
9.3 Resetting the program 4-33
9.4 Switching task display 4-35
9.5 Switching the program 4-36
9.6 Changing the automatic movement speed 4-37
9.7 Executing the point trace 4-38
9.7.1 PTP motion mode 4-40
9.7.2 ARCH motion mode 4-41
9.7.3 Linear interpolation motion mode 4-43
9.8 Direct command execution 4-44
9.9 Break point 4-45
9.9.1 Setting break points 4-46
9.9.2 Deleting break points 4-47
9.10 Executing a step 4-48
9.11 Skipping a step 4-48
9.12 Executing the next step 4-49

10. "PROGRAM" mode 4-50

10.1 Scrolling a program listing 4-51
10.2 Program editing 4-52
10.2.1 Cursor movement 4-54
10.2.2 Insert/Overwrite mode switching 4-55
10.2.3 Inserting a line 4-56
10.2.4 Deleting a character 4-56
10.2.5 Deleting a line 4-56
10.2.6 User function key display 4-57
10.2.7 Quitting program editing 4-58
10.2.8 Specifying the copy/cut lines 4-58
10.2.9 Copying the selected lines 4-59
10.2.10 Cutting the selected lines 4-59
10.2.11 Pasting the data 4-60
10.2.12 Backspace 4-60
10.2.13 Line jump 4-61
10.2.14 Searching a character string 4-62
10.3 Directory 4-63
10.3.1 Cursor movement 4-65
10.3.2 Registering a new program name 4-65
10.3.3 Directory information display 4-66
 10.3.4 Copying a program 4-67
10.3.5 Erasing a program 4-68
10.3.6 Renaming a program 4-69
10.3.7 Changing the program attribute 4-70
10.3.8 Displaying object program information 4-71
10.3.9 Creating a sample program automatically 4-72
10.4 Compiling 4-74
10.5 Line jump and character string search 4-75
10.6 Registering user function keys 4-75
10.7 Resetting an error in the selected program 4-79

11. "MANUAL" mode 4-80

11.1 Manual movement 4-82
11.2 Displaying and editing point data 4-85
11.2.1 Point data input and editing 4-87
11.2.1.1 Restoring point data 4-88
11.2.2 Point data input by teaching 4-89
11.2.3 Point data input by direct teaching 4-91
11.2.4 Point jump display 4-92
11.2.5 Copying point data 4-93
11.2.6 Erasing point data 4-95
11.2.7 Point data trace 4-96
11.2.8 Point comment input and editing 4-96
11.2.8.1 Point comment input and editing 4-98
11.2.8.2 Point data input by teaching 4-98
11.2.8.3 Jump to a point comment 4-99
11.2.8.4 Copying a point comment 4-99
11.2.8.5 Erasing point comments 4-101
11.2.8.6 Point comment search 4-102
11.2.9 Point data error reset 4-103
11.3 Displaying, editing and setting pallet definitions 4-104
11.3.1 Editing pallet definitions 4-106
11.3.1.1 Point setting in pallet definition 4-107
11.3.1.1.1 Editing the point in pallet definition 4-108
11.3.1.1.2 Setting the point in pallet definition by teaching 4-108
11.3.2 Pallet definition by teaching 4-109
11.3.3 Copying a pallet definition 4-112
11.3.4 Deleting a pallet definition 4-113
11.4 Changing the manual movement speed 4-114
11.5 Displaying, editing and setting shift coordinates 4-115
11.5.1 Editing shift coordinates 4-117
11.5.1.1 Restoring shift coordinates 4-118
 11.5.2 Editing the shift coordinate range 4-119
11.5.2.1 Restoring a shift coordinate range 4-121
11.5.3 Shift coordinate setting method 1 4-122
11.5.4 Shift coordinate setting method 2 4-125
11.6 Displaying, editing and setting hand definitions 4-128
11.6.1 Editing hand definitions 4-131
11.6.1.1 Restoring hand definitions 4-132
11.6.2 Hand definition setting method 1 4-133
11.7 Changing the display units 4-135
11.8 Return-to-origin 4-136
11.8.1 Return-to-origin operation 4-136
11.8.2 Semi-absolute 4-138
11.8.3 Checking the return-to-origin status 4-140
11.8.4 Return-to-origin on each axis 4-141
11.8.5 Return-to-origin on all axes 4-143
11.9 Setting the standard coordinates 4-145
11.10 Executing the user function keys 4-146

12. "SYSTEM" mode 4-147

12.1 Parameters 4-149
12.1.1 Robot parameters 4-151
12.1.2 Axis parameters 4-155
12.1.3 Other parameters 4-174
12.1.4 Parameters for option boards 4-187
12.1.4.1 Option DIO setting 4-189
12.1.4.2 Serial IO setting 4-190
12.1.4.3 Setting the network parameters 4-195
12.2 Communication parameters 4-197
12.3 OPTION parameters 4-206
12.3.1 Setting the area check output 4-207
12.3.2 Setting the "SERVICE" mode 4-216
12.3.2.1 Saving the "SERVICE" mode parameters 4-222
12.3.2.2 Help display in "SERVICE" mode 4-223
12.3.3 SIO settings 4-224
12.3.4 Double-carrier setting 4-227
12.3.4.1 Before using a double-carrier 4-227
12.3.4.2 Setting the double-carrier parameters 4-228
12.4 Initialization 4-231
12.4.1 Initializing the parameters 4-232
12.4.2 Initializing the memory 4-233
12.4.3 Initializing the communication parameters 4-234
12.4.4 Clock setting 4-235
 12.4.5 System generation 4-236
12.5 Self diagnosis 4-237
12.5.1 Controller check 4-238
12.5.2 Error history display 4-239
12.5.3 Displaying the total operation time 4-240
12.5.4 System error details display 4-241
12.6 Backup processes 4-242
12.6.1 SD memory card 4-243
12.6.1.1 Loading files 4-245
12.6.1.2 Saving files 4-247
12.6.1.3 Deleting files 4-249
12.6.1.4 Previewing files 4-250
12.6.2 Internal flash ROM 4-251
12.6.2.1 Loading files 4-252
12.6.2.2 Saving files 4-254
12.6.2.3 Initializing the files 4-255

13. "MONITOR" mode 4-256

14. "UTILITY" mode 4-259

14.1 Canceling emergency stop; Motor power and servo on/off 4-261
14.1.1 Canceling emergency stop 4-261
14.1.2 Motor power and servo on/off 4-262
14.2 Enabling/disabling the sequence execution flag 4-264
14.3 Resetting the output ports 4-265
14.4 Changing the execution level 4-266
14.4.1 Changing the execution level 4-267
14.4.2 Displaying the Help message 4-268
14.5 Changing the access level (operation level) 4-269
14.5.1 Entering the password 4-270
14.5.2 Changing the access level 4-271
14.5.3 Displaying the Help message 4-272
 1. Operation over view

1. Operation over view

The controller configuration and main functions are shown below.
Set up the equipment as needed according to the operation to be performed.

c CAUTION
The external circuit connected to the robot controller should be prepared by
the user.

n NOTE Chapter

• Refer to Chapter 5 for Parallel I/O interface. 4

• Refer to Chapter 6 for SAFETY I/O interface.

OPERATION
• Refer to Chapter 7 for RS-232C interface.

■ Operation over view

Programming box RPB RPB is used for

• robot operation
• programming
• teaching
• parameter input, etc.

SAFETY I/O interface • Used for input/output of emergency stop

External signal, enable switch signal, etc.
circuit
Parallel I/O interface • Used for basic input/output operations.

Power input AC power input terminal • Used to supply power to the controller.

RS-232C interface • Used for communication through

RS-232C.
Robot Controller

This chapter mainly explains how to operate the RPB programming box.

4-1
 2. The RCX robot controller

2. The RCX robot controller

2.1 Part names

Controller front panel
■ Part names and layout

OP.1
RGEN
SRV SRV @“SRV”LED
Chapter
RCX221
MOTOR
ERR
RDY
E-STOP ERR .“ERR”LED

4 XM TEMP

ROB
RDY ;“RDY”LED
I/O E-STOP =“E-STOP”LED
OPERATION

ACIN

L
:AC IN terminal
N
RPB
L1 BRPB connector
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM
>SD/COM connector

2.2 Main functions

q AC IN terminal : Supplies power to the controller.

w "SRV" LED : Lights up when the motor power turns on and turns off when the
motor power turns off.

e "ERR" LED : Lights up when a serious error occurs.

r "RDY" LED : Lights up when the internal control circuit operates normally.
Flashes immediately after power is turned on or a serious error
occurs.
t "E-STOP" LED : Lights up when the external E-STOPRDY signal turns off.

y RPB connector : Connects to the RPB programming box.

u SD/COM connector : Connects to an external device via the RS-232C interface.

(D-SUB 9-pin female connector)

4-2
 3. RPB programming box

3. RPB programming box

The RPB programming box connects to the robot controller and is used to edit and execute
robot programs.

3.1 Part names

■ Programming box

=Selector switch Chapter

:Display (liquid crystal screen) (RPB-E only)
4

OPERATION
.Emergency stop button

@Sheet key
Rear view

;RPB connector B Enable switch

(RPB-E only)

3.2 Main functions

q Display (liquid crystal screen)
This is a liquid crystal display (LCD) with 40 characters × 8 lines, showing various
types of information. The screen contrast is adjustable.
w Sheet keys
Use these keys to operate the robot or edit programs.
The sheet keys are grouped into three main types: function keys, control keys and
data keys.
e Emergency stop button
Pressing this button during operation immediately stops robot operation. This is a
B-contact (normally closed) type switch.
r RPB connector
Use this connector to connect the RPB programming box to the robot controller.

4-3
 3. RPB programming box

t Selector switch (RPB-E only)

This switch can be used as needed by wiring to the SAFETY connector by the user.
The switch ON/OFF function is disabled if not wired correctly.
y 3-position enable switch (RPB-E only)
This switch is provided for safety. Pressing it to mid-position only allows robot
operation.
This switch does not function unless pins 1 to 4 (for enable switch) of the SAFETY
connector are correctly wired.
Switch is released : Emergency stop.
Chapter
Switch is pressed to mid position : Operation possible
4 Switch is fully pressed : Emergency stop
OPERATION

Configure the external safety circuit so that this enable switch functions as described
above.

3.3 Connection to the robot controller

Connect the RPB programming box to the RPB connector on the front panel of the robot
controller.
Connect the cable securely since poor connections might cause malfunctions or
breakdowns.

n NOTE
Emergency stop is triggered when the RPB is connected to or disconnected
from the robot controller while the power is on. If this happens, emergency
stop must be cancelled to continue operation.

■ Robot controller connection

RGEN
OP.1 RPB
RCX221
SRV
ERR
RDY
MOTOR E-STOP

XM TEMP

ROB
I/O

RPB programming box

ACIN

L
N
RPB
L1
N1
OP.2 RPB connector

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

4-4
 3. RPB programming box

3.4 Changing the RPB screen settings

The RPB screen contrast can be adjusted, and the key-press volume can be changed as
needed.

1) Turn on the power while holding down on the RPB.

The RPB setting screen ("ADJUST" mode) appears.

■ "ADJUST" mode for changing RPB screen settings

Chapter
ＡＤＪＵＳＴ
4

OPERATION
［Ｆ１／Ｆ２］ｂｒｉｇｈｔｎｅｓｓ ６５
［Ｆ３／Ｆ４］ｖｏｌｕｍｅ ７０
［Ｆ５］ ｄｅｆａｕｌｔ
［ＥＳＣ］ ｒｅｂｏｏｔ

2) Use the following procedure to make adjustments.

• To adjust the screen contrast [Setting range: 0% (bright) to 100% (dark)]

1. Press (brightness + 5%) or (brightness – 5%) to make adjustments.

2. Press to end the setting.

The screen returns to the normal menu screen.

• To change the key-press volume [Setting range: 0% (off) to 100% (maximum)]

1. Press (volume + 5%) or (volume – 5%) to make adjustments.

2. Press to end the setting.

The screen returns to the normal menu screen.

• To initialize the settings

1. Press (default).

The screen contrast and key-press volume return to the default settings.
(contract: 65%, key volume: 70%)

4-5
 4. Turning power on and off

4. Turning power on and off

This section explains how to turn power on and off, assuming that the external emergency
stop circuit and other necessary units are connected according to the instructions in
Chapter 3, "Installation", and also that the robot controller operates correctly.

1) Connect the RPB to the RPB connector on the front panel of the robot controller.

Chapter c CAUTION
When connecting the RPB to the robot controller, always use the dedicated
4 cable and connector attached to the RPB. Do not modify this cable or
extend it by using a relay unit, etc.
OPERATION

2) Supply the power to the AC IN terminal on the front panel of the robot controller.
The "PWR" LED lights up and the "MANUAL" mode screen appears. (After the "PWR"
LED is lit, it will take a maximum of three seconds for the controller to operate
normally.)

n NOTE
• If an error message "Parameter destroyed" or "Memory destroyed"
appears on the screen when the robot controller is turned on, be sure to
initialize the parameters and memory in "SYSTEM" mode before
performing return-to-origin. Refer to '12. "SYSTEM" mode' in Chapter 4 for
detailed information.
• If the error message "10.21 : Sys. backup battery low voltage" appears
while the power supply is turned on, replace the lithium battery (typically
4 years service life) in the robot controller.

n NOTE
• After turning off the robot controller, wait at least 5 seconds before
turning the power back on again. If power is turned on again too quickly
after the power was turned off, the controller might not start up correctly.
• Do not turn off the robot controller during program execution. If turned
off, this causes errors in the internal system data and the program may
not restart correctly when the power is again turned on. Always quit or
stop the program before turning off the robot controller.

3) When "SAFE" mode or serial I/O setting is enabled, the controller always starts with
the robot servo turned off. To turn on the robot servo, refer to '14. "UTILITY" mode' in
this chapter.

4-6
 4. Turning power on and off

4) After the power is turned on, return-to-origin must be performed before starting robot
operation.
Then start the robot operation.
Refer to "11.8 Return-to-origin" in this chapter for how to perform return-to-origin.

■ "MANUAL" mode screen

MANUAL 50% [MG][S0H0J]

–––––––––––––––––––––––––––––––––––––––––––––––––––––
Current position
M1= 0 *M2= 0 Chapter

OPERATION
POINT PALLET VEL+ VEL-

4-7
 5. Operation keys

5. Operation keys

5.1 RPB screen

The RPB screen display is composed of 4 areas as shown below.
■ RPB screen example

1st line PROGRAM>EDIT <TEST1 > ...System line

2nd line ...Message line
3rd line 1 '***** TEST1 PROGRAM *****

}
Chapter
4th line 2 '
4 5th line 3 DO2(0)=0 ...Data area
6th line 4 WAIT DI3(4,3,2)=3
OPERATION

7th line 5 MOVE P,P0

8th line SELECT COPY CUT PASTE BS ...Guideline

1) System line (1st line)

The current mode and its hierarchy are displayed on the 1st line at the top left of the
screen. The above screen shows that you are in "PROGRAM > EDIT" mode.
When the mode name is highlighted, it shows that the motor power is turned on.
If the motor power is turned off for example by pressing the emergency stop, the
highlighted display for the mode name is cancelled.
2) Message line (2nd line)
If an error occurs, the error message appears on the 2nd line. Other displays on this
line indicate the following status.

Dashed line Return-to-origin incomplete.

Solid line Return-to-origin complete.
Double-solid line Program is being executed.

"@" mark in 2nd Online command is being executed through RS-232C

column interface. Changes to a dot "." when the command
ends.
"s" mark in 1st column Sequence program is being executed.

3) Data area (3rd to 7th lines)

Various types of data and editing information are displayed on the 3rd to 7th lines.
These lines scroll to the right and left to show up to 80 characters per line.
4) Guideline (Bottom line)
The bottom line (8th line) mainly shows the contents assigned to function keys in
highlighted display.
5) Pointer
The line number and item currently selected are highlighted by the pointer cursor.
Use the cursor (↑/↓) keys to move the pointer up and down.
Use the cursor (←/→) keys to move the pointer right and left.

4-8
 5. Operation keys

5.2 Operation key layout

The operation keys are covered with a plastic sheet to prevent dust. There are 3 main
kinds of keys.
1) Function keys
2) Control keys
3) Data keys

■ Sheet key layout

Chapter

OPERATION
Function key

Data key Control key

4-9
 5. Operation keys

5.3 Basic key operation

1) Each operation key has 3 different functions as shown below.

Use or as needed to enable various functions.

■ Key configuration
Shift 1
Shift 2
Shift 3

Chapter

4 2) There are 3 ways (shift 1 to shift 3) to use each operation key.

Shift Example of key input Input data

OPERATION

+
1 "#"
Shift 1: Use a key while holding down .

2 ","
Shift 2: Use a key without holding down and .

+
3 "@"
Shift 3: Use a key while holding down .

4-10
 5. Operation keys

5.4 Function keys

To operate the RPB, select the menus by pressing the function keys.
The relation of the function keys to their menus in "MANUAL" mode is shown below.

Function key Selected menu

(F1) POINT

(F2) PALLET
Chapter
(F3) ORIGIN
4

OPERATION
(F4) VEL +

(F5) VEL -

+ (F6) SHIFT

+ (F7) HAND

+ (F8) UNITCHG

+ (F9) VEL ++

+ (F10) VEL --

+ (F15) COORDI

4-11
 5. Operation keys

Relation of function keys to menus

■ Function keys and menus

MANUAL 50%[MG][S0H0J]

Current position
M1= 0 *M2= 0

Chapter POINT PALLET ORIGIN VEL+ VEL-

4 n
[F1]
n
[F2]
n
[F3]
n
[F4]
n
[F5]
OPERATION

˜ SHIFT HAND UNITCHG VEL++ VEL—

n n n n n
[F6] [F7] [F8] [F9] [F10] ...UPPER

™ COORDI

n n n n n
[F11] [F12] [F13] [F14] [F15] ...LOWER

Function keys to (sheet keys on the RPB) correspond to the function key

menus on the screen from the left.

Pressing switches to function keys to , and pressing switches to

function keys to .

n NOTE

From hereon, when to are mentioned, it means to press

to while holding down on the side of the RPB.

Likewise, when to are mentioned, it means to press to

while holding down on the side of the RPB.

4-12
 5. Operation keys

5.5 Control keys

There are 6 kinds of control keys: (1) Mode selection keys, (2) Extended function keys,
(3) Cursor keys, (4) Page keys, (5) Edit keys, (6) Jog keys.
The functions of each key are explained below.

(1) Mode selection keys

: Displays the mode menu (highest hierarchy).

: Selects the robot I/O monitor screen. Chapter

: Selects "UTILITY" mode.

4

OPERATION
(2) Extended function keys

: Calls up the function key assigned by the user.

: Switches robots.

: Returns to the previous screen (upper hierarchy).

(3) Cursor keys

: Moves the cursor up.

Moves the pointer (highlighted line number display) up when not editing on the screen.

: Moves the cursor down.

Moves the pointer (highlighted line number display) down when not editing on the screen.

: Moves the cursor to the left. (Screen scrolls to the right when the cursor reaches the left end.)

Scrolls the screen to the right when not edited.

: Moves the cursor to the right. (Screen scrolls to the left when the cursor reaches the right end.)

Scrolls the screen to the left when not edited.

(4) Page keys

: Returns to the previous screen.

: Switches to the next screen.

: Switches to the left-hand screen.

: Switches to the right-hand screen.

4-13
 5. Operation keys

(5) Edit keys

These keys are enabled when the editing cursor is displayed.

: Toggles between "Insert" and "Overwrite" modes.

The cursor "_" appears in "Overwrite" mode and " ■ " appears in "Insert" mode.

: Deletes one character at the cursor position.

: Inserts one line at the cursor position.

Chapter : Deletes one line at the cursor position.

4 (6) Jog keys

OPERATION

: Starts operation.
This key is valid only during "AUTO" mode or point trace.

: Stops operation.

After has been pressed in "AUTO" mode, is valid during program

execution, direct command execution, point trace execution and return-to-origin
or absolute search operation.
: Moves axis 1 in the + direction or the robot in the +X direction on the XY coordinates.

: Moves axis 1 in the – direction or the robot in the -X direction on the XY coordinates.

: Moves axis 2 in the + direction or the robot in the +Y direction on the XY coordinates.

: Moves axis 2 in the - direction or the robot in the -Y direction on the XY coordinates.

: Moves axis 3 in the + direction.

: Moves axis 3 in the - direction.

: Moves axis 4 in the + direction.

: Moves axis 4 in the - direction.

: Moves axis 5 in the + direction.

: Moves axis 5 in the - direction.

: Moves axis 6 in the + direction.

: Moves axis 6 in the - direction.

n NOTE
The to keys are hereafter called the Jog keys.
The Jog keys are enabled in "MANUAL" mode.

4-14
 5. Operation keys

5.6 Data keys

The data keys are used for data input, programming and data editing.
There are 2 kinds of data keys.

(1) Alphanumeric keys

to : Enters numbers.

to : Enters alphabetic characters.

Chapter
: Inserts spaces.
4
(2) Symbol keys

OPERATION
5.7 Other keys
(1) Enter key

: Pressing this key executes a direct command when in "AUTO > DIRECT"

mode.
When the cursor is displayed, pressing this key completes the data input on
the cursor line.

(2) Shift keys

: Selects shift 1 for key operation.

: Selects shift 3 for key operation.

4-15
 6. Emergency stop

6. Emergency stop
If for some reason you want to stop the robot immediately during operation, press the
emergency stop button on the RPB. Pressing the emergency stop button cuts off power to
the robot to stop operation. A message appears on the RPB screen as shown below. The
highlighted display for the mode name is cancelled during emergency stop.

MANUAL 50%[MG][S0H0J]
———— 12.1:Emg.stop on —————————————————
Current position
Chapter
*M1= 0 *M2= 0
4
OPERATION

POINT PALLET VEL+ VEL-

■ Emergency stop
RPB programming box

Emergency stop
button

n NOTE
Besides the emergency stop button on the RPB, an external dedicated input
(emergency stop) terminal is provided in the SAFETY connector. Refer to
Chapter 6 for details.

4-16
 6. Emergency stop

6.1 Emergency stop reset

To return to normal operation after emergency stop, emergency stop must be reset.

n NOTE
• Emergency stop can also be triggered by an emergency stop input from
the SAFETY I/O interface. To cancel this emergency stop, refer to Chapter 6.
• Origin positions are retained even when emergency stop is triggered, so
the robot can be operated the same as before emergency stop just by
canceling emergency stop without reperforming return-to-origin.
Chapter

1) Cancel the emergency stop button on the RPB. 4

Emergency stop is released by turning the emergency stop button clockwise.

OPERATION
2) Press while holding down .

The screen switches to "UTILITY" mode and the message "Cancel emergency flag?"
appears.

■ Emergency stop reset (1)

Cancel emergency flag? YES NO

3) Press (YES).

The following screen appears.

■ Emergency stop reset (2)

UTILITY

Date,Time : 06/06/01,18:59:37 (32oC)

motor power: Off
Sequence : DISABLE
Armtype :

MOTOR SEQUENC ARMTYPE RST.DO

At this time, pressing returns to the previous mode with the motor power still

turned off. To turn on the motor power, continue the following operations.

4-17
 6. Emergency stop

4) Press (MOTOR).

The following screen appears.

■ "UTILITY>MOTOR" mode (1)

UTILITY>MOTOR

motor power: Off

D1=M1: Brake D5=M5: no axis
D2=M2: Brake D6=M6: no axis
Chapter
D3=M3: no axis
4 D4=M4: no axis
On Off
OPERATION

5) Press (On) to turn on the motor power. At the same time, the servomotor sets

to HOLD status.
The mode name "UTILITY" on the system line (1st line) is highlighted.

n NOTE
If the motor power is turned off due to a serious error, the motor power will
not turn on with "UTILITY > MOTOR" mode. In this case, the robot controller
must be turned back on again.

■ "UTILITY>MOTOR" mode (2)

UTILITY>MOTOR

motor power: On
D1=M1: Servo D5=M5: no axis
D2=M2: Servo D6=M6: no axis
D3=M3: no axis
D4=M4: no axis
On Off

6) Press to return to the previous mode.

4-18
 7. Mode configuration

7. Mode configuration
The robot operation mode consists of the following modes.

Basic operation modes

“SERVICE” mode

“AUTO” “MANUAL” “DI/DO

“PROGRAM” “SYSTEM” “UTILITY”
mode mode monitor”
mode mode
mode
mode Chapter

OPERATION
"SERVICE" mode can be used only when "SAFE" mode is enabled.

7.1 Basic operation modes

Robot operation is classified into 5 basic modes as follows.
(1) "SERVICE" mode (only when "SAFE" mode is enabled)
(2) "AUTO" mode
(3) "PROGRAM" mode
(4) "MANUAL" mode
(5) "SYSTEM" mode
Among these modes, "SERVICE" mode can be selected with DI02 ("SERVICE" mode input)
and other modes with the function keys.

(1) "SERVICE" mode

"SERVICE" mode is used to perform maintenance work using the RPB safely within
the safety enclosure of the robot system. This mode includes "AUTO" and "MANUAL"
modes in the basic operation mode, and can be selected by turning DI02 ("SERVICE"
mode input) OFF. The following functions are selected in "SERVICE" mode.
1. Robot is controlled only by RPB operation.
2. Automatic operation is prohibited.
3. Robot operating speed is set to below 3% of the maximum speed.
4. Robot operation is possible only by hold-to-run control.

c CAUTION
The "SYSTEM" mode is used to select the "SERVICE" mode functions. (Refer to
'12.3.2 Setting the "SERVICE" mode' in this chapter.)

4-19
 7. Mode configuration

(2) "AUTO" mode

Select this mode to execute robot programs. Robot programs can be executed only in
this mode. Operable tasks in this mode differ depending on the parameter settings in
"SERVICE" mode.

(3) "PROGRAM" mode

Select this mode to create and edit robot programs. Robot programs can be edited on
the RPB screen.

(4) "MANUAL" mode

Chapter
Select this mode to move the robot manually or perform point teaching. Return-to-
4 origin or absolute search operation and manual movement can be executed only in
OPERATION

this mode.
Operable tasks in this mode differ depending on the parameter settings in "SERVICE"
mode.

n NOTE
• Return-to-origin can be performed only in "MANUAL" mode.
• "AUTO" mode may be selected depending on the execution level when
the robot controller is turned on.

(5) "SYSTEM" mode

Select this mode to perform maintenance and adjustment of the YAMAHA robots such
as robot parameter and axis parameter settings.

7.2 Other operation modes

Other than the basic operation modes the following two modes are also available.
(1) "DI/DO Monitor" mode
(2) "UTILITY" mode
These modes can be selected with the control keys.

(1) "DI/DO Monitor" mode

Use this mode to monitor the robot controller I/O status or task status on the RPB

screen. Use to select this mode.

(2) "UTILITY" mode

Use this mode to perform maintenance of the YAMAHA robots such as recovery from

emergency stop and motor servo on/off switching. Use to select this mode.

4-20
 7. Mode configuration

7.3 Mode hierarchy

Robot operation is mainly performed by pressing the function keys to select the desired
mode from the menu. (Refer to the "Mode hierarchy diagram" described later.)
When the controller is turned on, the "MANUAL" mode menu first appears on the screen.

Pressing displays the 4 basic modes on the guideline (bottom line) of the screen as

shown below.
■ Mode menu
Chapter
MANUAL 50% [MG][S0H0J]
4
Current position

OPERATION
*M1= 0 *M2= 0

AUTO PROGRAM MANUAL SYSTEM

These are basic modes at the highest hierarchy on the menu. The display position for each

mode name corresponds to each function key of , , and from

the left.

For example, when (AUTO) is pressed, "AUTO" mode is entered.

■ "AUTO" mode menu

AUTO [T1] 100% <TEST1 >

1 ’***** TEST1 PROGRAM *****

2 ’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-

When "AUTO" mode is entered, the submenu for the "AUTO" mode operation appears on
the guideline.

The submenu also corresponds to the function keys from to . (See the figure

titled "Function switching" on the next page.)

4-21
 7. Mode configuration

Functions are switched with the and shift keys. The menu display changes

while this shift key is pressed.

■ Shift keys

■ Function switching

Chapter RESET TASK DIR VEL+ VEL-

4 n
[F1]
n
[F2]
n
[F3]
n
[F4]
n
[F5]
OPERATION

˜ POINT .
DIRECT BREAK VEL++ VEL--

n n n n n
[F6] [F7] [F8] [F9] [F10] ...when is pressed.

™ STEP SKIP NEXT

n n n
[F11] [F12] [F13] ........................................when is pressed.

The " " mark at the left end on the guideline shows that is pressed, while the " "

mark shows that is pressed.

Some submenus have other menus for accessing the next hierarchical mode.

For example, pressing in "AUTO" mode while holding down , switches to

"BREAK" mode. Submenus relating to "BREAK" mode then appear.

As explained above, operation can proceed through each hierarchy by selecting the menu

items with the function keys. To return to the previous mode hierarchy, press .

To return to a highest mode press . The basic modes are then displayed on the

guideline, so select the desired basic mode by pressing the corresponding function key.

4-22
 7. Mode configuration

n NOTE

• When the data is being edited such as in "EDIT" mode, is

inoperative. After pressing to return the mode hierarchy, press

• From here in this user's manual the mode hierarchy status is stated in the
order as shown below.

First (highest) hierarchy > Second hierarchy > Third hierarchy > Fourth hierarchy
Chapter
Example: PROGRAM > DIR>ERASE
4
The above example shows that the current mode is entered by selecting

OPERATION
(PROGRAM) from the first hierarchy menu, (DIR) from the

second hierarchy menu and (ERASE) from the third hierarchy

menu.

See the figure titled "Mode hierarchy diagram" on the next page for the entire mode
hierarchy.

4-23
 7. Mode configuration

■ Mode hierarchy diagram

F1 AUTO F1 RESET F1 PTP/ARCH/LINEAR
F2 TASK F2 ARCHPOS (when F1 is ARCH)
F3 DIR F3 JUMP
F4 VEL+ F4 VEL+
F5 VEL- F5 VEL-
F6 A.AXIS+ (when F1 is ARCH)
F7 A.AXIS- (when F1 is ARCH)
F8 UNITCHG
F6 POINT F9 VEL++
F7 DIRECT F10 VEL--
F11 MODIFY
F14 AXISk
F15 AXISm
Chapter F8 BREAK F1 SET

4 F9 VEL++
F10 VEL--
F11 STEP
F2 CANCEL
F3 SEARCH
F6 JUMP
F12 SKIP F7 FIND
OPERATION

F13 NEXT F8 FIND+

F9 FIND-
F2 PROGRAM F1 EDIT F1 SELECT
F2 COPY
F3 CUT
F4 PASTE
F5 BS
F6 JUMP
F7 FIND
F8 FIND+
F9 FIND-
F3 DIR F1 NEW
F5 INFO
F5 COMPILE F6 COPY
F6 JUMP F7 ERASE
F7 FIND F8 RENAME
F8 FIND+ F10 ATTRBT
F9 FIND- F11 OBJECT
F13 ERR.RST F15 EXAMPLE
F3 MANUAL F1 POINT F1 EDIT F1 UNDO
F2 TEACH F3 JUMP
F3 JUMP
F4 VEL+ F1 EDIT
F5 VEL- F2 TEACH
F6 COPY F3 JUMP
F7 ERASE F4 VEL+
F8 UNITCHG F5 VEL-
F9 VEL++ F6 COPY
F10 VEL-- F7 ERASE
F11 TRACE F8 UNITCHG
F12 COMMENT F9 VEL++
F13 ERR.RST F10 VEL--
F14 AXISk F11 FIND
F15 AXISm F12 FIND+
F13 FIND-
F2 PALLET F1 EDIT F1 POINT F1 EDIT
F2 METHOD F2 TEACH
F4 VEL+ F4 VEL+
F5 VEL- F5 VEL-
F6 COPY F8 UNITCHG
F7 ERASE F9 VEL++
F9 VEL++ F10 VEL--
F10 VEL--
F15 PASSWD
F3 ORIGIN F1 M1
F4 VEL+ F2 M2
F5 VEL- (F3 M3)
(F4 M4)
(F5 M5)
(F6 M6)
F11 ALL

4-24
 7. Mode configuration

F3 MANUAL F6 SHIFT F1 EDIT

F2 RANGE F4 VEL+
F4 VEL+ F5 VEL-
F5 VEL- F8 UNITCHG
F6 METHOD1 F9 VEL++
F10 VEL--
F4 VEL+
F7 METHOD2 F5 VEL-
F9 VEL++ F8 UNITCHG
F10 VEL-- F9 VEL++
F7 HAND F1 EDIT F10 VEL--
F8 UNITCHG F4 VEL+
F9 VEL++ F5 VEL-
F10 VEL-- F6 METHOD1 F4 VEL+
F8 UNITCHG F5 VEL- Chapter
F9 VEL++ F8 UNITCHG

F15 COORDI
F10 VEL--
F1 4POINTS
F9 VEL++
F10 VEL-- 4
F2 3POINTS

OPERATION
F5 SIMPLE
F4 SYSTEM F1 PARAM F1 ROBOT F1 EDIT
F2 JUMP
F2 AXIS F1 EDIT
F2 JUMP
F3 OTHER F1 EDIT
F2 JUMP
F5 OP. BRD
F10 PASSWRD
F2 CMU F1 EDIT
F2 JUMP
F3 OPTION F1 POS.OUT F1 EDIT
F2 JUMP
F2 SERVICE F1 EDIT
F2 JUMP
F4 SAVE
F5 HELP
F3 SIO F1 EDIT
F4 W.CAREER F2 JUMP

F4 INIT F1 PARAM F1 PROGRAM

F2 MEMORY F2 POINT
F3 SHIFT
F4 HAND
F5 ALL
F3 CMU F6 PALETTE
F7 COMMENT
F4 CLOCK F1 DATE
F2 TIME
F6 GENERAT F1 ROBOT
F10 PASSWRD F2 AXIS
F5 DIAGNOS F1 CHECK F4 CLEAR
F2 HISTORY F5 HELP
F3 BATTERY F6 AUX
F5 TOTAL F7 DUAL
F15 SYS. CHK F15 LAYOUT
F9 BACKUP F4 SDCARD
F15 DRV.UP F5 FROM
UTILITY 1 F1 MOTOR
F2 SEQUENC
F3 ARMTYPE
F5 RST.DO
F9 DSW.HLP
F10 DIO.HLP
UTILITY 2 F1 EXECUTE
F2 ACCESS
F5 RST.DO
F9 DSW.HLP
DISPLAY F10 DIO.HLP

4-25
 8. "SERVICE" mode

8. "SERVICE" mode
"SERVICE" mode can be used only when "SAFE" mode is enabled.
Use "SERVICE" mode to perform safe maintenance work with the RPB while within the
safety enclosure of the robot system. This mode can be selected by turning DI02 ("SERVICE"
mode input) OFF.

c CAUTION
• Use "SYSTEM" mode to select the functions in "SERVICE" mode. (Refer to
Chapter '12.3.2 Setting the "SERVICE" mode' in this chapter.)
4 • Basically, RPB operation is only allowed in "SERVICE" mode, so application
software (VIP/WIN, etc.) that executes on-line commands through the
OPERATION

RS-232C interface cannot be used, except for cases where other operating
devices are enabled by on-line commands made via the RS-232C.

8.1 Operation device

If operation from a device other than the RPB is permitted, the operator using the RPB may
be exposed to hazardous situations. For example:
1. When a dedicated input start signal is turned ON without the RPB operator
knowing about it.
2. When an external device runs a robot operation command through the RS-232C
interface without the RPB operator knowing about it.
To prevent this kind of accident in "SERVICE" mode, only the RPB can be used to operate
the robot and other operation devices are disabled. However, you may add other operation
devices provided you take responsibility for your own safety.

8.2 Prohibition of "AUTO" mode operation

A major purpose for robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a robot program is executed
in "AUTO" mode during maintenance work, the robot might move on its own with no
warning to the operator. Therefore, "AUTO" mode operation is basically prohibited in
"SERVICE" mode. However, if robot movement in a program must be checked while the
operator stays within the safety enclosure, then "AUTO" mode can be selected provided
you take responsibility for your own safety.

8.3 Hold-to-Run function

If the robot operator using the RPB should trip or fall during maintenance work, he (she)
might be exposed to a dangerous situation. To prevent this kind of accident, the Hold-
to-Run function allows the robot to move only during the time that the RPB key is kept
pressed (like a deadman switch.). However, the Hold-to-Run function can be turned OFF
provided you take responsibility for your own safety.

4-26
 8. "SERVICE" mode

8.4 Limitations on robot operating speed

A major purpose of robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a dangerous situation should
occur, the operator can easily avoid it if the robot operating speed is maintained within
250mm/sec.
The robot operating speed in "SERVICE" mode is therefore basically limited to below 3%
of maximum speed. However, if the robot operating speed has to be set higher than the
safety range while the operator is still within the safety enclosure, this speed limitation
can be cancelled provided you take responsibility for your own safety. Chapter

4
c CAUTION

OPERATION
When operating the robot without using the safety functions explained in
sections 8.2, 8.3 and 8.4 while the operator is still within the safety enclosure,
it is important to take even more stringent safety precautions.

4-27
 9. "AUTO" mode

9. "AUTO" mode
"AUTO" mode executes robot language programs and related tasks.
The initial "AUTO" mode screen is shown below.
■ "AUTO" mode
.Automatic movement speed
:Mode hierarchy @Task display ;Program name
=Message line

BOnline command
Chapter AUTO [T1] 100% <TEST1 >
execution mark
4 >Sequence
program
s@ —————————————————————————————————————
1 ’***** TEST1 PROGRAM *****

execution mark 2 START *SUBTASK,T2

OPERATION

3 DO2(0)=0
2Pointer display 4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
8Guideline RESET TASK DIR VEL+ VEL-

q Mode hierarchy
Shows the current mode hierarchy. When the highest mode ("AUTO" in this case) is
not highlighted, it means the servomotor power is off. When highlighted, it means the
servomotor power is on.

w Task display
Shows the task number for the program listing being displayed.

e Automatic movement speed

Robot movement speed is displayed during automatic operation.

r Program name
Shows the program name currently selected.

t Message line
If an error occurs, the error message appears here. A dashed line means return-to-
origin is incomplete. A solid line means return-to-origin return is complete. A double-
solid line means automatic operation is in progress.

y Online command execution mark

When an online command is being executed, an "@" mark is displayed in the second
column on the second line. This mark changes to a dot "." when the online command
ends.

u Sequence program execution mark

When a sequence program is being executed, an "s" mark is displayed in the first
column on the second line.

4-28
 9. "AUTO" mode

i Pointer display
The program line number to be executed next is shown highlighted in the program
listing.

o Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.

Upon entering "AUTO" mode, the specified program is compiled and an object file is
created to execute automatic operation. Chapter

When the same object file already exists, no compiling is executed. 4

If an error is found in a command statement during compiling, the error message and

OPERATION
the program listing after the command line where the error occurred are displayed.
If the compiling ends normally, the program listing is displayed from the top
command line.

n NOTE
Usually, return-to-origin must be completed before starting "AUTO" mode. If
return-to-origin is not complete, the message "Origin incomplete" appears.
In such a case, refer to "11.8 Return-to-origin" later in this chapter.
However, the program can be executed depending on the command
execution level even if return-to-origin has not been completed. For further
information, see the execution level explained in section "14.4 Changing the
execution level" later in this chapter.

4-29
 9. "AUTO" mode

Valid keys and submenu descriptions in "AUTO" mode are shown below.

Valid keys Menu Function

Cursor key
Scrolls the program listing.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 RESET Resets the program.
F2 TASK Changes the program listing according to each task.

Chapter F3 DIR Changes the current program.

4 F4 VEL+ Increases automatic movement speed for the selected

robot group in steps.(1→5→20→50→100%)
Decreases automatic movement speed for the selected
OPERATION

F5 VEL- robot group in steps.(100→50→20→5→1%)

F6 POINT Moves to the specified point number position.
F7 DIRECT Executes a command statement written on one line.
F8 BREAK Sets a break point.
Increases automatic movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases automatic movement speed for the selected
F10 VEL-- robot group in 1% decrements.
F11 STEP Executes one line of the command statement.
Advances to the next line without executing the current
F12 SKIP command statement.
Executes one line of the command statement. (Sub-
F13 NEXT routines are executed at a time.)
ROBOT
Switches the selected robot group.
( + )

4-30
 9. "AUTO" mode

9.1 Automatic operation

Program commands are executed continuously during automatic operation. Before starting
automatic operation, make sure that return-to-origin, program debugging, I/O signal
connections and point data teaching have already been completed. When the execution
level is set to other than level 0, automatic operation is possible even if return-to-origin is
incomplete.

n NOTE
Regardless of the execution level, some commands such as the robot
Chapter
movement commands cannot be executed if return-to-origin is incomplete.
When the execution level 5, 6 or 8 is selected, the program will always be 4
executed from the beginning.

OPERATION
[Procedure]

Press in "AUTO" mode.

Command statements are executed in order from the line number where the pointer is
displayed.
The program listing disappears during automatic operation and the message "Running"
appears on the message line (the second line).
The message line changes from a single solid line to a double-solid line when automatic
operation starts.

w WARNING

• UPON PRESSING , THE ROBOT STARTS TO MOVE. TO AVOID DANGER,

DO NOT ENTER THE ROBOT MOVEMENT RANGE.

• WHEN CHANGING THE AUTOMATIC MOVEMENT SPEED DURING AUTOMATIC
OPERATION, CHECK SAFETY FOR SURROUNDING AREAS.

■ Automatic operation in progress

AUTO [T1] 100% <TEST1 >

0.2:Running

RESET TASK DIR VEL+ VEL-

4-31
 9. "AUTO" mode

The following keys are enabled during automatic operation.

Valid keys Menu Function

Increases automatic movement speed for the selected
F9 VEL++ robot group in 5% increments.
Decreases automatic movement speed for the selected
F10 VEL-- robot group in 5% decrements.
ROBOT
Switches the selected robot group.
( + )

Chapter

4 n NOTE
When automatic movement speed was changed during automatic
OPERATION

operation, it is enabled after the automatic operation is complete.

9.2 Stopping the program

[Procedure]

1) Press during program execution to stop the program.

c CAUTION
Do not turn off the robot controller during program execution. If turned off,
an error may occur in the internal system data and the program might not
restart normally when the power is again turned on. Always be sure to
terminate or stop the program before turning the power off.

■ Program stop screen

AUTO [T1] 100% <TEST1 >

RESET TASK DIR VEL+ VEL-

2) Press to display the program listing.

The pointer indicates the next command line number to be executed in the program.

3) Press to re-execute the program.

4-32
 9. "AUTO" mode

9.3 Resetting the program

To restart a program stopped with from the beginning, reset the program.

n NOTE
The output is also reset when the program is reset. However, the output will
not be reset when a sequence program is being executed without selecting
"RST.DO" in the sequence execution "ENABLE/DISABLE" flag setting.

Chapter
[Procedure]
■ Program reset (1)
4

OPERATION
AUTO [T1] 100% <TEST1 >

1 ’***** TEST1 PROGRAM *****

2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK DIR VEL+ VEL-

• When the program "_SELECT" does not exist:

1) Press (RESET) in "AUTO" mode.

2) Press (YES).

The program listing appears from the first line. (A pointer also appears on the first line
number of the program.)

■ Program reset (2)

AUTO [T1] 50% <TEST1 >

1 *ST:
2 MOVE P, P0
3 MOVE P, P1
4 MOVE P, P2
5 GOTO *ST
Reset program OK? YES NO

4-33
 9. "AUTO" mode

• When the program "_SELECT" exists:

1) Press (RESET) in "AUTO" mode.

The following message appears on the guideline when "_SELECT" exists among

the programs. Press (YES) to reset the selected program by switching it to

"_SELECT", or press (NO) to just reset the current program.

■ Program reset (3)

Chapter

4 AUTO [T1] 50% <TEST1 >

OPERATION

1 *ST:
2 MOVE P, P0
3 MOVE P, P1
4 MOVE P, P2
5 GOTO *ST
Change to _SELECT OK? YES NO

2) When (NO) is pressed in Step 1), the following message then appears on the

guideline.

Press (YES) to reset the current program, or press (NO) to cancel the

reset.

■ Program reset (4)

AUTO [T1] 50% <TEST1 >

1 *ST:
2 MOVE P, P0
3 MOVE P, P1
4 MOVE P, P2
5 GOTO *ST
Reset program OK? YES NO

n NOTE
The output is also reset when the program is reset. However, the output will
not be reset when a sequence program is being executed without selecting
"RST.DO" in the sequencer execution "ENABLE/DISABLE" flag setting.

4-34
 9. "AUTO" mode

9.4 Switching task display

When a program executing multiple tasks is stopped, the program listing for each task can
be displayed.

[Procedure]

1) Press during program execution to stop the program.

2) Press to display the program listing. Chapter

The pointer indicates the next command line number to be executed in the current
4

OPERATION
task.

■ Main task (T1) display

AUTO [T1] 100% <TEST1 >

5 MOVE P,P0
6 *L1:
7 MOVE P,P1
8 MOVE P,P2
9 GOTO *L1
RESET TASK DIR VEL+ VEL-

3) Press (TASK) to select a lower-order task program.

Each time (TASK) is pressed, lower-order task programs (T2→T3→…T8) are

displayed.
At this time, the pointer indicates the next command line number to be executed in
each task.

■ Sub task (T2 to T8) display

AUTO [T2] 100% <TEST1 >

11 WAIT DI2(0)=1
12 DO2(1)=1
13 DELAY 1000
14 DO2(1)=0
15 WAIT DI2(0)=0
RESET TASK DIR VEL+ VEL-

4-35
 9. "AUTO" mode

9.5 Switching the program

If the program displayed on the screen is not the one you want to execute, it can be
switched to another program.

n NOTE
The output is also reset when the program is reset. However, the output will
not be reset when a sequence program is being executed without selecting
"RST.DO" in the sequencer execution "ENABLE/DISABLE" flag setting.

Chapter

4 [Procedure]

1) Press (DIR) in "AUTO" mode.

OPERATION

Program information appears. A pointer is displayed on the line number of the

program which is currently selected.

2) Use the cursor (↑/↓) keys to select the desired program and press .

The selected program will automatically be compiled and an object program file
made.

■ Switching programs

AUTO >DIR [T1] 100% <TEST2 >

No. NAME LINE BYTE RW/RO

1 TEST1 13 125 RW
2 TEST2 50 608 RW
3 PARTS100 38 411 RW
4 TEST3 7 78 RW

4-36
 9. "AUTO" mode

9.6 Changing the automatic movement speed

Automatic movement speed for the selected robot group can be set within the range of 1
to 100%.

n NOTE
Automatic movement speeds once set here are stored in the internal
memory even when the power is turned off.
If the speed is set with the program command statement (SPEED statement),
the actual robot operating speed will be the product of that speed and the
Chapter
automatic movement speed.
For example, if the automatic movement speed is 80% and the speed 4
specified by the SPEED statement is 50%, then the robot movement speed is

OPERATION
set as follows.
Operating speed = 80%×50% = 40%

[Procedure]

1) Press (VEL+) or (VEL-) in "AUTO" mode to change the speed in steps.

Each time (VEL+) or (VEL-) is pressed, the speed changes in steps of

1← →5← →20← →50← →100%.

The maximum motor speed is set at 100%.

2) Press (VEL++) or (VEL--) to change the speed gradually.

Each time (VEL++) or (VEL--) is pressed, the speed changes in units of

1%.
Holding down the key changes the speed continuously.

4-37
 9. "AUTO" mode

9.7 Executing the point trace

Point data positions can be checked by actually moving the robot arm in the following
modes.
• PTP motion mode
• Arch motion mode
• Linear interpolation motion mode (Linear interpolation motion at the sub robot is
not supported in controller versions prior to Ver. 9.11.)

n
Chapter NOTE
4 Point trace cannot be performed unless return-to-origin is complete.
OPERATION

[Procedure]

1) Press (POINT) in "AUTO" mode.

The screen switches to "AUTO>POINT" mode and the point data appears as shown
below.

■ Point trace screen

AUTO >POINT 100% [MG][S0H0J]

————————————x———————y———————z———————r———
P3 = 150.50 64.53 0.00 0.00
P4 = 96.65 -224.89 0.00 0.00
P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
PTP JUMP VEL+ VEL-

4-38
 9. "AUTO" mode

Valid keys and submenu descriptions in "AUTO > POINT" mode are shown below.

Valid keys Menu Function

Cursor key
Switches the point number and scrolls the screen.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
PTP/
F1 ARCH/ Switches the trace movement mode.
LINEAR
F2 A.POS Specifies the arch position during ARCH motion mode. Chapter
F3 JUMP Displays the specified point data.
Increases automatic movement speed for the selected
4
F4 VEL+

OPERATION
robot group in steps.(1→5→20→50→100%)
Decreases automatic movement speed for the selected
F5 VEL- robot group in steps.(100→50→20→5→1%)
Moves the arch axis to the right during ARCH motion
F6 A.AXIS+ mode.
Moves the arch axis to the left during ARCH motion
F7 A.AXIS- mode.

UNITCHG Switches the units for indicating the current position to

F8 "mm/pulse".
Increases automatic movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases automatic movement speed for the selected
F10 VEL-- robot group in 1% decrements.
Switches to the point data editing screen in "MANUAL"
F11 MODIFY mode.
F14 AXIS← Moves the cursor to the left to select another axis.
F15 AXIS→ Moves the cursor to the right to select another axis.
ROBOT
Switches the selected robot group.
( + )

(MODIFY)

Pressing (MODIFY) switches to the point data edit screen and allows you to

correct the point data while checking the point trace position.

To return to the trace mode, press (TRACE) again.

4-39
 9. "AUTO" mode

9.7.1 PTP motion mode

[Procedure]

1) Press in "AUTO>POINT" mode to display a screen like that shown below, then

press (PTP) to select the PTP motion mode.

■ Point trace screen in PTP motion mode (1)

Chapter AUTO >POINT 100% [MG][S0H0J]

4 ————————————x———————y———————z———————r———
P3 = 150.50 64.53 0.00 0.00
OPERATION

P4 = 96.65 -224.89 0.00 0.00

P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
PTP ARCH LINEAR

2) Use the cursor (↑/↓) keys to select the point number to be checked.

■ Point trace screen in PTP motion mode (2)

AUTO >POINT 100% [MG][S0H0J]

————————————x———————y———————z———————r————
P3 = 150.50 64.53 0.00 0.00
P4 = 96.65 -224.89 0.00 0.00
P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 0
50.00 100.00 0.00 0.00
PTP JUMP VEL+ VEL-

3) Press , and the robot moves by PTP motion to the specified point position. The

trace speed is one fifth of the automatic movement speed. To stop the trace, press

w WARNING

UPON PRESSING , THE ROBOT STARTS TO MOVE. TO AVOID DANGER, DO

NOT ENTER THE ROBOT MOVEMENT RANGE.

4-40
 9. "AUTO" mode

9.7.2 ARCH motion mode

[Procedure]

1) Press in "AUTO>POINT" mode to display a screen like that shown below, then

press (ARCH).

■ Point trace screen in ARCH motion mode (1)

AUTO>POINT 100% [MG][S0H0J] Chapter

————————————x———————y———————z———————r———
P3 = 150.50 64.53 0.00 0.00
4

OPERATION
P4 = 96.65 -224.89 0.00 0.00
P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
PTP ARCH LINEAR

2) Press (A.AXIS+) or (A.AXIS -) to select the axis to move by arch motion.

The selected axis is indicated on the message line as in "ARCH(y)".

■ Point trace screen in ARCH motion mode (2)

AUTO>POINT 100% [MG][S0H0J]

————————————x——ARCH(y)——————z———————r———
P3 = 150.50 64.53 0.00 0.00
P4 = 96.65 -224.89 0.00 0.00
P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
ARCH A.POS JUMP VEL+ VEL–

3) Press (A.POS) and set the arch motion position.

■ Point trace screen in ARCH motion mode (3)

AUTO >POINT 100% [MG][S0H0J]

————————————x——ARCH(y)——————z———————r———
P3 = 150.50 64.53 0.00 0.00
P4 = 96.65 -224.89 0.00 0.00
P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Enter ARCH data> 20000

4-41
 9. "AUTO" mode

n NOTE
Enter the number of pulses for the Y-axis.

4) Use the cursor (↑/↓) keys to select the point number to be checked.

5) Press to move the robot by arch motion to the specified point position. The

trace speed is one fifth of the automatic movement speed. To stop the trace, press
Chapter .
4
w WARNING
OPERATION

UPON PRESSING , THE ROBOT STARTS TO MOVE. TO AVOID DANGER, DO

NOT ENTER THE ROBOT MOVEMENT RANGE.

4-42
 9. "AUTO" mode

9.7.3 Linear interpolation motion mode

[Procedure]

1) Press in "AUTO>POINT" mode to display a screen like that shown below, then

press (LINEAR).

■ Point trace screen in linear interpolation motion mode (1)

AUTO >POINT 100% [MG][S0H0J] Chapter

————————————x———————y———————z———————r———
P3 = 150.50 64.53 0.00 0.00
4

OPERATION
P4 = 96.65 -224.89 0.00 0.00
P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
PTP ARCH LINEAR

2) Use the cursor (↑/↓) keys to select the point number to be checked.

n NOTE
Linear interpolation motion at the sub robot is not supported in controller
versions prior to Ver. 9.11.

■ Point trace screen in linear interpolation motion mode (2)

AUTO >POINT 100% [MG][S0H0J]

————————————x———————y———————z———————r———
P3 = 150.50 64.53 0.00 0.00
P4 = 96.65 -224.89 0.00 0.00
P5 = -63432 19735 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
LINEAR JUMP VEL+ VEL-

3) Press to move the robot by linear interpolation motion to the specified point

position. The trace speed is one fifth of the automatic movement speed. To stop the

trace, press .

w WARNING

UPON PRESSING , THE ROBOT STARTS TO MOVE. TO AVOID DANGER, DO

NOT ENTER THE ROBOT MOVEMENT RANGE.

4-43
 9. "AUTO" mode

9.8 Direct command execution

In "AUTO>DIRECT" mode, one line of the command statement can be executed just after
you have entered it.

[Procedure]

1) Press (DIRECT) in "AUTO" mode.

The screen switches to "AUTO>DIRECT" mode and the cursor appears on the screen.
The prompt (>) also appears on the bottom line of the screen.
Chapter

4 ■ Direct command execution

OPERATION

AUTO [T1] 100% <TEST1 >

1 ’***** TEST1 PROGRAM *****

2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
>DO(25)=1_

2) Enter one line of the command statement.

3) Press to execute the command you have just entered.

n NOTE
The following command statements can be executed directly.
Assignment statements, movement commands, SET statements, RESET
statements, etc.
• Before executing a movement command, return-to-origin must have
been completed.
• The STOPON option cannot be used with a movement command.
• A movement command ends after positioning on the axis is complete.

4-44
 9. "AUTO" mode

9.9 Break point

An ongoing program can be stopped if a break point is set in the program. This is useful
when debugging the program.
The program execution pauses on the line just prior to a break point. The program

execution will restart from the break point when is pressed.

Valid keys and submenu contents in "AUTO > BREAK" mode are shown below.
Chapter
Valid keys Menu Function
Cursor key
Specifies the break point and scrolls the screen.
4
(↑/↓)

OPERATION
Page key
Switches the page display.
〈〈

〈〈

( / )
F1 SET Sets the break point.
F2 CANCEL Deletes the break point.
F3 SEARCH Searches for the line set with the break point.
F6 JUMP Shows the program listing from specified line.
F7 FIND Specifies the character string to be found.
Finds the specified character string searching
F8 FIND+ backwards from the cursor position.
Finds the specified character string searching forwards
F9 FIND- from the cursor position.

n NOTE
• Up to 4 break points can be set in one program.

• The to keys have the same functions as edit operation in

"PROGRAM" mode. Refer to "10.2.13 Line jump" and "10.2.14 Searching a

character string" later in this chapter.

4-45
 9. "AUTO" mode

9.9.1 Setting break points

To make program debugging easy, the program execution can be stopped on the line
where a break point is set.

[Procedure]

1) Press (BREAK) in "AUTO" mode to switch to "AUTO>BREAK" mode.

2) Use the cursor keys to select the line number on which a break point is to be set.
Chapter

4
3) Press (SET).
OPERATION

A " B " mark appears to the left of the command statement and a break point is set on
that line.

■ Break point setting

AUTO>BREAK [T1] 100% <TEST1 >

1 ’***** TEST1 PROGRAM *****

2 START *SUBTASK,T2
3 DO2(0)=0
4BWAIT DI3(4,3,2)=3
5 MOVE P,P0
SET CANCEL SEARCH

4-46
 9. "AUTO" mode

9.9.2 Deleting break points

Break points can be deleted. Press (SEARCH) as needed to find a break point that

was set.

[Procedure]
1) Use the cursor (↑/↓) keys to select the line number where the break point is set.

2) Press (CANCEL). Chapter

The " B " mark disappears and the break point is canceled. 4

OPERATION
3) To find the line number on which another break point was set, press (SEARCH).

This function makes it easier to find a break point that you want to delete.

n NOTE
• Up to 4 break points can be set in one program. These 4 break points
cannot set in different programs. However, when there is "COMMON"
program, 4 break points can be set including the main program. (For
more information on the COMMON program, refer to the programming
manual.)
• If the program is compiled or edited, all the break points are deleted.
• Break points are ignored during execution of STEP or NEXT. However,
break points set in sub-routines are enabled when executing NEXT.

4-47
 9. "AUTO" mode

9.10 Executing a step

w WARNING
THE ROBOT MAY BEGIN TO MOVE WHEN STEP IS EXECUTED. TO AVOID DANGER,
DO NOT ENTER THE ROBOT MOVEMENT RANGE.

[Procedure]

Chapter 1) Press (STEP) in "AUTO" mode.

4
OPERATION

2) Each time this key is pressed, the command statement of the highlighted line number
is executed.
After execution, the pointer moves to the next line.
If the command statement is a sub-routine or sub-procedure, its top line is executed.

■ STEP execution

AUTO [T1] 100% <TEST1 >

1 ’***** TEST1 PROGRAM *****

2 START *SUBTASK,T2
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
STEP SKIP NEXT
>

n NOTE
During STEP, SKIP and NEXT execution, the message "Running" is displayed on
the screen.
After execution is complete, the pointer moves to the line number of the
next command statement.

9.11 Skipping a step

[Procedure]

1) Press (SKIP) in "AUTO" mode.

2) The program moves (skips) to the next line each time this key is pressed without
executing the command statement of the line number where the pointer is displayed.

4-48
 9. "AUTO" mode

9.12 Executing the next step

w WARNING
THE ROBOT MAY BEGIN TO MOVE WHEN NEXT IS EXECUTED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.

[Procedure]

1) Press (NEXT) in "AUTO" mode. Chapter

OPERATION
2) Each time this key is pressed, the command statement of the highlighted line number
is executed. After execution, the pointer moves to the next line.
If the command statement is a sub-routine or sub-procedure, it is executed at once.

4-49
 10. "PROGRAM" mode

10. "PROGRAM" mode

Robot language programs can be edited, deleted and managed in "PROGRAM" mode.

The initial "PROGRAM" mode screen is shown below.

When "PROGRAM" mode is entered, the currently selected program appears on the
screen.
■ "PROGRAM" mode

Chapter ;Online command :Mode hierarchy .Message line @Program name

execution mark
4 PROGRAM <TEST2 >
OPERATION

1 2 3
— @ ————————————————————————————————————————
1 '***** TEST2 PROGRAM *****
2 GOSUB *SUBPROG
=Selected line
display 3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ‘ORIGIN
EDIT DIR COMPILE

BGuideline

q Mode hierarchy
Shows the current mode hierarchy. When the highest mode ("PROGRAM" in this case)
is highlighted it means the servomotor power is on. When not highlighted, it means
the servomotor power is off.

w Program name
Shows the program name currently selected.

e Message line
This line shows the number of digits of the program. If an error occurs, the error
message also appears here.

r Online command execution mark

When an online command is being executed, an "@" mark is displayed in the second
column on the second line. This mark changes to a dot "." when the online command
ends.

t Selected line display

In the program listing, the line number to be edited is highlighted.

y Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.

4-50
 10. "PROGRAM" mode

Valid keys and submenu descriptions in "PROGRAM" mode are shown below.

Valid keys Menu Function

Cursor key
Selects the program and scrolls the screen.
(↑/↓)
Page key
Switches the page display.
〈〈

〈〈

( / )
F1 EDIT Edits the program.
F3 DIR Displays the program data.
F5 COMPILE Compiles the program. Chapter
F6 JUMP Displays the program listing from a specified line. 4
F7 FIND Specifies the character string to be found.

OPERATION
Finds the specified character string searching
F8 FIND+ backwards from the cursor position.
Finds the specified character string searching forwards
F9 FIND- from the cursor position.
F13 ERR.RST Allows editing if the selected program is destroyed.

n NOTE
Refer to the separate "Programming Manual" for details on the programming
language.

10.1 Scrolling a program listing

[Procedure]
1) Pressing the cursor (↑/↓) keys in "PROGRAM" mode scrolls up or down through a
program listing one line at a time.
Pressing the cursor (←/→) keys scrolls right or left through a program listing one
character at a time.
Holding down the cursor key continuously scrolls through the screen.

2) Pressing the page ( , , , ) key scrolls one page screen at a

time.

4-51
 10. "PROGRAM" mode

10.2 Program editing

[Procedure]

1) Press (EDIT) in "PROGRAM" mode.

A cursor appears on the top line of a program listing as shown below, allowing
program editing.

Chapter 2) Use the cursor keys to move the cursor to the position to be edited and enter a

4 program command with the RPB.

A maximum of 75 characters can be entered on one line.
OPERATION

n NOTE

Program editing is finished when any of , up/down cursor (↑/↓)

keys, page up/down ( / ) keys, or is pressed during

program editing.
A maximum of 9999 lines can be written in one program as long as the
program size is within about 98 Kbytes.

■ "PROGRAM>EDIT" mode

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOSUB *SUBPROG
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
SELECT COPY CUT PASTE BS

Pressing finishes the program input for one line and moves the cursor to

the beginning of the next line.

3) When program editing is complete, press .

4-52
 10. "PROGRAM" mode

Valid keys and submenu descriptions in "PROGRAM > EDIT" mode are shown below.

Valid keys Menu Function

Cursor key
Moves the cursor and scrolls the screen.
(↑/↓)
Page key
Switches the page display.
〈〈

〈〈

( / )
INS Switches between Insert and Overtype modes.
L. INS Inserts one blank line.
DEL Deletes one character. Chapter
L. DEL Deletes one line. 4
USER Displays the user function key.

OPERATION
ESC Ends program editing.

Finishes the program input for one line and moves the
cursor to the beginning of the next line.

F1 SELECT Selects the starting line for copy or cut.

Copies the selected line and temporarily stores it in a
F2 COPY buffer.
Cuts the selected lines and temporarily stores it in a
F3 CUT buffer.
F4 PASTE Inserts the buffer data directly prior to the cursor line.
F5 BS Backs the cursor and deletes the preceding character.
F6 JUMP Displays the program listing from the specified line.
F7 FIND Specifies the character string to be found.
Finds the specified character string searching
F8 FIND+ backwards from the cursor position.
Finds the specified character string searching forwards
F9 FIND- from the cursor position.

4-53
 10. "PROGRAM" mode

10.2.1 Cursor movement

[Procedure]
1) Pressing the cursor (↑/↓) keys in "PROGRAM>EDIT" mode moves the cursor up or
down one line at a time.
Pressing the cursor (←/→) keys moves the cursor right or left one character at a time.

2) Pressing the page ( , , , ) key moves the cursor one page

Chapter
screen at a time.
4 ■ Cursor movement
OPERATION

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0_ ’ORIGIN
6 MOVE P,P1
7 DO2(1)=1
SELECT COPY CUT PASTE BS

4-54
 10. "PROGRAM" mode

10.2.2 Insert/Overwrite mode switching

[Procedure]

1) Press in "PROGRAM > EDIT" mode.

The cursor changes to underline ( _ ) form, and the screen switches to Insert mode.
In Insert mode, the input character is inserted just previous to the cursor position.

■ Insert mode
Chapter
PROGRAM >EDIT <TEST2 >
1 2 3
———————————————————————————————————————————
3 DO2(0)=0
4

OPERATION
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
6 _ ’ORIGIN
7 MOVE P,P1
SELECT COPY CUT PASTE BS

2) Press again.

The cursor changes back to a thick line ( ■ ), and the screen returns to Overwrite
mode.
In Overwrite mode, the input character replaces the character at the cursor position.

■ Overwrite mode

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
6 ’ORIGIN
7 MOVE P,P1
SELECT COPY CUT PASTE BS

4-55
 10. "PROGRAM" mode

10.2.3 Inserting a line

[Procedure]

Pressing (= + ) in "PROGRAM > EDIT" mode inserts a blank line at the

line previous to the cursor position.

■ Inserting a line

PROGRAM >EDIT <TEST2 >

Chapter 1 2 3
———————————————————————————————————————————

4 3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 _
OPERATION

6 MOVE P,P0 ’ORIGIN

7 MOVE P,P1
SELECT COPY CUT PASTE BS

10.2.4 Deleting a character

[Procedure]

Pressing in "PROGRAM > EDIT" mode deletes one character at the cursor position.

10.2.5 Deleting a line

[Procedure]

Pressing (= + ) in the "PROGRAM > EDIT" mode deletes one line at

the cursor position.

The program lines after the cursor position then move upward. For example, deleting one
line on the screen shown in section 10.2.1 changes to the following screen.
■ Deleting a line

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P1
6 DO2(1)=1
7 DELAY 1000
SELECT COPY CUT PASTE BS

4-56
 10. "PROGRAM" mode

10.2.6 User function key display

User function keys make it easier to enter programs.

n NOTE
When using this function, it is necessary to make a program named
"FUNCTION" and then write command statements for registering functions.
For information on how to register the function keys, refer to "10.3.9 Creating
a sample program automatically" and "10.6 Registering user function keys"
later in this chapter.
Chapter

[Procedure]
4

OPERATION
1) Press in "PROGRAM > EDIT" mode to display the character strings on the

guideline, which are preassigned to function keys to .

Each character string is displayed in up to 7 characters from the beginning.

2) Press the function key matching the character string you want to enter.

For example, when (GOTO *) is pressed on the following screen, the character

string for "GOTO *" is entered at the cursor position.

■ User function keys

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOTO *_
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
MOVE P, GOTO * DELAY FOR ?=? SEND ?

4-57
 10. "PROGRAM" mode

10.2.7 Quitting program editing

Press to quit program editing in "PROGRAM>EDIT" mode.

10.2.8 Specifying the copy/cut lines

[Procedure]
1) In "PROGRAM>EDIT" mode, move the cursor to the line you want to copy or cut.
Chapter

4 2) Press (SELECT) to select the line.

OPERATION

3) Use the cursor (↓) keys to specify the copy/cut range.

A " C " mark appears on each line which was specified.

Press if you want to cancel this operation.

■ Specifying the copy/cut lines

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
1C’***** TEST2 PROGRAM *****
2C’
3C DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
SELECT COPY CUT PASTE BS

n NOTE
When selecting a line range, the maximum number of characters is 200. If
the number of characters exceeds 200, the selected line range must be
reduced. The number of characters on one line is the count from the top to
the last characters (excluding blanks) plus 1.

4-58
 10. "PROGRAM" mode

10.2.9 Copying the selected lines

[Procedure]

After selecting the lines in "10.2.8", press (COPY).

The data on the selected lines are copied into the buffer. The " C " marks then disappear.
■ Copying the selected lines

PROGRAM >EDIT <TEST2 >

1 2 3
——————————————————————————————————————————— Chapter
1 ’***** TEST2 PROGRAM *****
2 ’ 4
3 DO2(0)=0

OPERATION
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ‘ORIGIN
SELECT COPY CUT PASTE BS

10.2.10 Cutting the selected lines

[Procedure]

After selecting the lines in "10.2.8", press (CUT).

The data on the selected lines are cut and stored into the buffer. The " C " marks then
disappear.
■ Cutting the selected lines

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
1 WAIT DI3(4,3,2)=3
2 MOVE P,P0 ’ORIGIN
3 MOVE P,P1
4 DO(20)=1
5 DELAY 1000
SELECT COPY CUT PASTE BS

4-59
 10. "PROGRAM" mode

10.2.11 Pasting the data

[Procedure]

When (PASTE) is pressed in "PROGRAM>EDIT" mode, the data stored into the

buffer by copy/cut operation is inserted just before the cursor line.

■ Pasting the data

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
Chapter
1 ’***** TEST2 PROGRAM *****
4 2 ’
3 DO2(0)=0
OPERATION

4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
SELECT COPY CUT PASTE BS

n NOTE
The data stored in the buffer can be pasted repeatedly until you exit
"PROGRAM" mode.
However, if another copy/cut operation is performed, then the data within
the buffer is rewritten.

10.2.12 Backspace
[Procedure]

Pressing (BS) in "PROGRAM>EDIT" mode backs the cursor and deletes the

preceding character.
When the cursor is at the beginning of a line, it connects to the end of the previous line.
However, nothing is changed if the number of characters on the connected line exceeds
75 characters.

4-60
 10. "PROGRAM" mode

10.2.13 Line jump

[Procedure]

1) In "PROGRAM>EDIT" mode, press (JUMP) to enter "PROGRAM>EDIT>JUMP"

mode.
The message "Enter line no. > " appears on the guideline.

■ Line jump

PROGRAM >EDIT <TEST2 >

Chapter
1 2 3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
4

OPERATION
2 GOTO *_’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
Enter line no. >45_

2) Enter the line number to jump to and press .

The program is then displayed from the specified line.

■ Performing line jump

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
45 RESET DO3(4)
46 DELAY 1000
47 A=4
48 GOTO *T4
49 *T5:
SELECT COPY CUT PASTE BS

4-61
 10. "PROGRAM" mode

10.2.14 Searching a character string

[Procedure]

1) In "PROGRAM>EDIT" mode, press (FIND) to enter "PROGRAM>EDIT>FIND"

mode.
The message "Character string >" appears on the guideline.

2) Enter the character string you want to search for and press .
Chapter
A maximum of 20 characters can be used.
4
■ Character string search
OPERATION

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOTO *_’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
Character string >MOV_

Search starts from the cursor position towards the end of the program and stops at the
first matching character string.

■ Character string search

PROGRAM >EDIT <TEST2 >

1 2 3
———————————————————————————————————————————
18 MOVE P,P1
19 A=1
20 TOTO *A
21 *T2
22 WAIT A=1
SELECT COPY CUT PASTE BS

3) To continuously search for another character string, press (FIND+) or

(FIND-).

Pressing (FIND+) restarts the search from the current cursor position towards

the end of the program.

Pressing (FIND-) restarts the search from the current cursor position towards

the top of the program.

In either case, the search stops at the first matching character string.

4-62
 10. "PROGRAM" mode

10.3 Director y
When (DIR) is pressed in "PROGRAM" mode, information on each program appears

as shown below.

n NOTE
A maximum of 100 programs can be stored.

■ Program information (1)

Chapter

PROGRAM >DIR <TEST1 > 4

OPERATION
No. Name Line Byte RW/RO
1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW
4 TEST100 100 1968 RW
NEW INFO

Pressing on the above screen displays the "DATE" and "TIME" data.

(Press to return to the previous display.)

n NOTE
The date and time are updated when the program is created or edited.

■ Program data (2)

PROGRAM >DIR <TEST1 >

No. Name Date Time

1 TEST1 06/06/01 10:18
2 *TEST2 06/06/01 17:20
3 PARTS100 06/06/01 13:19
4 TEST100 06/06/01 08:35
NEW INFO

4-63
 10. "PROGRAM" mode

Contents of each item are shown below.

Item Description
Indicates the serial number of the program. The number
No. of the program which is currently selected is highlighted
(reversed background).
Indicates the program name.
The " * " mark (reversed background) shows this
Name program is compiled and the object program exists.
The " s " mark (reverse background) shows an object
exists in the sequence program.
Line Shows the number of lines in the program.
Chapter

4 Byte Shows how many bytes of memory the program uses.

Indicates the program attribute.
OPERATION

RW/RO RW : Reading or writing enabled.

RO : Reading only enabled; writing inhibited.
Date Shows the date when the program was made or edited.
Time Shows the time when the program was made or edited.

Valid keys and submenu descriptions in "PROGRAM >DIR" mode are shown below.

Valid keys Menu Function

Cursor key
Selects the program or scrolls the screen vertically.
(↑/↓)
Cursor key Switches between the program information display and
(← / →) the date/time display.
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 NEW Registers a new program name.
F5 INFO Shows the number of bytes used for the entire program.
F6 COPY Copies the program.
F7 ERASE Erases the program.
F8 RENAME Renames the program.
F10 ATTRBT Changes the program attribute.
F11 OBJECT Shows the object program information.
F15 EXAMPLE Automatically creates the program name "FUNCTION".

4-64
 10. "PROGRAM" mode

10.3.1 Cursor movement

[Procedure]
To select the program, use the cursor (↑/↓) keys in "PROGRAM>DIR" mode.
The pointer cursor moves to the selected program number.
The program name is displayed at the right end on the system line (1st line).

10.3.2 Registering a new program name

When creating a new program, you must first register the program name. Chapter

[Procedure] 4

OPERATION
1) In "PROGRAM>DIR" mode, press (NEW) to enter "PROGRAM>DIR>NEW"
mode.
The message "Enter program name > " appears on the guideline.

2) Use to , to or to enter a program name.

A maximum of 8 characters can be used. (Press if you want to cancel the data
input.)

n NOTE
Program names can be up to 8 characters consisting of a combination of
alphanumeric characters (0 to 9, A to Z) and underscores ( _ ).

■ Registering a new program

PROGRAM >DIR <TEST1 >

No. Name Line Byte RW/RO

1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW
4 TEST100 100 1968 RW
Enter program name >ABC123_

3) Press to register the program name.

n NOTE
The following program names have special meanings.
"FUNCTION"
"SEQUENCE"
"_SELECT"
"COMMON"
(Refer to "Programming Manual" for these programs.)

4-65
 10. "PROGRAM" mode

10.3.3 Director y information display

[Procedure]

In "PROGRAM>DIR" mode, press (INFO) to enter "PROGRAM>DIR>INFO" mode.

The following information on the selected program appears.

■ Program information

PROGRAM >DIR>INFO <TEST1 >

Chapter

4 Source(use/sum)
Object(use/sum)
=
=
1316/364580 bytes
528/ 98304 bytes
Sequence(use/sum) = 0/ 4096 bytes
OPERATION

Number of program = 5
Number of points = 124

Item Description
Displays a count of used bytes and bytes available for
Source (use/sum) source program and point data.
Displays a count of used bytes and bytes available for
Object (use/sum) object program.
Displays a count of used bytes and bytes available for
Sequence (use/sum) sequence object program. (8 bytes are used for one
circuit of sequence program.)
Number of program Displays the number of programs.
Displays the number of points that have been set. (28
Number of points bytes are used for one point.)

4-66
 10. "PROGRAM" mode

10.3.4 Copying a program

A program in the directory can be copied under a different name.

n NOTE
Program names can be up to 8 characters and consist of a combination of
alphanumeric characters (0 to 9, A to Z) and underscores ( _ ).

[Procedure]
1) In "PROGRAM>DIR" mode, use the cursor (↑/↓) keys to select the program to be Chapter
copied.
4

OPERATION
2) Press (COPY) to enter "PROGRAM>DIR>COPY" mode.

The message "Enter program name >" appears on the guideline along with an edit
cursor.

3) Enter a new program name.

Press if you want to cancel this operation.

■ Copying a program

PROGRAM >DIR <TEST1 >

No. Name Line Byte RW/RO

1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW
4 TEST100 100 1968 RW
Enter program name >TEST3

4) Press to make a copy.

4-67
 10. "PROGRAM" mode

10.3.5 Erasing a program

Unnecessary programs in the directory can be erased.

c CAUTION
• Programs with an "RO (read only)" attribute cannot be erased. When
these programs must be erased, change the attribute.
• To change the program attribute, refer to "10.3.7 Changing the program
attribute".

Chapter
[Procedure]
4 1) In "PROGRAM>DIR" mode, use the cursor (↑/↓) keys to select the program to be
OPERATION

erased.

2) Press (ERASE) to enter "PROGRAM>DIR>ERASE" mode.

A confirmation message appears on the guideline.

■ Erasing a program

PROGRAM >DIR>ERASE <TEST1 >

No. Name Line Byte RW/RO

1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW
4 TEST100 100 1968 RW
Erase program OK? YES NO

3) Press (YES) to erase the selected program.

Press (NO) if you want to cancel erasure.

After the program is erased, the lower program names move upward.

■ After erasing a program

PROGRAM >DIR <TEST2 >

No. Name Line Byte RW/RO

1 *TEST2 50 907 RW
2 PARTS100 38 843 RW
3 TEST100 100 1968 RW
4 TEST200 80 1525 RW
NEW INFO

4-68
 10. "PROGRAM" mode

10.3.6 Renaming a program

To change the names of programs in the directory, proceed as follows.

[Procedure]
1) In "PROGRAM>DIR" mode, use the cursor (↑/↓) keys to select the program to be
renamed.

2) Press (RENAME) to enter "PROGRAM>DIR>RENAME" mode.

Chapter
The message "Enter program name" appears on the guideline along with the original
program name.
4

OPERATION
■ Renaming a program

PROGRAM >DIR <TEST1 >

No. Name Line Byte RW/RO

1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW
4 TEST100 100 31968 RW
Enter program name >TEST_

3) Enter a new program name.

Press if you want to cancel this operation.

4) Press to rename the program.

n NOTE
Program names can be up to 8 characters and consist of a combination of
alphanumeric characters (0 to 9, A to Z) and underscores ( _ ).

4-69
 10. "PROGRAM" mode

10.3.7 Changing the program attribute

Editing and erasing the programs can be prohibited by specifying the program attribute.
There are two program attributes: RW and RO. Each time a change is made a program
attribute is alternately switched.

1. RW (read or write)
Program contents can be edited and erased.
This is automatically specified as a default when a program name is registered.
Chapter

4 2. RO (read only)
Program contents cannot be edited or erased.
OPERATION

[Procedure]
1) In "PROGRAM>DIR" mode, use the cursor (↑/↓) keys to select the program with the
attribute to be changed.

2) Press (ATTRBT) to enter "PROGRAM>DIR>ATTRBT" mode.

A confirmation message appears on the guideline.

■ Changing a program attribute

PROGRAM >DIR>ATTRBT <TEST2 >

No. Name Line Byte RW/RO

1 *TEST2 50 907 RW
2 PARTS100 38 843 RW
3 TEST100 100 1968 RW
4 TEST200 80 1525 RW
Change attribute OK? YES NO

3) Press (YES) to change the program attribute.

Press (NO) if you want to cancel the change.

4-70
 10. "PROGRAM" mode

10.3.8 Displaying object program information

To display information on an executable object program, proceed as follows.

[Procedure]

1) Press (OBJECT) to enter "PROGRAM>DIR>OBJECT" mode.

2) Object information appears as shown below.

■ Object program information Chapter

PROGRAM >DIR>OBJECT <TEST2 >

4

OPERATION
No. Name Line Byte RW/RO
1 TEST2 55 750 RO
2 COMMON 20 374 RO
3 SEQUENCE 40 320 RO

4-71
 10. "PROGRAM" mode

10.3.9 Creating a sample program automatically

This section explains the procedure of automatically creating a sample program for
defining user function keys which can be used in "MANUAL" and "PROGRAM" modes.

n NOTE
Use caution when creating a sample program automatically, since
previously defined user function data will be rewritten.

Chapter

4
n NOTE
Refer to "10.2.6 User function key display" for details on user function keys.
Refer to "10.6 Registering user function keys" when registering user function
OPERATION

keys.

[Procedure]

1) In "PROGRAM>DIR" mode, press (EXAMPLE) to enter

"PROGRAM>DIR>EXAMPLE" mode.
A confirmation message appears on the guideline.

■ Loading a sample program

PROGRAM >DIR>EXAMPLE <TEST1 >

No. Name Line Byte RW/RO

1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW
4 TEST100 100 1968 RW
Overwrite FUNCTION OK? YES NO

2) Press (YES) to perform this operation.

A sample program will be automatically created under the program name

"FUNCTION".

Press (NO) if you want to cancel this operation.

3) Rewrite the contents of this program as needed.

User function keys can be customized with this program.

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 10. "PROGRAM" mode

[Sample program listing]

*** <FUNCTION> SAMPLE PROGRAM ****
'*You can change any statements *
'*as you like. *
'*<FUNCTION> will help you in *
'*MANUAL and PROGRAM mode. *
'*********************************************************
*M_F1:'DO(20)ALTERNATE
DO(20)=~DO(20)
*M_F2:'DO(21)ALTERNATE
DO(21)=~DO(21)
*M_F3:'DO(22)ALTERNATE Chapter
DO(22)=~DO(22)
*M_F4:'DO(23)ALTERNATE
DO(23)=~DO(23)
4

OPERATION
*M_F5:'DO(24)ALTERNATE
DO(24)=~DO(24)
*M_F6:'DO(25)MOMENTARY
DO(25)=1
DO(25)=0
*M_F7:'DO(26)MOMENTARY
DO(26)=1
DO(26)=0
*M_F8:'DO(27)MOMENTARY
DO(27)=1
DO(27)=0
*M_F9:'DO2()ON
DO2()=255
*M_F10:'DO2()OFF
DO2()=0
*M_F11:'OPEN
DO3(0)=&B1
*M_F12:'CLOSE
DO3(0)=O
*M_F13:'AND
DO3(1)=1 & DO3(0)
*M_F14:'DI4 –> DO4
DO4()=DI4()
*M_F15:'DO5INC
DO5()=DO5()+1
'**********************************
*P_F1:'MOVE P,P
*P_F2:'MOVE L,P
*P_F3:'GOTO *
*P_F4:'DELAY
*P_F5:'WAIT
*P_F6:'GOSUB *
*P_F7:'RETURN
*P_F8:'PRINT
*P_F9:'SPEED
*P_F10:'HALT
*P_F11:'IF THEN
*P_F12:'ELSE
*P_F13:'ENDIF
*P_F14:'FOR = TO
*P_F15:'NEXT

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 10. "PROGRAM" mode

10.4 Compiling
To compile the program and create an executable object program, follow the procedure
below. The object program allows you to check input errors or bugs after program editing.

n NOTE
Even if the specified program is yet not compiled, it is compiled
automatically when you move to "AUTO" mode.

[Procedure]
Chapter
1) In "PROGRAM>DIR" mode, select the program to compile with cursor (↑/↓) keys and
4 press .
OPERATION

2) Press (COMPILE) to enter "PROGRAM>COMPILE" mode.

A confirmation message appears on the guideline.

3) Press (YES) to compile the program.

The message "Compiling" is displayed during compiling.

Press (NO) if you want to cancel the compiling.

■ Compiling

PROGRAM >COMPILE <TEST2 >

0.4:Compiling 2 3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOTO *’
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
Compile program OK? YES NO

If an error is found in the command statements, the program listing for that line
appears along with an error message, and the compiling stops. When the compiling
ends normally, an object program has been made. The previous object program was
deleted.
■ Compile error

PROGRAM <TEST1 >

5.1:Syntax error 2 3
———————————————————————————————————————————
5 MOVE P,1P1
6 DO2(1)=1
7 DELAY 1000
8 DO2(1)=0
9 HALT
EDIT DIR COMPILE

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 10. "PROGRAM" mode

10.5 Line jump and character string search

The (JUMP), (FIND), (FIND+) and (FIND-) keys can be used

in the same way as in "PROGRAM>EDIT" mode.

Refer to "10.2.13 Line jump" and "10.2.14 Searching a character string" earlier in this
chapter.)

10.6 Registering user function keys Chapter

To register the user function keys which are used in "PROGRAM" and "MANUAL" modes,
make a program named "FUNCTION", and enter the command statements for registering
4

OPERATION
the user function keys.
The robot controller recognizes a program named "FUNCTION" as a special program for
registering the user function keys. Therefore, do not use this name for normal programs.

[Procedure]

1) In "PROGRAM" mode, press (DIR) to enter "PROGRAM>DIR" mode.

2) Press (NEW).

3) When the message "Enter program name >" appears on the guideline, enter

"FUNCTION" following this message and press .

■ Registering "FUNCTION" program (1)

PROGRAM >DIR <TEST1 >

No. Name Line Byte RW/RO

1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW

Enter program name >FUNCTION

4) Press to return to "PROGRAM" mode.

At the same time, the program name "FUNCTION" appears on the system line as the
current program.

4-75
 10. "PROGRAM" mode

■ Registering "FUNCTION" program (2)

PROGRAM >DIR <FUNCTION>

No. Name Line Byte RW/RO

1 TEST1 55 952 RW
2 *TEST2 50 907 RW
3 PARTS100 38 843 RW
4 FUNCTION 1 1 RW
NEW INFO

Chapter

4 5) Press (EDIT) to enter "PROGRAM>EDIT" mode.

OPERATION

A cursor appears on the first line.

6) Enter a command statement for registering function keys in the following format.
The command statement format differs between the "PROGRAM" mode and
"MANUAL" mode.

When registering function keys for editing in "PROGRAM" mode

*P_F<n>:’<character string>

<n> ......................... Function key number to be registered (n=1 to15)

<character string> .... Character string to be assigned to the function key (displayed on
the screen).

Example)

*P_F2:’MOVE P ..... Character string "MOVE P" is assigned to .

*P_F8:’DELAY ......... Character string "DELAY" is assigned to .

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 10. "PROGRAM" mode

When registering function keys for I/O commands in "MANUAL" mode

n NOTE
• In one "FUNCTION" program, functions for program edit and I/O functions
in "MANUAL" mode can be used together and defined.
• Besides the above method, user functions can also be defined by the
next method.
1) "FUNCTION" can be made automatically according to the user
function-defined sample program registered in the unit. (Refer to
"10.3.9 Creating a sample program automatically") Chapter
2) Rewrite the contents of the "FUNCTION" program in the
"PROGRAM>EDIT" mode to create desired user functions.
4

OPERATION
• When assignment was made to a function key that has already been
assigned, the new assignment will be valid.

*M_F<n>:’<character string>
<I/O statement 1>
<I/O statement 2>

<n> ......................... Function key number to be registered (n=1 to15)

<character string> .... Character string to be assigned to the function key (displayed on
the screen).
<I/O statement 1> ..... Command statement to be executed when the key is pressed.
<I/O statement 2> ..... Command statement to be executed when the key is released.

n NOTE
<I/O statement 2> may be omitted. If omitted the <I/O statement 1>will be
executed when the key is pressed, but nothing will be executed when
released.

4-77
 10. "PROGRAM" mode

Example)

*M_F2:’MOMENT .. Character string "MOMENT" is assigned to .

DO (20) =1 .......... DO (20) is turned ON when is pressed.

DO (20) =0 ........... DO (20) is turned OFF when is released.

*M_F14:’ALTER ..... Character string "ALTER" is assigned to .

Chapter
DO (20) =~DO (20) .. DO (20) is highlighted when is pressed.
4
OPERATION

In the above example, "ALTER" defines an "alternate" type function, and "MOMENT" a
"momentary" type function.
A <character string> of up to 65 characters can entered. However, up to 7 characters
following the colon ( : ) are displayed on the function key menu.
■ Registering user functions

PROGRAM >EDIT <FUNCTION>

1 2 3
———————————————————————————————————————————
1 *P_F2:’MOVE,P
2 *P_F8:’DELAY
3 *M_F2:’MOMENT
4 DO(20)=1
5 DO(20)=0
SELECT COPY CUT PASTE BS

7) When the registration is complete, press .

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 10. "PROGRAM" mode

10.7 Resetting an error in the selected program

If an error "9.1 Program destroyed" occurs in the selected program data, this function
resets the error and allows you to continue editing.

c CAUTION
This function resets an error, but does not restore the program data. A
problem is probably occurring in the program, so check and correct the
program in "PROGRAM>EDIT" mode.
Chapter

n NOTE
• This function is enabled for each program.
4

OPERATION
• This reset function does not work if an error "9.3 Memory destroyed"
occurs. In this case, initialize the memory.

[Procedure]

1) Press (ERR. RST) in "PROGRAM" mode.

A confirmation message appears on the guideline.

■ Resetting an error in the selected program

PROGRAM >ERROR RESET <TEST2 >

1 2 3
———————————————————————————————————————————
1 ’***** TEST2 PROGRAM *****
2 GOSUB *SUBPROG
3 DO2(0)=-^23-OFW
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0 ’ORIGIN
Error reset OK? YES NO

2) Press (YES) to reset the error.

The program can be edited after resetting the error.

Press (NO) if you want to cancel the error reset.

4-79
 11. "MANUAL" mode

11. "MANUAL" mode

Point data and shift data coordinates can be defined and edited in "MANUAL" mode.
The initial "MANUAL" mode screen is shown below.
■ "MANUAL" mode
;SHIFT/HAND
:Mode hierarchy @Manual movement /coordinate units
speed
BOnline .Robot group =Message line
command
execution mark MANUAL 50%[MG][S0H0X]
Chapter

4 >Sequence
program
execution mark
s@ —————————————————————————————————————
Current position
*Mx= 0.00 *My= 0.00 *Mz= 0.00
OPERATION

*Mr= 0.00
2Current
position

POINT PALLET VEL+ VEL-

8Guideline

q Mode hierarchy
Shows the current mode hierarchy. When the highest mode ("MANUAL" in this case)
is highlighted it means the servomotor power is on. When not highlighted it means
the servomotor power is off.

w Manual movement speed

Shows the robot movement speed selected for manual operation.

e Robot group
This shows the robot group currently selected for manual movement.
When one robot is specified, only "[MG]" (main group) appears.

r SHIFT/HAND/coordinate units
Shows the shift coordinate number, hand definition number and coordinate units.

t Message line
If an error occurs, the error message appears here. A dashed line ( - - - - ) means
return-to-origin is incomplete. A solid line ( —— ) means return-to-origin return is
complete.

y Online command execution mark

When an online command is being executed, a "@" mark is displayed in the second
column on the second line. This mark changes to a dot "." when the online command
ends.

u Sequence program execution mark

When a sequence program is being executed, an "s" mark is displayed in the first
column on the second line.

4-80
 11. "MANUAL" mode

i Current position
This shows the current position of the robot. When an "M" letter is followed by a
number it indicates the position in "pulse" units (integer display) and when an "x" to
"a" letter follows, it indicates "mm" units (decimal point display). When an asterisk (*)
appears at the left of the "M" letters, it indicates the origin sensor is on. An asterisk
also appears when no origin sensor is used.

o Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps. Chapter

4
Valid keys and submenu descriptions in "MANUAL" mode are shown below.

OPERATION
Valid keys Menu Function
Jog key Moves the robot manually.
F1 POINT Switches to the point data processing screen.
F2 PALLET Switches to the pallet data processing screen.
F3 ORIGIN Performs return-to-origin.
Increases manual movement speed for the selected
F4 VEL+ robot group in steps.(1→5→20→50→100%)
Decreases automatic movement speed for the selected
F5 VEL- robot group in steps.(100→50→20→5→1%)
F6 SHIFT Switches to the shift data processing screen.
F7 HAND Switches to the hand data processing screen.

UNITCHG Changes the current position display units to "mm" or

F8 "pulse".
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.
F15 COORDI Sets the standard coordinates.
ROBOT
Switches the robot group.
( + )

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 11. "MANUAL" mode

11.1 Manual movement

In "MANUAL" mode, you can manually move the robot with the Jog keys as explained
below.

w WARNING
THE ROBOT STARTS TO MOVE WHEN A JOG KEY IS PRESSED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.

Chapter
n NOTE
• For details on the soft limits, refer to "12.1.2 Axis parameters" in this
4 chapter.
• When the current position is displayed in "pulse" units, the robot can be
OPERATION

moved manually along the axes whose servos are on, even if the servos
of the other axes are off.
• When the current position is displayed in "mm" units, the robot can be
moved manually only when the servos of all axes are on.
• The maximum jog movement time for one movement command is 300
seconds. So if the software limits are set too large and the movement
time exceeds 300 seconds at the specified speed, the robot movement
will stop in 300 seconds. To move the robot further, use jog movement
once again.

The robot moves as follows:

1. Manual movement when return-to-origin has been completed

(1) When the current position is displayed in "pulse" units:
A letter "J" is displayed on the upper right of the RPB screen.
■ Display shown in "pulse" units (J)

MANUAL 50%[MG][S0H0J]
————————————————————————————————————————
Current position
*M1= 12521 *M2= -52204

POINT PALLET VEL+ VEL-

Each time a Jog key is pressed, the robot moves a specified distance (inching
distance) along the corresponding axis. When the Jog key is held down, the robot
keeps moving towards the soft limit of the axis. The robot stops when the Jog key is
released or the soft limit is reached.
The movement distance (inching distance) is equal to the manual movement speed
setting value.
[Example] When manual movement speed is 20%:
Inching distance in "pulse" units = 20 pulses

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 11. "MANUAL" mode

If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error
message "2.1: Over soft limit" appears and the robot does not move.

(2) When the current position is displayed in "mm" units:

A letter "X" is displayed on the upper right of the RPB screen.
■ Display shown in "mm" units (X)

MANUAL 50%[MG][S0H0X]
————————————————————————————————————————
Current position Chapter
*Mx= 151.05 *My= -35.27
4

OPERATION
POINT PALLET VEL+ VEL-

When a Jog key is pressed, the robot moves in the corresponding direction on the
Cartesian coordinates.

Each time a Jog key is pressed, the robot moves a specified distance (inching
movement). When the Jog key is held down, the robot keeps moving. The robot stops
when the Jog key is released or either of the soft limit or shift coordinate range is
reached.
The robot stops when the Jog key is released or the soft limit is reached.
The movement distance (inching distance) is equal to the manual movement speed
setting (%) multiplied by 0.01mm or 0.01 deg.
[Example] When manual movement speed is 20%:
Inching distance in "mm" units = 0.20mm

If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error
message “2.1: Over soft limit” appears and the robot does not move. Likewise, if
robot movement beyond the shift coordinate range is attempted, the error message
“2.11: Exceeded shift coord. range” appears and the robot does not move.

If the current position is outside the soft limits, the error message “2.1: Over soft
limit” also appears and the robot does not move.

4-83
 11. "MANUAL" mode

2. When return-to-origin is not complete

c CAUTION
• If return-to-origin is incomplete, the soft limits do not work correctly.
• If a PHASER series robot is operated while return-to-origin is still
incomplete, the necessary thrust cannot be obtained, causing an alarm
or abnormal movement.
Always first perform return-to-origin before starting robot operation.

n
Chapter
NOTE
4 If return-to-origin is incomplete, the current position always appears as
"pulse" units when the controller is turned on.
OPERATION

(1) When the current position is displayed in "pulse" units:

Robot movement with the Jog keys is possible the same as when return-to-origin is
complete. However, the message "0.1: Origin incomplete" appears when a Jog key is
pressed.

(2) When the current position is displayed in "mm" units:

The robot does not move with the Jog keys. The current position display switches
automatically to "pulse" units and the error message "0.1: Origin incomplete"
appears. Performs return-to-origin.

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 11. "MANUAL" mode

11.2 Displaying and editing point data

Press (POINT) in "MANUAL" mode to enter "MANUAL>POINT" mode. This mode

allows you to display and edit the point data.

One point is made up of data from 6 axes (x, y, z, r, a, b).
The RCX22 series uses only two axes (X, Y).
Point numbers can be specified in the range of 0 to 9999.

The axis data for three points is displayed on the screen along with a point comment on Chapter
the selected point number. To see the other data, scroll the screen with the cursor keys or
page keys.
4

OPERATION
Scrolls up or down one line at a time.

Scrolls right or left one character at a time.

Scrolls up or down three lines at a time.

Scrolls right or left one page at a time.

The 5-digit area on the left side shows the point numbers, with the point number for
editing shown highlighted.
■ Point data

MANUAL >POINT 50% [MG][S0H0J]

————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH JUMP VEL+ VEL-

4-85
 11. "MANUAL" mode

Valid keys and submenu descriptions in "MANUAL>POINT" mode are shown below.

Valid keys Menu Function

Cursor key
Specifies the point data and scrolls the screen.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 EDIT Enters point data with keys.
F2 TEACH Enters point data by teaching.

Chapter F3 JUMP Shows the specified point data.

4 F4 VEL+ Increases manual movement speed for the selected

robot group in steps. (1→5→20→50→100%)
Decreases automatic movement speed for the selected
OPERATION

F5 VEL- robot group in steps. (100→50→20→5→1%)

F6 COPY Copies point data.
F7 ERASE Deletes point data.

UNITCHG Changes the current position display units to "mm" or

F8 "pulse".
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.
F11 TRACE Moves the arm to the specified point.
F12 COMMENT Switches to the point comment edit screen.
F13 ERR.RST Allows editing even if the point data is destroyed.

Moves the cursor to the left to select another axis.

F14 AXIS← (Enabled only when auxiliary axis is added.)

F15 AXIS→ Moves the cursor to the right to select another axis.
(Enabled only when auxiliary axis is added.)
ROBOT
Switches the robot group.
( + )

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 11. "MANUAL" mode

11.2.1 Point data input and editing

[Procedure]
1) In "MANUAL>POINT" mode, use the cursor (↑/↓) keys to select the point to edit.

2) Press (EDIT) to enter "MANUAL>POINT>EDIT" mode.

An edit cursor appears at the left end of the point line data that was selected.

■ Editing point data Chapter

MANUAL>POINT>EDIT 50% [MG][S0H0J]

4
————————————x———————y———————z———————r———

OPERATION
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122562 -24654 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
UNDO JUMP

3) Use to , , , and to enter the point data.

Enter a space to separate between the data for x and y. The data input formats are as
follows.

n NOTE
• Enter point data for both X-axis and Y-axis. If omitted, "0" will be
automatically entered for that axis.
• The error message "Digit number error" appears when the data format is
wrong. Enter it in the correct format.

• To enter the data in joint coordinates ("pulse" units)

Enter an integer of up to 8 digits.
(Even if the input data is less than 8 digits, it will be displayed in 8 digits when the
number of display digits is set to 8 in "SYSTEM>PARAM" mode.)
: ±######
(±########)
• To enter the data in Cartesian coordinates ("mm" units)
Enter a number consisting of an integer portion of up to 5 digits and having 2 or
less places below the decimal point.
(Even if the input data is less than 8 digits, it will be displayed in 8 digits when the
number of display digits is set to 8 in "SYSTEM>PARAM" mode.)
: ±###.##,±####.#,±#####.
(±#####.##,±#####.#,±#######.)

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 11. "MANUAL" mode

4) Press , cursor up/down (↑/↓) keys or page up/down ( , ) keys to

finish the point data input.

Press if you want to cancel the point data input.

Valid keys and submenu descriptions in "MANUAL>POINT>EDIT" mode are shown below.

Valid keys Menu Function

Chapter Cursor key
Moves the cursor and scrolls the screen.
(↑/↓)
4 Page key
Switches to other screen.
〈〈

〈〈

( / )
OPERATION

INS Toggles between Insert mode and Overwrite mode.

DEL Deletes one character on the cursor position.
F1 UNDO Restores the point data.
F3 JUMP Jumps to the specified point number.

11.2.1.1 Restoring point data

[Procedure]

During point data editing, pressing (UNDO) reverses the last data input and

restores the preceding data.

This function is enabled only on lines that are not yet complete.

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 11. "MANUAL" mode

11.2.2 Point data input by teaching

The current position of the robot can be obtained as point data by teaching.

n NOTE
Point data teaching cannot be performed when return-to-origin is
incomplete. Perform point teaching after performing return-to-origin.

w WARNING
THE ROBOT STARTS TO MOVE WHEN A JOG KEY IS PRESSED. TO AVOID Chapter
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
4

OPERATION
[Procedure]
1) In "MANUAL> POINT" mode, use the cursor (↑/↓) keys to select the point number to
obtain point data.

■ Point data teaching (1)

When teaching at P8

MANUAL>POINT 50% [MG][S0H0X]

————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH JUMP VEL+ VEL-

2) Use the Jog keys to move the robot arm.

As the arm moves, the current position data on the 7th line on the screen changes.

3) When the arm arrives at the target point, press (TEACH).

Teaching is performed so that the current robot position data is allotted to the
currently selected point number.
After teaching, the pointer cursor moves down to the next line automatically.
The format for point data input by teaching is set to the currently selected coordinate
system.

4-89
 11. "MANUAL" mode

■ Point data teaching (2)

MANUAL>POINT 50% [MG][S0H0X]

————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 = 50.00 100.00 0.00 0.00
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH JUMP VEL+ VEL-

Chapter

4 4) When point data is already allotted to the currently selected point number, a

confirmation message appears on the guideline when (TEACH) is pressed.

OPERATION

■ Point data teaching (3)

MANUAL>POINT>TEACH 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 = 50.00 100.00 0.00 0.00
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Overwrite point OK? YES NO

Press (YES) to perform the teaching. The specified point number data is

rewritten.

Press (NO) if you want to cancel the teaching input.

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 11. "MANUAL" mode

11.2.3 Point data input by direct teaching

Point data can also be obtained by direct teaching (moving the robot by hand to the target
point while the robot servo is off).

w WARNING
WHEN YOU PERFORM DIRECT TEACHING, MAKE SURE THAT THE EMERGENCY
STOP BUTTON IS PRESSED SO THAT THE SERVO WILL NOT TURN ON.

n NOTE
Point data teaching cannot be performed if return-to-origin is incomplete.
Chapter

OPERATION
n NOTE
When the robot servo is off, automatic and manual operation cannot be
performed. There are two methods for turning on the robot servo: One is to
use the RPB and the other is to use the dedicated input.
Refer to "14. "UTILITY" mode" in this chapter, or refer to "1. Standard I/O
interface overview" in Chapter 5.

[Procedure]
1) Press the emergency stop button on the RPB.

2) Move the robot by hand to the target point and perform point teaching in
"MANUAL>POINT" mode.
For point data teaching methods, refer to the previous section "11.2.2 Point data input
by teaching". (In this procedure you move the robot by hand since the Jog keys cannot
be used.)

4-91
 11. "MANUAL" mode

11.2.4 Point jump display

[Procedure]

1) Press (JUMP) in "MANUAL>POINT" mode.

The message "Enter point no.>" appears on the guideline.

■ Point jump (1)

MANUAL>POINT 50%[MG][S0H0X]
Chapter ————————————x———————y———————z———————r———

4 P7
P8
= 100.00
= 50.00
250.00
100.00
0.00
0.00
0.00
0.00
OPERATION

P9 = 122.62 -24.54 0.00 0.00

COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Enter point no.>100_

2) Enter the point number to jump to, and press .

A jump is made so that the point data is displayed from the designated point number.

n NOTE
Valid point numbers are from 0 to 9999.

■ Point jump (2)

MANUAL>POINT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P100 = 0.00 0.00 0.00 0.00
P101 =
P102 = 10000 20000 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH JUMP VEL+ VEL-

4-92
 11. "MANUAL" mode

11.2.5 Copying point data

Point data can be copied under another point number.

n NOTE
If a hand system flag is set in the point data, the hand system flag will also
be copied.

[Procedure]

1) Press (COPY) in "MANUAL>POINT" mode. Chapter

The message "Copy(####-####,####)>" appears on the guideline.

4

OPERATION
■ Copying point data (1)

MANUAL>POINT 50% [MG][S0H0X]

————————————x———————y———————z———————r———
P30 = 100.00 250.00 0.00 0.00
P31 = 50.00 100.00 0.00 0.00
P32 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Copy(####-####,####)>

2) Use to , and to enter the point number range for the copy

source and the point number for the copy destination in the following format and

press .

"(copy start number) – (copy end number), (copy destination number)"

For example, to copy the data between P30 and P34 onto the lines after P50, enter

"30 - 34, 50" and press .

A confirmation message appears on the guideline.

n NOTE
Valid point numbers are from 0 to 9999.

4-93
 11. "MANUAL" mode

■ Copying point data (2)

MANUAL>POINT 50% [MG][S0H0X]

————————————x———————y———————z———————r———
P30 = 100.00 250.00 0.00 0.00
P31 = 50.00 100.00 0.00 0.00
P32 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
(30-34,50)Copy OK? YES NO

Chapter

4 3) Press (YES) to make a copy.

OPERATION

The point data in the selected range is copied onto the data lines starting from the
specified copy destination number.

Press (NO) if you want to cancel the copy.

4-94
 11. "MANUAL" mode

11.2.6 Erasing point data

[Procedure]

1) Press (ERASE) in "MANUAL>POINT" mode.

The message "Erase (####-####)>" appears on the guideline.

■ Erasing point data (1)

MANUAL >POINT 50% [MG][S0H0X]

————————————x———————y———————z———————r——— Chapter
P30
P31
= 100.00
= 50.00
250.00
100.00
0.00
0.00
0.00
0.00
4
P32 = 122.62 -24.54 0.00 0.00

OPERATION
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Erase(####-####)>

2) Use to and to specify the point number range in the following format

and press .

"(erase start number) - (erase end number)"

For example, to erase the data between P30 and P34, enter "30-34" and press

A confirmation message appears on the guideline.

n NOTE
Valid point numbers are from 0 to 9999.

■ Erasing point data (2)

MANUAL >POINT 50% [MG][S0H0X]

————————————x———————y———————z———————r———
P30 = 100.00 250.00 0.00 0.00
P31 = 50.00 100.00 0.00 0.00
P32 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
(30-34)Erase OK? YES NO

3) Press (YES) to erase the data. The point data in the specified range is erased.

Press (NO) if you want to cancel erasure.

4-95
 11. "MANUAL" mode

11.2.7 Point data trace

Point data positions can be checked by actually moving the robot.
Refer to "9.7 Executing the point trace" earlier in this chapter for details.

n NOTE

• In "AUTO>POINT" mode, pressing (MODIFY) returns to

"MANUAL>POINT" mode that was active before trace.

• When "AUTO>POINT" mode was entered from "MANUAL>POINT" mode,
Chapter
pressing also returns to "MANUAL>POINT" mode.
4
OPERATION

[Procedure]

1) In "MANUAL>POINT" mode, press (TRACE) to switch to "AUTO>POINT"

mode.

11.2.8 Point comment input and editing

Press (COMMENT) in "MANUAL>POINT" mode.

The data display on the screen does not change (same as "MANUAL>POINT" mode).
The 5-digit area on the left shows point numbers, with the currently selected point number
highlighted.

n NOTE
• Point comments can be entered for point numbers having no data.
• A point comment can be up to 15 characters.

■ Entering a point comment (1)

MANUAL>POINT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH JUMP VEL+ VEL-

4-96
 11. "MANUAL" mode

Valid keys and submenu descriptions in "MANUAL > POINT" comment mode are shown
below.

Valid keys Menu Function

Cursor key
Specifies point data or scrolls the screen vertically.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 EDIT Edits point comments.
F2 TEACH Enters point data by teaching.
Chapter
F3 JUMP Displays the specified (jumped) data.
Increases manual movement speed for the selected
4
F4 VEL+

OPERATION
robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)
F6 COPY Copies point comments.
F7 ERASE Deletes point comments.

UNITCHG Changes the current position display units to "mm" or

F8 "pulse".
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.
F11 FIND Enters the character string to be found.
Starts searching for a comment containing the specified
F12 FIND+ character string towards the end of the program.
Starts searching for a comment containing the specified
F13 FIND- character string towards the top of the program.
ROBOT
Switches the robot group.
( + )

4-97
 11. "MANUAL" mode

11.2.8.1 Point comment input and editing

n NOTE
• For point comments, it is advisable to enter a character string that is easy
to understand.
• A point comment can be up to 15 characters.

[Procedure]
1) In "MANUAL>POINT>COMMENT" mode, use the cursor (↑/↓) keys to select the point
Chapter
to edit or enter a comment.
4
OPERATION

2) Press (EDIT) in "MANUAL>POINT>COMMENT" mode.

An edit cursor appears on the guidline.

■ Entering a point comment (2)

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Comment>_

3) Enter a point comment with the data keys.

Up to 15 characters can be entered as a comment.

4) Press the enter key to finish the point comment input and display it.

Press if you want to cancel the comment input.

11.2.8.2 Point data input by teaching

For point data teaching methods, use the same procedure as explained in "11.2.2 Point
data input by teaching".

4-98
 11. "MANUAL" mode

11.2.8.3 Jump to a point comment

n NOTE
Valid point numbers are from 0 to 9999.

[Procedure]

1) Press (JUMP) in "MANUAL>POINT>COMMENT" mode.

The message "Enter point no. >" appears on the guideline.

Chapter
■ Jumping to a point comment display (1)
4

OPERATION
MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Enter point no.>107_

2) Enter the point comment to jump to, and press .

A jump is made to the designated point and its comment is then displayed.

■ Jumping to a point comment display (2)

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P107 = 340.05 250.03 0.00 0.00
P108 = 340.05 200.05 0.00 0.00
P109 = 122.62 -24.54 0.00 0.00
COMNT : WAIT_POS 08 [ ]
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH JUMP VEL+ VEL-

11.2.8.4 Copying a point comment

Point comments can be copied under another point number.

n NOTE
Valid point numbers are from 0 to 9999.

[Procedure]

1) Press (COPY) in "MANUAL>POINT>COMMENT" mode.

The message "Copy(####-####,####)>" appears on the guideline.

4-99
 11. "MANUAL" mode

2) Use to , and to enter the point number range for the copy

source and the point number for the copy destination in the following format, and

press .

"(copy start number) – (copy end number), (copy destination number)"

For example, to copy the point comments between P7 and P16 onto the lines after

Chapter P107, enter "7 - 16, 107" and press .

4 ■ Copying a point comment (1)
OPERATION

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Copy(####-####,####)>7-16,107_

3) A confirmation message appears on the guideline.

Press (YES) to make a copy. The comments in the selected range are copied

onto the data lines starting from the specified copy destination number.

Press (NO) if you want to cancel the copy.

■ Copying a point comment (2)

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
(7-16,107)Copy OK? YES NO

4-100
 11. "MANUAL" mode

11.2.8.5 Erasing point comments

Point comments already entered can be deleted.

n NOTE
Valid point numbers are from 0 to 9999.

[Procedure]

1) Press (ERASE) in "MANUAL>POINT>COMMENT" mode.

The message "Erase(####-####)>" appears on the guideline. Chapter

4
2) Use to and to specify the point number range in the following format

OPERATION
and press .
"(erase start number) - (erase end number)"

For example, to erase the data between P7 and P16, enter "7-16" and press .

■ Deleting a point comment (1)

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Erase(####-####)>7-16_

3) A confirmation message appears on the guideline.

Press (YES) to erase the point comments. The point comments in the specified

range are erased.

Press (NO) if you want to cancel erasure.

■ Deleting a point comment (2)

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
(7-16)Erase OK? YES NO

4-101
 11. "MANUAL" mode

11.2.8.6 Point comment search

Point comments already entered can be located.

n NOTE
A point comment can be up to 15 characters.

[Procedure]

1) Press (FIND) in "MANUAL>POINT>COMMENT" mode.

Chapter
The message "Character string >" appears on the guideline.

4 2) Enter the character string you want to search for, and press .
OPERATION

A maximum of 15 characters can be used.

■ Searching for a point comment (1)

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Character string >WAIT_

3) Search starts from the cursor position towards the end of the program and stops at the
first matching character string.

■ Searching for a point comment (2)

MANUAL>POINT>COMMENT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P334 = 100.00 250.00 0.00 0.00
P335 =
P336 = 122.62 -24.54 0.00 0.00
COMNT : WAIT_PICKUP [ ]
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH JUMP VEL+ VEL-

4) To continuously search for another character string, press (FIND+) or

(FIND-).

Pressing (FIND+) restarts the search from the current cursor position towards
the end of the program and stops at the first matching character string.

Pressing (FIND-) restarts the search from the current cursor position towards
the top of the program and stops at the first matching character string.

4-102
 11. "MANUAL" mode

11.2.9 Point data error reset

If an error "9.2 Point data destroyed" occurs in the point data, this function resets the error
and allows you to continue editing.

c CAUTION
This function resets an error, but does not restore the point data. A problem is
probably occurring in the point data, so check and correct the point data in
"MANUAL>POINT>EDIT" mode.

Chapter

n NOTE
This reset function does not work if an error "9.3 Memory destroyed" occurs.
4

OPERATION
In this case, initialize the memory.

[Procedure]

1) Press (ERR. RST) in "MANUAL>POINT" mode.

A confirmation message appears on the guideline.

■ Resetting a point data error

MANUAL>POINT 50% [MG][S0H0X]

————— 9.2:Point data destroyed—————————
P30 = 100.00 250.00 0.00 0.00
P31 = 50.00 100.00 0.00 0.00
P32 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
Error reset OK? YES NO

2) Press (YES) to reset the error.

Point data can be edited after resetting the error.

Press (NO) if you want to cancel the error reset.

4-103
 11. "MANUAL" mode

11.3 Displaying, editing and setting pallet definitions

Press (PALLET) in "MANUAL" mode to enter "MANUAL>PALLET" mode.

This mode allows you to display, edit and set pallet definitions.

A total of 20 pallets (definition numbers 0 to 19) can be defined to assign a point data
area to each pallet. Each pallet is generated (outlined) by using 5 points (P[1] to P[5] as
shown below). The maximum number of points that can be defined in one pallet is 32767
Chapter (=NX*NY*NZ).

4
n NOTE
• A total of 20 pallets can be defined.
OPERATION

• The maximum number of points that can be defined in one pallet is

32767.
• Data in the point data area is used for pallet definition.

n NOTE
When two robots (main and sub robots) are specified, pallet definitions can
be shared between them.

■ Pallet definition (1)

P[5]
P[3]
P[4]
NZ
NY

P[1] P[2]
NX

Pallet number Point number used Pallet number Point number used
PL0 P3996 to P4000 PL10 P3946 to P3950
PL1 P3991 to P3995 PL11 P3941 to P3945
PL2 P3986 to P3990 PL12 P3936 to P3940
PL3 P3981 to P3985 PL13 P3931 to P3935
PL4 P3976 to P3980 PL14 P3926 to P3930
PL5 P3971 to P3975 PL15 P3921 to P3925
PL6 P3966 to P3970 PL16 P3916 to P3920
PL7 P3961 to P3965 PL17 P3911 to P3915
PL8 P3956 to P3960 PL18 P3906 to P3910
PL9 P3951 to P3955 PL19 P3901 to P3905

4-104
 11. "MANUAL" mode

■ Pallet definition (2)

MANUAL >PALLET 50%[MG][S0H0X]

PL0 =SET
PL1 =
PL2 =SET
PL3 =
[POS] 400.00 0.00 0.00 0.00
EDIT METHOD VEL+ VEL-

Chapter
Pallet definition numbers marked "SET" mean that they have already been defined.
4

OPERATION
Valid keys and submenu descriptions in "MANUAL>PALLET" mode are shown below.

Valid keys Menu Function

Cursor key
Specifies the pallet definition number.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 EDIT Edits pallet definitions.
F2 METHOD Sets the pallet definition point by teaching.
Increases manual movement speed for the selected
F4 VEL+ robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)
F6 COPY Copies pallet definitions.
F7 ERASE Deletes pallet definitions.
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.
F15 PASSWD Does not function.
ROBOT
Switches the robot group.
( + )

4-105
 11. "MANUAL" mode

11.3.1 Editing pallet definitions

n NOTE
The maximum number of points per pallet is 32767 (=NX*NY*NZ).

[Procedure]
1) In "MANUAL>PALLET" mode, select the pallet number with the cursor (↑/↓) keys.

Chapter
2) Press (EDIT) to enter "MANUAL>PALLET>EDIT" mode.
4
OPERATION

3) Use the cursor (↑/↓) keys to move the cursor to the position you want edit.

4) Use to to enter the desired value.

The maximum number of points per pallet must be within 32767 (=NX*NY*NZ).

■ Editing pallet definitions

MANUAL>PALLET>EDIT 50%[MG][S0H0X]

PALLET NO. =PL0 [XY]

Used point =P3996-P4000
NX = 3
NY = 4
NZ = 5_
POINT

5) Press to determine the input value.

6) To continue editing, repeat steps 3) to 5).

7) Press to quit editing and return to "MANUAL>PALLET" mode.

Valid keys and submenu descriptions in "MANUAL>PALLET>EDIT" mode are shown

below.

Valid keys Menu Function

Cursor key
Move cursors.
(↑/↓)
F1 POINT Set point data in the pallet definitions.

4-106
 11. "MANUAL" mode

11.3.1.1 Point setting in pallet definition

In "MANUAL>PALLET>EDIT" mode, a screen like that shown below is displayed.

n NOTE
• Each pallet is generated with 5 points for pallet definition.
• These 5 points should be defined in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet definitions".

■ Point setting in pallet definition

Chapter
MANUAL>PALLET>EDIT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
4

OPERATION
POINT=P3996(P[1])-P4000(P[5])
P[1] = 98.87 -24.54 0.00 0.00
P[2] = 122.62 -24.54 0.00 0.00
P[3] = 98.62 -94.54 0.00 0.00
[POS] 50.00 100.00 0.00 0.00
EDIT TEACH VEL+ VEL-

The 3rd line shows the point numbers and point data in the pallet definition.

Valid keys and submenu descriptions in this mode are shown below.

Valid keys Menu Function

Cursor key
Specifies the point data or scrolls the screen.
(↑/↓)
F1 EDIT Edits the point in pallet definition.
F2 TEACH Sets the point in pallet definition by teaching.
Increases manual movement speed for the selected
F4 VEL+ robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)
F8 UNITCHG Switches the current position display units.
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.
ROBOT
Switches the robot group.
( + )

4-107
 11. "MANUAL" mode

11.3.1.1.1 Editing the point in pallet definition

n NOTE
• Each pallet is generated (outlined) with 5 points, so always specify these
5 points for pallet definition.
• Point data in the pallet definition must be entered in "mm" units.
• The 5 points should be defined in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet definitions".

Chapter [Procedure]
4 1) Press (EDIT) in "MANUAL>PALLET>EDIT>POINT" mode.
OPERATION

■ Point editing in pallet definition

MANUAL>PALLET>EDIT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
POINT=P3996(P[1])-P4000(P[5])
P[1] = _98.87 -24.54 0.00 0.00
P[2] = 122.62 -24.54 0.00 0.00
P[3] = 98.62 -94.54 0.00 0.00
[POS] 50.00 100.00 0.00 0.00
UNDO

2) Use the cursor (←/→/↑/↓) keys to move the cursor to the position you want edit.

3) Use to , , , and to enter the point data.

4) Press or cursor up/down (↑/↓) keys to finish the point data input.

Press if you want to cancel the point data input.

5) To continue editing, repeat steps 2) to 4).

6) Press to quit editing and return to "MANUAL>PALLET >EDIT>POINT" mode.

Valid keys and submenu descriptions in this mode are shown below.

Valid keys Menu Function

Cursor key
Moves the cursor.
(↑/↓)
Reverses the last data input and restores the preceding
F1 undo data.

11.3.1.1.2 Setting the point in pallet definition by teaching

For point data teaching methods, refer to "11.2.2 Point data input by teaching".

4-108
 11. "MANUAL" mode

11.3.2 Pallet definition by teaching

n NOTE
Pallets cannot be defined by teaching if return-to-origin is incomplete.
Perform teaching after performing return-to-origin.

[Procedure]
1) Select the pallet number in "MANUAL>PALLET" mode with the cursor (↑/↓) keys.
Chapter

2) Press (METHOD) to enter "MANUAL>PALLET>METHOD" mode. 4

OPERATION
3) Select the dimension of the pallet to be defined from "2-D" (plane) or "3-D" (solid).

■ Pallet definition by teaching (1)

MANUAL>PALLET>METHOD 50%[MG][S0H0X]

PALLET NO.=PL0 [XY]

Select dimension of this pallet

2-D 3-D

4) Move the robot work point to P[1] used in the pallet definition, and perform teaching

by pressing .

w WARNING
TO AVOID HAZARDOUS SITUATIONS DO NOT ENTER THE ROBOT MOVEMENT
RANGE WHEN MANIPULATING THE ROBOT.

n NOTE
• Each pallet is generated (outlined) with 5 points for pallet definition.
• Point data in the pallet definition must be entered in "mm" units.
• The 5 points should be defined in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet definitions".

4-109
 11. "MANUAL" mode

■ Pallet definition by teaching (2)

MANUAL >PALLET>METHOD 50%[MG][S0H0X]

PALLET NO.=PL0 [XY]

Move arm to P[1] and press ENTER key

[POS] 50.00 100.00 0.00 0.00

VEL+ VEL–

Chapter

4 5) Perform teaching at P[2], P[3], P[4] and P[5] (only when "3-D" is selected) as in step 4).
OPERATION

6) Enter the number of points NX between P[1] and P[2] on the pallet with a positive
integer.

■ Pallet definition by teaching (3)

MANUAL>PALLET>METHOD 50%[MG][S0H0X]

PALLET NO.=PL0 [XY]

Enter number of points(NX) on P[1]-P[2]

[1-1000] ENTER >_

7) Enter the number of points NY and NZ (only when "3-D" is selected) as in step 6).

8) A confirmation message then appears after setting the number of points.

Press (YES) to determine the setting.

Press (NO) if you want to cancel the setting.

■ Pallet definition by teaching (4)

MANUAL >PALLET>METHOD 50%[MG][S0H0X]

PALLET NO.=PL0 [XY]

Used point =P3996-P4000
NX = 5
NY = 9
NZ = 3
Set OK? YES NO

4-110
 11. "MANUAL" mode

n NOTE
• Each pallet is generated with 5 points for pallet definition.
• The 5 points should be defined in order from P[1] to P[5]. See "11.3
Displaying, editing and setting pallet definitions".

Valid keys and submenu descriptions in "MANUAL>PALLET>METHOD" mode are shown

below.

Valid keys Menu Function Chapter

F4 VEL+ Increases manual movement speed for the selected

robot group in steps. (1→5→20→50→100%)
4

OPERATION
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)

UNITCHG Switches between the current display units (mm or

F8 pulses).
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.

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 11. "MANUAL" mode

11.3.3 Copying a pallet definition

n NOTE
• Valid pallet numbers are from 0 to 19.
• Pallet definition cannot be copied if the currently selected pallet is
undefined.

[Procedure]
Chapter 1) Select the pallet number in "MANUAL>PALLET" with the cursor (↑/↓) keys.

4
OPERATION

2) Press (COPY) and then enter the pallet number where you want to copy the

currently selected pallet definition.

■ Copying a pallet definition (1)

MANUAL >PALLET 50%[MG][S0H0X]

PL0 =SET
PL1 =SET
PL2 =SET
PL3 =
[POS] 50.00 100.00 0.00 0.00
Copy(PL NO.)>3_

3) A confirmation message then appears in the guideline.

Press (YES) to make a copy.

Press (NO) if you want to cancel the copy.

■ Copying a pallet definition (2)

MANUAL>PALLET 50%[MG][S0H0X]

PL0 =SET
PL1 =SET
PL2 =SET
PL3 =
[POS] 50.00 100.00 0.00 0.00
PL1 -> PL3 Copy OK? YES NO

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 11. "MANUAL" mode

11.3.4 Deleting a pallet definition

n NOTE
Pallet definition cannot be deleted if the currently selected pallet is
undefined.

[Procedure]
1) Select the pallet number in "MANUAL>PALLET" mode with the cursor (↑/↓) keys.
Chapter

2) Press (ERASE). 4

OPERATION
A confirmation message then appears asking if the currently selected pallet definition
is to be deleted.

Press (YES) to delete it.

Press (NO) if you want to cancel.

■ Deleting a pallet definition

MANUAL>PALLET 50%[MG][S0H0X]

PL0 =SET
PL1 =SET
PL2 =SET
PL3 =SET
[POS] 50.00 100.00 0.00 0.00
Erase OK? YES NO

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 11. "MANUAL" mode

11.4 Changing the manual movement speed

Manual movement speed of the selected robot group can be set anywhere within the range
from 1 to 100%. Movement speed in "MANUAL" mode is set separately from the "AUTO"
mode movement speed. One-fifth of the maximum speed in "AUTO" mode is equal to the
maximum movement speed in "MANUAL" mode.

[Procedure]

1) Press (VEL+) or (VEL-) to change the manual movement speed in steps.

Chapter
Each time this key is pressed, the speed changes in steps of 1 ← → 5 ← → 20 ← →
4 50 ← → 100%. The maximum motor speed is set at 100%.
OPERATION

2) Press (VEL++) or (VEL--) to change the manual movement speed

gradually.
Each time this key is pressed, the speed changes in units of 1%.
Holding down the key changes the speed continuously.

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 11. "MANUAL" mode

11.5 Displaying, editing and setting shift coordinates

Press (SHIFT) in "MANUAL" mode to enter "MANUAL>SHIFT" mode.

This mode allows you to display, edit and set shift coordinates.
Shift coordinates cannot be used with MULTI type robots.

n NOTE
Shift coordinates cannot be used with MULTI type robots since the SHIFT/
HAND selection display on the 1st line on the RPB screen appears blank.
Chapter

By setting shift coordinates, the point data on the Cartesian coordinates ("mm" units) can 4
be shifted to any desired position within the robot work area. The work area can also be

OPERATION
restricted in each direction.

Up to 10 shift coordinates (shift coordinate numbers 0 to 9) can be set to shift the standard
coordinates in the X and Y (XY plane rotation) directions. Each shift coordinate can specify
the robot operating area.

n NOTE
• When two robots are specified, the shift data can be shared between
them. Shift coordinate numbers can be set for each robot separately.
• A maximum of 10 shift coordinates can be set per robot.

Shift coordinate data format

Sn= ±###.## ±###.## ±###.## ±###.##
dX (mm) dY (mm) dZ (mm) dR (degrees) (n=0 to 9)
When the shift amount is dX=0.00, dY=0.00, dZ=0.00, dR=0.00, the shift coordinates
equal the standard coordinates.
■ Standard coordinates and shift coordinates

X
dY dR

dX

X’

Y Y’

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 11. "MANUAL" mode

When "MANUAL>SHIFT" mode is entered, a screen like that shown below appears.

The currently selected shift coordinate number is highlighted.

■ "MANUAL>SHIFT" mode

MANUAL>SHIFT 50% [MG][S1H0X]

————————————x———————y———————z———————r———
S0 = 0.00 0.00 0.00 0.00
S1 = 300.00 0.00 0.00 0.00
S2 = 300.00 -300.00 0.00 0.00
Chapter S3 = 0.00 0.00 0.00 0.00

4 [POS]
EDIT
600.00
RANGE
0.00 0.00
VEL+
0.00
VEL-
OPERATION

Valid keys and submenu descriptions in "MANUAL>SHIFT" mode are shown below.

Valid keys Menu Function

Cursor key
Specifies the shift coordinate number.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 EDIT Edits the shift coordinates.
F2 RANGE Sets the shift coordinates range.
Increases manual movement speed for the selected
F4 VEL+ robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)
F6 METHOD1 Makes setting 1 for shift coordinates.
F7 METHOD2 Makes setting 2 for shift coordinates.
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.
ROBOT
Switches the robot group.
( + )

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 11. "MANUAL" mode

11.5.1 Editing shift coordinates

[Procedure]
1) In the "MANUAL>SHIFT" mode, select a shift coordinate number with the cursor (↑/↓)
keys.

2) Press (EDIT) to enter "MANUAL>SHIFT>EDIT" mode.

Chapter
3) Use the cursor (←/→) key to move the cursor to the position you want to change. 4

OPERATION
4) Use to , , , and to enter the shift coordinate data.

Enter a space to separate between the data for x and y. The data input formats are as
follows.
• To enter the data in Cartesian coordinates ("mm" units)
Enter a number consisting of an integer portion of up to 5 digits and having 2 or
less places below the decimal point.
±###.##, ±####.#, ±#####.

n NOTE
Enter point data for both X-axis and Y-axis. If omitted, "0" will be
automatically entered for that axis.

■ Editing shift coordinate data

MANUAL>SHIFT>EDIT 50% [MG][S1H0X]

————————————x———————y———————z———————r———
S0 = 0.00 0.00 0.00 0.00
S1 = 300.00 0.00 0.00 0.00
S2 = 300.00 -300.00 0.00 0.00
S3 = 0.00 0.00 0.00 0.00
[POS] 600.00 0.00 0.00 0.00
UNDO

5) Press , cursor up/down (↑/↓) keys or page up/down ( , ) keys to

finish the data input.

Press if you want to cancel the data input.

6) To continue the editing, repeat steps 3) to 5).

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 11. "MANUAL" mode

7) Press to quit editing and return to "MANUAL>SHIFT" mode.

n NOTE
The shift coordinate data on which the cursor was positioned when returning
to "MANUAL>SHIFT" mode is used as the shift coordinates for the currently
selected robot group.

Chapter Valid keys and submenu descriptions in "MANUAL>SHIFT>EDIT" mode are shown below.

4 Valid keys Menu Function

Reverses the last data input and restores the preceding
OPERATION

F1 UNDO data.

11.5.1.1 Restoring shift coordinates

[Procedure]

1) During shift coordinate data editing, pressing (UNDO) reverses the last data

input and restores the preceding data.

This function is enabled only on lines that are not yet complete.

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 11. "MANUAL" mode

11.5.2 Editing the shift coordinate range

By setting the shift coordinate range, the robot operating area can be restricted to the
desired range on each shift coordinate. Moreover, setting the soft limit parameters allows
you to specify the robot work area more precisely.

Shift coordinate range data format

• Plus side
SPn= ±###.## ±###.## ±###.## ±###.##
dPX (mm) dPY (mm) dPZ (mm) dPR (degrees)
Chapter
• Minus side
SMn= ±###.## ±###.## ±###.## ±###.##
4

OPERATION
dMX (mm) dMY (mm) dMZ (mm) dMR (degrees) (n=0 to 9)

n NOTE
• "n" is a shift coordinate number.
[Example]
SP1........ Plus side work area of shift coordinate S1
SM 2...... Minus side work area of shift coordinate S2
• When the plus and minus sides on an axis (x, y, z, r) are both at 0.00, the
work area on that axis is not be restricted.

■ Shift coordinate range

X
dM

X
X
dP
Y
dM
Y
dP

X’

Y Y’

To edit a shift coordinate range, use the procedure below.

[Procedure]
1) In "MANUAL>SHIFT" mode, use the cursor (↑/↓) keys to select the shift coordinate
number you want to edit.

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 11. "MANUAL" mode

2) Press (RANGE) to enter the "MANUAL>SHIFT>RANGE" mode.

A cursor for editing the shift coordinate range appears.

■ Editing shift coordinate range (1)

MANUAL>SHIFT>RANGE 50% [MG][S1H0X]

————————————x———————y———————z———————r———
Range of shift coorinate [mm/deg]
SP1 =_ 0.00 0.00 0.00 0.00
SM1 = 0.00 0.00 0.00 0.00
Chapter

4 [POS]
UNDO
150.00 0.00 0.00 0.00
OPERATION

3) Use the cursor (←/→) keys to move the cursor to the position you want to change.

4) Use to , , , and to enter the point data.

Enter a space to separate between the data for x and y. The data input formats are as
follows.
• To enter the data in Cartesian coordinates ("mm" units)
Enter a number consisting of an integer portion of up to 5 digits and having 2 or
less places below the decimal point.
±###.##, ±####.#, ±#####.

n NOTE
Enter point data for both X-axis and Y-axis. If omitted, "0" will be
automatically entered for that axis.

■ Editing shift coordinate range (2)

MANUAL>SHIFT>RANGE 50% [MG][S1H0X]

————————————x———————y———————z———————r———
Range of shift coorinate [mm/deg]
SP1 = 300.00 300.00 0.00 0.00
SM1 = 0.00 0.00 0.00 0.00

[POS] 150.00 0.00 0.00 0.00

UNDO

5) Press , cursor up/down (↑/↓) keys or page up/down ( , ) keys to

finish the data input.

Press if you want to cancel the data input.

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 11. "MANUAL" mode

6) To continue editing the shift coordinate range on the minus side, repeat steps 3) to 5).

7) Press to quit editing and return to "MANUAL>SHIFT" mode.

n NOTE
The shift coordinate number selected when returning to "MANUAL>SHIFT"
mode is used as the shift coordinates for the currently selected robot group.

Chapter

Valid keys and submenu descriptions for editing shift coordinates range are shown below. 4

OPERATION
Valid keys Menu Function
Reverses the last data input and restores the preceding
F1 UNDO data.

11.5.2.1 Restoring a shift coordinate range

[Procedure]

1) During editing of shift coordinate range data, pressing (UNDO) reverses the

last data input and restores the preceding data.

This function is enabled only on lines that are not yet complete.

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 11. "MANUAL" mode

11.5.3 Shift coordinate setting method 1

This method sets the shift coordinate data by performing teaching at two points and then
entering the plus/minus direction of those two points.
The first teach point 1 (1st P) becomes the shift coordinate origin.
■ Shift coordinate setting method 1 (1)

Chapter
X
4
OPERATION

Point 1
(1st P)

Point 2
(2nd P)

X’

Y Y’

[Procedure]
1) In "MANUAL>SHIFT" mode, select the shift coordinate number with the cursor (↑/↓)
key.

2) Press (METHOD1) to enter "MANUAL>SHIFT> METHOD1" mode.

■ Shift coordinate setting method 1 (2)

MANUAL>SHIFT>METHOD1 50% [MG][S0H0X]

————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
1st P=
2nd P=

[POS] 600.00 0.00 0.00 0.00

VEL+ VEL-

3) Use the Jog keys to move the robot arm tip to teach point 1. (Position it accurately.)

w WARNING
THE ROBOT STARTS TO MOVE WHEN A JOG KEY IS PRESSED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.

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 11. "MANUAL" mode

n NOTE
Perform teaching carefully to obtain accurate teach points. Precise shift
coordinates cannot be set if the teach point is inaccurate.

4) Press , and the current position is then obtained as "1st P".

(This value becomes the shift coordinate origin.)

■ Shift coordinate teaching

Chapter
MANUAL>SHIFT>METHOD1 50% [MG][S0H0X]
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
4

OPERATION
1st P= 214.45 -15.01 0.00
2nd P=

[POS] 214.45 -15.01 0.00 0.00

VEL+ VEL-

5) Determine teach point 2 with the same procedure as for teach point 1.

6) Select the plus/minus direction of teach point 1 towards point 2 by using (+X),

(-X), (+Y) or (-Y).

■ Coordinate direction setting

MANUAL>SHIFT>METHOD1 50% [MG][S0H0X]

————————————x———————y———————z———————r———
Press F.key to get Direction
+——————————+———> +X
1st P. 2nd P.
+X

+X -X +Y -Y

7) When the coordinate direction is selected, the shift coordinate values (dX, dY, dZ, dR)
are automatically calculated and stored.
The screen then returns to "MANUAL>SHIFT" mode.

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 11. "MANUAL" mode

Valid keys and submenu descriptions in "MANUAL>SHIFT>METHOD1" mode are shown

below.

Valid keys Menu Function

Increases manual movement speed for the selected
F4 VEL+ robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)

UNITCHG Switches between the current display units (mm or

F8 pulses).
Increases manual movement speed for the selected
Chapter F9 VEL++ robot group in 1% increments.
4 F10 VEL-- Decreases manual movement speed for the selected
robot group in 1% decrements.
OPERATION

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 11. "MANUAL" mode

11.5.4 Shift coordinate setting method 2

This method sets the shift coordinate data by performing teaching at two points and then
entering the coordinate values of those two points.
■ Shift coordinate setting method 2 (1)

X
Chapter

P1 4

OPERATION
P2
X’

Y
Y’

[Procedure]
1) In "MANUAL>SHIFT" mode, select the shift coordinate number with the cursor (↑/↓)
key.

2) Press (METHOD2) to enter "MANUAL>SHIFT> METHOD2" mode.

■ Shift coordinate setting method 2 (2)

MANUAL>SHIFT>METHOD2 50% [MG][S0H0X]

————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
1st P=
2nd P=

[POS] 600.00 0.00 0.00 0.00

VEL+ VEL-

3) Use the Jog keys to move the robot arm tip to teach point 1. (Position it accurately.)

w WARNING
THE ROBOT STARTS TO MOVE WHEN A JOG KEY IS PRESSED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.

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 11. "MANUAL" mode

n NOTE
Perform teaching carefully to obtain accurate teach points. Precise shift
coordinates cannot be set if the teach point is inaccurate.

4) Press to obtain the current position as "1st P".

An edit cursor appears at the head of the "1st P" line.

■ Shift coordinate setting

Chapter
MANUAL>SHIFT>METHOD2 50% [MG][S0H0X]
4 ————————————x———————y———————z———————r———
Enter the point data [mm]
OPERATION

1st P=_ 0.00 0.00

2nd P=

[POS] 13.00 150.00 0.00 0.00

VEL+ VEL-

5) Use to , , , and to enter the point data (x, y, z) and

press .

n NOTE
Enter all point data (x, y, z) (x, y). If omitted, "0" will be automatically entered
for that axis.

c CAUTION
If teach points and input points are not accurately determined, calculation
results will be inaccurate, so always determine these points correctly.

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 11. "MANUAL" mode

6) Determine teach point 2 with the same procedure as for teach point 1.

n NOTE
The Z-direction shift value is automatically obtained when teach point 1 is
determined, so the Z-axis data at teach point 2 is ignored.

7) When the teach point 2 has been entered, the shift coordinates (dX, dY, dZ and dR)
are automatically calculated and stored.
The screen then returns to "MANUAL>SHIFT" mode.
Chapter

Valid keys and submenu descriptions in "MANUAL>SHIFT>METHOD2" mode are shown 4

below.

OPERATION
Valid keys Menu Function
Increases manual movement speed for the selected
F4 VEL+ robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)

UNITCHG Switches between the current display units (mm or

F8 pulses).
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.

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 11. "MANUAL" mode

11.6 Displaying, editing and setting hand definitions

Press (HAND) in "MANUAL" mode to enter "MANUAL>HAND" mode. This mode

allows you to display, edit and set hand definitions. However, the standard coordinates
must be set when a SCARA robot is used. Refer to "11.9 Setting the standard coordinates"
for details.
Hand definitions cannot be used with MULTI type robots.

Chapter n NOTE
When two robots are specified, hand definitions data cannot be shared
4 between them. The main robot uses H0 - H3, and the sub robot H4 - H7 for
hand definition data.
OPERATION

n NOTE
Hand definition data cannot be used with MULTI type robots since the SHIFT/
HAND selection display on the 1st line on the RPB screen appears blank.

Four kinds of hand definitions can be set to change the robot working points with standard
coordinate settings to the working points of the hand installed to the 2nd arm (Y-axis) or
the R-axis.
This function allows movement using different hands towards point data in the same
Cartesian coordinate format.
• Data format for hand definition
Hn= ±aaaaaa ±bbbbbb ±cccccc [R]
(main robot : n = 0 to 3 / sub robot : n = 4 to 7)
1st parameter ............... ±aaaaaa
Enter a number consisting of an integer portion of up to 5
digits and having 2 or less places below the decimal point,
or an integer of up to 7 digits (depending on the robot type
setting and hand definition type).
2nd to 3rd parameters ... ±bbbbbb, ±cccccc
Enter a number consisting of an integer portion of up to 5
digits and having 2 or less places below the decimal point.
4th parameter ............... R
Enter one character (depending on the hand definition
type).

When all values for a hand definition are "0", this means the hand definition is not set.

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 11. "MANUAL" mode

When "MANUAL>HAND" mode is entered, a screen like that shown below appears.

The currently selected hand definition number is highlighted.

■ Hand definition screen

MANUAL>HAND 50% [MG][S0H1X]

————————————1———————2———————3———————4———
H0 = 0 0.00 0.00
H1 = 0.00 100.00 0.00 R
H2 = 90.00 100.00 100.00 R
Chapter
H3 = 8000 100.00 100.00
[POS]
EDIT
600.00 0.00 0.00
VEL+
0.00
VEL-
4

OPERATION
Valid keys and submenu descriptions in "MANUAL>HAND" mode are shown below.

Valid keys Menu Function

Cursor key
Specifies the hand definition number.
(↑/↓)
F1 EDIT Edits the hand definition.
Increases manual movement speed for the selected
F4 VEL+ robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
F5 VEL- robot group in steps. (100→50→20→5→1%)
F6 METHOD1 Makes setting 1 for hand coordinates.

UNITCHG Switches between the current display units (mm or

F8 pulses).
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.
ROBOT
Switches the robot group.
( + )

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 11. "MANUAL" mode

Movement of each robot type and the parameter contents are shown below.
Setting units for each parameter are shown in parentheses.

Cartesian robots
1) Hand attached to 2nd arm
a. Robot movement
• Hand "n" moves to a specified point.
b. Parameter descriptions

Chapter <1st parameter>: Specify the X-axis offset amount of hand "n" with a real number.
(unit: mm)
4 <2nd parameter>: Specify the Y-axis offset amount of hand "n" with a real numbers.
OPERATION

(unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand "n" with a real number.
(unit: mm)
<4th parameter>: No setting for "R".

■ Hands attached to 2nd arm (Cartesian type) (1)

HAND 1
−100.00mm

HAND 0

−100.00mm

Y
■ Hands attached to 2nd arm (Cartesian type) (2)

MANUAL>HAND 50% [MG][S0H1X]

————————————1———————2———————3———————4———
H0 = 0.00 0.00 0.00
H1 =-100.00 -100.00 -100.00
H2 = 0.00 0.00 0.00
H3 = 0.00 0.00 0.00
[POS] 600.00 0.00 0.00 0.00
EDIT VEL+ VEL-

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 11. "MANUAL" mode

11.6.1 Editing hand definitions

[Procedure]

1) Press (EDIT) in "MANUAL>HAND" mode.

2) Use the cursor (↑/↓) keys to select the hand definition you want to edit.
An edit cursor appears at the left end of the selected hand definition line.

■ Hand editing screen (1) Chapter

MANUAL>HAND>EDIT 50% [MG][S0H1X]

4

OPERATION
————————————1———————2———————3———————4———
H0 = 0 0.00 0.00
H1 =_ 0.00 100.00 0.00 R
H2 = 90.00 100.00 100.00 R
H3 = 8000 100.00 100.00
[POS] 600.00 0.00 0.00 0.00
UNDO

3) Use the cursor (←/→) key to move the cursor to the position you want to edit.

4) Use to , , , , , and to enter the data.

■ Hand editing screen (2)

MANUAL>HAND>EDIT 50% [MG][S0H1X]

————————————1———————2———————3———————4———
H0 = 0 0.00 0.00
H1 = 45.00 300 100 R_
H2 = 90.00 100.00 100.00 R
H3 = 8000 100.00 100.00
[POS] 600.00 0.00 0.00 0.00
UNDO

5) Pressing or cursor up/down (↑/↓) keys completes the hand definition

settings.

Press if you want to cancel the settings.

6) To continue editing, repeat steps 2) to 4).

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 11. "MANUAL" mode

7) Press to quit editing and return to "MANUAL>HAND" mode.

n NOTE
The hand definition data with which the cursor was positioned when
returning to "MANUAL>HAND" mode is used as the current hand definition.

Valid keys and submenu descriptions in "MANUAL>HAND>EDIT" mode are shown below.
Chapter
Valid keys Menu Function
4 F1 UNDO Reverses the last data input and restores the preceding
data.
OPERATION

11.6.1.1 Restoring hand definitions

[Procedure]

1) During hand definition editing, pressing (UNDO) reverses the last data input

and restores the preceding data.

This function is enabled only on lines that are not yet complete.

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 11. "MANUAL" mode

11.6.2 Hand definition setting method 1

By using this method, a hand attached to the 2nd arm can be set to the current hand
definition.

n NOTE
Hand definition data is set by teaching the identical points that are used for
hand working points and non-hand working points.

[Procedure] Chapter
1) In "MANUAL>HAND" mode, use the cursor (↑/↓) key to select the hand definition
number.
4

OPERATION
2) Press (METHOD1) to enter "MANUAL>HAND> METHOD1" mode.

■ Hand setting 1 (1)

MANUAL>HAND>METHOD1 50% [MG][S0H0X]

————————————1———————2———————3———————4———
Move arm to P[1] and press ENTER key
1st P=
2nd P=

[POS] 600.00 0.00 0.00 0.00

VEL+ VEL-

3) Use the Jog keys to move the robot working point to point 1. (Position it accurately.)

w WARNING
THE ROBOT STARTS TO MOVE WHEN A JOG KEY IS PRESSED. TO AVOID
DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.

4) Press to enter the teaching value.

■ Hand setting 1 (2)

MANUAL>HAND>METHOD1 50% [MG][S0H0X]

————————————1———————2———————3———————4———
Move arm to P[2] and press ENTER key
1st P= 214.45 -15.01 0.00
2nd P=

[POS] 214.45 -15.01 0.00 0.00

VEL+ VEL-

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 11. "MANUAL" mode

5) Use the Jog keys to move the robot working point to point 2. (Position it accurately.)

6) Press to enter the teaching value.

The hand definition setting ends and the screen returns to "MANUAL> HAND" mode.

Valid keys and submenu descriptions in "MANUAL>HAND>METHOD1" mode are shown

below.
Chapter
Valid keys Menu Function
4 F4 VEL+ Increases manual movement speed in steps.
(1→5→20→50→100%)
OPERATION

Decreases manual movement speed in steps.

F5 VEL- (100→50→20→5→1%)

UNITCHG Switches between the current display units (mm or

F8 pulses).
Increases manual movement speed for the selected
F9 VEL++ robot group in 1% increments.
Decreases manual movement speed for the selected
F10 VEL-- robot group in 1% decrements.

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 11. "MANUAL" mode

11.7 Changing the display units

The units used to indicate the current position on the RPB screen can be switched to either
"pulses" and "mm". If hand data for the R-axis is selected (hand definition is made), then
"Tool coordinate" mode can also be used.

[Procedure]

1) Press (UNITCHG) in "MANUAL" mode.

This switches the units used to indicate the current position in "MANUAL" mode.
Chapter

2) Each time the key is pressed, the units displayed on the upper right of the RPB screen
4

OPERATION
are switched to "X" or "J" or "T". However, "T" (Tool coordinate mode) can be selected
only when hand data for the R-axis is selected (hand definition is made).

■ Switching the display units

"pulse" units (J)

"mm" units (T)

Tool coordinate mode

* Selectable only when hand data for the

"mm" units (X) R-axis is selected.

• "mm" units (Cartesian coordinates)

Displays the current position with a number consisting of an integer and a decimal
fraction.
• "pulse" units (joint coordinates)
Displays the current position with an integer.

Robot manual movement with Jog keys differs depending on the currently selected display
units. For more details, refer to "11.1 Manual movement" in this chapter.

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11.8 Return-to-origin
After the power to the controller is turned on, return-to-origin must be performed before
starting robot operation. When return-to-origin is performed, the robot arms move to their
mechanical origin positions and the position data in the controller is reset.
Return-to-origin must be performed on incremental mode axes. On semi-absolute mode
axes, an absolute search (also called absolute reset) is performed by return-to-origin
operation (see 11.8.2).

Chapter The following parameters are for return-to-origin operation. For more details on each
4 parameter, refer to items described in "12.1 Parameters" of chapter 4.
OPERATION

Category Parameter name Description

Sets the order in which to perform return-
Robot parameter Origin sequence to-origin or absolute search on each axis.

Origin speed Sets the speed at which to perform return-

to-origin or absolute search.

Origin shift Sets the offset of origin position data.

Axis parameter
Sets the method for performing return-to-
Origin method origin or absolute search.
Sets the direction for performing return-to-
Origin direction origin or absolute search.

11.8.1 Return-to-origin operation

Return-to-origin methods include the sensor method and stroke end detection method.
Each return-to-origin method is described below.
Refer to "11.8.3 Return-to-origin procedure" for instructions on how to perform return-to-origin.

● Return-to-origin operation using the sensor method

■ Return-to-origin operation using the sensor method

Return-to-origin direction
@
. : Return-to-origin start position

Origin sensor

q Before performing return-to-origin, check that all axes are in positions that allow
return-to-origin.

Return-to-origin direction Position allowing return-to-origin

Minus (-) direction Plus (+) side from origin sensor position
Plus (+) direction Minus (-) side from origin sensor position

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 11. "MANUAL" mode

w Upon starting return-to-origin, the robot starts moving in the return-to-origin

direction.
However, if the origin sensor was on when return-to-origin was started, then the robot
first moves in a direction opposite the return-to-origin direction. Then, when the
origin sensor turns off, the robot stops and restarts return-to-origin from that position.
e After the origin sensor turns on, the robot stops and the origin position is then found.
At this point, the position where the robot stopped is set as an origin shift parameter
value.

n NOTE Chapter

In the sensor method, if return-to-origin is started with the origin sensor turned 4
on and continues without the origin sensor being turned off, then an error

OPERATION
"17.21: Bad origin sensor" will occur.

● Return-to-origin operation using the stroke end detection method

■ Return-to-origin operation using the stroke end detection method

@
:
Return-to-origin direction
. Return-to-origin start position

Stroke end

q In the stroke end detection method, return-to-origin can start from any position.
w Upon starting return-to-origin, the robot starts moving in the return-to-origin
direction.
e When the robot arm lightly strikes and detects the stroke end (mechanical stop), it
moves back slightly and stops, and the origin position has now been found. At this
point, the position where the robot stopped is set as an origin shift parameter value.

c CAUTION
During stroke end detection, if the robot arm movement is obstructed or a
load is applied to the robot arm during return-to-origin, the stroke end might
not be detected accurately so return-to-origin ends at an incorrect position.
If return-to-origin is interrupted while the robot arm is still contacting the
stroke end, then an error "17.4:D?, Overload" might occur.

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 11. "MANUAL" mode

11.8.2 Semi-absolute
"Semi-absolute" is the name for a simple absolute scale used in the YAMAHA linear
single-axis robot PHASER series. Robots with this simple absolute scale have a quick
absolute search function that utilizes our unique method to automatically perform an
absolute search on the position detection scale when return-to-origin starts. This function
allows detecting the absolute position with just a minimal movement.
Using this scale drastically reduces the time needed for return-to-origin operation by
PHASER series robots, especially those with long-stroke movements.
Chapter ■ Absolute search
4 Absolute search (also called "absolute reset") includes the sensor method and stroke end
detection method. Absolute search movement differs depending on the robot position from
OPERATION

which absolute search starts. (In the sensor method, absolute search movement depends
on whether the origin sensor turns on during absolute search. In the stroke end detection
method, absolute search movement depends on whether or not the stroke end is detected
during absolute search.)
After the absolute search is complete, the origin position is set to zero position on the
simple absolute scale.

n NOTE
Zero position can be shifted by using the "Origin shift" parameter of the axis
parameters.

Refer to "11.8.3 Return-to-origin procedure" for instructions on how to perform return-to-

origin.

● Sensor method: When the origin sensor does not turn on during absolute search
● Stroke end detection method: When the stroke end is not detected during absolute search
■ Absolute search (1)

A Absolute search start position

Max. 76mm

:
Return-to-origin direction
@

q Upon starting return-to-origin, the robot moves in the return-to-origin direction to

start an absolute search.
The robot moves to a maximum position A. The maximum distance that the robot can
move to position A from the absolute search start position is 76mm.
w The robot moves back from position A, determines the current position, and then
stops. The stop position does not exceed the absolute search start position.

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 11. "MANUAL" mode

● Sensor method: When the origin sensor turns on during absolute search
● Stroke end detection method: When the stroke end is detected during absolute search
■ Absolute search (2)
Origin sensor turns on or stroke end is detected.

A B
Max. 76mm
:
@
Return-to-origin direction
. Chapter

OPERATION
Stop position
Absolute search start position

q Upon starting return-to-origin, the robot moves in the return-to-origin direction to

start an absolute search.

n NOTE
If the origin sensor was on when the robot was at the absolute search start
position, the robot moves in a direction opposite the return-to-origin
direction to perform an absolute search. (Operation starts from w shown on
the right.)

w In the sensor method, when the origin sensor turns on (position A), the robot moves
back toward position B. In the stroke end detection method, when stroke end is
detected (position A), the robot moves back toward position B. At this point, the
maximum distance that the robot moves from position A to position B is 76mm.
e The robot again moves in the return-to-origin direction, determines the current
position, and then stops. The stop position will be between position A and position B.

c CAUTION
During stroke end detection, if absolute search operation is interrupted while
the robot arm is still contacting the stroke end, then an error "17.4:D?, Overload"
might occur.

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 11. "MANUAL" mode

11.8.3 Checking the return-to-origin status

To check the status of return-to-origin, follow the procedure below.

[Procedure]

1) In "MANUAL" mode, press (ORIGIN) to enter "MANUAL>ORIGIN" mode.

■ Checking the return-to-origin status

This screen shows the following information.
Chapter
MANUAL >ORIGIN 50% [MG] [SOHOJ]
4 ––––––––––––––––––––––––––––––––––––––––
Press F.key to get axis for ORIGIN
OPERATION

M1 = NG / Sensor M5= no axis

M2 = OK / TORQUE M6= no axis
M3 = no axis
M4 = no axis
M1 M2 M3 M4 M5

"Origin method" parameter

Axis Return-to-origin status (SYSTEM>PARAM>AXIS mode)
M1 NG (Origin incomplete) SENSOR (Sensor method)
(Axis 1)
M2 OK (Return-to-origin complete) TORQUE (Stroke end detection method)
(Axis 2)
No axis

The above information shows return-to-origin is incomplete on axis 1, but complete on

axis 2. The robot controller is in origin incomplete status, since not all axes performed
return-to-origin.

Valid keys Menu Function

F1 M1 Performs return-to-origin on axis 1.
F2 M2 Performs return-to-origin on axis 2.
F11 ALL Performs return-to-origin on all axes.

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 11. "MANUAL" mode

11.8.4 Return-to-origin on each axis

This section explains how to perform return-to-origin on each axis specified by the controller.
The robot must be at servo-on to perform return-to-origin on incremental mode axes using
the stroke end detection method or sensor method for return-to-origin. Likewise, the robot
must be at servo-on to perform an absolute search on semi-absolute mode axes.
[Procedure]

c CAUTION
Before performing return-to-origin, check that the target axis is in a position
that allows return-to-origin operation. Chapter

4
1) In "MANUAL>ORIGIN" mode, press (M1) or (M2) to select the axis to

OPERATION
perform return-to-origin.
A confirmation message appears on the guide line in the programming box screen.

Press (YES) to perform return-to-origin on the selected axis.

Press (NO) to cancel return-to-origin on the selected axis.

■ Return-to-origin on selected axis (1)

MANUAL>ORIGIN>M1
>M1 50%[MG][S0H0J]

Origin return again? YES NO

w WARNING
THE ROBOT STARTS MOVING AS SOON AS RETURN-TO-ORIGIN IS PERFORMED.
TO AVOID HAZARDOUS SITUATIONS, DO NOT ENTER THE ROBOT MOVEMENT
RANGE.

2) After return-to-origin (absolute search on semi-absolute mode axes) is complete, the

machine reference on the selected axis is displayed.
■ Return-to-origin on selected axis (2)

MANUAL>ORIGIN 50%[MG][S0H0J]

Machine reference (%)

M1= 50 M2= 50

M1 M2 M3 M4 M5

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 11. "MANUAL" mode

n NOTE
• Refer to "11.8.1 Return-to-origin operation" in Chapter 4 for details on
return-to-origin operation, and refer to "11.8.2 Semi-absolute" for details
on absolute search operation.
• The machine reference is expressed as a percentage of the number of
encoder pulses showing the difference between the origin sensor signal
and position detector reference signal (encoder zero signal, etc.). This is
also called the "grid position" or "grid pulse".

Chapter
3) When return-to-origin on all axes is complete, the dashed line (- - - -) on the message
4 line changes to a solid line ( ––––– ) indicating that return-to-origin is now complete.
Then, pressing an axis movement key displays the current position on each axis.
OPERATION

n NOTE
Once return-to-origin is completed, the origin position is retained until the
controller power is turned off or system parameters are changed. So it is not
necessary to re-perform return-to-origin even after using emergency stop.

4) To cancel the return-to-origin operation, press .

In this case, the message "0.14: Stop executed" appears on the message line.

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 11. "MANUAL" mode

11.8.5 Return-to-origin on all axes

This section explains how to perform return-to-origin on all axes specified by the controller.

The robot must be at servo-on to perform return-to-origin on incremental mode axes using
the stroke end detection method or sensor method for return-to-origin. Likewise, the robot
must be at servo-on to perform an absolute search on semi-absolute mode axes.
[Procedure]

c CAUTION
Before performing return-to-origin, check that all axes are in positions that
Chapter
allow return-to-origin operation.
4

OPERATION
1) In "MANUAL>ORIGIN" mode, press (ALL) to perform return-to-origin on all axes.

A confirmation message appears on the guide line in the programming box screen.

Press (YES) to perform return-to-origin on all axes.

Press (NO) to cancel return-to-origin on all axes.

■ Return-to-origin on all axes (1)

MANUAL>ORIGIN>ALL 50%[MG][S0H0J]

Origin return again? YES NO

w WARNING
THE ROBOT STARTS MOVING AS SOON AS RETURN-TO-ORIGIN IS PERFORMED.
TO AVOID HAZARDOUS SITUATIONS, DO NOT ENTER THE ROBOT MOVEMENT
RANGE.

2) After return-to-origin (absolute search on semi-absolute mode axes) is complete, the

machine references on all axes are displayed.

■ Return-to-origin on all axes (2)

MANUAL>ORIGIN 50%[MG][S0H0J]

Machine reference (%)

M1= 50 M2= 50

M1 M2 M3 M4 M5

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 11. "MANUAL" mode

n NOTE
• Refer to "11.8.1 Return-to-origin operation" in Chapter 4 for details on
return-to-origin operation, and refer to "11.8.2 Semi-absolute" for details
on absolute search operation.
• The machine reference is expressed as a percentage of the number of
encoder pulses showing the difference between the origin sensor signal
and position detector reference signal (encoder zero signal, etc.). This is
also called the "grid position" or "grid pulse".

Chapter
3) When return-to-origin on all axes is complete, the dashed line (- - - -) on the message
4 line changes to a solid line ( ––––– ) indicating that return-to-origin is now complete.
Then, pressing an axis movement key displays the current position on each axis.
OPERATION

n NOTE
Once return-to-origin is completed, the origin position is retained until the
controller power is turned off or system parameters are changed. So it is not
necessary to re-perform return-to-origin even after using emergency stop.

4) To cancel the return-to-origin operation, press .

In this case, the message "0.14: Stop executed" appears on the message line.

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 11. "MANUAL" mode

11.9 Setting the standard coordinates

The standard coordinates set for SCARA robots are treated as Cartesian coordinates using
the X-axis rotating center as the coordinate origin.
The following operations and functions are enabled on SCARA robots by setting the
standard coordinates.

n NOTE
On Cartesian type robots, there is no need to set the standard coordinates.

Chapter
• Moving robot arm tip at right angles.
• Using pallet definition, SHIFT coordinates and HAND definition.
4

OPERATION
• Using commands requiring coordinate conversion (such as linear/circular
interpolation and pallet movement commands).

Special parameter setting is required to use this function. Consult us for assistance.

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 11. "MANUAL" mode

11.10 Executing the user function keys

User function keys allow you to perform various tasks easily when needed. For example,
assigning operation of an air-driven unit connected to an output port to a function key will
prove useful when performing point teaching in "MANUAL" mode.

n NOTE
• When using the user function keys, it is necessary to make a program
named "FUNCTION" and then write command statements for storing
functions.
Chapter
• When registering the function keys, refer to "10.3.9 Creating a sample
4 program automatically" and "10.6 Registering user function keys" earlier in
this chapter.
OPERATION

[Procedure]

1) Press in "MANUAL" mode and the menus (character strings shown highlighted)

from to or to appear when assigned in advance.

Each character string is displayed in up to 7 characters from the beginning.

2) Press the desired function key and the preassigned task will be executed just as if
using online commands.

w WARNING
• THE ROBOT STARTS TO MOVE WHEN SOME COMMANDS ARE EXECUTED. TO
AVOID DANGER, DO NOT ENTER THE ROBOT MOVEMENT RANGE.
• ROBOT MOVEMENT COMMANDS ARE EXECUTED AT "AUTO" MODE SPEED
RATHER THAN "MANUAL" MODE SPEED.

■ Executing the user function keys

MANUAL>POINT 50%[MG][S0H0X]
————————————x———————y———————z———————r———
P7 = 100.00 250.00 0.00 0.00
P8 =
P9 = 122.62 -24.54 0.00 0.00
COMNT : [ ]
[POS] 50.00 100.00 0.00 0.00
1 DO(20)A DO(21)A DO(22)A DO(23)A DO(24)A

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 12. "SYSTEM" mode

12. "SYSTEM" mode

The "SYSTEM" mode controls all kinds of operating conditions for the overall robot system.
The initial "SYSTEM" mode screen is shown below.
■ "SYSTEM" mode screen

:Mode hierarchy .Message line

;
Online command @Version display
execution mark
=
Robot model SYSTEM V9.00
name Chapter
@
B
Axis
configuration
>
Standard system
Robot
Axes
= TXYx-A
= XYZR
4
configuration

OPERATION
Standard = SRAM/364kB
2
Other Opt-i/f = DIO_N(1/2)
expanded
configurations
PARAM CMU OPTION INIT DIAGNOS
8
Guideline

q Mode hierarchy
Shows the current mode hierarchy. When the highest mode (in this case "SYSTEM") is
highlighted it means the servomotor power is on. When not highlighted it means the
servomotor power is off.

w Version display
Shows the version number of software currently installed in the robot controller.

e Message line
If an error occurs, the error message appears here.

r Online command execution mark

When an online command is being executed, a "@" mark appears in the second
column on the second line. This mark changes to a dot "." when the online command
ends.

t Robot model name

Shows the robot model name specified by the controller.
When two robots (main robot and sub robot) are specified, their model names appear
separated by a slash "/".

y Axis configuration
Shows the axis configuration of the robot connected to the controller.
When two robots (main robot and sub robot) are specified, their axis configurations
appear separated by a slash "/".

u Standard system configuration

Shows the memory type and size.

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 12. "SYSTEM" mode

i Other expanded configurations

When expansion boards are installed into the option slot of the controller, the board
type and mode setting appear here.

Display Meaning
An optional DIO with NPN specifications is installed. The number in
DIO_N(m/n..) parentheses is an ID number.
An optional DIO with PNP specifications is installed. The number in
DIO_P(i/j..) parentheses is an ID number.
A CC-Link unit is installed. The number in parentheses indicates a
CCLNK(n/m)
Chapter station number "n" and a communication speed "m".

4 D_Net(n/m) A DeviceNet unit is installed. The number in parentheses indicates

a MAC ID number "n" and a communication speed "m".
A PROFIBUS unit is installed. Letters in parentheses indicate a
OPERATION

Profi(n/m) Station address "n" and communication speed "m".

E_Net An Ethernet unit is installed.
An YC-Link unit is installed. The number in parentheses indicates a
YCLnk(Mn) station number "n".

c CAUTION
• See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.
• For detailed information about serial I/O units such as CC-Link units,
Ethernet, and YC-Link, refer to descriptions in their user's manual.

When set to SAFE mode, the following display appears.

Display Meaning
Operation mode is set to "SAFE" mode that enables
safemode service mode.

c CAUTION
For details on service mode setting, refer to '12.3.2 Setting the "SERVICE"
mode'.

o Guideline
The contents assigned to function keys are shown highlighted. A message on what to
do next also appears here in some operation steps.

Valid keys and submenu descriptions in "SYSTEM" mode are shown below.
Valid keys Menu Function
Sets parameters for the controller and for robot
F1 PARAM operation.
F2 CMU Sets communication parameters.
F3 OPTION Sets parameters for expansion function.
F4 INIT Initializes data.
F5 DIAGNOS Performs diagnostics and calls up error history, etc.
F9 BACKUP Saves and restores data on internal flash ROM.

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 12. "SYSTEM" mode

12.1 Parameters
This section explains various parameters relating to the controller setting and robot
operation.
There are 4 types of parameters: robot parameters and axis parameters for robot operation,
controller setting parameters and option board parameters.

[Procedure]

1) Press (PARAM) in "SYSTEM" mode to enter "SYSTEM>PARAM" mode.

Chapter

4
2) Press (ROBOT), (AXIS), (OTHERS) or (OP. BRD) to

OPERATION
select the parameter type.
Items for the selected parameter type are displayed.

■ "SYSTEM>PARAM" mode

SYSTEM>PARAM V9.00

Robot = TXYx-A
M1= Tx-T6-12 M5= no axis
M2= Ty-T6-12 M6= no axis
M3= no axis
M4= no axis
ROBOT AXIS OTHERS OP.BRD

3) Select a parameter item with the cursor (↑/↓) keys.

Or press (JUMP) and enter a parameter number to jump to that parameter item.

■ Robot parameters

SYSTEM >PARAM>ROBOT V9.00

1.Tip weight[kg]
2.Origin sequence
3.R axis orientation
4.Armtype at PGM reset

EDIT JUMP

4) Press (EDIT).

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 12. "SYSTEM" mode

5) Edit the selected parameter.

There are two ways to edit parameters. The first is by entering data with the numeric
keys, and the second is by selecting items with the function keys.
When entering data with the numeric keys, values entered outside the allowable
range are converted automatically to the upper or lower limit value.
Also refer to "12.1.1 Robot parameters", "12.1.2 Axis parameters", "12.1.3 Other
parameters" and "12.1.4 Parameters for option boards".

Chapter
6) Press to quit the parameter editing.
4 Valid keys and submenu descriptions in "SYSTEM>PARAM" mode are shown below.
OPERATION

Valid keys Menu Function

F1 ROBOT Sets robot parameters for robot operation.
F2 AXIS Sets axis parameters for robot operation.
F3 OTHERS Sets other parameters for setting the controller.
F5 OP. BRD Sets parameters for option boards.
F10 PASSWRD Allows write-prohibited axis parameters to be changed.

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 12. "SYSTEM" mode

12.1.1 Robot parameters

On the RPB screen each robot parameter appears in the following format.

Main group parameters Sub group parameters

MG=<value> SG=<value>
Main robot parameters Sub robot parameters
MR=<value> SR=<value>

n NOTE Chapter

A description and method for setting robot parameters No. 1 through No. 3 4
are listed in this manual.

OPERATION
Changing of robot parameters from No. 4 onward is basically prohibited.
Please consult with us beforehand if these (parameter No. 4 onward) must
be changed.

n NOTE
As with the RCX14 series, the RCX22 series allows defining the main/sub
groups and main/sub robots. However, the RCX22 series basically does not
require axis definition since it is a two-axis controller.

■ Robot parameter setting

SYSTEM>PARAM>ROBOT V9.00

1.Tip weight[kg]
MR= 5

[0-200] Enter>5
_

Valid keys and submenu descriptions for editing robot parameters are shown below.

Valid keys Menu Function

Cursor key
Moves the cursor up and down.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 EDIT Edits the parameter.
F2 JUMP Moves the cursor to the designated parameter.

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 12. "SYSTEM" mode

1. Tip weight [kg] /WEIGHT

This parameter sets the tip weight of robot (workpiece weight + tool weight) in kg
units.
The maximum value is set when the parameters are initialized.
The maximum allowable value is determined automatically according to the current
robot model.

n NOTE
• This parameter cannot be input if the robot was set to MULTI.
Chapter • To set the auxiliary axis tip weight, use the axis tip weight settings of axis
4 parameters.
OPERATION

c CAUTION
Factors such as optimal speed are set automatically according to this
parameter value. Setting to a weight lower than the actual axis tip weight
might adversely affect the robot body so be sure to enter a suitable value.

[Procedure]
1) Select "1.Tip weight [kg]" in "SYSTEM>PARAM>ROBOT" mode.

2) Press (EDIT).

3) Select the parameter with the cursor (↑/↓) keys.

■ Setting the "Tip weight [kg]"

SYSTEM>PARAM>ROBOT V9.00

1.Tip weight[kg]
MR= 5

5
[0-200] Enter>_

4) Enter the value with to and then press .

5) Press to quit the edit mode.

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 12. "SYSTEM" mode

2. Origin sequence /ORIGIN

This parameter sets a sequence for performing return-to-origin or absolute search on
each axis of the robot to determine the reference position. The numbers 3 1 2 4 5 6
are set automatically when the parameters are initialized.
Enter axis numbers of the robot in the sequence for performing return-to-origin. For
example, when the numbers 1, 2, 3, 4, 5, 6 are entered, return-to-origin is performed
in sequence from axis 1 to axis 6.
If an axis number is not set, then return-to-origin for that axis number is performed
last in the return-to-origin sequence. This is the same for absolute search.

n NOTE Chapter

Perform origin-return or absolute search first for those axes that might 4
interfere with surrounding equipment.

OPERATION
n NOTE
Origin sequence includes both the robot axes and auxiliary axes.

[Procedure]
1) Select "2.Origin sequence" in "SYSTEM>PARAM>ROBOT" mode.

2) Press (EDIT).

3) Select the parameter with the cursor (↑/↓) keys.

■ Setting the "Origin sequence".

SYSTEM>PARAM>ROBOT V9.00

2.Origin sequence
MG= 312456

312456
[0-654321] Enter>_

4) Enter the value with to and then press .

5) Press to quit the edit mode.

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 12. "SYSTEM" mode

3. R-axis orientation /RORIEN

On SCARA robots, this parameter sets whether or not to maintain the R-axis direction
(orientation) when moving manually across the XY axes. The R direction (orientation)
is automatically set when the parameters are initialized.
If the R-axis direction has been set (held) and the arm tip is moved in the X or Y
directions, the R-axis automatically rotates to maintain its direction.
This is effective only on SCARA robots.

Chapter n NOTE
This parameter is valid only on SCARA robots.
4
n
OPERATION

NOTE
This function is invalid if there is no R-axis or the R-axis is an auxiliary axis.

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 12. "SYSTEM" mode

12.1.2 Axis parameters

Each axis parameter is displayed in the following format on the RPB screen.

Main robot axis setting Sub robot axis setting

M?=<value> S?=<value>
Main auxiliary axis setting Sub auxiliary axis setting
m?=<value> s?=<value>

n
Chapter
NOTE
A description and method for setting axis parameters No. 1 through No. 16 4
are listed in this manual.

OPERATION
Changing of parameters from No. 17 onward is basically prohibited. Please
consult with us beforehand if these (parameter No. 17 onward) must be
changed.

n NOTE
As with the RCX14 series, the RCX22 series allows defining the main/sub
groups and main/sub robots. However, the RCX22 series basically does not
require axis definition since it is a two-axis controller.

■ Axis parameter setting

SYSTEM>PARAM>AXIS V9.00

1.Accel coefficient[%]
M1= 100 M2= 100

100
[1-100] Enter>_

Valid keys and submenu descriptions for editing robot parameters are shown below.

Valid keys Menu Function

Cursor key
Moves the cursor up and down.
(↑/↓)
Page key
Scrolls up and down the screen.
〈〈

〈〈

( / )
F1 EDIT Edits the parameter.
F2 JUMP Moves the cursor to the designated parameter.

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 12. "SYSTEM" mode

1. Accel coefficient [%] /ACCEL

This parameter sets acceleration in "AUTO" mode in a range from 1 to 100% during
movement by robot movement command. This is automatically set to 100% when the
parameters are initialized. If the tip weight (workpiece weight + tool weight) is set
correctly, then the actual acceleration is internally set in the control to be 100% at
maximum performance.

n NOTE
If the robot arm tip shakes or sways during acceleration, lower this value to
Chapter suppress the shaking.
4
c
OPERATION

CAUTION
Lowering the acceleration coefficient lengthens the time needed to stop,

when was pressed or an interlock was triggered. Do not use a

drastically lowered acceleration coefficient.

[Procedure]
1) Select "1.Accel coefficient [%]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Accel coefficient [%]"

SYSTEM>PARAM>AXIS V9.00

1.Accel coefficient[%]
M1= 100 M2= 100

100
[1-100] Enter >_

4) Enter the value with to and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

2. Decel. rate [%]/DECRAT

This parameter sets the deceleration rate in a range from 1 to 100% during movement
by robot movement command. This parameter value is a rate to the acceleration. A
deceleration rate inherent to each axis is automatically set when the parameters are
initialized.

n NOTE
This parameter value is a rate to the acceleration.

n
Chapter
NOTE
If the robot arm tip shakes or sways when the robot stops, lower this value to 4
suppress the shaking.

OPERATION
c CAUTION
Lowering the deceleration rate lengthens the time needed to stop, when

was pressed or an interlock was triggered. Do not use a drastically

lowered deceleration rate.

[Procedure]
1) Select "2. Decel. rate [%]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Decel. rate [%]"

SYSTEM>PARAM>AXIS V9.00

2.Decel. rate[%]
M1= 100 M2= 100

100
[1-100] Enter >_

4) Enter the value with to and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

3. +Soft limit [pulse] /PLMT+

4. -Soft limit [pulse] /PLMT-
These parameters set the plus (+) soft limits and minus (-) soft limits that determine
the range the robot can move. Soft limits inherent to each axis are automatically set
when the parameters are initialized.
The robot controller checks whether or not the specified point data is within the
soft limit range during automatic operation or point teaching. The value set for the
selected axis is displayed in converted units on the 3rd line of the RPB screen.

Chapter

4 c CAUTION
• This is a critical parameter for establishing the robot operating range so
set it to a correct value.
OPERATION

• On SCARA robots, make sure that the total movement range of the "+"
and "-" software limits for X-axis and Y-axis does not exceed 360 degrees.
If the setting exceeds 360 degrees, then errors might occur in the
coordinate conversion results.
• Software limits are disabled when origin return is incomplete.
Use caution during jog movement.

[Procedure]
1) Select "3. +Soft limit [pulse]" or "4. -Soft limit [pulse]" in "SYSTEM> PARAM>AXIS"
mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "+Soft limit [pulse]"

SYSTEM>PARAM>AXIS V9.00

3.+Soft limit[pulse] (112.50 mm)

M1= 100000 M2= 100000

[+/-6144000] Enter >_

100000

4) Enter the value with to , and , and then press . If the

value you input was a real number (number containing a decimal point), then the soft

limit setting is converted into "pulse" units.

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

5. Tolerance [pulse] /TOLE

This parameter sets the tolerance range of the target position where robot movement
ends. This is set to a value unique to each axis when initialized.
Positioning on an axis is judged to be complete when the robot axis enters within the
specified tolerance range. During consecutive PTP movement in a program, the larger
this value is made, the more the positioning time can be shortened.
The tolerance range set for the selected axis is displayed in converted units on the
3rd line of the RPB screen.

c CAUTION
• This is a critical parameter for determining the robot movement near the
Chapter

4
target position so set it to a correct value.

OPERATION
• If the tolerance range was reduced to a drastically small value, then the
time needed for robot positioning might vary.
• The maximum tolerance value is determined by the motor.

■ Tolerance range

Current position Target position

Tolerance range

[Procedure]
1) Select "5. Tolerance [pulse]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Tolerance [pulse]"

SYSTEM>PARAM>AXIS V9.00

5.Tolerance[pulse] ( 0. 09mm)
M1= 80 M2= 80

[1- 80
] Enter >_

4) Enter the value with to , and and then press . If the value

you input was a real number (number containing a decimal point), then the tolerance
range is converted into "pulse" units.

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 12. "SYSTEM" mode

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

Chapter

4
OPERATION

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 12. "SYSTEM" mode

6. Out position [pulse] /OUTPOS

During PTP movement in a program, the next command can be executed when the
robot enters the range specified by the Out position for the target position. This
parameter sets the Out position range. When initialized, this is set to a value unique
to each axis.
When the robot enters the Out position range, the controller determines that the
program line has been executed. (However, the robot continues moving to the target
position.) When consecutive PTP movement commands are in a program, the larger
the value that is set, the more the time required to shift to the next command line can
be shortened. Chapter
The robot is verified to have entered the tolerance range before executing the
movement command so the previous positioning operation will end, even when
4

OPERATION
executing consecutive PTP operations.
The value set for the selected axis is displayed in converted units on the 3rd line of
the RPB screen.

c CAUTION
When the tolerance range is larger than the Out position range, the PTP
operation is performed until the robot is within the Out position range.

■ OUT position range

Out position
range

Current position Target position

Tolerance range

[Procedure]
1) Select "6. Out position [pulse]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with cursor (↑/↓) keys.

■ Setting the "Out position [pulse]"

SYSTEM>PARAM>AXIS V9.00

6.Out position[pulse] ( 0. 56mm)

M1= 2000 M2= 2000

2000
[1-6144000] Enter >_

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 12. "SYSTEM" mode

4) Enter the value with to , and and then press . If the value

you input was a real number (number containing a decimal point), then it is converted
into pulse units.

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

Chapter

4
OPERATION

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 12. "SYSTEM" mode

7. Arch position [pulse] /ARCH

When an arch motion command (optional PTP operation) is executed, arch movement
begins when the robot enters the arch position range set by this parameter for the
target position. This parameter is set to a value unique to each axis when initialized.
When the axis specified for arch movement starts PTP movement toward the specified
position and enters the arch position range, the other axes start to move. When those
axes enter the arch position range, the arch-specified axis moves by PTP toward the
target position. Movement time can be shortened by making this value larger since
there is a greater overlap for axis operation.
Chapter
The value set for the selected axis is displayed in converted units on the 3rd line of
the RPB screen. 4

OPERATION
c CAUTION
• The arch-specified axis may sometimes reach the target position faster
than the other axes if the arch position is large. So set an accurate value
for the arch position.
• Movement may be along different paths during arch operation due to the
movement speed. Check the arch motion at a speed at which the robot
actually moves.

■ Arch motion

Arch position range

of arch-specified axis
Arch position range
of other axes
Movement of other axes

Specified axis Specified axis

movement movement
Current position Target position

[Procedure]
1) Select "7. Arch position [pulse]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

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 12. "SYSTEM" mode

3) Select the axis with cursor (↑/↓) keys.

■ Setting the "Arch position [pulse]"

SYSTEM>PARAM>AXIS V9.00

7.Arch position[pulse] ( 0. 56mm)

M1= 2000 M2= 2000

Chapter 2000
[1-6144000] Enter >_

4
OPERATION

4) Enter the value with to , and and then press . If the value

you input was a real number (number containing a decimal point), then it is converted
into pulse units.

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

8. Origin speed [pulse/ms] /ORGSPD

This parameter sets the speed to perform return-to-origin or absolute search in pulses per
millisecond.
When initialized, this speed is set to a value unique to each axis for incremental mode
axes or set to 20 pulses per millisecond (= 20mm/s) for semi-absolute mode axes.

c CAUTION
• The maximum return-to-origin speed on incremental mode axes is
determined by the motor. The maximum speed of semi-absolute mode
axes is 20 pulses per millisecond (= 20mm/s). Chapter

• In the case of semi-absolute mode axes, a value larger than 20 pulses 4

per millisecond (= 20mm/s) can be entered if the controller version is prior

OPERATION
to Ver. 9.16, but do not enter a value larger than 20 pulses per millisecond
(= 20mm/s). If a larger value is entered, return-to-origin cannot be
performed correctly.

[Procedure]
1) Select "8. Origin speed [pulse/ms]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Origin speed [pulse/ms]"

SYSTEM>PARAM>AXIS V9.00

8.Origin speed[pulse/ms]
M1= 20 M2= 20

20
[1- ] Enter >_

4) Enter the value with to and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

9. Manual accel [%] /MANACC

This parameter sets the acceleration in a range from 1 to 100% during robot manual
movement. The manual acceleration is automatically set to 100 when the parameters
are initialized.
If the tip weight (workpiece weight + tool weight) is set correctly, then the actual
acceleration is automatically determined internally in the controller to obtain
optimum performance at 100%

Chapter n NOTE
If the robot arm tip shakes or sways during manual movement acceleration,
4 lower this value to suppress the shaking.
OPERATION

c CAUTION
Lowering the acceleration coefficient lengthens the time needed to stop,

when was pressed or an interlock was triggered. Do not use a

drastically lowered acceleration coefficient.

[Procedure]
1) Select "9. Manual accel [%]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Manual accel [%]"

SYSTEM>PARAM>AXIS V9.00

9.Manual accel[%]
M1= 100 M2= 100
100

100
[1-100] Enter >_

4) Input the value with to and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

10. Origin shift [pulse] /SHIFT

This parameter is used to correct the origin position error when the motor has been
replaced for some reason or the robot origin position has shifted due to mechanical
shocks. This parameter is set to 0 when initialized.
To correct the origin position error, enter the number of pulses required to move the
origin back to the correct position.
For example, if the B pulses represent the origin position that the robot arm moved
to after position error, and the A pulses are the origin position before position error,
then enter a value of "A - B", Chapter

c CAUTION 4
• Origin shift is a critical parameter for determining the robot position so set

OPERATION
it to a correct value. Change this parameter only when necessary.
• Origin return will be incomplete if this parameter is changed.
• This parameter is enabled after performing return-to-origin.

[Procedure]
1) Select "10. Origin shift [pulse]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Origin shift [pulse]"

SYSTEM>PARAM>AXIS V9.00

10.Origin shift[pulse]
M1= 0 M2= 0

[+/-6144000] Enter >_

0

4) Enter the value with to , and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

11. Arm length [mm] /ARMLEN

This parameter sets the X, Y axis arm length on SCARA robots.
This is automatically determined according to the current robot type when initialized.
The arm length is also determined automatically when standard coordinates are set.
On XY robots and MULTI type robots, setting the axis length also automatically
determines the weight of each axis. This is set to 0 when initialized.

[Procedure]
1) Select "11. Arm length [mm]" in "SYSTEM>PARAM>AXIS" mode.
Chapter

4 2) Press (EDIT).
OPERATION

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Arm length [mm]"

SYSTEM>PARAM>AXIS V9.00

11.Arm length[mm]
M1= 200.00 M2= 200.00

200.00
[0-10000] Enter >_

4) Enter the value with to , and and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

12. Offset pulse /OFFSET

On SCARA robots, this parameter sets the offset pulses when the X, Y, R axes are at
0 pulses. When initialized, this is set to a value unique to each robot type that is
currently set.

• X-axis offset pulses ... Angle formed by X axis arm and +X-axis on standard
coordinates (unit: pulses)
• Y-axis offset pulses ... Angle formed by X axis arm and Y axis arm (unit: pulses)
• R-axis offset pulses ... Angle formed by R axis origin and +X-axis on standard
Chapter
coordinates (unit: pulses)

The offset is determined automatically when the standard coordinates are set.
4

OPERATION
c CAUTION
When some value (including 0) has been entered for this parameter, it
means the settings are in standard coordinates.

[Procedure]
1) Select "12. Offset pulse" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Offset pulse"

SYSTEM>PARAM>AXIS V9.00

12.Offset pulse
M1= 10000 M2= 20000

10000
[+/-6144000] Enter >_

4) Enter the value with to and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

13. Axis tip weight [kg] /AXSTIP

This parameter sets the weight of each axis tip (workpiece weight + tool weight) in
kilogram units on MULTI type robots. A maximum value is set when the parameters
are initialized.
The maximum weight is automatically determined according to the currently used
axis type.

n NOTE
• This parameter can be entered only for MULTI type robots.
Chapter • For robots other than MULTI type robots, set the robot arm tip weight.
4
c
OPERATION

CAUTION
Optimal acceleration and other items are automatically set according to
this parameter value. The robot body may therefore be adversely affected if
set to a lower value than the actual axis tip weight, so be sure to enter a
correct value.

[Procedure]
1) Select "13. Axis tip weight [kg]" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Axis tip weight [kg]"

SYSTEM>PARAM>AXIS V9.00

13.Axis tip weight[kg]

M1= 0 M2= 0

0
[0-200] Enter >_

4) Enter the value with to and then press .

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

14. Origin method /ORGSNS

This parameter selects the method for performing return-to-origin or absolute search
on the robot. When initialized, this is automatically set according to the current
robot model. Three methods are available as follows:

"sensor" ...... Origin is detected by sensor input.

"torque" ..... Origin is detected when the axis moves against the mechanical stroke
end.
"mark" ........ This method cannot be used with the RCX221.
Chapter

c CAUTION
• YAMAHA can accept no liability from problems arising due to changing
4

OPERATION
the return-to-origin method without consulting YAMAHA beforehand.
• Return-to-origin will be incomplete if this parameter is changed.

[Procedure]
1) Select "14. Origin method" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Origin method"

SYSTEM>PARAM>AXIS V9.00

14.Origin method
M1=SENSOR M2=SENSOR

SENSOR TORQUE MARK

4) Press one of (SENSOR), (TORQUE) or (MARK).

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

15. Origin direction /ORGDIR

This parameter specifies the direction for return-to-origin or absolute search. When
initialized, this is automatically set according to the current robot model.

"---" ...... Return-to-origin or absolute search direction is in the manual movement

minus (-) direction.
"+++" .... Return-to-origin or absolute search direction is in the manual movement
plus (+) direction.

Chapter

4
c CAUTION
• YAMAHA can accept no liability from problems arising due to changing
the return-to-origin direction without consulting YAMAHA beforehand.
OPERATION

• Return-to-origin will be incomplete if this parameter is changed.

[Procedure]
1) Select "15. Origin direction" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the parameter with the cursor (↑/↓) keys.

■ Setting the "Origin direction"

SYSTEM>PARAM>AXIS V9.00

15.Origin direction
M1=––– M2=–––

––– +++

4) Press (---) or (+++).

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

16. Motor direction /MOTDIR

This parameter specifies the robot movement direction. When initialized, this is set
automatically according to the current robot model.
X series robots:
"---" ...... Motor minus (-) direction is set as the - direction.
"+++" .... Motor minus (-) direction is set as the + direction.
PHASER series robots:
"---" ...... Robot L-direction is set as the - direction.
"+++" .... Robot L-direction is set as the + direction.
Chapter
(See the robot catalog for the definition of the L-direction.)

This parameter cannot be changed while the servo is on. To change the parameter,
4

OPERATION
make sure the servo is off.

n NOTE
This parameter cannot be changed while servo is on.

c CAUTION
• YAMAHA can accept no liability from problems arising due to changing
the axis polarity without consulting YAMAHA beforehand.
• Return-to-origin will be incomplete if this parameter is changed.

[Procedure]
1) Select "16. Motor direction" in "SYSTEM>PARAM>AXIS" mode.

2) Press (EDIT).

3) Select the axis with the cursor (↑/↓) keys.

■ Setting the "Motor direction"

SYSTEM>PARAM>AXIS V9.00

16.Motor direction
M1=––– M2=–––

––– +++

4) Press (---) or (+++).

5) Repeat the above steps 3) and 4) if necessary.

6) Press to quit the edit mode.

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 12. "SYSTEM" mode

12.1.3 Other parameters

When changing other parameters on the RPB, use the descriptions in this section.
■ Editing other parameters

SYSTEM>PARAM>OTHERS V9.08

1.Display language(JPN/ENG) ENGLISH

2.Data display length 6char
3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
Chapter
5.Incremental Mode INVALID
4 EDIT JUMP
OPERATION

Valid keys and submenu descriptions for editing other parameters are shown below.

Valid keys Menu Function

Cursor key
Moves the cursor up and down.
(↑/↓)
Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 EDIT Edits the parameter.
F2 JUMP Moves the cursor to the designated parameter.

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 12. "SYSTEM" mode

1. Display language / DSPLNG

This parameter sets the language for displaying messages on the RPB.

n NOTE
This parameter will not change even if parameter initialization is performed.

[Procedure]
1) Select "1. Display language (JPN/ENG)" in "SYSTEM>PARAM>OTHERS" mode.

Chapter

2) Press (EDIT). 4

OPERATION
The function key menu changes.

■ Setting the display language

SYSTEM>PARAM>OTHERS V9.08

1.Display language(JPN/ENG) ENGLISH

2.Data display length 6char
3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
5.Incremental Mode INVALID
JAPANES ENGLISH

3) Press (JAPANESE) or (ENGLISH) to set the language to display.

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

2. Data display length/DATLEN

This parameter sets the number of digits to display such as for point data. This is
automatically set to "6char" (6 digits) when the parameters are initialized.

[Procedure]
1) Select "2. Data display length" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).
Chapter
The function key menu changes.
4 ■ Setting the "Data display length"
OPERATION

SYSTEM>PARAM>OTHERS V9.08

1.Display language(JPN/ENG) ENGLISH

2.Data display length 6char
3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
5.Incremental Mode INVALID
6char 8char

3) Press (6char) or (8char).

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

3. Parameter display unit/PDUNIT

This parameter sets the units for showing axis parameters. This is automatically set to
"pulses" when the parameters are initialized.

[Procedure]
1) Select "3. Parameter display units" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).
Chapter
The function key menu changes.

■ Setting the parameter display units

4

OPERATION
SYSTEM>PARAM>OTHERS V9.08

1.Display language(JPN/ENG) ENGLISH

2.Data display length 6char
3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
5.Incremental Mode INVALID
PULSE MM/DEG

3) Press (PULSE) or (MM/DEG).

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

4. DO cond. on EMG /EMGCDO

This parameter sets whether or not to hold output of the DO/MO/LO/TO/SO ports
when an emergency stop signal is input to the controller. This is automatically set to
"HOLD" when the parameters are initialized.

c CAUTION
This parameter is invalid if the sequence program starts up.

[Procedure]
Chapter
1) Select "4. DO cond. on EMG " in "SYSTEM>PARAM>OTHERS" mode.
4
OPERATION

2) Press (EDIT).

The function key menu changes.

■ Setting "DO cond. on EMG"

SYSTEM>PARAM>OTHERS V9.08

1.Display language(JPN/ENG) ENGLISH

2.Data display length 6char
3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
5.Incremental Mode INVALID
RESET HOLD

3) Press (RESET) or (HOLD).

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

5. Incremental Mode /INCMOD

You do not have to set this parameter for the RCX221.

6. DI noise filter/SCANMD
This parameter sets whether to cancel external input signals (dedicated input signals,
general-purpose input signals) that might appear like noise in the form of short
pulses.
When this parameter is set to "VALID", the on and off periods of input signals must be
longer than 25msec since the controller does not respond to any signal input shorter Chapter
than 25msec. This prevents the controller from responding to noise inputs. 4
[Procedure]

OPERATION
1) Select "6. DI noise filter" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).

The function key menu changes.

■ Setting "DI noise filter"

SYSTEM>PARAM>OTHERS V9.08

2.Data display length 6char

3.Parameter display unit PULSE
4.DO cond. on EMG HOLD
5.Incremental Mode INVALID
6.DI noise filter VALID
INVALID VALID

3) Press (INVALID) or (VALID).

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

7. TRUE condition / EXPCFG

This parameter selects the operation when the conditional expression, which is used
for the STOPON option in an IF (including ELSEIF), WHILE to WEND, WAIT, MOVE,
or DRIVE statement, is a numeric expression.
This parameter is set to "-1" when the parameters are initialized.

n NOTE
This parameter is supported by controllers of Ver. 9.08 onwards.

Chapter
[Procedure]
4 1) Select "7. TRUE condition" in "SYSTEM>PARAM>OTHERS" mode.
OPERATION

2) Press (EDIT).

The function key menu changes.

■ Setting "TRUE condition"

SYSTEM>PARAM>OTHERS V9.08

3.Parameter display unit PULSE

4.DO cond. on EMG HOLD
5.Incremental Mode INVALID
6.DI noise filter VALID
7.TRUE condition -1
−1 not 0

3) Press (-1) or (not 0) to change the setting.

Setting Meaning
When conditional expression is a numeric expression, the
result is "TRUE" if the expression value is -1, and is "FALSE"
-1 (default setting)
if 0. If the value is other than -1 and 0, an error "6.35:
EXPRESSION ERROR" occurs.
When conditional expression is a numeric expression, the
not 0 result is "TRUE" if the expression value is other than 0, and is
"FALSE" if 0.

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

8. Unit select / PTUNIT

This parameter selects the point data unit system to be used when the controller is
started. For incremental specification robots and semi-absolute specification robots,
the current position is displayed in "pulse" units at controller startup because return-
to-origin is incomplete. When this parameter is used to select "mm" units, the
position display is switched to "mm" units at the same time when return-to-origin is
completed. This parameter is set to "Normal" when the parameters are initialized.

n NOTE
• This parameter is supported by controllers of Ver. 9.08 onwards. Chapter
• Tool coordinate mode is enabled when the robot has an R-axis and the
hand installed on the R-axis is specified by hand data. If the robot does
4

OPERATION
not have an R-axis or the hand installed on the R-axis is not specified by
hand data, the unit system will be automatically changed to X (mm/°)
after start-up even if T (mm/°) is selected by parameter.

[Procedure]
1) Select "8. Unit select" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).

The function key menu changes.

■ Setting "Unit select"

SYSTEM>PARAM>OTHERS V9.08

4.DO cond. on EMG HOLD

5.Incremental Mode INVALID
6.DI noise filter VALID
7.TRUE condition -1
8.Unit select Normal
Normal J(pls) X(mm/°) T(mm/°)

3) Press a key from (Normal) to (mm/°) to enter the unit system.

Setting Meaning
Normal (default setting) Sets to the unit system that was last selected.
J (pls) Sets to "pulses" unit system.
Sets "mm" unit system in normal setting (other
X (mm/°)
than tool coordinate mode).
T (mm/°) Sets "mm" unit system in tool coordinate mode.

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

9. Error output (DO & SO) / ERPORT

This parameter selects the port used for error output. This parameter is set to "Off"
when the parameters are initialized. The following ports can be used as error output
ports: DO20 to DO27, SO20 to SO27.

n NOTE
• This parameter is supported by controllers of Ver. 9.08 onwards.
• If a DIO option board set to STD.DIO (DIP switch ID = 1) and a serial IO
board such as for CC-Link are installed while the serial IO is enabled, then
the area check results are output to both the DO and SO of the same
Chapter number.
4
[Procedure]
OPERATION

1) Select "9. Error output (DO & SO)" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).

The function key menu changes.

■ Setting "Error output (DO & SO)"

SYSTEM>PARAM>OTHERS V9.08

5.Incremental Mode INVALID

6.DI noise filter VALID
7.TRUE condition -1
8.Unit select Normal
9.Error output(DO & SO) Off
OFF 20 21 22 23

3) To change the setting, select the desired setting with (OFF) to (27). (Ports

24 to 27 are assigned to to .)

Setting Meaning
OFF (default setting) Does not output errors.
20 to 27 Outputs errors from the specified port (DO and SO).

4) Press to quit the edit mode.

Error output is as follows:

When any error has occurred, except for those with an error group number of
ON condition
0 (Ex.: "0.1: Origin incomplete")
1. When servo was turned on
2. When a program was reset
3. When automatic operation started
4. When STEP, SKIP or NEXT execution started
OFF condition 5. Return-to-origin or absolute reset started
6. When an I/O command was received
7. When a remote command was received
8. When manual movement started with the programming box in MANUAL mode
9. When an online command was executed

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 12. "SYSTEM" mode

10. MOVEI/DRIVEI start position /MOVIMD

This parameter setting is used when a relative motion operation is stopped by an
interlock or emergency stop, etc., and specifies whether motion is to occur to the
original target position, or to a new target position referenced to the current position,
when the motion command is re-executed. When initialized, this parameter setting is
"Keep".

n NOTE
• This parameter is supported by controller Ver. 9.13 and later. In earlier
versions, relative motion to a new target position referenced to the Chapter
current position occurs when operation is re-executed after a relative 4
motion interruption.

OPERATION
• This parameter's factory setting (when shipped) is "Keep".

[Procedure]
1) Select "10. MOVEI/DRIVEI start position" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).

■ Setting "MOVEI/DRIVEI start position"

ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＴＨＥＲＳ Ｖ９．１３

６．ＤＩ ｎｏｉｓｅ ｆｉｌｔｅｒ ＶＡＬＩＤ

７．ＴＲＵＥ ｃｏｎｄｉｔｉｏｎ −１
８．Ｕｎｉｔ ｓｅｌｅｃｔ Ｎｏｒｍａｌ
９．Ｅｒｒｏｒ ｏｕｔｐｕｔ（ＤＯ ＆ ＳＯ） Ｏｆｆ
１０．ＭＯＶＥＩ／ＤＲＩＶＥＩ ｓｔａｒｔ ｐｏｓ． Ｋｅｅｐ
Ｋｅｅｐ Ｒｅｓｅｔ

3) Press (Keep) or (Reset).

Setting Meaning
Motion to the original specified target position occurs when
Keep (default setting) operation resumes after a relative motion interruption. Target
position is unchanged.
Motion to a new, current position referenced target position
occurs when operation resumes after a relative motion
Reset interruption. The original target position (prior to re-execution)
is changed to a new target position. (Compatible with
previous versions)

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

11. Ser vo on when power on / SRVOON

Use this parameter to select whether to start the controller with servo-on or servo-off
when the controller power is turned on.
When robot numbers are set by generation, this parameter is reset to "YES".
Setting Meaning
When SAFE mode setting or serial I/O setting is enabled, the
controller starts with servo-off when the controller power is
turned on.
YES
In other cases, the controller starts with servo-on when the
Chapter
controller power is turned on.
4 (Compatibility mode for the RCX141/142 controllers)
The controller always starts with servo-off when the power is
OPERATION

NO turned on.
(Compatibility mode for the RCX143/144 controllers)

[Procedure]
1) Select "11. Servo on when power on" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).

■ Setting "Ser vo on when power on"

ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＴＨＥＲＳ Ｖ９．2 ３

７．ＴＲＵＥ ｃｏｎｄｉｔｉｏｎ −１
８．Ｕｎｉｔ ｓｅｌｅｃｔ Ｎｏｒｍａｌ
９．Ｅｒｒｏｒ ｏｕｔｐｕｔ（ＤＯ ＆ ＳＯ） Ｏｆｆ
１０．ＭＯＶＥＩ／ＤＲＩＶＥＩ ｓｔａｒｔ ｐｏｓ． Ｋｅｅｐ
１１．Ｓｅｒｖｏ ｏｎ ｗｈｅｎ ｐｏｗｅｒ ｏｎ ＹＥＳ
ＹＥＳ ＮＯ

3) Press (YES) or (NO) to enter the setting.

4) Press to quit the edit mode.

n NOTE
• This parameter is supported by controllers of Ver. 9.17 onwards. On earlier
version controllers, the operation starts in the same way as in the case
where this parameter is set to "YES".
• This parameter is set to "YES" at the time of shipment.

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 12. "SYSTEM" mode

12. Echo point No. / PNECHO

This is a special parameter and should always be set to "NO".
■ "Echo point No." setting

ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＴＨＥＲＳ Ｖ９．2 ３

８．Ｕｎｉｔ ｓｅｌｅｃｔ Ｎｏｒｍａｌ

９．Ｅｒｒｏｒ ｏｕｔｐｕｔ（ＤＯ ＆ ＳＯ） Ｏｆｆ
１０．ＭＯＶＥＩ／ＤＲＩＶＥＩ ｓｔａｒｔ ｐｏｓ． Ｋｅｅｐ
１１．Ｓｅｒｖｏ ｏｎ ｗｈｅｎ ｐｏｗｅｒ ｏｎ ＹＥＳ
１２．Ｅｃｈｏ ｐｏｉｎｔ Ｎｏ． ＮＯ Chapter
ＮＯ ＭＯＤＥ１ ＭＯＤＥ２
4

OPERATION
n NOTE
• This parameter is added to controllers of Ver. 9.23 onwards.
• This parameter is set to "NO" at the time of shipment.

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 12. "SYSTEM" mode

13. Skip undefined parameters

There are cases where new parameters are added according to the software upgrading
for robot controllers. If you attempt to load the parameter file containing these
new parameters into a controller of an earlier version, an error "10.14 Undefined
parameters" occurs.
If this parameter is set to "VALID", the undefined parameters (newly added
parameters) in the file will then be ignored.
This parameter is not contained in the parameter file and is always set to "INVALID"
each time the power to the controller is turned on.
Chapter

4 c CAUTION
If this parameter is set to "VALID", then misspellings in the parameter file
OPERATION

cannot be detected. Do not use this function except for cases in which you
must load the parameters of a new version into a controller of an earlier
version.

[Procedure]
1) Select "13. Skip undefined parameters" in "SYSTEM>PARAM>OTHERS" mode.

2) Press (EDIT).

The function key menu changes.

■ Setting "Skip undefined parameters"

ＳＹＳＴＥＭ＞ＰＡＲＡＭ＞ＯＴＨＥＲＳ Ｖ９．2 ３

９．Ｅｒｒｏｒ ｏｕｔｐｕｔ（ＤＯ ＆ ＳＯ） Ｏｆｆ

１０．ＭＯＶＥＩ／ＤＲＩＶＥＩ ｓｔａｒｔ ｐｏｓ． Ｋｅｅｐ
１１．Ｓｅｒｖｏ ｏｎ ｗｈｅｎ ｐｏｗｅｒ ｏｎ ＹＥＳ
１２．Ｅｃｈｏ ｐｏｉｎｔ Ｎｏ． ＮＯ
１３．Ｓｋｉｐ ｕｎｄｅｆｉｎｅｄ ｐａｒａｍｅｔｅｒｓ ＩＮＶＡＬＩＤ
ＩＮＶＡＬＩＤ ＶＡＬＩＤ

3) Press (INVALID) or (VALID).

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

12.1.4 Parameters for option boards

This section explains how to set parameters for option boards from the RPB.
Option boards are roughly divided into three types: option DIO boards, serial I/O boards
and network board.
For option DIO boards, there are 2 parameters to be set, including the parameter to enable
or disable the DC 24V power input monitor. For serial I/O boards (CC-Link/DeviceNet/
PROFIBUS), there are 3 parameters including the parameter to enable or disable the
boards. When using a network board (Ethernet), there are 4 parameters including the
parameter to enable or disable the board. Chapter

4
n NOTE
• For detailed information on serial I/O units such as CC-Link, Ethernet, and

OPERATION
YC-Link, refer to their respective manuals.
• On controllers with a DeviceNet board installed and from Ver. 9.08
onwards, there are 4 parameters to be set. Earlier version controllers
require 3 parameters to be set.
• No parameter setting is required for the YC-Link.

[Procedure]

1) Press (OP. BRD) in "SYSTEM>PARAM" mode to enter the option board

parameter setting mode.

The option boards installed in the controller are displayed in order on the RPB screen.

■ Option board parameter screen

SYSTEM>PARAM>OP.BRD V9.00

1.D_Net(M4/500k) VALID
2.DIO_P(n) VALID
3. ---
4. ---

SELECT

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 12. "SYSTEM" mode

Option boards installed into the option slots are displayed on the RPB screen.

Type Display Meaning

An option DIO board of NPN specifications is
DIO_N(n) installed. The number in parentheses is an ID
number.
Option DIO
An option DIO board of PNP specifications is
DIO_P(n) installed. The number in parentheses is an ID
number.
A CC-Link unit is installed. Letters in parentheses
CCLnK(n/m) indicate a station number "n" and a communication
speed "m".
Chapter A DeviceNet unit is installed. Letters in parentheses
Serial I/O D_Net(n/m) indicate a MAC ID number "n" and communication
4 speed "m".
A PROFIBUS unit is installed. Letters in parentheses
Profi(n/m) indicate a station address "n" and communication
OPERATION

speed "m".
Network E_Net An Ethernet unit is installed.
A YC-Link is installed. The number in parentheses
YC-Link YCLnk(Mn) indicates a station number "n".

When editing the parameters for option boards, the following keys and submenu are valid.

Valid keys Menu Function

Cursor key
Moves the cursor up and down.
(↑/↓)
F1 SELECT Selects the option board for parameter setting.

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 12. "SYSTEM" mode

12.1.4.1 Option DIO setting

Make the DIO option board setting as explained below.

Parameter Meaning
Sets whether to issue an error "12.31: DI DC24V
disconnected" when the 24V power supply is not
connected.
When set to "INVALID", no error will be issued even if
1 Board condition the DC 24V power supply is disconnected.
This parameter cannot be set to "INVALID" while the
24V power supply is connected to the DIO board. Chapter
This parameter automatically changes to "VALID" when
the 24V power supply is connected. 4

OPERATION
Sets whether to use the dedicated input DI05 (IO
IO cmd (DI05)
2 command run) function.
(when ID=1)
This is available only for the DIO board with ID=1.

[Procedure]
1) In "SYSTEM>PARAM>OP. BRD" mode, select "DIO_N(n)" or "DIO_P(n)" and press

(SELECT).

2) Press (EDIT).

■ Option DIO setting

SYSTEM>PARAM>OP.BRD V9.00

1.Board condition VALID

2.IO cmd(DI05) INVALID

INVALID VALID

3) Press (INVALID) or (VALID) to change the setting.

4) Select the parameter to be edited using the cursor (↑/↓) keys.

5) Press to end the setting.

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 12. "SYSTEM" mode

12.1.4.2 Serial IO setting

Make the serial IO option board setting as explained below.

n NOTE
• Emergency stop ready signal (DI00), interlock input (DI11) and service
mode input (DI02) on the SAFETY connector are enabled even when the
serial IO is enabled.
• For detailed information on the remote commands and IO commands,
refer to the separate manual for controller options.
Chapter

4 Parameter Meaning
OPERATION

Sets whether to use the serial IO. When set to "VALID",

the serial I/O can be used and dedicated inputs to SI0()
1 Serial IO
and SI1() are enabled. Dedicated inputs to parallel DIO
option are disabled.
Sets whether to use the functions of remote commands
and I/O commands. When set to "VALID", the remote
commands (using word information) and I/O commands
(using bit information) can be used.
Remote cmd / IO This parameter cannot be set to "VALID" simultaneously
2
cmd (SI05) with parameter 3.
When parameter 4 is set to "Small", the remote
command cannot be used, although this parameter can
be set to "VALID". (The I/O commands can be used, but
use of them is limited partly.)
Sets whether to output an error number to word
information SOW(1).
When set to "VALID", the error number will be output to
Output MSG to
3 SOW(1) if an error occurs.
SOW(1)
This parameter cannot be set to "VALID" simultaneously
with parameter 2. Also, this parameter cannot be set to
"VALID" when parameter 4 is set to "Small".
Selects the number of channels occupied by a
DeviceNet unit from "Large" (input 24CH / output 24CH)
or "Small" (input 2CH / output 2CH).
IO size The default setting is "Large".
4
(DeviceNet only) The IO size cannot be set to "Small" when parameter 3
above is set to "VALID".
Parameter 3 cannot be set to "VALID" when the IO size
is set to "Small".

n NOTE
The "4. IO size" parameter is supported by controllers with a DeviceNet
board installed and from Ver. 9.08 onwards. Earlier version controllers do not
have the "4. IO size" parameter, so the number of occupied channels is the
same as the "Large" IO size setting.

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 12. "SYSTEM" mode

1. Serial IO

[Procedure]
1) In "SYSTEM>PARAM>OP. BRD" mode, select the serial I/O option board and press

(SELECT).

2) Select the "1. Serial IO" parameter with the cursor (↑/↓) keys.

Chapter
3) Press (EDIT).
4
■ "Serial IO" setting

OPERATION
SYSTEM>PARAM>OP.BRD V9.08

1.Serial IO VALID
2.Remote cmd/IO cmd(SI05) INVALID
3.Output MSG to SOW(1) INVALID
4.IO size Large

INVALID VALID

4) Press (INVALID) or (VALID) to change the setting.

5) Press to end the setting.

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 12. "SYSTEM" mode

2. Remote cmd/IO cmd (SI05)

[Procedure]
1) In "SYSTEM>PARAM>OP. BRD" mode, select the serial I/O option board and press

(SELECT).

2) Select the "2. Remote cmd / IO cmd (SI05)" parameter with the cursor (↑/↓) keys.

Chapter

4 3) Press (EDIT).

■ "Remote cmd / IO cmd (SI05)" setting

OPERATION

SYSTEM>PARAM>OP.BRD V9.08

1.Serial IO VALID
2.Remote cmd/IO cmd(SI05) INVALID
3.Output MSG to SOW(1) INVALID
4.IO size Large

INVALID VALID

4) Press (INVALID) or (VALID) to change the setting.

5) Press to end the setting.

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 12. "SYSTEM" mode

3. Output MSG to SOW(1)

[Procedure]
1) In "SYSTEM>PARAM>OP. BRD" mode, select the serial I/O option board and press

(SELECT).

2) Select the "3. Output MSG to SOW(1)" parameter with the cursor (↑/↓) keys.

Chapter
3) Press (EDIT).
4
■ "Output MSG to SOW(1)" setting

OPERATION
SYSTEM>PARAM>OP.BRD V9.08

1.Serial IO VALID
2.Remote cmd/IO cmd(SI05) INVALID
3.Output MSG to SOW(1) INVALID
4.IO size Large

INVALID VALID

4) Press (INVALID) or (VALID) to change the setting.

5) Press to end the setting.

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 12. "SYSTEM" mode

4. IO size (DeviceNet only)

n NOTE
This parameter is supported by controllers with a DeviceNet board installed
and from Ver. 9.08 onwards. Earlier version controllers do not have this "4. IO
size" parameter, so the number of occupied channels is the same as the
"Large" IO size setting.

[Procedure]
Chapter
1) In "SYSTEM>PARAM>OP. BRD" mode, select the serial I/O option board and press
4 (SELECT).
OPERATION

2) Select the "4. IO size" parameter with the cursor (↑/↓) keys.

3) Press (EDIT).

■ "IO size" setting

SYSTEM>PARAM>OP.BRD V9.08

1.Serial IO VALID
2.Remote cmd/IO cmd(SI05) INVALID
3.Output MSG to SOW(1) INVALID
4.IO size Large

Large Small

4) Press (Large) to use 24CH each of input/output or (Small) to use 2CH

each of input/output.

5) Press to end the setting.

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 12. "SYSTEM" mode

12.1.4.3 Setting the network parameters

When using Ethernet, you set five parameters including the parameter to enable or disable
the Ethernet board.

c CAUTION
When making the Ethernet settings to use TELNET, you will need to set any
other parameters than those shown below. For more details, see the Ethernet
manual.

Chapter
Parameter Meaning
Enables or disables the Ethernet board. When set to
4
1 Board condition "VALID" the Ethernet can be used. When set to

OPERATION
"INVALID" Ethernet cannot be used.
2 IP address Sets the IP address.
3 Subnet mask Sets the subnet mask.
4 Gateway Sets the gateway.
Communication Sets the communication mode (online/offline).
5 mode Online commands can be run only in the online mode.

n NOTE
• The communication mode parameter is applicable to a controller of Ver.
9.27 onwards.
• The communication mode parameter can also be changed by the
ONLINE or OFFLINE statement of the robot language.

[Procedure]
■ Network setting (1)

SYSTEM>PARAM>OP.BRD V9.00

1.E_Net VALID
2.
3.
4.

SELECT

1) In "SYSTEM>PARAM>OP. BRD" mode, select "E_Net" with the cursor keys and press

(SELECT).

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 12. "SYSTEM" mode

■ Network setting (2)

SYSTEM>PARAM>OP.BRD>SELECT V9.00

1.board condition VALID

2.IP address 192.168. 0. 2
3.Subnet mask 255.255.255. 0
4.gateway 192.168. 0. 1
5.port No 23
EDIT JUMP

Chapter

4 2) Select the parameter with the cursor (↑/↓) keys.

c
OPERATION

CAUTION
Changes you made to the IP address, subnet mask and gateway are
enabled after restarting the robot controller. When connecting the robot
controller to an existing network, always consult with the network
administrator for the IP address, subnet mask and gateway settings.

■ Network setting (3)

SYSTEM>PARAM>OP.BRD>SELECT V9.00

1.board condition VALID

2.IP address 192.168. 0. 2
3.Subnet mask 255.255.255. 0
4.gateway 192.168. 0. 1
5.port No 23
EDIT JUMP

3) The currently set parameters are displayed.

When changing the "Board condition" parameter, press (INVALID) to disable

the Ethernet unit or press (VALID) to enable the Ethernet unit.

When changing the communication mode, press (OFFLINE) to set the offline

mode or press (ONLINE) to set the online mode.

When changing other parameters, use to and to make the setting and

press .

4) Press to quit the edit mode.

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 12. "SYSTEM" mode

12.2 Communication parameters

Set the following parameters for communication procedures when using the RS-232C
interface.

There are 8 kinds of communication parameters.

1. Communication mode
2. Data bit
3. Baud rate
Chapter
4. Stop bit
5. Parity
4

OPERATION
6. Termination code
7. Flow control

For detailed information, refer to Chapter 7, "RS-232C interface".

[Procedure]

1) Press (CMU) in "SYSTEM" mode.

The communication parameter screen appears.

■ Communication parameter screen

SYSTEM>CMU V9.00

1.CMU mode ONLINE

2.Data bits 8
3.Baud rate 9600
4.Stop bit 1
5.Parity ODD
EDIT JUMP

2) Select the parameter with the cursor (↑/↓) keys.

Or press (JUMP) and enter a parameter number to jump to that parameter item.

Page keys ( , ) can be also used.

3) Press (EDIT) to enter the edit mode.

The edit mode stays open until is pressed, allowing you to set multiple

parameters one after the other.

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 12. "SYSTEM" mode

4) Set the parameter with the function keys.

The selectable values or items appear as function key menus on the guideline.

5) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

Valid keys and submenu descriptions in "SYSTEM>CMU" mode are shown below.
Chapter
Valid keys Menu Function
4 Cursor key
Moves the cursor up and down.
(↑/↓)
OPERATION

Page key
Switches to other screens.
〈〈

〈〈

( / )
F1 EDIT Edits the parameter.
F2 JUMP Moves the cursor to the designated parameter.

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 12. "SYSTEM" mode

1. CMU (communication) mode

This parameter sets the communication mode on the computer.

n NOTE
• Online commands can be executed only in "ONLINE" mode.
• The CMU (communication) mode can be changed with either ONLINE or
OFFLINE statements in robot language.

[Procedure]
Chapter
1) Select "1. CMU mode" in "SYSTEM>CMU" mode.
4

OPERATION
2) Press (EDIT).

The function key menu changes.

■ Setting the "CMU mode"

SYSTEM >CMU V9.00

1.CMU mode ONLINE

2.Data bits 8
3.Baud rate 9600
4.Stop bit 1
5.Parity ODD
OFFLINE ONLINE

3) Select the communication mode with (OFFLINE) or (ONLINE).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

2. Data bits
This parameter sets the data bit length.

n NOTE
Katakana letters (Japanese phonetic) cannot be sent if data bit length was
set to 7 bits.

[Procedure]
1) Select "2. Data bits" in "SYSTEM>CMU" mode.
Chapter

4
2) Press (EDIT).
OPERATION

The function key menu changes.

■ Setting the "Data bits"

SYSTEM>CMU V9.00

1.CMU mode ONLINE

2.Data bits 8
3.Baud rate 9600
4.Stop bit 1
5.Parity ODD
7 8

3) Select the data bits with (7) or (8).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

3. Baud rate
This parameter sets the communication speed.

n NOTE
Communication errors are more prone to occur at high communication
speeds. If communication errors frequently occur, set a lower
communication speed.

[Procedure]
Chapter
1) Select "3. Baud rate" in "SYSTEM>CMU" mode.
4

OPERATION
2) Press (EDIT).

The function key menu changes.

■ Setting the "Baud rate"

SYSTEM>CMU V9.00

1.CMU mode ONLINE

2.Data bits 8
3.Baud rate 9600
4.Stop bit 1
5.Parity ODD
4800 9600 19200 38400 57600

3) Select the baud rate with (4800) through (57600).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

4. Stop bit
This parameter sets the stop bit length.

n NOTE
Set to 2 bits if communication errors frequently occur.

[Procedure]
1) Select "4. Stop bit" in "SYSTEM>CMU" mode.

Chapter

4 2) Press (EDIT).
OPERATION

The function key menu changes.

■ Setting the "Stop bit"

SYSTEM>CMU V9.00

1.CMU mode ONLINE

2.Data bits 8
3.Baud rate 9600
4.Stop bit 1
5.Parity ODD
1 2

3) Select the stop bit length with (1) or (2).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

5. Parity
This parameter sets the parity check.

n NOTE
Use the parity check as often as possible.

[Procedure]
1) Select "5. Parity" in "SYSTEM>CMU" mode.

Chapter

2) Press (EDIT). 4

OPERATION
The function key menu changes.

■ Setting the "Parity"

SYSTEM>CMU V9.00

1.CMU mode ONLINE

2.Data bits 8
3.Baud rate 9600
4.Stop bit 1
5.Parity ODD
NON ODD EVEN

3) Select the parity check with (NON), (ODD) or (EVEN).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

6. Termination code
This parameter sets the line feed code.

[Procedure]
1) Select "6. Termination code" in "SYSTEM>CMU" mode.

2) Press (EDIT).

The function key menu changes.

Chapter
■ Setting the "Termination code"
4
SYSTEM>CMU V9.00
OPERATION

3.Baud rate 9600

4.Stop bit 1
5.Parity ODD
6.Termination code CR
7.Flow control Xon/Xoff
CR CRLF

3) Select the line feed with (CR) or (CRLF).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

7. Flow control
This parameter sets communication flow control.

n NOTE
Communication data omissions may occur if flow control is set to "NO".

[Procedure]
1) Select "7. Flow control" in "SYSTEM>CMU" mode.

Chapter

2) Press (EDIT). 4

OPERATION
■ Flow control setting

SYSTEM>CMU V9.00

3.Baud rate 9600

4.Stop bit 1
5.Parity ODD
6.Termination code CR
7.Flow control XonXoff
XonXoff RTS/CTS NO

3) Set flow control with (XonXoff) to (NO).

4) Press to end the setting.

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 12. "SYSTEM" mode

12.3 OPTION parameters

The OPTION parameters are used to set expanded controller functions. These parameters
consist of 4 types: parameters for area check output, parameters relating to SAFE mode,
parameters relating to the serial I/O, and parameters relating to double-carrier type robots.

[Procedure]

1) In "SYSTEM" mode, press (OPTION) to enter "SYSTEM>OPTION" mode.

Chapter

4 2) In "SYSTEM>OPTION" mode, press a key from (POS.OUT) to (W.CARRY)

OPERATION

to show the parameter items.

■ OPTION parameter setting

SYSTEM>OPTION V9.00

POS.OUT SERVICE SIO W.CARRY

Parameters can be edited by entering data with the number keys or by selecting the
function keys. Refer to each parameter item for detailed information.

3) Press to quit the parameter edit mode.

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 12. "SYSTEM" mode

12.3.1 Setting the area check output

This function checks whether the current robot position is within an area specified by the
area check output parameter’s point data, and outputs the result to the specified port.
A maximum of 4 areas can be checked with controllers prior to Ver. 9.22, while a
maximum of 8 areas can be checked with controllers of Ver. 9.22 onwards.
The area check output includes the following 5 parameters.

1. Area check on/off

Selects the robot for the area check. Chapter

4
2. Area check output port No.

OPERATION
Selects the port to output the area check results to.
The following port numbers can be used.
• Controllers prior to Ver. 9.22

DO/SO Port No.

DO 20 to 27
SO 20 to 27

• Controllers of Ver. 9.22 onwards

DO/SO Port No.

20 to 27, 30 to 37, 40 to 47, 50 to 57, 60 to 67, 70 to 77, 100 to 107
DO
110 to 117*, 120 to 127*, 130 to 137*, 140 to 147*, 150 to 157*
20 to 27, 30 to 37, 40 to 47, 50 to 57, 60 to 67, 70 to 77, 100 to 107
SO
110 to 117, 120 to 127, 130 to 137, 140 to 147, 150 to 157
* DO110 to DO157 do not exist as hardware, so these are not output to external devices but can
be used as internal outputs.

3. Comparison point No. 1

4. Comparison point No. 2
Sets the points for determining the area. (Usable point No. : P0 to P4000)
The area is applied to all set axes.

5. Condition for area check output

Selects the condition that allows the area check output to turn on, from either when
the robot is within a specified area or when outside it.

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 12. "SYSTEM" mode

n NOTE
• If the port used for area check output is the same as the output port used
by the program, then the output data might be changed. So do not use
the same output port.
• If the same port is designated for a different area check output, OR will
be output.
• On controllers of Ver. 9.08 onwards, the area check cannot be performed
and an error is displayed unless comparison points exist or the units of
comparison points are the same. If this situation occurs during automatic
Chapter
operation, the automatic operation stops and an error is displayed. The
4 area check output where the error occurred then turns off. Automatic
operation cannot be performed until the error is cleared.
OPERATION

On earlier version controllers, no error will occur even if comparison points

do not exist or the units of comparison points are not the same. Note,
however, that the area check output does not function correctly in this
case.
• Area check output will not function if return-to-origin is incomplete.
• The area check is performed on all set axes.
• Always provide a margin when setting the comparison point data.
• "5. Condition for area check output" is supported by controllers of Ver. 9.08
onwards. On earlier version controllers, the area check output turns on
when the robot is within a specified area, and turns off when outside it.
• If a port number which does not exist is specified as the area check
output port, no output will occur.

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 12. "SYSTEM" mode

When the comparison points are set as shown below, and the robot axis tip is moved
between the marks, the output is off at and the output is on at . (When
"5. Criterion selection for area check output" is set so that the area check output turns on
when the robot enters a specified area.)
■ When points are designated in Cartesian coordinates ("mm" unit system)
+Y

Comparison point 2
Chapter

OPERATION
Comparison point 1
+X

[Procedure]

1) Press (POS.OUT) in "SYSTEM>OPTION" mode to enter the area check output

mode.

■ Selecting the area check output number (controllers prior to Ver. 9.22)

SYSTEM>OPTION>POS.OUT V9.08

1.Output of area1 NO
2.Output of area2 NO
3.Output of area3 NO
4.Output of area4 NO

SELECT

■ Selecting the area check output number (controllers of Ver. 9.22 onwards)

ＳＹＳＴＥＭ＞ＯＰＴＩＯＮ＞ＰＯＳ．ＯＵＴ Ｖ９．２２

１．Ｏｕｔｐｕｔ ｏｆ ａｒｅａ１ ＮＯ
２．Ｏｕｔｐｕｔ ｏｆ ａｒｅａ２ ＮＯ
３．Ｏｕｔｐｕｔ ｏｆ ａｒｅａ３ ＮＯ
４．Ｏｕｔｐｕｔ ｏｆ ａｒｅａ４ ＮＯ
５．Ｏｕｔｐｕｔ ｏｆ ａｒｅａ５ ＮＯ
ＳＥＬＥＣＴ

2) Select an area check output number with the cursor (↑/↓) keys and press

(SELECT).
A maximum of 4 areas can be checked with controllers prior to Ver. 9.22, while a
maximum of 8 areas can be checked with controllers of Ver. 9.22 onwards.

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 12. "SYSTEM" mode

3) Select the parameter items with the cursor (↑/↓) keys.

■ Selecting the area check output parameters

SYSTEM >OPTION>POS.OUT V9.08

1.Output of area1 NO
2.Output por1(DO & SO) 20
3.Compare Point number11 P0
4.Compare Point number12 P0
5.Condition IN
Chapter EDIT JUMP

4
Valid keys and submenu descriptions in this mode are shown below.
OPERATION

Valid keys Menu Function

Cursor key
Selects the area check output parameter.
(↑/↓)
F1 EDIT Edits the area check output parameter.
F2 JUMP Moves to the specified area check output parameter.

1. Area check output on/off

This parameter sets whether or not to use the area check output function.

n NOTE
• Select the robot for the area check.
• "SUB" cannot be selected if there is no sub robot.

[Procedure]
1) Select "1. Output of area n" in "SYSTEM>OPTION>POS.OUT>SELECT" mode.

2) Press (EDIT).

The function key menu changes.

■ Selecting the area check output target robots

SYSTEM>OPTION>POS.OUT>SELECT V9.08

1.Output of area1 NO
2.Output por1(DO & SO) 20
3.Compare Point number11 P0
4.Compare Point number12 P0
5.Condition IN
NO MAIN SUB

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 12. "SYSTEM" mode

3) Select the robot for the area check with (NO), (MAIN) or (SUB).

Robot Details
NO The area check output is not executed.
MAIN The area check output is executed for the main robot.
SUB The area check output is executed for the sub robot.

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)
Chapter
keys.
4
2. Area check output port No.

OPERATION
This parameter specifies the port to output the area check results to. The following
ports can be used as the area check output port.
• Controllers prior to Ver. 9.22
DO/SO Port No.
DO 20 to 27
SO 20 to 27

• Controllers of Ver. 9.22 onwards

DO/SO Port No.
20 to 27, 30 to 37, 40 to 47, 50 to 57, 60 to 67, 70 to 77, 100 to 107
DO
110 to 117*, 120 to 127*, 130 to 137*, 140 to 147*, 150 to 157*
20 to 27, 30 to 37, 40 to 47, 50 to 57, 60 to 67, 70 to 77, 100 to 107
SO
110 to 117, 120 to 127, 130 to 137, 140 to 147, 150 to 157
* DO110 to DO157 do not exist as hardware, so these are not output to external devices but
can be used as internal outputs.

n NOTE
• If the port used for area check output is the same as the output port used
by the program, then the output data might be changed. So do not use
the same output port.
• If the serial IO is enabled while a DIO option board and a serial IO board
such as for CC-Link are installed in the option board slots, then the area
check results will be output to both the DO and SO of the same number.

[Procedure]

[Controllers prior to Ver. 9.22]

1) Select "2. Port number of output n" in "SYSTEM>OPTION>POS.OUT>SELECT" mode.

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 12. "SYSTEM" mode

2) Press (EDIT).

The function key menu changes.

■ Selecting the area check output port (controllers prior to Ver. 9.22)

SYSTEM>OPTION>POS.OUT>SELECT V9.08

1.Output of area1 MAIN

2.Output por1(DO & SO) 20
3.Compare Point number11 P0
Chapter
4.Compare Point number12 P0

4 5.Condition
20 21 22 23
IN
24
OPERATION

3) Select the output port with (DO(20)) through (DO(27)).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

[Controllers of Ver. 9.22 onwards]

1) Select "2. Port number of output n" in "SYSTEM>OPTION>POS.OUT>SELECT" mode.

2) Press (EDIT).

The function key menu changes.

■ Selecting the area check output port (controllers of Ver. 9.22 onwards)

ＳＹＳＴＥＭ＞ＯＰＴＩＯＮ＞ＰＯＳ．ＯＵＴ＞ＳＥＬＥＣＴ Ｖ９．２２

１．Ｏｕｔｐｕｔ ｏｆ ａｒｅａ１ ＭＡＩＮ

２．Ｏｕｔｐｕｔ ｐｏｒ１（ＤＯ ＆ ＳＯ） ２０
３．Ｃｏｍｐａｒｅ Ｐｏｉｎｔ ｎｕｍｂｅｒ１１ Ｐ０
４．Ｃｏｍｐａｒｅ Ｐｏｉｎｔ ｎｕｍｂｅｒ１２ Ｐ１
５．Ｃｏｎｄｉｔｉｏｎ ＩＮ
［２０−１５７］Ｅｎｔｅｒ ｏｕｔｐｕｔ ｐｏｒｔ＞０

3) Enter the output port number with to and press to determine it.

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

3. Comparison point No. 1

4. Comparison point No. 2
Set the point numbers for determining the area to perform area check. Point numbers
from P0 to P4000 can be used to specify an area.

n NOTE
• The units of comparison point numbers 1 and 2 must be the same to
perform correct operation.
• On controllers of Ver. 9.08 onwards, the area check cannot be performed
and an error is displayed unless comparison points exist or the units of Chapter
comparison points are the same. If this situation occurs during automatic
operation, the automatic operation stops and an error is displayed. The area 4
check output where the error occurred then turns off. Automatic operation

OPERATION
cannot be performed until the error is cleared.
On earlier version controllers, no error will occur even if comparison points do
not exist or the units of comparison points are not the same. Note, however,
that the area check output does not function correctly in this case.
• The area check is carried out on all set axes. Take care when setting the
R axis point if using the system with four axes.
• Always provide a margin when setting the comparison point data.

[Procedure]
1) Select "3. Compare point number n1" in "SYSTEM>OPTION>POS.OUT>SELECT"
mode.

2) Press (edit).

The function key menu changes.

■ Entering the comparison point numbers for area check output

SYSTEM>OPTION>POS.OUT>SELECT V9.08

1.Output of area1 MAIN

2.Output por1(DO & SO) 20
3.Compare Point number11 P0
4.Compare Point number12 P0
5.Condition IN
[0-4000] Enter point number>_
0

3) Enter the point number with to and press .

4) Select "4. Compare Point number n2" with the cursor (↑/↓) keys and enter point
number as in step 3).

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 12. "SYSTEM" mode

5) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

Example: When the comparison points are set as shown below, and the robot axis tip
is moved between the marks, the output is off at and the output is
on at . (when "5. Condition" is set to "IN")

Chapter n NOTE
On controllers from Ver. 9.08 onwards, by changing the "5. Condition" setting,
4 it is possible to select whether the robot position should be within a specified
area or outside it in order to turn on the output status. On earlier version
OPERATION

controllers, the area check output turns on when the robot is within a
specified area, and turns off when outside it.

■ When points are designated in Cartesian coordinates ("mm" unit system)

+Y

Comparison point 2

Comparison point 1
+X

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 12. "SYSTEM" mode

5. Condition for area check output

Selects the condition that allows the area check output to turn on, from either when
the robot is within a specified area or when outside it.

n NOTE
• This parameter is supported by controllers of Ver. 9.08 onwards. On earlier
version controllers, the area check output turns on when the robot is
within a specified area, and turns off when outside it.
• Any point on the boundary of the specified area is determined to be
within the area. Chapter
• If the area check cannot be performed correctly due to return-to-origin
incomplete, operation other than "MANUAL" or "AUTO" mode, or a 4
memory error, then the area check output will turn off regardless of the

OPERATION
criterion setting.
If the specified port is the same as the port used by the program, then the
area check output has priority.
• The default setting is "IN" (output is on within specified area).

[Procedure]
1) Select "5. Condition" in "SYSTEM>OPTION>POS.OUT>SELECT" mode.

2) Press (EDIT).

■ Criterion selection for area check output

SYSTEM>OPTION>POS.OUT>SELECT V9.08

1.Output of area1 MAIN

2.Output por1(DO & SO) 20
3.Compare Point number11 P1
4.Compare Point number12 P2
5.Condition IN
IN OUT

3) Select the criterion for area check output with (IN) or (OUT).

Setting Description
IN Turns on when the robot enters a specified area.
OUT Turns on when the robot goes out of a specified area.

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

12.3.2 Setting the "SERVICE" mode

When using "SERVICE" mode to safely perform tasks with the RPB within the robot system
safety enclosure, make parameter settings and set the mode level as explained in this
section.
Parameter settings made here are only valid until the controller power is turned off, unless
those settings are saved.
"SERVICE" mode is enabled or disabled by input through the SAFETY interface.

Chapter n NOTE
The "SERVICE" mode functions can only be utilized when the necessary
4 settings were made by YAMAHA prior to shipping.
OPERATION

w WARNING
IN "SERVICE" MODE, CHANGING THE SETTINGS FROM THEIR DEFAULT VALUES IS
LIKELY TO INCREASE HAZARDS TO THE ROBOT OPERATOR DURING
MAINTENANCE OR OPERATION. CUSTOMERS CAN CHANGE THESE SETTINGS
BASED ON THEIR OWN RESPONSIBILITY, BUT ADEQUATE CONSIDERATION
SHOULD FIRST BE GIVEN TO SAFETY.

c CAUTION
The dedicated input is SI when the serial board is connected.

There are three parameters for "SERVICE" mode.

1. "SERVICE" mode level

Select the mode level by referring to the table below.

Description
Hold to Run function AUTO mode operation
Level 0 Disabled Allowed
Level 1 Enabled Allowed
Level 2 Disabled Prohibited
* Level 3 Enabled Prohibited
* The Hold to Run function indicates that the robot operation (including
program execution) is executed only when the keys are held down on
the RPB.

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 12. "SYSTEM" mode

2. Operating speed limits in "SERVICE" mode

Specify the maximum robot operating speed.

Description
Sets robot operation within 3 % of maximum operating
* <3% speed.
<100% Sets no limit on robot operating speed.
* : These are default settings.

3. Operating device during "SERVICE" mode Chapter

Specify the operating device to use. 4

OPERATION
Description
* RPB Only RPB operation is allowed.
RPB/DI Allows RPB and dedicated input.
RPB/COM Allows RPB and online commands.
Allows RPB, dedicated input and online command
ALL operation devices.
* : These are default settings.

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 12. "SYSTEM" mode

[Procedure]

1) Press (SERVICE) in "SYSTEM>OPTION" mode.

The message, "Enter password" appears on the guideline.

Enter "SAF" here and press .

■ Entering the "SERVICE" mode setting password

SYSTEM>OPTION V9.00
Chapter

4
OPERATION

Enter password >_

2) The following screen appears when the correct password is entered.

■ "SERVICE" mode initial screen

SYSTEM>OPTION>SERVICE V9.00

1.Service level LEVEL 3

2.Movement Vel <3%
3.Operating device RPB

EDIT JUMP SAVE HELP

Valid keys and submenu descriptions in this mode are shown below.

Valid keys Menu Function

Cursor key
Selects the "SERVICE" mode parameters.
(↑/↓)
F1 EDIT Edits the "SERVICE" mode parameters.
F2 JUMP Moves to the designated "SERVICE" mode parameter.
F4 SAVE Saves the designated "SERVICE" mode parameter.
F5 HELP Displays the help message for each setting.

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 12. "SYSTEM" mode

1. "SERVICE" mode level

Set the service mode level by referring to the table below.

n NOTE
The settings made here are only valid until the controller power is turned off.
Save these settings if you want to use them again after power is turned off.

w WARNING
SETTINGS MAY BE CHANGED BUT THE CUSTOMER MUST BEAR RESPONSIBILITY
Chapter
FOR THEM. THE CUSTOMER SHOULD KEEP SAFETY IN MIND WHEN MAKING
CHANGES. 4

OPERATION
Description
Hold to Run function AUTO mode operation
Level 0 Disabled Allowed
Level 1 Enabled Allowed
Level 2 Disabled Prohibited
Level 3 Enabled Prohibited

[Procedure]
1) Select "1. Service level" in "SYSTEM>OPTION>SERVICE" mode.

2) Press (EDIT).

■ Editing the "SERVICE" mode level

SYSTEM>OPTION>SERVICE V9.00

1.Service level LEVEL 3

2.Movement Vel <3%
3.Operating device RPB

LEVEL 0 LEVEL 1 LEVEL 2 LEVEL 3

3) Select the "SERVICE" mode level with (LEVEL 0) to (LEVEL 3).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

2. Operating speed limits in "SERVICE" mode

Specify the maximum robot operating speed.

n NOTE
The settings made here are only valid until the controller power is turned off.
Save these settings if you want to use them again after power is turned off.

Chapter
w WARNING
SETTINGS MAY BE CHANGED BUT THE CUSTOMER MUST BEAR RESPONSIBILITY
FOR THEM. THE CUSTOMER SHOULD KEEP SAFETY IN MIND WHEN MAKING
4 CHANGES.
OPERATION

Description
Sets robot operation within 3 % of maximum operating
<3% speed.
<100% Sets no limit on robot operating speed.

[Procedure]
1) Select "2. Movement Vel" in "SYSTEM>OPTION>SERVICE" mode.

2) Press (EDIT).

■ Editing the "SERVICE" mode operating speed

SYSTEM>OPTION>SERVICE V9.00

1.Service level LEVEL 3

2.Movement Vel <3%
3.Operating device RPB

<100% <3%

3) Select the maximum robot operating speed with (<100%) or (<3%).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

3. Operating device in "SERVICE" mode

Specify the operating device to use.

n NOTE
The settings made here are only valid until the controller power is turned off.
Save these settings if you want to use them again after power is turned off.

w WARNING
SETTINGS MAY BE CHANGED BUT THE CUSTOMER MUST BEAR RESPONSIBILITY
Chapter
FOR THEM. THE CUSTOMER SHOULD KEEP SAFETY IN MIND WHEN MAKING
CHANGES. 4

OPERATION
Description
RPB Only RPB operation is allowed.
RPB/DI Allows RPB and dedicated input.
RPB/COM Allows RPB and online commands.
ALL Allows operation by all devices.

[Procedure]
1) Select "3. Operating device" in "SYSTEM>OPTION>SERVICE" mode.

2) Press (EDIT).

■ Editing the "SERVICE" mode devices

SYSTEM>OPTION>SERVICE V9.00

1.Service level LEVEL 3

2.Movement Vel <3%
3.Operating device RPB

RPB RPB/DI RPB/COM ALL

3) Select the operating device with (RPB) to (ALL).

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

12.3.2.1 Saving the "SERVICE" mode parameters

To save the parameter settings for "SERVICE" mode, follow the procedure below.
The parameter settings made here are only valid until the controller power is turned off,
unless you save those settings.

w WARNING
IN "SERVICE" MODE, CHANGING THE SETTINGS FROM THEIR DEFAULT VALUES IS
LIKELY TO INCREASE HAZARDS TO THE ROBOT OPERATOR DURING
MAINTENANCE OR OPERATION. CUSTOMERS CAN CHANGE THESE SETTINGS
Chapter
BASED ON THEIR OWN RESPONSIBILITY, BUT ADEQUATE CONSIDERATION
4 SHOULD FIRST BE GIVEN TO SAFETY.
OPERATION

[Procedure]

1) Press (SAVE) in "SYSTEM>OPTION>SERVICE" mode.

When you have made changes to the parameters, a message appears on the guideline
asking if you want to save the setting.

■ Saving the "SERVICE" mode parameters

SYSTEM>OPTION>SERVICE V9.00

1.Service level LEVEL 3

2.Movement Vel <3%
3.Operating device RPB

Change OK? YES NO

2) Press (YES) to save the setting.

Press (NO) if you want to cancel the settings.

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 12. "SYSTEM" mode

12.3.2.2 Help display in "SERVICE" mode

To display the help messages for "SERVICE" mode parameters, proceed as follows.

[Procedure]

1) Press (HELP) in "SYSTEM>OPTION>SERVICE" mode.

■ Help display in "SERVICE" mode

SYSTEM>OPTION>SERVICE>HELP V9.00
Chapter
Security level of serv. mode
LEVEL0 : No limit 4
LEVEL1 : Hold to Run

OPERATION
LEVEL2 : Prohibit operation in AUTO
LEVEL3 : LEVEL2 + Hold to Run
NEXT P. PREV.P.

2) Press (NEXT P.) to display the next message page.

Press (PREV. P.) to display the previous message page.

3) Press to quit this mode.

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 12. "SYSTEM" mode

12.3.3 SIO settings

The serial I/O unit allows the master station sequencer (PLC) to send and receive parallel
port ON/OFF data in the robot controller I/O unit, regardless of the robot program. This
function allows using I/O devices such as sensors and relays as serial-connected devices.

n NOTE
• Output results might be incorrect if the SIO specified port is the same as
the port used by the program.
• These settings are only valid when the serial I/O unit is connected.
Chapter

4 ■ SIO over view

OPERATION

Master station
PLC I/O device
(sensors, relays. etc.)
CC-Link

Remote device station

robot controller
Parallel I/O connection

The relation between parallel and serial ports that can be set are shown below.

Input devices such as sensors Output devices such as valves

DI port → SO port DO port ← SI port
DI2() SO2() DO2() SI2()
DI3() SO3() DO3() SI3()
DI4() SO4() DO4() SI4()
DI5() SO5() DO5() SI5()

[Procedure]

1) Press (SIO) in "SYSTEM>OPTION" mode.

■ SIO setting initial screen

SYSTEM>OPTION>SIO V9.00

1.Direct SI2()->DO2() NO
2.Direct SI3()->DO3() NO
3.Direct SI4()->DO4() NO
4.Direct SI5()->DO5() NO
5.Direct SO2()<-DI2() NO
EDIT JUMP

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 12. "SYSTEM" mode

Valid keys and submenu descriptions in this mode are shown below.

Valid keys Menu Function

Cursor key
Selects the SIO parameter.
(↑/↓)
F1 EDIT Changes the SIO parameter.
F2 JUMP Moves the cursor to the designated SIO parameter.

1. Direct connection from SI n ( ) to DO n ( )

The serial port input can be directly connected to parallel port output. The relation Chapter
between parallel and serial ports that can be set is as follows.
4
n NOTE

OPERATION
Output results might be incorrect if the SIO specified port is the same as the
port used by the program.

Output devices such as valves

DO port ← SI port
DO2() SI2()
DO3() SI3()
DO4() SI4()
DO5() SI5()

[Procedure]
1) Select from 1 to 4 in "SYSTEM>OPTION>SIO" mode.

2) Press (EDIT).

■ Editing the SIO settings (1)

SYSTEM>OPTION>SIO V9.00

1.Direct SI2()->DO2() NO
2.Direct SI3()->DO3() NO
3.Direct SI4()->DO4() NO
4.Direct SI5()->DO5() NO
5.Direct SO2()<-DI2() NO
SET NO

3) Press (SET) to set the direct connection or press (NO) not to set it.

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

2. Direct connection from DI n ( ) to SO n ( )

Parallel port input can be directly connected to serial port output. The relation
between serial and parallel ports that can be set is as follows.

n NOTE
Output results might be incorrect if the SIO specified port is the same as the
port used by the program.

Input devices such as sensors

Chapter
DI port → SO port
4 DI2() SO2()
DI3() SO3()
OPERATION

DI4() SO4()
DI5() SO5()

[Procedure]
1) Select from 5 to 8 in "SYSTEM>OPTION>SIO" mode.

2) Press (EDIT).

■ Editing the SIO settings (2)

SYSTEM>OPTION>SIO V9.00

4.Direct SI5()->DO5() NO
5.Direct SO2()<-DI2() NO
6.Direct SO3()<-DI3() NO
7.Direct SO4()<-DI4() NO
8.Direct SO5()<-DI5() NO
SET NO

3) Press (SET) to set the direct connection or press (NO) not to set it.

4) Press to quit the setting. To continue selecting other items, use the cursor (↑/↓)

keys.

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 12. "SYSTEM" mode

12.3.4 Double-carrier setting

This controller has a function to prevent two carriers (sliders) from colliding with each
other, when the two carriers are installed on the same axis of double-carrier type robots.

c CAUTION
The anti-collision function does not work if return-to-origin is incomplete. This
function does not work correctly unless the lead length and deceleration
ratio parameters are set correctly.

Chapter
■ Double-carrier type robot
4

OPERATION
The anti-collision function works as follows:
• During manual movement
When one carrier is moving towards the other carrier, it stops just short of the other
carrier.
• During automatic operation
The target position of one carrier and the other carrier condition are first checked.
If there is a possibility that a collision may occur, then one carrier waits until the
other carrier has moved to a position where no collision will occur and next moves
to the target position, or the operation stops as an error.

12.3.4.1 Before using a double-carrier

Check the following items before using the anti-collision function.

1. As shown in the drawing below, each carrier should approach the other carrier when
it moves in the "+" direction. If not, please consult us.

■ Double-carrier setting
"+" direction for carrier 1 "+" direction for carrier 2

2. Each carrier's movement distance on the display should match the distance that the
carrier has actually moved. If not, please consult us.

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 12. "SYSTEM" mode

12.3.4.2 Setting the double-carrier parameters

[Procedure]

1) Press the (W.CARRIER) in "SYSTEM>OPTION" mode.

■ Double-carrier parameter setting (1)

SYSTEM>OPTION>W.CARRIER V9.00

1.Stroke[mm] 0.00
Chapter
2.Carrier1 M1
4 3.Carrier2
4.Control mode
M2
OFF
OPERATION

EDIT JUMP

Valid keys and submenu descriptions in this mode are shown below.
Valid keys Menu Function
F1 EDIT Edits the parameter being selected with the cursor.
F2 JUMP Jumps to the specified point number.
Cursor key
Moves the cursor up and down.
(↑/↓)

1. Stroke setting

n NOTE
The stroke corresponds to the current position of one carrier that was moved
from its origin position, to a point closest to the other carrier remaining at its
origin position after return-to-origin.

[Procedure]

1) Select "1. Stroke [mm]" and press (EDIT).

■ Double-carrier parameter setting (2)

SYSTEM>OPTION>W.CARRIER>EDIT V9.00

1.Stroke[mm] 0.00
2.Carrier1 M1
3.Carrier2 M2
4.Control mode OFF

[1- ] Enter >650.00

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 12. "SYSTEM" mode

2) Enter the stroke in "mm" units and press . Up to 2 decimal places are

allowed. Refer to the drawing below to determine the stroke.

■ Stroke setting
Stroke
Origin position Origin position

Chapter
Point where one carrier is closest to the other 4

OPERATION
2. Carrier 1 setting
3. Carrier 2 setting

n NOTE
Each function key display differs depending on how the axis is set.

[Procedure]

1) Select "2. Carrier 1" or "3. Carrier 2" and press (EDIT).

■ Double-carrier parameter setting (3)

SYSTEM>OPTION>W.CARRIER>EDIT V9.00

1.Stroke[mm] 650.00
2.Carrier1 M1
3.Carrier2 M2
4.Control mode OFF

M1 M2 M3 M4 M5

2) Select the double-carrier axis with the function key.

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 12. "SYSTEM" mode

4. Control mode setting

Select the double-carrier functions.
[Procedure]

1) Select "4. Control mode" and press (EDIT).

■ Double-carrier parameter setting (4)

SYSTEM>OPTION>W.CARRIER>EDIT V9.00

Chapter 1.Stroke[mm] 650.00

4 2.Carrier1
3.Carrier2
M1
M2
4.Control mode OFF
OPERATION

OFF WARNING ON

The robot moves as follows according to the control mode setting.

Valid keys Menu Function
F1 OFF Anti-collision function is disabled.
During
Stops a carrier moving toward the other carrier
Manual
before reaching that carrier.
movement
F2 WARNING
During Program operation "error stop" occurs during auto
auto operation when the target position of one carrier
operation will interfere with the other carrier.
During
Stops a carrier moving toward the other carrier
Manual
before reaching that carrier.
movement
F3 ON If the target position of one carrier will interfere
During
with the other carrier during auto operation, the
auto
carrier stands by until interference-free motion is
operation
possible.
* The "manual movement" and "auto operation" conditions indicated in the above table are defined as
shown below
During Manual movement:
• Manual movement at RPB
• Jog and inching movement by I/O commands
• Jog and inching movement by online commands
• Jog and inching movement by remote commands
During auto operation:
• During "AUTO" mode program operation (including "step" and "next" execution)
• MOVE, MOVEI, Pallet motion by I/O commands
• Motion by online commands executed independently by robot language (including Return-to-
origin command)
• MOVE, MOVEI, DRIVE, DRIVEI, Pallet motion by remote commands
• Direct motion command execution by RPB

n NOTE
During automatic operation with the control mode ON, operation is stopped
as an error ("2.27 W. carrier deadlock" error) when one carrier attempts to
move to a position where it will interfere with the other carrier that is ready
to move.

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 12. "SYSTEM" mode

12.4 Initialization
When initializing the parameter data you entered, follow the descriptions in this section.

[Procedure]

1) Press (INIT) in "SYSTEM" mode.

The initialization screen appears.

■ Initialization screen
Chapter
SYSTEM>INIT V9.00
4

OPERATION
PARAM MEMORY CMU CLOCK

2) Select the item to initialize with (PARAM) to (CLOCK).

Valid keys and submenu descriptions in "SYSTEM>INT" mode are shown below.

Valid keys Menu Function

F1 PARAM Initializes the parameter settings.
F2 MEMORY Deletes the user memory.
F3 CMU Sets the communication parameters to the initial values.
F4 CLOCK Sets the clock.
F6 GENERAT Sets the robot model. (Normally invalid)

F10 PASSWRD Enables setting.

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 12. "SYSTEM" mode

12.4.1 Initializing the parameters

To initialize the "robot" parameters, "axis" parameters and "other" parameters, follow the
procedure below.
The "Display language (JPN/ENG)" setting among "other" parameters is not changed by
initialization.

n NOTE
• Entire parameter is initialized. (Except for display letters.)
• Return-to-origin will be incomplete if this parameter is changed.
Chapter

4 [Procedure]
OPERATION

1) Press (PARAM) in "SYSTEM>INIT" mode.

A message "Enter password" appears on the guideline.

Enter "INI" and press .

■ Initializing the parameters (1)

SYSTEM>INIT V9.00

Enter password>_

2) When the correct password was entered, a confirmation message appears on the
guideline.

■ Initializing the parameter (2)

SYSTEM>INIT>PARAM V9.00

ROBOT = YK400X
D1=M1: aYK400X D5=M5: no axis
D2=M2: aYK400X D6=M6: no axis
D3=M3: no axis
D4=M4: no axis
Initialize OK? YES NO

3) Press (YES) to initialize the parameters.

If not initializing, press (NO).

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 12. "SYSTEM" mode

12.4.2 Initializing the memor y

This initializes the program, point data, shift coordinates, hand definitions and pallet
definitions.
Before initializing, make sure that the currently input data is no longer needed.

n NOTE
• External data must be input to restore the memory after it has been
initialized.
• The memory must be initialized if damaged due to some kind of problem.
Chapter

[Procedure]
4

OPERATION
1) Press (MEMORY) in "SYSTEM>INIT" mode.

■ Initializing the memor y

SYSTEM>INIT>MEMORY V9.00

Source(use/sum) = 1316/364580 bytes

Object(use/sum) = 528/ 98304 bytes
Sequence(use/sum)= 0/ 4096 bytes
Number of program = 5
Number of points = 124
PROGRAM POINT SHIFT HAND ALL

2) Select the item to initialize with (PROGRAM) to (COMMENT).

A confirmation message appears on the guideline.

■ Initializing the memor y (program)

SYSTEM>INIT>MEMORY>PROGRAM V9.00

Source(use/sum) = 1316/364580 bytes

Object(use/sum) = 528/ 98304 bytes
Sequence(use/sum)= 0/ 4096 bytes
Number of program= 5
Number of points = 124
Initialize OK? YES NO

3) Press (YES) to initialize the memory.

If not initializing, press (NO).

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 12. "SYSTEM" mode

Valid keys and submenu descriptions in "SYSTEM>INIT>MEMORY" mode are shown

below.

Valid keys Menu Function

F1 PROGRAM Deletes the program data.
F2 POINT Deletes the point data.
F3 SHIFT Initializes the shift coordinate data.
F4 HAND Initializes the hand definition data.
Deletes/initializes all data (program, point, shift
Chapter F5 ALL coordinates, hand definition, pallet definition, point
comment).
4 F6 PALLET Deletes the pallet definition data.
F7 COMMENT Deletes the point comment data.
OPERATION

12.4.3 Initializing the communication parameters

To initialize the communication parameters, proceed as follows.

[Procedure]

1) Press (CMU) in "SYSTEM>INIT" mode.

A confirmation message appears on the guideline

■ Initializing the communication parameters

SYSTEM>INIT>CMU V9.00

MODE ,DATA,RATE,STOP,PARI,TERM,XON,RTS
ONLINE, 8,9600, 1 ,ODD ,CRLF,YES,NO

Initialize OK? YES NO

2) Press (YES) to initialize the parameter.

If not initializing, press (NO).

Values to be set are as follows.

1. Communication mode = ONLINE
2. Data bit = 8 bits
3. Baud rate = 9600bps
4. Stop bit = 1 bit
5. Parity = ODD
6. Termination code =CRLF
7. Flow control

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 12. "SYSTEM" mode

12.4.4 Clock setting

A clock function is provided in the controller for setting the date and time.

c CAUTION
The clock used in the controller might differ from the correct time.
If this happens, set the correct time.

[Procedure]

1) Press (CLOCK) in "SYSTEM>INIT" mode. Chapter

The present date and time are displayed.

4

OPERATION
■ Initializing the clock

SYSTEM>INIT>CLOCK V9.00

DATE,TIME :06/06/01,10:13:35

DATE TIME

2) Select the item with (DATE) or (TIME).

A confirmation message appears on the guideline.

3) Enter the date or time in the specified format and then press .

Enter this data using to , and .

Valid keys Menu Function

F1 DATE Sets the year/month/day.
F2 TIME Sets the hours/minutes/seconds.

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 12. "SYSTEM" mode

12.4.5 System generation

In system generation in the robot controller, the specifications for the robot being
connected and the axis configurations are set prior to shipment. The user does not

normally need to set the system generation with (GENERAT) in "SYSTEM>INIT"

mode.

Should the memory for the system generation be destroyed by some serious problem the
Chapter user must make the correct system generation settings. To protect the equipment against

4 such accidents, save the initial parameter data when shipped from YAMAHA and the
parameter data from system upgrades onto an external PC storage device by way of the
OPERATION

RS-232C.

Please contact us for system generation operating methods.

c CAUTION
• If you change the system generation by mistake, this may adversely
affect robot operation or create hazards to operators. Always consult
YAMAHA if changes have been made.
• Please note that YAMAHA cannot be liable for problems resulting from
changing the system generation settings without first consulting YAMAHA.

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 12. "SYSTEM" mode

12.5 Self diagnosis

This function makes a check of the controller and displays the error history and battery
voltages.

[Procedure]

1) In "SYSTEM" mode, press (DIAGNOS) to enter "SYSTEM>DIAGNOS" mode

■ Self diagnosis
Chapter
SYSTEM>DIAGNOS V9.00
4

OPERATION
CHECK HISTRY BATTERY TOTAL

Valid keys and submenu descriptions in "SYSTEM>DIAGNOS" mode are shown below.

Valid keys Menu Function

F1 CHECK Checks the controller.
F2 HISTORY Displays the past error history.
F3 BATTERY Not used with RCX221.
F5 TOTAL Allows checking the controller operation time.
Displays details of major software errors that occurred
F15 SYS. CHK
in the past.

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 12. "SYSTEM" mode

12.5.1 Controller check

This makes a self-diagnosis check of the controller.

n NOTE
• An error message will always appear if DC 24V is not supplied to STD.DIO.
• An error message will always appear if DC 24V is not supplied to the
option DIO.

Chapter
[Procedure]

4 1) Press (CHECK) to enter "SYSTEM>DIAGNOS>CHECK" mode.

OPERATION

■ System check

SYSTEM>DIAGNOS>CHECK V9.00

System check OK !!

NEXT P. PREV.P.

An error message appears if an error is detected.

2) Check the error message if displayed.

Pressing the cursor (↑/↓) keys changes the display one line at a time.

Pressing (NEXT P.) or (PREV. P.) changes the display one screen at a

time.

3) Press to return to "SYSTEM>DIAGNOS" mode.

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 12. "SYSTEM" mode

12.5.2 Error histor y display

To display past errors that occurred, follow the procedure below. A maximum of 500 items
may be stored in the error history.

c CAUTION
• Errors are not recorded when identical to a preceding error that just
occurred.
• The error category "0" is not recorded.

• The error history is initialized when (CLEAR) is used. Do not initialize Chapter

if you want to retain the error history. 4

OPERATION
[Procedure]

1) Press (HISTRY) to enter "SYSTEM>DIAGNOS> HISTRY" mode.

■ Error histor y

SYSTEM>DIAGNOS>HISTRY V9.00

1:06/06/01,10:15:00 12.1:Emg.stop on
2:06/06/01,10:14:54 22.1:AC power low
3:06/06/01,09:59:34 17.4:D1,Over load
4:06/06/28,14:00:02 12.1:Emg.stop on
5:06/06/30,08:40:10 22.1:AC power low
NEXT P. PREV.P. CLEAR

One screen displays the past 5 errors in order from the most recent error.
Error information is displayed in the following format.
<Date>, <Time> <Error No.>:<Error message>
* The hour, minute and second are displayed for the time.

2) Check the error history.

Pressing the cursor (↑/↓) keys changes the display one line at a time.

Pressing (NEXT P.) or (PREV. P.) changes the display one screen at a

time.

3) Press (CLEAR) if you want to clear the error history.

4) Press to return to "SYSTEM>DIAGNOS" mode.

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 12. "SYSTEM" mode

12.5.3 Displaying the total operation time

Use the following procedure to check the total controller operation time.

[Procedure]

1) Press (TOTAL).

■ Displaying the total operation time

SYSTEM>DIAGNOS>TOTAL V9.00
Chapter

4 Total operation time (06/07/01, 12:05)

YEAR DAY HOUR MIN
Power-on time = 0/ 14/ 10: 34
OPERATION

Run time = 0/ 2/ 8: 45

CLEAR

The 3rd line shows the date and time that the total operation time was reset.
The "Power-on time" is the total time that the controller power has been on.
The "Run time" is the total time that the controller has performed automatic operation.

Pressing (CLEAR) resets the total operation time. The display shows the new

total operation time starting from the date and time after reset.

2) Press to return to "SYSTEM>DIAGNOS" mode.

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 12. "SYSTEM" mode

12.5.4 System error details display

Details of important software errors that have occurred in the past can be displayed.

n NOTE
All error information will be initialized when the error history is initialized.

[Procedure]

1) Press (SYS. CHK).

Chapter
■ Error details 4

OPERATION
SYSTEM>DIAGNOS>SYS.CHK V9.00

Exception error Information

Type = -16 (06/06/01,13:42:38)
ErCode= 000000E0
Inf1 = 841081E6
Inf2 = 40000030

"No system error code" will appear if no error has occurred.

2) Press to return to the "SYSTEM>DIAGNOS" mode.

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 12. "SYSTEM" mode

12.6 Backup processes

The various data in the controller's internal memory can be backed up in the internal flash
ROM or the SD memory card.

[Procedure]

1) Press (BACKUP) in the "SYSTEM" mode.

■ Backup
Chapter
SYSTEM>BACKUP V9.00
4
OPERATION

SD CARD FROM

Valid keys and submenu descriptions in "SYSTEM>BACKUP" mode are shown below.

Valid keys Menu Function

F4 SD CARD Saves or restores data using an SD memory.
F5 FROM Saves or restores data using the internal flash ROM.

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 12. "SYSTEM" mode

12.6.1 SD memor y card

Data in the controller can be saved on an SD memory card. The data can then be loaded
into the controller from the SD memory card.

c CAUTION
Do not remove the SD memory card while data is being saved on it or
loaded from it. Removing the card at that time might corrupt the data.

n NOTE
This controller allows handling subdirectories down to 8 levels of hierarchy
Chapter

4
below the root directory. Operation to a subdirectory lower than this level is

OPERATION
not allowed.

n NOTE
This controller supports only FAT12 and FAT16 file systems. If the files were
created on a PC, then the file names might differ from those displayed on
the PC.

[Inserting the SD memor y card]

Insert an SD memory card into the SD memory card slot on the front of the controller
until you hear a "click", while making sure the card is facing correctly (see below).
■ Inserting the SD memor y card
OP.2
L
RPB
N
L1
N1

ETY
SAF
! -STO
P
EXT.E-12
PIN11
YM

OM
SD/C SD memory card
MEMORY
SD

CARD

[Removing the SD memor y card]

Press in on the SD memory card installed in the slot until you hear a "click". The card
will then eject from the slot, so take it out of the slot.

4-243
 12. "SYSTEM" mode

[Procedure]

1) Press (SD CARD) in "SYSTEM>BACKUP" mode.

When the SD memory card is inserted in the slot, information on files stored on the
SD memory card is displayed. If no SD memory card is inserted, a "15.21: Cannot find
media" error occurs.

■ SD memor y card (1)

SYSTEM>BACKUP>SDCARD V9.00
Chapter

4 SD:\
FILE1 .ALL 102520 06/04/07 13:30
OPERATION

FILE2 .PGM 8528 06/04/12 17:07

SUBDIR . <DIR> 06/03/27 15:21
FILE3 .PNT 1741 06/04/21 10:45
LOAD SAVE INIT

2) The path to the currently displayed directory is shown in the 3rd line.

3) Files or subdirectory in the directory are shown in the 4th to 7th lines.

4) Move the cursor with the cursor up/down (↑/↓) keys.

Valid keys and submenu descriptions in "SYSTEM>BACKUP>SD CARD" mode are shown
below.

Valid keys Menu Function

Loads the file selected by the cursor or moves to a
F1 LOAD
subdirectory when it is selected.
F2 SAVE Saves the controller's data.
Moves to the directory one level above the current
F5 BACK
directory.
Deletes the selected file. Cannot delete any
F6 DEL
subdirectory.
F8 PREVIEW Displays the content (part) of the selected file.

Exits SD CARD mode.

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 12. "SYSTEM" mode

12.6.1.1 Loading files

Data stored on an SD memory card can be loaded back into the controller's internal
memory.

c CAUTION
Do not remove the SD memory card while data is being loaded from it.

n NOTE

With a subdirectory selected, pressing (LOAD) will move to that Chapter

subdirectory. 4

OPERATION
[Procedure]
1) In the "SYSTEM>BACKUP>SD CARD" mode, select the file to be loaded using the
cursor up/down (↑/↓) keys.

2) Press (LOAD).

3) A confirmation message appears.

Press (YES) to load the file.

Press (NO) to cancel.

■ Loading a file

SYSTEM>BACKUP>SDCARD V9.00

SD:\
FILE1 .ALL 102520 06/04/07 13:30
FILE2 .PGM 8528 06/04/12 17:07
SUBDIR . <DIR> 06/03/27 15:21
FILE3 .PNT 1741 06/04/21 10:45
Load from SDCARD OK? YES NO

4) The message "0.5: Accessing" will appear during loading.

4-245
 12. "SYSTEM" mode

File types that can be loaded

The following file formats can be loaded. If an attempt was made to load a file with
another format, then a "15.5 Illegal file type" error occurs.

File name File type

*.ALL ALL file
*.PGM Program file
*.PNT Point data file

Chapter *.SFT Shift data file

4 *.HND Hand data file

*.PRM Parameter file
OPERATION

*.PLT Pallet data file

*.PCM Point comment file

4-246
 12. "SYSTEM" mode

12.6.1.2 Saving files

Data in the controller's internal memory can be saved on an SD memory card.

n NOTE
File names can be up to 8 characters consisting of a combination of
alphanumeric characters (0 to 9, A to Z) and underscores ( _ ).

c CAUTION
Do not remove the SD memory card while a file is being saved on it. Chapter

[Procedure]
4

OPERATION
1) Press (SAVE) in "SYSTEM>BACKUP>SD CARD" mode.

2) Select the file type to be saved.

■ Saving a file (1)

SYSTEM>BACKUP>SDCARD>SAVE V9.00

SD:\
FILE1 .ALL 102520 06/04/07 13:30
FILE2 .PGM 8528 06/04/12 17:07
SUBDIR . <DIR> 06/03/27 15:21
FILE3 .PNT 1741 06/04/21 10:45
.ALL .PGM .PNT .SFT .HND

Valid keys Menu File type

F1 .ALL ALL files
F2 .PGM Program file
F3 .PNT Point data file
F4 .SFT Shift data file
F5 .HND Hand data file
F6 .PRM Parameter file
F8 .PLT Pallet data file
F9 .PCM Point comment file
F10 .LOG Error log file

4-247
 12. "SYSTEM" mode

3) Enter the file name.

■ Saving a file (2)

SYSTEM>BACKUP>SDCARD>SAVE V9.00

SD:\
FILE1 .ALL 102520 06/04/07 13:30
FILE2 .PGM 8528 06/04/12 17:07
SUBDIR . <DIR> 06/03/27 15:21
FILE3 .PNT 1741 06/04/21 10:45
Chapter Enter file name >ABC .ALL

4
OPERATION

4) Press .

A confirmation message appears.

■ Saving a file (3)

SYSTEM>BACKUP>SDCARD>SAVE V9.00

ABC .ALL

Save on SDCARD OK? YES NO

5) Press (YES) to save the file.

The message "0.5: Accessing" will appear during file saving.

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 12. "SYSTEM" mode

12.6.1.3 Deleting files

The data stored on an SD memory card can be deleted if needed.

n NOTE
Subdirectories cannot be deleted.

c CAUTION
Do not remove the SD memory card while a file is being deleted from it.
Chapter
[Procedure]
1) In "SYSTEM>BACKUP>SD CARD" mode, select the file to be deleted using the cursor
4

OPERATION
up/down (↑/↓) keys.

2) Press (DEL).

3) A confirmation message appears.

■ Deleting a file

SYSTEM>BACKUP>SDCARD V9.00

FILE1 .ALL 102520 06/04/07 13:30

Erase file OK? YES NO

4) Press (YES) to delete the file.

The message "0.5: Accessing" will appear during deletion.

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 12. "SYSTEM" mode

12.6.1.4 Previewing files

The beginning of a file stored on an SD memory card can be previewed on the screen.

n NOTE
The preview shows a maximum 512-bytes of information from the beginning
of a file.

[Procedure]
1) In "SYSTEM>BACKUP>SD CARD" mode, select the file to be previewed using the
Chapter
cursor up/down (↑/↓) keys.
4
OPERATION

2) Press (PREVIEW).

3) The file content is displayed from the beginning.

■ Previewing a file

SYSTEM>BACKUP>SDCARD>PREVIEW V9.00

SD:\
FILE3 .PNT 1741 06/04/21 10:45
P1 = 0 0 0 0
P2 = 50.00 200.00 55.00 0.00
P142 = 780.45 -158.17 102.82 15.23
P150 = 215078 4025158 81025 -52422

Use the cursor keys to scroll the screen up or down or right or left.

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 12. "SYSTEM" mode

12.6.2 Internal flash ROM

Various data can be backed up in the controller's internal flash ROM. The data backed up
in the flash ROM can then be loaded back into the controller's internal memory.

n NOTE
If the data in the internal memory is destroyed for any reason, it can be
restored by loading the backup data from the internal flash ROM. We
recommend backing up the data in the internal flash ROM before starting
the robot system.
Chapter

4
c CAUTION

OPERATION
• Data saved in the internal flash ROM cannot be loaded back if any
hardware trouble occurs. Always save the data onto an external PC
storage device.
• If an abnormal process occurs, such as if the power is turned OFF while
saving data, the data cannot be guaranteed.

[Procedure]

1) Press (FROM) in the "SYSTEM" mode.

■ Backing up FROM

SYSTEM>BACKUP>FROM V9.00

No File Ext Size Data Time

1 FROM .ALL 311800 06/06/01 17:32

LOAD SAVE INIT

Valid keys and submenu descriptions in "SYSTEM>BACKUP>FROM" mode are shown

below.

Valid keys Menu Function

Loads the data backed up in the internal flash ROM into
F1 LOAD the controller's internal memory.
Saves the controller's internal memory data into the
F2 SAVE internal flash ROM as backup data.
Initializes the internal flash ROM data.
F4 INIT All data in the flash ROM is erased.

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 12. "SYSTEM" mode

12.6.2.1 Loading files

The various data backed up in the controller's internal flash ROM can be loaded back into
the controller's internal memory.

n NOTE
If the data in the internal memory is destroyed for any reason, it can be
restored by loading the backup data from the internal flash ROM. We
recommend backing up the data in the internal flash ROM before starting
the robot system.
Chapter

4
c CAUTION
OPERATION

• When reading data with ALL files or as parameter files, the servo must be
off. After the files are read in, the return-to-origin incomplete state will be
set.
• Data saved in the internal flash ROM cannot be loaded back if any
hardware trouble occurs. Always save the data onto an external PC
storage device.
• If an abnormal process occurs, such as if the power is turned OFF while
saving data, the data cannot be guaranteed.

[Procedure]

1) Press (LOAD) in the "SYSTEM>BACKUP>FROM" mode.

The types of files will appear in the guideline.

2) Select the file type to be loaded with (.ALL) to (.PCM).

■ Loading FROM

SYSTEM>BACKUP>FROM>LOAD V9.00

No File Ext Size Data Time

1 FROM .ALL 311800 06/06/01 17:32

.ALL .PGM .PNT .SFT .HND

4-252
 12. "SYSTEM" mode

Valid keys and submenu descriptions in "SYSTEM>BACKUP>FROM>LOAD" mode are

shown below.
Valid keys Menu Function
F1 .ALL Files are loaded as ALL files.
F2 .PGM Only program files are loaded.
F3 .PNT Only point files are loaded.
F4 .SFT Only shift files are loaded.
F5 .HND Only hand files are loaded. Chapter
F6 .PRM Only parameter files are loaded. 4
F8 .PLT Only pallet files are loaded.

OPERATION
F9 .PCM Only point comment files are loaded.

3) A confirmation message appears on the guidelines.

Press (YES) to load the data.

Press (NO) to cancel the procedure.

■ Check of FROM loading

SYSTEM>BACKUP>FROM>LOAD>.PGM V9.00

No File Ext Size Data Time

1 FROM .ALL 311800 06/06/01 17:32

Load from FROM OK? YES NO

4) The message "0.5: Accessing" will appear during the procedure.

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 12. "SYSTEM" mode

12.6.2.2 Saving files

The data in the controller's internal memory are saved as ALL files on the flash ROM. The
data cannot be saved separately. If data is already saved, the new data cannot be saved
until the files are initialized.

n NOTE
If the data in the internal memory is destroyed for any reason, it can be
restored by loading the backup data from the internal flash ROM. We
recommend backing up the data in the internal flash ROM before starting
Chapter the robot system.

4
c CAUTION
OPERATION

• If data has already been written in, it cannot be overwritten and saved.
If data has already been written in, initialize the memory, and then save
the new data.
• The data saved on the internal flash ROM cannot be restored if any
hardware trouble occurs. Always save the data onto an external PC
storage device.
• If an abnormal process occurs, such as if the power is turned OFF while
saving the data, the data cannot be guaranteed.
• The "Skip undefined parameters" setting among "other" parameters will
not be saved.

[Procedure]

1) Press (SAVE) in the "SYSTEM>BACKUP>FROM" mode.

2) A confirmation message appears on the guidelines.

Press (YES) to save the data.

Press (NO) to cancel the procedure.

■ Check of saving on FROM

SYSTEM>BACKUP>FROM>SAVE V9.00

No File Ext Size Data Time

1 No data

Save on FROM OK? YES NO

3) The message "0.5: Accessing" will appear during the procedure.

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 12. "SYSTEM" mode

12.6.2.3 Initializing the files

The data saved on the controller's flash ROM can be initialized.

n NOTE
If the data in the internal memory is destroyed for any reason, it can be
restored by loading the backup data from the internal flash ROM. We rec-
ommend backing up the data in the internal flash ROM before starting the
robot system.

Chapter

c CAUTION
• If data is already written in, the data must be saved after the initialization
4

OPERATION
process.
• The data saved on the internal flash ROM cannot be restored if any
hardware trouble occurs. Always save the data onto an external PC
storage device.
• If an abnormal process occurs, such as if the power is turned OFF while
initializing the data, then the data cannot be guaranteed.

[Procedure]

1) Press (INIT) in the "SYSTEM>BACKUP>FROM" mode.

2) A confirmation message appears on the guidelines.

Press (YES) to initialize the data.

Press (NO) to cancel the procedure.

■ Check of FROM initialization

SYSTEM>BACKUP>FROM>INIT V9.00

No File Ext Size Data Time

1 FROM .ALL 311800 06/06/01 17:32

Initialize OK? YES NO

3) The message "0.5: Accessing" will appear during the procedure.

4-255
 13. "MONITOR" mode

13. "MONITOR" mode

The "MONITOR" mode displays the I/O status regardless of the current mode and level.
The "MONITOR" mode display is overlapped onto the screen during normal operation. So
the robot controller can still be operated even with the monitor screen displayed.

n NOTE
I/O ports that do not actually exist are also displayed.

Chapter [Procedure]
4 1) Press .
OPERATION

Input status is displayed in the data area (3rd to 7th lines) as shown below.

■ Input status display (1)

MANUAL>POINT 50% [MG][S0H0J]

________________ x ________ y ________ z _________ r ___

DI monitor
DI0()=&B00000101 DI4()=&B00000000
DI1()=&B00000010 DI5()=&B00000000
DI2()=&B00000000 DI6()=&B00000000
DI3()=&B00000000 DI7()=&B00000000
EDIT TEACH JUMP VEL+ VEL-

Display format:
<Port No.> = &B<bit 7><bit 6> to <bit 0>

2) Press again.

Input status is displayed in the data area (3rd to 7th lines) as shown below.

■ Input status display (2)

MANUAL>POINT 50% [MG][S0H0J]

________________ x ________ y ________ z _________ r ___

DI monitor
DI10()=&B00000101 DI14()=&B00000000
DI11()=&B00000010 DI15()=&B00000000
DI12()=&B00000000 DI16()=&B00000000
DI13()=&B00000000 DI17()=&B00000000
EDIT TEACH JUMP VEL+ VEL-

4-256
 13. "MONITOR" mode

3) Press again to display other monitor screens.

Pressing shifts the monitor screen in the following sequence.

DI monitor → DO monitor → MO monitor → LO/TO monitor → SI monitor →

SO monitor → SIW monitor → SOW monitor → Variable monitor → Task monitor →
Current monitor → Normal screen display

4) To view the previous screen, press + . Chapter

Pressing + changes the screen in the reverse of the sequence shown in 3).
4

OPERATION
n NOTE
The screen display is updated at periodic intervals.

5) Press to return to the normal screen display.

■ Example of bit information display

MANUAL>POINT 50% [MG][S0H0J]

________________ x ________ y ________ z _________ r ___

DI monitor
DI0()=&B00000101 DI4()=&B00000000
DI1()=&B00000001 DI5()=&B00000000
DI2()=&B00000000 DI6()=&B00000000
DI3()=&B00000000 DI7()=&B00000000
EDIT TEACH JUMP VEL+ VEL-

The information is displayed with the following format:

<Port No.> = &B <7th bit> <6th bit> to <0th bit>

■ Example of word information display

MANUAL>POINT 50% [MG][S0H0J]

________________ x ________ y ________ z _________ r ___

SIW monitor
SIW(0)=&H0000 SIW(4)=&H0000
SIW(1)=&H0000 SIW(5)=&H0000
SIW(2)=&H0000 SIW(6)=&H0000
SIW(3)=&H0000 SIW(7)=&H0000
EDIT TEACH JUMP VEL+ VEL-

The information is displayed with the following format:

<Register No.> = &H<hexadecimal>

4-257
 13. "MONITOR" mode

■ Example of task information display

MANUAL>POINT 50% [MG][S0H0J]

________________ x ________ y ________ z _________ r ___

Task monitor:Line(Status),Pri
T1 = 6(RUN),32 T5 =
T2 = 10(SUS),32 T6 =
T3 = T7 =
T4 = T8 = 12(RUN),35
EDIT TEACH JUMP VEL+ VEL-

Chapter

4 The information is displayed with the following format:

<Task No.> = <Execution line> (<Execution state>), <Task priority>
OPERATION

<Execution state> : RUN (execute)/SUS (forced standby)/STP (stop)

■ Current command monitor display

MANUAL>POINT 50% [MG][S0H0J]

________________ x ________ y ________ z _________ r ___

Current monitor(100% = Max torque)

D1 = 20 D5 = 0
D2 = –5 D6 = 0
D3 = 3 D7 = 0
D4 = 0 D8 = 0
EDIT TEACH JUMP VEL+ VEL-

Display format is as follows:

D<axis number> = <current command value>
Current command value is shown as a percent (%) of the maximum current command.

4-258
 14. "UTILITY" mode

14. "UTILITY" mode

The "UTILITY" mode can be entered from any other mode regardless of the mode level.

n NOTE
The current internal controller temperature is displayed on the right end of
the 3rd line.

[Procedure]
Chapter
1) Press ( + ).
4
The "UTILITY" mode screen is displayed.

OPERATION
■ "UTILITY" mode

UTILITY

Date,Time : 06/06/01,18:59:37 (36oC)

motor power : On
Sequence : DISABLE
Armtype : RIGHTY

MOTOR SEQUENC ARMTYPE RST.DO

2) Press ( + ) again.

The following screen appears.

■ "UTILITY" mode

UTILITY

Date,Time : 06/06/01,18:59:40 (36oC)

Execut level: LEVEL0
Access level: LEVEL0

EXECUTE ACCESS RST.DO

4-259
 14. "UTILITY" mode

Valid keys and submenu descriptions in "UTILITY" mode are shown below.

Valid keys Menu Function

F1 MOTOR Turns the motor power and servo on and off.
F2 SEQUENC Prohibits or permits executing the sequence program.
F3 ARMTYPE Sets the arm hand type. (Valid only on SCARA robots)
F5 RST.DO Clears the output port.

Valid keys Menu Function

Chapter

4 F1 EXECUTE Sets the execution level.

F2 ACCESS Sets the access level.
OPERATION

F5 RST.DO Clears the output port.

4-260
 14. "UTILITY" mode

14.1 Canceling emergency stop; Motor power and servo on/off

14.1.1 Canceling emergency stop
Emergency stop must be cancelled to turn the servo on and operate the robot again in the
following cases.

(1) When the emergency stop button was released after pressing the emergency stop
button.
(2) When the switch contact was closed after triggering emergency stop by opening the Chapter

emergency stop input contact. 4

OPERATION
[Procedure]

1) Press ( + ) to enter "UTILITY" mode.

(You can switch to "UTILITY" mode from any other mode.)

The "UTILITY" mode screen appears with a confirmation message shown on the
guideline.

■ Canceling emergency stop

UTILITY

Date,Time : 06/06/01,18:59:37 (36oC)

motor power: Off
Sequence : DISABLE
Armtype : RIGHTY

Cancel emergency flag? YES NO

2) Press (YES) to cancel the internal emergency stop flag.

The internal emergency stop flag is cancelled. You can then move on to the next
operation explained in 14.1.2, "Motor power and servo on/off".

If not canceling the internal emergency stop flag, press (NO).

4-261
 14. "UTILITY" mode

14.1.2 Motor power and ser vo on/off

This is usually used with the motor power turned on.
This operation is performed after emergency stop has been cancelled or when turning the
servo on/off temporarily in order to perform direct teaching.

n NOTE
When using a PHASER series robot, noise is emitted for 0.5 to 2 seconds
during the first servo-on after turning the power on. This is just the routine
pre-action for obtaining information needed to control the robot and is not
Chapter
a problem.
4
c
OPERATION

CAUTION

At axes with brakes, the brake can be released by pressing (Free)

( in controller versions prior to Ver. 9.13). Use particular care with

regard to heavy up/down vertical axes, as they may drop when the brake is
released.

[Procedure]

1) Press (MOTOR) in "UTILITY" mode.

2) Press (On) to turn on the motor power supply and servo.

Press (Off) to turn off the motor power supply and servo.

Press (Power) to turn on the motor power supply only.

■ Ser vo on/off

UTILITY>MOTOR

motor power: Off

D1=M1: Brake D5=M5: no axis
D2=M2: Brake D6=M6: no axis
D3=M3: no axis
D4=M4: no axis
On Off

3) Press to return to the mode selected just previous to "UTILITY" mode.

4-262
 14. "UTILITY" mode

4) To set the servo of each axis to "On", "Off" or "Free", select the axis with the cursor
(↑/↓) keys.
When setting the servo to "On", the servo power for the axis must be turned on
beforehand by the operation in step 2.

■ Setting the ser vo of each axis

ＵＴＩＬＩＴＹ＞ＭＯＴＯＲ

ｍｏｔｏｒ ｐｏｗｅｒ ： Ｏｎ
Ｄ１＝Ｍ１ ：Ｆｒｅｅ Ｄ５＝Ｍ５ ：ｎｏ ａｘｉｓ Chapter
Ｄ２＝Ｍ２ ：Ｓｅｒｖｏ Ｄ６＝Ｍ６ ：ｎｏ ａｘｉｓ
Ｄ３＝Ｍ３ ：ｎｏ ａｘｉｓ 4
Ｄ４＝Ｍ４ ：ｎｏ ａｘｉｓ

OPERATION
Ｓｅｒｖｏ Ｂｒａｋｅ

5) Set the servo status with (Servo), (Brake) or (Free).

n NOTE

In controller versions prior to Ver. 9.13, (Free) is used to free an axis

(release brake).

4-263
 14. "UTILITY" mode

14.2 Enabling/disabling the sequence execution flag

To enable or disable execution of sequence programs, proceed as follows.

n NOTE
The following conditions must be satisfied before executing a sequence
program.
1. An object program must be made for sequence execution.
2. Sequence execution must be enabled.
3. DI10 (Sequence permit) contact point must be closed.
Chapter
4. Operation must be in "AUTO" mode or "MANUAL" mode.
4
OPERATION

[Procedure]

1) Press (SEQUENC) in "UTILITY" mode.

2) To enable execution of sequence programs, press (ENABLE).

To disable execution of sequence programs, press (DISABLE).

To enable DO reset during sequence program execution, press (RST.DO).

■ Enabling/disabling the sequence program

UTILITY>SEQUENC

Scan time : 10msec

Sequence : ENABLE

ENABLE DISABLE

4-264
 14. "UTILITY" mode

14.3 Resetting the output ports

This resets the general-purpose output ports DO2() to DO27()/MO2() to MO27()/LO0()/
TO0()/SO2() to SO27()/SOW(2) to SOW(15).

[Procedure]

1) Press (RST.DO) in "UTILITY" mode.

A confirmation message appears on the guideline.

■ Resetting the output ports Chapter

UTILITY >RST.DO 4

OPERATION
Date,Time : 06/06/01,18:59:37 (36oC)
Execut level: LEVEL0
Access level: LEVEL0

Reset OUTPUT port OK? YES NO

2) Press (YES) to reset.

Press (NO) if not resetting.

4-265
 14. "UTILITY" mode

14.4 Changing the execution level

Program execution levels can be set as shown in the table below. However, the following
commands are usable only when return-to-origin is complete.

Movement commands : MOVE, MOVE2, MOVEI, MOVEI2, DRIVE, DRIVE2,

DRIVEI, DRIVEI2, PMOVE, PMOVE2, PATH START
Position acquisition command : WHERE, WHERE2, WHRXY, WHRXY2

Chapter

4 n NOTE
Execution level is automatically set to "LEVEL 0" in the following cases.
1. When parameter data was damaged.
OPERATION

2. When system generation data was damaged.

Description
When power is turned on
Program Program Return-to-
Level execution reset at origin signal
at origin Program program in AUTO
Mode
incomplete reset start mode

LEVEL0 Disabled MANUAL mode NO NO Invalid

LEVEL1 Enabled MANUAL mode NO NO Invalid
LEVEL2 Enabled MANUAL mode YES NO Invalid
LEVEL3 Enabled AUTO mode NO NO Invalid
LEVEL4 Enabled AUTO mode YES NO Invalid
LEVEL5 Enabled MANUAL mode YES YES Invalid
LEVEL6 Enabled AUTO mode YES YES Invalid
LEVEL7 Enabled AUTO mode NO NO Valid (Note 1)

LEVEL8 Enabled AUTO mode YES YES Valid (Note 1)

Note 1: When the return-to-origin signal input (DI17) is valid in "AUTO"

mode, the robot program-in-progress signal (DO13) turns on
during processing by the return-to-origin signal input (DI17) in
"AUTO" mode.

4-266
 14. "UTILITY" mode

14.4.1 Changing the execution level

To change the execution level, proceed as follows.

[Procedure]

1) Press ( + ) twice to enter "UTILITY" mode, then press

(EXECUTE).

■ Changing the execution level (1)

UTILITY Chapter

Date,Time : 06/06/01,12:36:37 (36oC)

4

OPERATION
Execut level: LEVEL7
Access level: LEVEL0

EXECUTE ACCESS RST.DO

2) Select the execution level with (LEVEL0) to (LEVEL8).

■ Changing the execution level (2)

UTILITY>EXECUTE

Execut level: LEVEL7

LEVEL0 LEVEL1 LEVEL2 LEVEL3 LEVEL4

3) Press to exit "UTILITY" mode.

4-267
 14. "UTILITY" mode

14.4.2 Displaying the Help message

See the help message as needed.

[Procedure]

1) Press (HELP).

The first page of the Help screen appears.

Press (NEXT P.) or cursor (↓) key to refer to the next page or press (PREV.

Chapter P.) or cursor (↑) key to refer to the previous page.

4 ■ Displaying the Help message (1)
OPERATION

UTILITY>EXECUTE>HELP

LEVEL0: Program cannot execute if arm

:has not returned to ORIGIN.
: PowerOn mode is MANUAL.
: PowerOn without program reset.

NEXT P. PREV. P.

■ Displaying the Help message (2)

UTILITY>EXECUTE>HELP

LEVEL1: Program can execute if arm has

:not returned to ORIGIN.
: PowerOn mode is MANUAL.
: PowerOn without program reset.

NEXT P. PREV. P.

2) Press to return to the setup screen.

4-268
 14. "UTILITY" mode

14.5 Changing the access level (operation level)

Once the robot system is installed, anyone can change its program and point data.
However, unauthorized changing of such data can be a source of trouble.
To prevent such problems, the robot controller can be set to operating levels that permit
or prohibit changing program and point data.
The operation level can be set to any of the following levels.

n NOTE
Access level is automatically set to "LEVEL 0" in the following cases.
Chapter
1. When "ALL" was executed during memory initialization setting (Refer to
"12.4.2 Initializing the memory".) 4
2. When the memory was destroyed (when "9.3: Memory destroyed"

OPERATION
message was displayed)
3. When a program was destroyed (when"9.1: Program destroyed" message
was displayed)
4. When point data was destroyed (when "9.2: Point data destroyed"
message was displayed)
5. When shift data was destroyed (when "9.6: Shift data destroyed" message
was displayed)
6. When hand data was destroyed (when "9.7: Hand data destroyed"
message was displayed)
7. When a parameter was destroyed (when "9.4: Parameter destroyed"
message was displayed)
8. When generation data was destroyed (when "9.33: Sys. generation
destroyed" message was displayed)

Level Description
LEVEL0 All operations are allowed.
All data changes are prohibited. (Program changes, teaching, data
LEVEL1
deletion, data initializing, etc are prohibited.)
In addition to level 1, mode selection is restricted to MANUAL and
LEVEL2
AUTO modes.
In addition to level 2, mode speed changes and display of program
LEVEL3
list in AUTO mode are prohibited.

4-269
 14. "UTILITY" mode

14.5.1 Entering the password

The password must be entered in order to change the access level.

[Procedure]

1) Press (ACCESS) in "UTILITY" mode.

A message "Enter password" appears on the guideline. Enter with "LVL" here and press

Chapter
■ Setting the access level (1)
4
UTILITY
OPERATION

Date,Time : 06/06/01,18:59:37 (36oC)

Execut level: LEVEL7
Access level: LEVEL0

Enter password>LVL_

2) If the correct password was entered, the following screen appears.

■ Setting the access level (2)

UTILITY>ACCESS

Access level: LEVELO

LEVEL0 LEVEL1 LEVEL2 LEVEL3 HELP

4-270
 14. "UTILITY" mode

14.5.2 Changing the access level

Change the access level as needed.

[Procedure]

1) Set the access level with (LEVEL0) to (LEVEL3).

■ Setting the access level (3)

UTILITY>ACCESS
Chapter
Access level: LEVEL2
4

OPERATION
LEVEL0 LEVEL1 LEVEL2 LEVEL3 HELP

4-271
 14. "UTILITY" mode

14.5.3 Displaying the Help message

See the help message as needed.

[Procedure]

1) Press (HELP).

The first page of the Help screen appears.

Press (NEXT P.) or cursor (↓) key to refer to the next page or press (PREV.

Chapter P.) or cursor (↑) key to refer to the previous page.

4 ■ Access level Help screen (first page)
OPERATION

UTILITY>ACCESS>HELP

LEVEL0:All data access available

LEVEL1:Data change invalid

NEXT P. PREV. P.

■ Access level Help screen (second page)

UTILITY>
>ACCESS>HELP

LEVEL2:LEVEL1 + SYSTEM & PROGRAM mode

change invalid
LEVEL3:LEVEL2 + Program list display &
speed change invalid

NEXT P. PREV. P.

4-272
Chapter 5 PARALLEL I/O INTERFACE

Contents
1. Standard I/O interface overview 5-1
1.1 ID setting 5-2
1.2 Connector I/O signals 5-3
1.3 Connector pin numbers 5-6
1.4 Connecting the power supply 5-7
1.4.1 NPN/PNP power connector wiring 5-8
1.5 Typical input signal connection 5-9
1.6 Typical output signal connection 5-10
1.7 Dedicated I/O signals 5-11
1.7.1 Dedicated input signals 5-11
1.7.2 Dedicated output signals 5-13
1.8 General-purpose I/O signals 5-15
1.8.1 General-purpose output reset 5-15
1.9 Dedicated I/O signal timing charts 5-16
1.9.1 Turning the power on 5-16
1.9.2 Emergency stop and servo ON 5-18
1.9.3 Return-to-origin 5-19
1.9.4 Mode switching 5-20
1.9.5 Automatic operation 5-21

2. Ratings 5-22

3. Precautions 5-23
 1. Standard I/O interface over view

1. Standard I/O interface over view

To connect the RCX controller to an external device such as a PLC, signal input/output
DIO option boards are available. Up to two DIO option boards can be installed in each
unit of the RCX22 series. There are two types of DIO option boards: NPN and PNP
specifications. Inputs to the controller are referred to as DI (Digital Inputs) and outputs
from the controller as DO (Digital Outputs).

n NOTE
See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.

Chapter
■ DIO option board
5

PARALLEL I/O INTERFACE

(1)

(2)

(3)

(1) Power connector..... Connector for DC 24V power supply

(2) IO connector .......... Connector for I/O signals
(3) DIP switch ............. Switch for setting the board ID

5-1
 1. Standard I/O interface over view

1.1 ID setting
Use the DIP switch on the DIO option board to set the board ID (1 to 4). This ID
determines the correspondence between the I/O connector pins and the controller I/O
signals.

c CAUTION
When using two or more DIO option boards, set different IDs so that they do
not overlap.

■ DIP switch

Chapter

5
PARALLEL I/O INTERFACE

■ DIP switch setting and ID

Switch 1 Switch 2 ID General-purpose input/output Dedicated input/output

ON ON 1 DI20-DI37/DO20-DO27 Available *1
OFF ON 2 DI40-DI67/DO30-DO47 None
ON OFF 3 DI70-DI117/DO50-DO67 None
OFF OFF 4 DI120-DI147/DO70-DO107 None

*1: To enable the dedicated inputs, CHK1 (pin No. 4) and CHK2 (pin No. 40) of the I/O
connector must be shorted. For details, refer to "1.2 Connector I/O signals" in
Chapter 5.

5-2
 1. Standard I/O interface over view

1.2 Connector I/O signals

■ I/O signals when ID = 1
PIN I/O Signal Remarks
1 DI01 Servo ON Dedicated input
2 DI10 Sequence program control Dedicated input
3 DI03 Step run Dedicated input
4 CHK1 Check input 1 Shorted to CHK2
5 DI05 I/O command run Dedicated input
6 DI06 Spare Do not use.
7 DI07 Spare Do not use.
8 DI20 General-purpose input 20
9 DI21 General-purpose input 21
10 DI22 General-purpose input 22
11 DI23 General-purpose input 23
12 DI24 General-purpose input 24
13 DI25 General-purpose input 25
14 DI26 General-purpose input 26
15 DI27 General-purpose input 27 Chapter
16 DO00 EMG monitor (emergency stop monitor) Dedicated output
17
18
DO01
DO10
CPU OK
AUTO mode
Dedicated
Dedicated
output
output
5
19 DO11 Return-to-origin complete Dedicated output

PARALLEL I/O INTERFACE

20 DO12 Sequence program in progress Dedicated output
21 DO13 Auto operation in progress Dedicated output
22 DO14 Program reset output Dedicated output CHK1 and CHK2
23 DO15 Battery alarm output Dedicated output must be shorted.
24 DO16 END Dedicated output (See note below.)
25 DO17 BUSY Dedicated output
26 DI12 Auto operation start Dedicated input
27 DI13 AUTO mode switching Dedicated input
28 DI14 ABS reset (usually not used) Dedicated input
29 DI15 Program reset input Dedicated input
30 DI16 MANUAL mode Dedicated input
31 DI17 Return-to-origin (usually used) Dedicated input
32 DI30 General-purpose input 30
33 DI31 General-purpose input 31
34 DI32 General-purpose input 32
35 DI33 General-purpose input 33
36 DI34 General-purpose input 34
37 DI35 General-purpose input 35
38 DI36 General-purpose input 36
39 DI37 General-purpose input 37
40 CHK2 Check input 2 Shorted to CHK1
41 DO02 Servo-on state Dedicated output
42 DO03 Alarm Dedicated output
43 DO20 General-purpose output 20
44 DO21 General-purpose output 21
45 DO22 General-purpose output 22
46 DO23 General-purpose output 23
47 DO24 General-purpose output 24
48 DO25 General-purpose output 25
49 DO26 General-purpose output 26
50 DO27 General-purpose output 27

n NOTE
• CHK1 and CHK2 inputs are used to check the connector connection.
Always short them together when the ID is set to 1.
• When a serial IO option is installed in the controller and the serial IO is
enabled, the dedicated inputs of the DIO option are disabled. (Only the
dedicated inputs of the serial IO are enabled.)

c CAUTION
• DI06 and DI07 cannot be used.
• DO15 outputs a low voltage alarm when the memory backup battery
voltage drops.
• Area check outputs can be assigned to DO20 to DO27.

5-3
 1. Standard I/O interface over view

■ I/O signals when ID = 2, 3 or 4

ID
PIN Signal
2 3 4
1 --- Spare
2 DI40 DI70 DI120 General-purpose input
3 --- Spare
4 DI41 DI71 DI121 General-purpose input
5 --- Spare
6 --- Spare
7 --- Spare
8 DI50 DI100 DI130 General-purpose input
9 DI51 DI101 DI131 General-purpose input
10 DI52 DI102 DI132 General-purpose input
11 DI53 DI103 DI133 General-purpose input
Chapter 12 DI54 DI104 DI134 General-purpose input

5 13
14
DI55
DI56
DI105
DI106
DI135
DI136
General-purpose input
General-purpose input
15 DI57 DI107 DI137 General-purpose input
PARALLEL I/O INTERFACE

16 --- Spare
17 --- Spare
18 DO30 DO50 DO70 General-purpose output
19 DO31 DO51 DO71 General-purpose output
20 DO32 DO52 DO72 General-purpose output
21 DO33 DO53 DO73 General-purpose output
22 DO34 DO54 DO74 General-purpose output
23 DO35 DO55 DO75 General-purpose output
24 DO36 DO56 DO76 General-purpose output
25 DO37 DO57 DO77 General-purpose output
26 DI42 DI72 DI122 General-purpose input
27 DI43 DI73 DI123 General-purpose input
28 DI44 DI74 DI124 General-purpose input
29 DI45 DI75 DI125 General-purpose input
30 DI46 DI76 DI126 General-purpose input
31 DI47 DI77 DI127 General-purpose input
32 DI60 DI110 DI140 General-purpose input
33 DI61 DI111 DI141 General-purpose input
34 DI62 DI112 DI142 General-purpose input
35 DI63 DI113 DI143 General-purpose input
36 DI64 DI114 DI144 General-purpose input
37 DI65 DI115 DI145 General-purpose input
38 DI66 DI116 DI146 General-purpose input
39 DI67 DI117 DI147 General-purpose input
40 --- Spare
41 --- Spare
42 --- Spare
43 DO40 DO60 DO100 General-purpose output
44 DO41 DO61 DO101 General-purpose output
45 DO42 DO62 DO102 General-purpose output
46 DO43 DO63 DO103 General-purpose output
47 DO44 DO64 DO104 General-purpose output
48 DO45 DO65 DO105 General-purpose output
49 DO46 DO66 DO106 General-purpose output
50 DO47 DO67 DO107 General-purpose output

c CAUTION
• On controllers of Ver. 9.22 onwards, the area check can be assigned to
DO20 to DO27, DO30 to DO37, DO40 to DO47, DO50 to DO57, DO60 to
DO67, DO70 to DO77, and DO100 to DO107.
• Do not connect anything to the "Spare" pins.

5-4
 1. Standard I/O interface over view

■ Pinout tables
STD.IO
1 DI01 Servo ON 26 DI12 RUN
2 DI10 SEQ control 27 DI13 AUTO
3 DI03 STEP-R 28 DI14 ABS (absolute)
reset
4 CHK1 Check input 1 29 DI15 RESET
5 DI05 IO command 30 DI16 MANUAL
6 DI06 (Spare) 31 DI17 ORIGIN
7 DI07 (Spare) 32 DI30 General-purpose
General-purpose General-purpose input
8 DI20 input 33 DI31 input
9 DI21 General-purpose 34 DI32 General-purpose
General-purpose input General-purpose input
10 DI22 input 35 DI33 input
11 DI23 General-purpose 36 DI34 General-purpose
General-purpose input General-purpose input
12 DI24 input 37 DI35 input
13 DI25 General-purpose 38 DI36 General-purpose
General-purpose input General-purpose input
14 DI26 input 39 DI37 input
15 DI27 General-purpose 40 CHK2 Check input 2
input
16 DO00 E-STOPOUT 41 DO02 SERVO
17 DO01 CPUOK 42 DO03 ALARM Chapter
18 DO10 AUTO 43 DO20 General-purpose
output
20 DO12 SEQRUN
19 DO11

21 DO13
ORGOK

RUN
45 DO22 General-purpose
output
44 DO21

46 DO23
General-purpose
output
General-purpose
5
General-purpose output

PARALLEL I/O INTERFACE

22 DO14 RESET 47 DO24 output General-purpose
23 DO15 BATALM 48 DO25 output
24 DO16 END 49 DO26 General-purpose
25 DO17 BUSY output 50 DO27 General-purpose
output

OP.DIO
1 − Do not use. 26 DI42 General-purpose
General-purpose General-purpose input
2 DI40 input 27 DI43 input
3 − Do not use. 28 DI44 General-purpose
General-purpose General-purpose input
4 DI41 input 29 DI45 input
5 − Do not use. 30 DI46 General-purpose
General-purpose input
6 − Do not use. 31 DI47 input
7 − Do not use. 32 DI60 General-purpose
General-purpose General-purpose input
8 DI50 input 33 DI61 input
9 DI51 General-purpose 34 DI62 General-purpose
General-purpose input General-purpose input
10 DI52 input 35 DI63 input
11 DI53 General-purpose 36 DI64 General-purpose
General-purpose input General-purpose input
12 DI54 input 37 DI65 input
13 DI55 General-purpose 38 DI66 General-purpose
General-purpose input General-purpose input
14 DI56 input 39 DI67 input
15 DI57 General-purpose 40 − Do not use.
input
16 − Do not use. 41 − Do not use.
17 − Do not use. 42 − Do not use.
18 DO30 General-purpose 43 DO40 General-purpose
output General-purpose output General-purpose
19 DO31 output 44 DO41 output
20 DO32 General-purpose 45 DO42 General-purpose
output General-purpose output
21 DO33 output 46 DO43 General-purpose
output
22 DO34 General-purpose 47 DO44 General-purpose
output General-purpose output General-purpose
24 DO36 General-purpose 23 DO35 output 49 DO46 General-purpose 48 DO45 output
output output
25 DO37 General-purpose General-purpose
50 DO47 output
output

5-5
 1. Standard I/O interface over view

1.3 Connector pin numbers

■ Cable connector pin numbers as viewed from solder side

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25

26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Chapter

5
PARALLEL I/O INTERFACE

1 26
2 27
3 28
4 29
5 30
6 31
7 32
8 33
9 34
10 35
11 36
12 37
13 38
14 39
15 40
16 41
17 42
18 43
19 44
20 45
21 46
22 47
23 48
24 49
25 50

Connector shell No. 10350-52A0-008 Sumitomo 3M

Connector plug No. 10150-3000PE Sumitomo 3M

5-6
 1. Standard I/O interface over view

1.4 Connecting the power supply

Connect a 24V DC power supply to the power connector on the DIO option board.
Use the connector that comes with the DIO option board to make the wiring.
■ Power connector (viewed from cable insertion side)

1 2

Chapter

Connector type No. 734-102 WAGO 5

PARALLEL I/O INTERFACE

Terminal Input Wire size

1 DC24V AWG22 to 18
2 GND AWG22 to 18

c CAUTION
Do not keep supplying the external 24V DC power to the I/O power
connector while controller power is off. The controller might malfunction if
the external 24V is continuously supplied.

n NOTE
A message "12.31: DI DC24V disconnected" appears if no 24V power supply
is connected to the DIO option board.

5-7
 1. Standard I/O interface over view

1.4.1 NPN/PNP power connector wiring

● Length of exposed wire lead

Strip the wire to expose 7 mm of bare lead.

7mm

● Wiring
Terminate the wiring as shown in the following photos.
■ When using the lever to make the connection
Chapter

5
PARALLEL I/O INTERFACE

(1) Using your finger, press (2) Insert the wire lead all the (3) Release the lever to
down on the upper lever way into the opening make the wiring connec-
attached to the slot to (round hole) while still tion. Pull gently on the
depress the internal holding the lever down. wire to make sure it is
spring. securely attached. (Do
not pull strongly on the
wire.)

■ When using a screwdriver (front entr y) to make the connection

(1) Insert the screwdriver (2) Insert the wire with (3) Pull gently on the wire to
into the slot (square exposed lead all the way make sure it is securely
hole). The screwdriver into the opening (round attached. (Do not pull
will stay held in place if it hole). strongly on the wire.)
was inserted correctly.

5-8
 1. Standard I/O interface over view

1.5 Typical input signal connection

■ NPN specifications

DC24V

DI

DI

Chapter

PARALLEL I/O INTERFACE

GND

■ PNP specifications

DC24V

DI

DI

GND

5-9
 1. Standard I/O interface over view

1.6 Typical output signal connection

■ NPN specifications

DC24V

DO

Chapter

5
PARALLEL I/O INTERFACE

GND

c CAUTION
• When an inductive load (solenoid, relay, etc.) is used, always connect a
diode in parallel as a surge killer.
• In the case of NPN specifications, do not short DO output to DC 24V since
this will damage the internal circuitry.

■ PNP specifications

DC24V

DO

GND

c CAUTION
In the case of PNP specifications, do not short DO output to GND since this
will damage the internal circuitry.

5-10
 1. Standard I/O interface over view

1.7 Dedicated I/O signals

These signals are used to control the robot controller from an external device.

1.7.1 Dedicated input signals

These input signals are used to control the robot controller from an external device. The
input status can be checked from the robot program or sequence program.

n NOTE
The pulse width of an input signal must be longer than 10ms. If two or more
dedicated input signals are supplied simultaneously, those signals may not
be recognized by the controller. Provide an interval of at least 100ms
between each dedicated input signal. Chapter

5
DI01 Ser vo ON

PARALLEL I/O INTERFACE

Cancels emergency stop and turns on the robot servo.
At the rising edge of this signal, DO03 (Alarm output) is cleared, the robot servo
turns on, and DO02 (Servo-on state output) turns on. At this point, the main power
must have been input and DI00 (Emergency stop ready signal) must be on.

n NOTE
When using a PHASER series robot, noise is emitted for 0.5 to 2 seconds
during the first servo-on after turning the power on. This is just the routine
pre-action for obtaining information needed to control the robot and is not
a problem.

DI03 Step run

Executes a step of the program in "AUTO" mode.
At the rising edge of this signal, one line of the program is executed. DO13 (Auto
operation-in-progress output) turns on during operation. Step operation cannot be
performed during emergency stop or when DI11 (Interlock input) is off.

n NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are on the SAFETY connector. Refer to Chapter 6 for detailed
information.

DI05 IO command run

Executes an IO command.
At the rising edge of this signal, an IO command is executed. However, when the IO
command setting is set to "Disable" by using the DIO option board parameter, no IO
command is executed. DO17 (BUSY) turns on during IO command execution. DO16
(END) turns on when the IO command has ended normally.

5-11
 1. Standard I/O interface over view

n NOTE
When not using IO commands, set the IO command setting to "Disable" by
parameter.
Refer to the programming manual for detailed information on IO
commands.

DI10 Sequence permit

Allows or prohibits the execution of a sequence program.
In "AUTO" or "MANUAL" mode, a sequence program is executed while this signal is
on. However, no sequence program is executed unless a sequence object (complied
sequence program) exists and "Sequence" is set to "ENABLE" in "UTILITY" mode.
DO12 (Sequence program-in-progress output) turns on during sequence program
Chapter
execution.
5
n NOTE
Refer to the programming manual for detailed information on sequence
PARALLEL I/O INTERFACE

programs.

DI12 Auto operation start

Starts automatic operation of a program in "AUTO" mode.
At the rising edge of this signal, automatic operation of a program starts. DO13
(Auto operation-in-progress output) turns on during automatic operation. Automatic
operation cannot be performed during emergency stop or when DI11 (Interlock) input
is off.

n NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are located in the SAFETY connector. See Chapter 6 for detailed
information.

DI13 "AUTO" mode switching

Switches to "AUTO" mode.
At the rising edge of this signal, the controller switches to "AUTO" mode and DO10
("AUTO" mode output) turns on.
DI14 ABS (absolute) reset
Performs absolute reset on the absolute specification axes.
In MANUAL mode, at the rising edge of this signal, absolute reset is performed
on each axis in the return-to-origin order specified by parameter. If no absolute
specification axis exists, an error "0.11: ABS. motor disconnected" occurs. This input
signal is only for the axes whose return-to-origin method uses a sensor or stroke end
detection. Absolute reset cannot be performed on the axes whose return-to-origin
method uses a mark even if absolute reset is incomplete on those axes.
DI15 Program reset input
Resets the program in "AUTO" mode.
At the rising edge of this signal, the program is reset and DO14 (Program reset
output) turns on.

5-12
 1. Standard I/O interface over view

DI16 "MANUAL" mode switching

Switches to "MANUAL" mode.
At the rising edge of this signal, the controller switches to "MANUAL" mode.
DI17 Return-to-origin
Performs return-to-origin on incremental mode axes and semi-absolute mode axes.
When return-to-origin is performed, incremental mode axes return to their origins.
On semi-absolute mode axes, an absolute search (also called absolute reset) is
performed by return-to-origin operation.
In MANUAL mode, at the rising edge of this signal, each axis returns to its origin in
the return-to-origin order specified by parameter. If no incremental mode axis and
semi-absolute axis exist, an error "0.10: INC. motor disconnected" occurs. This input
signal is only for the axes whose return-to-origin method uses a sensor or stroke end Chapter
detection.
5

PARALLEL I/O INTERFACE

1.7.2 Dedicated output signals
These output signals indicate the controller status. The output status can be checked from
the robot program or sequence program, but cannot be changed.

DO00 EMG monitor (emergency stop monitor)

This signal monitors DI00 (Emergency stop ready signal) status and stays on while
DI00 is off. Canceling emergency stop does not clear this signal as long as DI00 is
off.

DO01 CPU OK
This signal is on while the controller is operating normally.
This signal turns off when either of the following conditions occurs, and the
controller stops.
• When a serious error has occurred
• When the control power supply voltage has dropped below the specified value
When this signal turns off, the controller power must be turned off and then back on,
in order to restore the normal state.

DO02 Ser vo-on state

This signal is on while the controller main power is on. The SRV indicator LED on the
front panel of the controller is lit while this signal is on.

DO03 Alarm
This signal turns on in the following cases. The ERR indicator LED on the front panel
of the controller also lights up when this alarm signal turns on.
1) When DI00 (Emergency stop ready signal) turned off. In this case, canceling
emergency stop or inputting DI01 (Servo ON) turns off the alarm.

5-13
 1. Standard I/O interface over view

2) When a serious error was detected by the controller. In this case, canceling
emergency stop turns off the alarm, but the controller power must be turned
off and then back on, in order to turn on the servo again or perform automatic
operation.
3) When the controller stopped operation due to a serious error. The alarm cannot be
turned off in this case. The controller power must be turned off and then back on,
to turn off the alarm.

DO10 "AUTO" mode

This signal is on while the controller is in "AUTO" mode.

DO11 Return-to-origin complete

Chapter
This signal is on when return-to-origin has been completed on all incremental axes
5 and semi-absolute axes and absolute reset has been performed on all absolute axes.
PARALLEL I/O INTERFACE

DO12 Sequence program in progress

This signal is on while a sequence program is being executed.

DO13 Auto operation in progress

This signal is on while a program is being executed in "AUTO" mode.

DO14 Program reset output

This signal turns on when the program has been reset correctly and turns off when
automatic operation or step operation starts.

DO15 Batter y alarm

This signal turns on when the system backup battery voltage is low.

DO16 END
This signal turns on when the system backup battery voltage is low.

DO17 BUSY
This signal is on while an IO command is being executed.

5-14
 1. Standard I/O interface over view

1.8 General-purpose I/O signals

These general-purpose I/O signals are available to the user and can be connected to
external devices such as sensors, valves and PLC. The I/O status can be checked from the
robot program or sequence program. Any desired value can be output from the general-
purpose outputs.
The area check output can be assigned as follows:
• Controllers prior to Ver. 9.22
DO20 to DO27
• Controllers of Ver. 9.22 onwards
DO20 to DO27, DO30 to DO37, DO40 to DO47, DO50 to DO57, DO60 to
DO67, DO70 to DO77, DO100 to DO107 Chapter

5
n NOTE

PARALLEL I/O INTERFACE

If the port used for area check output is the same as that used by the user
program, the output data might change. Do not use the same port.

1.8.1 General-purpose output reset

All the general-purpose output signals are reset in the following cases.

1) When (RST.DO) is selected in "UTILITY" mode.

2) When any of the following operations was performed without executing a sequence
program or with the sequence execution flag DO reset activated.
■ When compile ended successfully in "PROGRAM" mode.
■ When a program was compiled in "AUTO" mode and the compile ended
successfully.

■ When (RESET) was executed in "AUTO" mode.

■ When the dedicated input signal DI15 (Program reset input) was turned on in
"AUTO" mode while the program was stopped.
(Refer to "1.7.1 Dedicated input signals" in this chapter.)
■ When either of the following was initialized in "SYSTEM>INIT" mode.
1. Program memory (SYSTEM>INIT>MEMORY>PROGRAM)
2. Entire memory (SYSTEM>INIT>MEMORY>ALL)

■ When the SWI command was executed by (DIRECT) in "AUTO" mode.

(Reset (off) does not occur if the SWI statement was executed in the program.)
■ When the online commands @RESET, @INIT PGM, @INIT MEM, @INIT ALL,
or @SWI were executed.
■ When the HALT statement was executed in the program.

5-15
 1. Standard I/O interface over view

1.9 Dedicated I/O signal timing charts

1.9.1 Turning the power on
■ Turning the power on (while emergency stop input is on)

Approx. 3 sec.

Control power

DI00 Emergency stop

(in SAFETY ready signal
connector)
Chapter
DO00 Emergency stop
5 contact monitor
PARALLEL I/O INTERFACE

MPRDY Main power ON

(in SAFETY ready
connector)
Main power

DO01 CPU OK

DO02 Servo-on state

DO03 Alarm

• MPRDY (Main power ON ready) turns on after the control power supply turns on.
Then turn on the main power to the external device.
• After DO01 (CPU OK) turns on, the robot servo turns on and then DO02 (Servo-on
state) turns on. However, if serial IO setting or "SAFE" mode is enabled, the robot
starts with the servo turned off.

5-16
 1. Standard I/O interface over view

■ Turning the power on (while emergency stop input is off)

Approx. 3 sec.

Control power

DI00 Emergency stop

(in SAFETY ready signal
connector)

DO00 Emergency stop

contact monitor

MPRDY Main power ON

(in SAFETY ready
connector) Chapter

Main power 5

PARALLEL I/O INTERFACE

DO01 CPU OK

DO02 Servo-on state

DO03 Alarm

• DO00 (Emergency stop contact monitor) and DO03 (Alarm) turn on after the
control power supply turns on. MPRDY (Main power ON ready) output remains off.
The robot starts with the servo turned off.

n NOTE
• It takes about 3 seconds until CPU OK is output after turning on the
control power supply
• The main power supply can be left on during operation.

5-17
 1. Standard I/O interface over view

1.9.2 Emergency stop and ser vo ON

■ Emergency stop and ser vo ON

DI00 Emergency stop

(in SAFETY ready signal
connector)

DO00 Emergency stop

contact monitor

MPRDY Main power ON

(in SAFETY ready
connector)

Main power
Chapter

5 DO02 Servo-on state

PARALLEL I/O INTERFACE

DO03 Alarm

DI01 Servo ON

MIN 100msec

• To turn on the servo, DI00 (Emergency stop ready signal) in the SAFETY connector
must be on and the main power supply must be input.
• Wait at least 100msec after the main power is input before turning on DI01 (Servo
ON input).
• Turn off DI01 (Servo ON input) after making sure that DO02 (Servo-on state output)
is on.

5-18
 1. Standard I/O interface over view

1.9.3 Return-to-origin
■ Return-to-origin
Conditions: MANUAL mode and servo ON

DI00 Emergency stop

(in SAFETY ready signal
connector)

DO00 Emergency stop

contact monitor

DO02 Servo-on state

DO03 Alarm
Chapter

DO10 AUTO mode 5

PARALLEL I/O INTERFACE

DI11 Interlock input
(in SAFETY
connector)
DI17 ABS reset

DO11 Return-to-origin complete

Return-to-origin operation
Absolute search operation

• To perform return-to-origin, DI00 (Emergency stop ready signal) and DI11 (Interlock
input) must be on, and the robot servo must also be on.
• When DO11 (Return-to-origin complete output) is on, return-to-origin does not
have to be performed.
• The "on" period of DI17 (ABS reset) input pulse must be longer than 10msec.
• DO11 (Return-to-origin complete output) turns off (return-to-origin incomplete
state) when the robot starts return-to-origin or absolute search operation. After
that, if the return-to-origin or absolute search operation is interrupted before it
is complete due to interlock or emergency stop, then the robot status comes to
"return-to-origin incomplete".
• If DI11 (Interlock input) is turned off while return-to-origin is being performed on
an axis whose return-to-origin method is "Stroke end detection", that axis might
stop in contact with the stroke end. This probably causes an error such as overload,
so use caution.

n NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are located in the SAFETY connector. See Chapter 6 for detailed
information.

5-19
 1. Standard I/O interface over view

1.9.4 Mode switching

■ Mode switching

DI13 AUTO mode

switching

DI16 MANUAL mode

switching

DO10 AUTO mode

• "AUTO" and "MANUAL" modes can be switched independent of DI00 (Emergency

Chapter stop ready signal) and DI11 (Interlock input) status.
5 • After switching to "AUTO" mode, make sure that DO10 ("AUTO" mode output) is
on and then turn off DI13 ("AUTO" mode switching).
PARALLEL I/O INTERFACE

• No dedicated output is available that indicates the operation has switched to

"MANUAL" mode. The "on" period of DI16 ("MANUAL" mode switching) input
pulse must be longer than 10msec.

n NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are located in the SAFETY connector. See Chapter 6 for detailed
information.

5-20
 1. Standard I/O interface over view

1.9.5 Automatic operation

■ Automatic operation

DI00 Emergency stop

(in SAFETY ready signal
connector)
DO00 Emergency stop
contact monitor

DO02 Servo-on state

DO03 Alarm
Chapter
DO10 AUTO mode
5

PARALLEL I/O INTERFACE

DI11 Interlock input
(in SAFETY
connector)
DI12 Auto operation start

DO13 Auto operation-in-progress

DI15 Program reset input

DO14 Program reset output

• To perform automatic operation, DI00 (Emergency stop ready signal) and DI11
(Interlock input) must be on, and DO03 (Alarm output) must be off.
• Turn off DI12 (Auto operation start input) after making sure that DO13 (Auto
operation-in-progress output) is on.
• DI15 (Program reset input) is invalid during automatic operation.
• Turn off DI15 (Program reset input) after making sure that DO14 (Program reset
output) is on.

n NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are located in the SAFETY connector. See Chapter 6 for detailed
information.

5-21
 2. Ratings

2. Ratings

c CAUTION
See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.

1. Input
■ NPN specifications
DC input (positive common type)
Method
Photocoupler insulation method
Chapter
Input power DC 24V±10%, 7mA/point
5 Response time 20ms Min. (during on/off)
PARALLEL I/O INTERFACE

■ PNP specifications
DC input (negative common type)
Method
Photocoupler insulation method
Input power DC 24V±10%, 7mA/point
Response time 20ms Min. (during on/off)

2. Output
■ NPN specifications
NPN open-collector (negative common type)
Method
Photocoupler insulation method
Load DC 24V±10%, 100mA/point (resistance load)
Response time 10ms Max.

■ PNP specifications
NPN open emitter (positive common type)
Method
Photocoupler insulation method
DC 24V±10%, 100mA/point (resistance
Load
load)* 1)
Response time 10ms Max.

* 1) The total load on the same output port (Example: DO20 to

DO27) must be less than 400mA.

5-22
 3. Precautions

3. Precautions
1. When using a dual-lead proximity sensor as an input signal, check whether or not it
is within input signal specifications.
If the sensor has a high residual voltage during on and off, this might cause
malfunctions.

2. Take noise preventive measures when using an inductive load such as a solenoid
valve as an output load. For example, connect a diode (high-speed type) in parallel
at both ends of a load, as a surge killer to protect against noise.
Chapter
3. If a short occurs in the load or an excessive current flows, the internal over- 5
current protective circuit shuts off the interface circuit. Once this protective circuit

PARALLEL I/O INTERFACE

is activated, it is not possible to restore the previous state. In some cases, heat
generated inside might damage the internal circuits, so always draw current only
within the rated load.

4. As a noise prevention, keep the machine power cables separate and make sure
wires are well shielded.

5. Do not keep supplying the external 24V DC power to the I/O power connector
while controller power is off. The controller might malfunction if the external 24V is
continuously supplied.

5-23
 MEMO

5-24
Chapter 6 SAFETY I/O INTERFACE

Contents
1. SAFETY I/O interface overview 6-1
1.1 Power 6-1
1.2 Connector I/O signals 6-2
1.3 Connector terminal numbers 6-3
1.4 Emergency stop input signal connections 6-4
1.5 Dedicated input signal connections 6-10
1.6 Dedicated output signal connections 6-11
1.7 Input signal description 6-13
1.8 Meaning of output signals 6-14
 1. SAFETY I/O interface over view

1. SAFETY I/O interface over view

The robot controller is provided with SAFETY I/O interfaces for compatibility with the
system used by the customer. A description of the I/O terminals and connection methods
are explained below. Connect the I/O terminals correctly for effective operation.
The input signal is referred to as DI and the output signal as DO.

Specifications
Sumitomo 3M
Connector shell
Connector type No.
SAFETY 10320-52A0-008 Wire material 0.2 sq
KAS-M5370-001
Connector plug
10120-3000PE

1.1 Power Chapter

The emergency stop ready signal utilizes internal power for input signal. 6
Dedicated I/O requires an external 24V DC power supply. Connect the 24V DC power

SAFETY I/O INTERFACE

supply to DI.COM and DO.COM.

c CAUTION
Do not keep supplying the external 24V DC power to the SAFETY connector
while controller power is off. The controller might malfunction if the external
24V is continuously supplied.

6-1
 1. SAFETY I/O interface over view

1.2 Connector I/O signals

PIN I/O symbol Name Remarks
1 DI.COM Dedicated input common
2 INTERLOCK (DI11) Interlock input Photocoupler input DC24V, 7mA
3 SERVICE (DI02) SERVICE mode input Photocoupler input DC24V, 7mA
4 DO.COM Dedicated output common
Mechanical relay contact output
5 MPRDY Main power supply ready
DC24V, 1A
Photo-MOS relay output DC24V,
6 SERVO OUT Servo-on state output
100mA
7 NC No connection
8 KEY1 RPB key switch contact
9 KEY2 RPB key switch contact
Chapter 10 24VGND E-STOP24V, GND
6 11 E-STOP24V
Power supply for emergency
stop input
SAFETY I/O INTERFACE

12 E-STOPRDY (DI00) Emergency stop ready signal

13 E-STOPIN1 Emergency stop input 1
14 E-STOPIN2 Emergency stop input 2
15 E-STOPIN3 Emergency stop input 3
16 E-STOPIN4 Emergency stop input 4
17 LCKIN1 Enable switch input 1
18 LCKIN2 Enable switch input 2
19 LCKIN3 Enable switch input 3
20 LCKIN4 Enable switch input 4

c CAUTION
• On the SAFETY connector that comes with the controller, pin 1 is shorted
to pin 10, pins 2, 3, 11 and 14 are shorted together, and pin 12 is shorted
to pin 13. Use these pins to make an interlock circuit to ensure the system
including the robot controller operates safely.
• Do not connect an external DC24V to E-STOP24V.
• See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.
• Do not connect any external signal to the NC terminals.

6-2
 1. SAFETY I/O interface over view

1.3 Connector terminal numbers

■ Connector exploded view

1 2 3 4 5 6 7 8 9 10

11 12 13 14 15 16 17 18 19 20
Chapter

SAFETY I/O INTERFACE

1 11
2 12
3 13
4 14
5 15
6 16
7 17
8 18
9 19
10 20

6-3
 1. SAFETY I/O interface over view

1.4 Emergency stop input signal connections

c CAUTION
External emergency stop and the RPB emergency stop button are disabled
when pins 11 and 12 on the SAFETY connector are directly shorted to each
other. Make connections to ensure the system including the robot controller
will always operate safely.

■ Emergency stop input signal connection (1)

Connection when using the standard RPB with an external emergency stop circuit

RPB

13 E-STOP1
Chapter 14 E-STOP2
RPB connector
6 External emergency stop
circuit
SAFETY I/O INTERFACE

13 E-STOPIN1
14 E-STOPIN2
SAFETY DC24V
connector
11 E-STOP24V
12 E-STOPRDY

Internal Main power supply

control circuit
control circuit
Control signal
detection circuit

L
Motor drive
circuit
N

6-4
 1. SAFETY I/O interface over view

■ Emergency stop input signal connection (2)

Connection when using the RPB-E (provided with an enable switch) with an external
emergency stop circuit

Enable switch
RPB-E

13
RPB connector 14
15
16
17 Selector
18
19
20
21
22 Chapter

SAFETY I/O INTERFACE

1 DI.COM
External service mode
3 SERVICE stop circuit

8 KEY1
SAFETY 9 KEY2
connector
13 E-STOPIN1
External emergency
stop circuit
14 E-STOPIN2
11 E-STOP24V
DC24V
12 E-STOPRDY
10
GND24V

Internal control Main power supply

circuit control circuit
Control signal
detection circuit

Motor drive L
circuit N

6-5
 1. SAFETY I/O interface over view

■ Emergency stop input signal connection (3)

Connection when using the standard RPB with an external emergency stop circuit

RPB

13
RPB connector 14
15
16
17
18
19
20
External service mode stop
circuit
1 DI.COM
Chapter
External 24V
6 3 SERVICE power supply
SAFETY I/O INTERFACE

SAFETY
connector
13 E-STOPIN1
External emergency stop
circuit
14 E-STOPIN2
11 E-STOP24V
DC24V
12 E-STOPRDY

Internal control
Main power supply
circuit control circuit
Control signal
detection circuit

Motor drive L
circuit
N

6-6
 1. SAFETY I/O interface over view

Operation description:
• The RPB emergency stop switch and external emergency stop switch are connected
in series.
a. In normal operation, E-STOP24V is connected to E-STOPRDY via the RPB
emergency stop switch and SAFETY connector, and the controller internal motor
power relay turns on.
b. When emergency stop is triggered, power to E-STOPRDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
RPB and SAFETY connector are removed.
• Pins 13 and 14, pins 15 and 16, pins 17 and 18, pins 19 and 20, and pins 21 and
22 on the RPB connector are shorted in the RPB terminator that comes with the
robot controller.
• Pin 1 is shorted to pin 10, pins 2, 3, 11 and 14 are shorted together, and pin 12 is Chapter
shorted to pin 13 in the SAFETY connector that comes with the robot controller.
6
c

SAFETY I/O INTERFACE

CAUTION
• E-STOPRDY requires at least 100mA for the relay and photocoupler drive
current.
• Do not use DC 24V for anything other than emergency stop, interlock and
service mode inputs.

6-7
 1. SAFETY I/O interface over view

c CAUTION
External emergency stop and the RPB emergency stop button are disabled
when pins 11 and 12 on the SAFETY connector are directly shorted to each
other. Make connections to ensure the system including the robot controller
will always operate safely.

■ Connection when using the RPB-E (provided with an enable switch) with an external
emergency stop circuit (PNP specifications)

Emergency stop Enable

switch switch
RPB connector
13
14
15
Chapter
16
6 17
18
SAFETY I/O INTERFACE

19
20

RPB-E
SAFETY Service key
connector switch
Emergency stop
13 E-STOPIN1 switch
14 E-STOPIN2
15 E-STOPIN3
16 E-STOPIN4
17 LCKIN1
18 LCKIN2
19 LCKIN3
24V 20 LCKIN4
11 E-STOP24V
12 E-STOPRDY
3 SERVICE
1 DICOM
10 GND
External emergency stop circuit
GND
Motor power
relay coil

GND
Motor power
supply circuit
AC 200V

6-8
 1. SAFETY I/O interface over view

Operation description:
• The RPB-E emergency stop switch and external emergency stop switch are
connected in series. The enable switch is also connected in series to the RPB-E
emergency stop switch, but can be bypassed with the service key switch.

1. When the ser vice key switch contact is closed:

The enable switch is inoperable at this point.
a. In normal operation, E-STOP24V is connected to E-STOPRDY via the RPB-E
emergency stop switch and SAFETY connector, and the motor power relay in the
controller turns on.
b. When emergency stop is triggered, power to E-STOPRDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
RPB-E and SAFETY connector are removed.
Chapter
2. When the ser vice key switch contact is open:
The enable switch is operable at this point.
6

SAFETY I/O INTERFACE

a. In normal operation, E-STOP24V is connected to E-STOPRDY via the RPB-E
emergency stop switch, enable switch and SAFETY connector, and the controller
internal motor power relay turns on.
b. When emergency stop is triggered, power to E-STOPRDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
RPB-E and SAFETY connector are removed.
• Pins 13 and 14, pins 15 and 16, pins 17 and 18, pins 19 and 20, and pins 21 and
22 on the RPB connector are shorted in the RPB terminator that comes with the
robot controller.
• Pin 1 is shorted to pin 10, pins 2, 3, 11 and 14 are shorted together, and pin 12 is
shorted to pin 13 in the SAFETY connector that comes with the robot controller.

c CAUTION
• E-STOPRDY requires at least 100mA for the relay and photocoupler drive
current.
• Do not use E-STOP24V for anything other than emergency stop, interlock
and service mode inputs.

6-9
 1. SAFETY I/O interface over view

1.5 Dedicated input signal connections

c CAUTION
See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.

■ NPN specifications

Photocoupler 1 DI.COM

+
External 24V
power supply
3 SERVICE
Chapter

6
SAFETY I/O INTERFACE

2 INTERLOCK

■ PNP specifications

Photocoupler 1 DI.COM

External 24V
power supply
+
3 SERVICE

2 INTERLOCK

n NOTE
The NPN or PNP specifications can be selected by connecting DI.COM to
the positive or negative terminal of the external DC 24V power supply.

6-10
 1. SAFETY I/O interface over view

1.6 Dedicated output signal connections

■ NPN specifications

4 DO.COM

5 MPRDY

Mechanical relay
External 24V
power supply
+

Chapter

6 SERVO OUT
6

SAFETY I/O INTERFACE

Photorelay

Main power supply

on/off circuit

6-11
 1. SAFETY I/O interface over view

■ PNP specifications

4 DO.COM

5 MPRDY

Mechanical relay + External 24V

power supply

Chapter 6 SERVO OUT

6
Photorelay
SAFETY I/O INTERFACE

Main power supply

on/off circuit

6-12
 1. SAFETY I/O interface over view

1.7 Input signal description

c CAUTION
See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.

n NOTE
• NPN and PNP specifications are determined by the DI.COM and
DO.COM inputs.
• A 7mA input current is required.

1. DI02 Ser vice mode input (SERVICE: DI02)

Service mode input can only be used on robot controllers with "SAFE" mode enabled. Chapter
When the DI02 contact is open (OFF), the robot controller service mode is set for
exclusive control for operating levels, operating speed limits and operating devices
6

SAFETY I/O INTERFACE

conforming to the service mode parameter settings. Normal mode is enabled when
the DI02 contacts are closed (ON).
If a serial I/O option board is installed, "SERVICE" mode is entered when either one
of the SI02 or DI02 contact is open (OFF). (Normal mode is entered only when both
SI02 and DI02 contacts are closed (ON).)
If the service mode input is changed, the program being executed will pause or
ongoing robot jog movement will pause.

2. DI11 Interlock input (INTERLOCK: DI11)

Interlock input is used to temporarily stop robot movement during execution of a
program or manual operation of a robot. When the DI11 contact is opened (OFF), the
message "Interlock on" appears and the program and robot operation then stop. The
program cannot be executed and robot manual operation is disabled when the DI11
contact is open.

3. DI00 Emergency stop inputs (E-STOP24V, E-STOPRDY: DI00, E-STOPIN1, 2, 3, 4)

Emergency stop signal inputs are used when making the interlock circuit to ensure
the system including the robot controller will operate safely. Contacts must be closed
for the system to function normally. Refer to the connection examples in this chapter
when making actual connections.
Closing the emergency stop contact points (ON) allows turning on the servo power
supply. The servo power supply cannot be turned on when the emergency stop
contact points are open (OFF).
Emergency stop signal inputs 3 and 4 are valid only when an RPB-E (RPB compatible
with an enable switch) is used.

6-13
 1. SAFETY I/O interface over view

4. Enable switch inputs 1, 2, 3, 4 (LCKIN1, 2, 3, 4)

Enable switch inputs are used when making the interlock circuit to ensure the system
including the robot controller will operate safely. Refer to the connection examples
in this chapter when making actual connections.
Enable switch inputs are valid only when an RPB-E (RPB compatible with an enable
switch) is used.

5. KEY switch inputs 1, 2 (KEY1, 2)

These are auxiliary contact inputs used to input signals such as a signal that
enables or disables the service mode. Use these inputs as needed according to your
specifications and application.

1.8 Meaning of output signals

Chapter 1. MPRDY output
6 This output signal turns on when the controller is ready to receive the main power
input from an external device. This output is on before the servo turns on.
SAFETY I/O INTERFACE

This output turns off if an internal error occurs or MPON signal turns off. Supply this
output to a PLC or external device to allow it to determine the on/off conditions of
the main power supply.

2. SERVO OUT output

This output turns on when the servo turns on. This output is available even when only
one axis is at servo-on. This output turns off when all axis servos are off.

6-14
Chapter 7 RS-232C INTERFACE

Contents
1. Communication overview 7-1

2. Communication function overview 7-2

3. Communication specifications 7-3

3.1 Connector 7-3
3.2 Transmission mode and communication parameters 7-5
3.3 Communication flow control 7-6
3.3.1 Flow control during transmit 7-6
3.3.2 Flow control during receive 7-6
3.4 Other caution items 7-7
3.5 Character code table 7-9
3.6 Connecting to a PC 7-10
 1. Communication over view

1. Communication over view

The robot controller can communicate with external devices in the following two modes Chapter

using the RS-232C interface. 7

These modes can be used individually or jointly in a variety of applications using the RS-

RS-232C INTERFACE
232C interface.

(1) Data communication is performed by a communication command (SEND command)

in robot language

Example: SEND A TO CMU

Variable A is transmitted to the external device.
SEND CMU TO P100
Point data P100 is received from the external device.
SEND CMU TO ALL
All system memories are received.

The robot controller communicates in compliance with these commands.

(2) Various commands are transmitted directly through a communication port from the
external devices. These commands are called online commands.

If this function is used, some operations can be performed from an external device
just by turning on power to the robot controller.

Example: @AUTO
Switches to "AUTO" mode.
@RUN
Executes a program.
@READ PNT
All point data are read out.
@MOVE P,P123,SPEED=30
Moves to point 123 at 30% of maximum speed.

n NOTE
On robot controllers with "SAFE" mode enabled, online commands might not
be used in service mode state depending on the operating device setting
in service mode.

7-1
 2. Communication function over view

2. Communication function over view

Chapter There are two types of robot controller communication modes, "ONLINE" and "OFFLINE".
7 (1) "OFFLINE" mode
RS-232C INTERFACE

In "OFFLINE" mode, the communication between the robot and external unit is
executed with SEND commands in the program.
• SEND command (robot → external unit)

SEND <source file> TO CMU

• SEND command (external unit → robot)

SEND CMU TO <destination file>

(2) "ONLINE" mode

In "ONLINE" mode, a variety of commands can be sent directly from the external unit
to the robot.
Commands sent directly from the external unit are called online commands. The
SEND command in a program is also valid even in "ONLINE" mode.
To set "ONLINE" mode, select "ONLINE" as a communication parameter in "SYSTEM"
mode. The ONLINE statement in the program can also be used to set "ONLINE" mode.
• ONLINE command format

@ [_] <online command> [<_command option>] <termination code>

* The <termination code> is a CR(=0Dh) code or CRLF (=0Dh+0Ah).

For detailed information on ONLINE commands, refer to the programming manual.

7-2
 3. Communication specifications

3. Communication specifications
Chapter
3.1 Connector
7
The RS-232C interface connector is located on the front panel of the robot controller as

RS-232C INTERFACE
shown below.
■ RS-232C interface

OP.1
RGEN

MOTOR
RCX221 SRV
ERR
RDY
E-STOP

XM TEMP

ROB
I/O

ACIN

L
N
RPB
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM
5
9
6

Specifications of the RS-232C interface connector installed on the robot controller are
shown below.
1. A D-SUB 9-pin female connector is installed on the robot controller, so use a
connection cable with a D-SUB 9-pin male connector.
2. Pin arrangement of D-SUB 9-pin connector is as follows.

Pin No. Name Description Input/output

1 NC Not used
2 RXD Receive data Input
3 TXD Send data Output
4 NC Not used
5 GND Ground
6 NC Not used
7 RTS Request to send Output
Permission to
8 CTS Input
send
9 NC Not used

7-3
 3. Communication specifications

3. Connection cable examples

a. Cable capable of hardware busy control

Chapter

7 Controller
NC 1
External device
DCD
RS-232C INTERFACE

RXD 2 RXD
TXD 3 TXD
NC 4 DTR
GND 5 GND
NC 6 DSR
RTS 7 RTS
CTS 8 CTS
NC 9

b. Cable not using control wire

Controller External device

NC 1 DCD
RXD 2 RXD
TXD 3 TXD
NC 4 DTR
GND 5 GND
NC 6 DSR
RTS 7 RTS
CTS 8 CTS
NC 9

* For signal wire layout on the external device, refer to the instruction manual for
that device.

7-4
 3. Communication specifications

3.2 Transmission mode and communication parameters

Transmission mode Full duplex Chapter

Synchronous system Start-stop synchronization 7

RS-232C INTERFACE
Baud rate [bps] 4800, [9600], 19200, 38400, 57600
Character length [bit] [8], 7
Stop bit [bit] [1], 2
Parity [Odd], even, none
Termination code [CRLF], CR
Flow control [XON/XOFF], RTS/CTS, none
Receive buffer 1024 bytes
Transmit buffer 1024 bytes
Numbers or items in brackets [ ] indicate settings after initialization.

n NOTE
1) Termination code
• Robot transmit
When CRLF (carriage return + line feed) is selected:
Transmits data with a CR code (0DH) and LF code (0AH) added at the
end of a line.
When CR (carriage return) is selected:
Transmits data with a CR code (0DH) added at the end of a line.
• Robot receive
Receives data by treating entries made up to the CR code as 1 line and
ignoring the LF code, regardless of which termination code is selected.
2) If the "Display language" parameter is set to "JAPANESE" in "SYSTEM" mode,
then set the character length to 8 bits.
Katakana letters (Japanese phonetic) cannot be output from the
communication port if set to 7 bits.

7-5
 3. Communication specifications

3.3 Communication flow control

Chapter Software flow control (XON/XOFF) and hardware flow control (RTS/CTS) methods can be

7 selected by specifying the communication parameters.

n NOTE
RS-232C INTERFACE

When flow control is set to "XON/XOFF" or "none", CTS status does not affect
transmission. RTS is always on.
When flow control is set to "RTS/CTS" or "none", receiving XON and XOFF does
not affect transmission.
When flow control is set to "none", part of receive data might be lost.

3.3.1 Flow control during transmit

Data transmission temporarily stops when the other party's device is in receive busy
status.
Communication parameter Operation during transmit
Stops transmission when XOFF (13H) is received.
XON/XOFF
Resumes transmission when XON (11H) is received.
RTS/CTS Stops transmission while CTS is off.
None Does not perform flow control during transmit.

3.3.2 Flow control during receive

This notifies the other party's device that the controller is in receive busy status.

Communication parameter Operation during transmit

Transmits XOFF (13H) when available space in
XON/XOFF receive buffer falls below a certain capacity.
Transmits XON (11H) when receive buffer is empty.
Turns RTS off when available space in receive buffer
RTS/CTS falls below a certain capacity.
Turns RTS on when receive buffer is empty.
None Does not perform flow control during receive.

7-6
 3. Communication specifications

3.4 Other caution items

1) The controller allows receiving data as long as the receive buffer has a free area. Chapter
The receive buffer is cleared in the following cases. 7
• When the power was turned off and turned back on.

RS-232C INTERFACE
• When the program was reset.
• When an ONLINE statement or OFFLINE statement was executed according to the
robot language.
• When the communication parameter was changed in "SYSTEM" mode or when
initialization was executed.

2) Turning on an external device might send incorrect data to the robot controller which
is ready to receive data when the power is turned on. That incorrect data might then
be stored in the receive buffer if the controller is turned on prior to the external
device and cause communication errors.
In such a case,
• Reset the program before program execution.
• Clear the receive buffer by placing an ONLINE statement or OFFLINE statement at
the top of the program.
• Turn the external device on before turning the controller on.

3) When the external device does not support handshake protocols (BUSY control, XON/
XOFF control), the data processing speed becomes slower than the communication
speed, causing a communication error. In this case, take countermeasures such as
reducing the communication speed (baud rate).

4) When the communication speed is set at a high rate, communication errors might
occur due to external noise or other factors. In this case, take countermeasures such
as reducing the communication speed.

5) There is no response to external transmission during direct command execution or

point trace execution in "AUTO" mode. A response is issued after execution.

6) Improper connection to an external device might cause electrical shocks, controller

malfunctions or external device malfunctions or breakdowns, depending on the
external device type and its operating conditions.
Always comply with the following points when connecting an external device.
1. When the external device has a ground wire, be sure to ground it properly.
2. If using an external device that does not have a ground wire or protective ground
terminal, make sure that its structure is designed to protect from electrical shock.

7-7
 3. Communication specifications

■ Problems caused by poor connections

Chapter Improper ground wire connection

might cause electrical shock if
7 connector metal parts are
touched.
RS-232C INTERFACE

External device * RCX221

AC100 to 200V

FG
Connector metal parts
Potential

Malfunction or breakdown might

Ground wire was not at ground Failure to use occur when making connection
potential or not connected. ground wire or after connection.
might raise the
voltage potential.

* External device: Notebook PC using an AC adapter, etc.

7-8
 3. Communication specifications

3.5 Character code table

HEX. 0- 1- 2- 3- 4- 5- 6- 7- 8- 9- A- B- C- D- E- F- Chapter

-0 SP 0 @ P p ー ﾀ ﾐ 7
-1 XON ! 1 A Q a q 。 ｱ ﾁ ﾑ

RS-232C INTERFACE
-2 " 2 B R b r 「 ｲ ﾂ ﾒ
-3 STOP XOFF # 3 C S c s 」 ｳ ﾃ ﾓ
-4 $ 4 D T d t 、 ｴ ﾄ ﾔ
-5 % 5 E U e u . ｵ ﾅ ﾕ
-6 & 6 F V f v ｦ ｶ ﾆ ﾖ
-7 ' 7 G W g w ｧ ｷ ﾇ ﾗ
-8 BS ( 8 H X h x ｨ ｸ ﾈ ﾘ
-9 TAB ) 9 I Y i y ｩ ｹ ﾉ ﾙ
-A LF EOF * : J Z j z ｪ ｺ ﾊ ﾚ
-B + ; K [ k { ｫ ｻ ﾋ ﾛ

-C , < L ￥ l l ﾔ ｼ ﾌ ﾜ
l
-D CR - = M ] m } ﾕ ｽ ﾍ ﾝ
-E . > N ^ n ~ ﾖ ｾ ﾎ "
-F / ? O o ﾂ ｿ ﾏ 。

Note 1: The above character codes are written in hexadecimal.

Note 2: SP indicates a blank space.
Note 3: Only capital letters can be used for robot language. Small letters are used
for program comments, etc. However, these cannot be entered on the RPB.
Note 4: BS deletes the preceding character in the receive buffer.
Note 5: TAB is replaced with one space.

7-9
 3. Communication specifications

3.6 Connecting to a PC
Chapter The following are examples of connecting to a PC using the YAMAHA communication

7 cable.
1) Using the PC's COM port
RS-232C INTERFACE

■ COM port
* Communication cable and conversion adapter are options.
OP.1
RGEN

RCX221
SRV
ERR
RDY
Straight serial conversion adapter Communication cable :
MOTOR E-STOP

XM TEMP
• Type No. KAX-M657E-010
ROB
I/O (RoHs-compliant product)
9 pins 9 pins
ACIN

L
N
RPB
L1
OP.2
N1
25 pins 25 pins COM port
or
YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM
9 pins 9 pins

Communication cable @ PC

RCX221
Communication cable Length Cable type No.
3.5m KR7-M538F-100
q 25 pins ↔ 9 pins
5m KR7-M538F-300
3.5m KAS-M538F-000
w 9 pins ↔ 9 pins
5m KAS-M538F-100

c CAUTION
There is no problem with reversing the communication cable connections
by attaching the straight serial conversion adapter to the PC.

2) Using the PC's USB port

■ USB port
OP.1
RGEN

RCX221
SRV
ERR
RDY
MOTOR E-STOP

XM TEMP

ROB
I/O

9 pins 9 pins 9 pins USB port

ACIN

L
N
RPB
L1
OP.2
N1
25 pins 25 pins
YM
or
! SAFETY

EXT.E-STOP
USB port
PIN11-12

SD/COM
9 pins 9 pins 9 pins

USB serial conversion adapter PC

RCX221 • CONTEC COM-1(USB)H

• ARVEL SRC06-USM

c CAUTION
Operation has been verified using only the USB serial conversion adapter
listed here. Operation has not been verified using conversion adapters with
the other part numbers or other manufacturers' products.

7-10
Chapter 8 SPECIFICATIONS

Contents
1. Controller basic specifications 8-1

2. Controller basic functions 8-3

3. Controller external view 8-4

3.1 RCX221 external view 8-4
3.2 RCX221HP external view 8-5

4. RPB basic specifications and external view 8-6

 1. Controller basic specifications

1. Controller basic specifications

Item RCX221 RCX221 HP
YAMAHA single-axis robots, linear single-axis robots,
Applicable robots
cartesian robots, P&P robots
Chapter
Connectable motor

Basic
capacity
Power capacity
Less than 800W (2 axes total)

1700VA
800 to 1200W (2 axes total)

2400VA
8

SPECIFICATIONS
specifications
W130 × H210 × D158 mm W158 × H210 × D158 mm
Dimensions
(main unit) (main unit)
Weight 2.9kg (main unit) 3.1kg (main unit)
Power supply voltage Single phase 200 to 230V AC ±10% (50/60Hz)
No. of controllable axes 2 axes maximum (simultaneous control: 2 axes)
Drive method AC full digital servo
Position detection Resolver, Resolver or magnetic linear scale
method
PTP motion (point to point), ARCH motion, linear interpolation,
Control method
circular interpolation
Axis control Coordinate system Joint coordinates, Cartesian coordinates
Position display units Pulses, mm (millimeters), deg (degrees)
Speed setting 1 to 100% (1% increments; setting can be changed by program)
Automatic acceleration setting by robot model and tip weight
Acceleration/deceleration parameter
setting Setting by accel coefficient and decel. rate parameters (1% steps)
(Can be changed by programming.)
Program language YAMAHA BASIC conforming to JIS B8439 (SLIM language)
Multitask 8 tasks maximum
Sequence program 1 program
364KB (Total of program and point data) (Available size for
Memory capacity
program when maximum number of points is used: 84KB)
100 programs (maximum number of programs)
9999 lines (maximum lines per program)
Programs
Programming 98KB (maximum capacity per program, maximum capacity per
object program)
Points 10000 points (maximum number of points)
MDI (coordinate data input), direct teaching, teaching
Point teaching
playback, offline teaching (data input from external unit)
Internal memory backup Lithium battery (Service life is about 4 years at 0 to 40°C)
Internal flash memory 512KB (ALL data only)
External memory backup SD memory card

8-1
 1. Controller basic specifications

Item RCX221 RCX221 HP

Input Dedicated 10 points, general-purpose 16 points
STD.DIO
Output Dedicated 12 points, general-purpose 8 points
Emergency stop input
Service mode input
Chapter Input
Interlock input
8 SAFETY
Enable switch input (enabled only when RPB-E is used)
Servo ON status output
External I/O Output
SPECIFICATIONS

Main power ON ready output

Brake output Relay contact
Origin sensor input Connectable to 24V DC B-contact (normally closed) sensor
RS-232C : 1 channel (D-SUB 9-pin female connector)
External communication
RS-422 : 1 channel (for RPB only)
Regenerative unit
RGEN connector, TEMP connector
connection
Operating temperature 0°C to 40°C
Storage temperature -10°C to 65°C
General Operating humidity 35 to 85% RH (no condensation)
specifications
Noise immunity IEC61000-4-4 Level 3
Protective structure IP10
Option slot 2 slots (including STD.DIO)
Dedicated input 10 points, dedicated output 12 points
STD. General-purpose input 16 points, general-purpose output 8 points
DIO
Parallel (compatible with NPN/PNP specifications)
I/O board General-purpose input 24 points/board, output 16 points/board
OP.DIO (2 boards maximum, (including STD.DIO) compatible with
Options board

NPN/PNP specifications)
Dedicated input 16 points, dedicated output 16 points
CC-Link board General-purpose input 96 points, general-purpose output 96
points
Options Dedicated input 16 points, dedicated output 16 points
DeviceNet board General-purpose input 96 points, general-purpose output 96
points
Dedicated input 16 points, dedicated output 16 points
PROFIBUS board General-purpose input 96 points, general-purpose output 96
points
Ethernet board Conforms to IEEE802.3, 10Mbps (10BASE-T)
Programming box RPB, RPB-E
Regenerative unit RG2
PC software VIP+, VIP

c CAUTION
• Specifications and appearance are subject to change without prior
notice.
• See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.

8-2
 2. Controller basic functions

2. Controller basic functions

Function Description
AUTO mode (Major functions: program execution, step execution, etc.)
PROGRAM mode (Major functions: program creation and editing, etc.) Chapter
Operation modes MANUAL mode (Major functions: jog movement, point data teaching, etc.)
SYSTEM mode (Major functions: parameter editing, data initializing, etc.)
8

SPECIFICATIONS
UTILITY mode (Major functions: motor power supply control, etc.)
Array declaration commands (DIM statement)
Assignment commands (Numeric assignment statement, character string
assignment statement, point definition, etc.)
Movement commands (MOVE, DRIVE, PMOVE statements, etc.)
Conditional branching commands (IF, FOR, WHILE statements, etc.)
Commands
External output commands (DO, MO, LO, TO, SO statements)
Parameter commands (ACCEL, OUTPOS, TOLE statements, etc.)
Condition wait command (WAIT statement)
Task related commands (START, SUSPEND, CUT statements, etc.)
etc.
Arithmetic functions (SIN, COS, TAN functions, etc.)
Character string functions (STR$, LEFT$, MID$, RIGHT$ functions, etc.)
Functions Point functions (WHERE, JTOXY, XYTOJ functions, etc.)
Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.)
etc.
Simple variables (integer variables, real variables, character variables)
Array variables (integer variables, real variables, character variables)
Point variables
Variables Shift variables
Element variables (point element variables, shift element variables)
Input/output variables
etc.
Arithmetic operators (+, -, *, /, MOD)
Arithmetic
Logic operators (AND, OR, XOR)
operation
Relational operators (=, <, >, <>, <=, =>)
Monitor Input/output status monitor (200ms intervals)
Key operation commands (AUTO, RUN, RESET, STEP, etc.)
Utility commands (COPY, ERA, INIT, etc.)
Online commands
Data handling commands (READ, WRITE, ?VER, ?CONFIG, etc.)
Robot language commands (independent-executable commands)
Program, point, parameter, shift, hand, all, error history
Data files
etc.
Internal timer 10ms intervals
Program break
4 points maximum
points

8-3
 3. Controller external view

3. Controller external view

3.1 RCX221 external view
■ Standard RCX221
Chapter

16
Bottom view
8 50
SPECIFICATIONS

50
14

6-M3 130
100
16 126 5.5
158 (22)
OP.1
RGEN

RCX221
MOTOR
SRV
ERR
RDY
E-STOP

XM TEMP

ROB
I/O

ACIN

L
210

250
225
210 N
L1
RPB

OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

unit: mm
■ RCX221 with RG2 option installed
16

Bottom view
16

RG2
50
50
14

130
16 126 6-M3 30
100
5.5 5
158 (22)
RGEN
OP.1 RG2
RCX221
MOTOR
SRV
ERR
RDY
E-STOP

RGEN
XM TEMP

ROB
I/O

ACIN

L
210

250
225
210

210

N TEMP
RPB
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

unit: mm
8-4
 3. Controller external view

3.2 RCX221HP external view

■ RCX221HP (High power version)

16
Bottom view Chapter

8
50

SPECIFICATIONS
50
14

158
28 130
6-M3 100
16 126 5.5
158 (22)
OP.1
RGEN

RCX221 SRV
ERR
RDY
MOTOR
HP E-STOP

XM TEMP

ROB
I/O

ACIN

L
210

250
225
210
N
RPB
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

unit: mm
■ RCX221HP with RG2 option installed
16

RG2
16

Bottom view
50
50
14

158
6-M3 28 130 30
16 126 100
5.5 5
158 (22)
RGEN
OP.1 RG2
RCX221 SRV
ERR
RDY
MOTOR
HP E-STOP

RGEN
XM TEMP

ROB
I/O

ACIN

L
210

250
225
210

210

N TEMP
RPB
L1
OP.2
N1

YM
! SAFETY

EXT.E-STOP
PIN11-12

SD/COM

unit: mm

8-5
 4. RPB basic specifications and external view

4. RPB basic specifications and external view

■ RPB basic specifications
Item RPB RPB-E
Chapter
Liquid crystal display (40 characters × 15 lines)
Display screen
8 Emergency stop button
* Effective number of lines for RCX221: 8 lines
Normally-closed contract (with lock function)
SPECIFICATIONS

Enable switch Not provided 3-position type

Power DC+12V
Ambient temperature : 0 to 40°C,
Operating environment Storage temperature : -10 to 65°C
Humidity : 35 to 80% (no condensation)
Dimensions (mm) W180×H250×D50 (excluding projecting parts)
Cable length 5m
Weight 600g (excluding cable) 630g (excluding cable)

■ RPB external view

140
250

50.2

136
180

unit: mm

8-6
 4. RPB basic specifications and external view

■ RPB-E external view

140 Selector switch

Chapter

SPECIFICATIONS
250

50.2

136
180
Enable switch
unit: mm

8-7
 MEMO

8-8
Chapter 9 TROUBLESHOOTING

Contents
1. Error Messages 9-1
1.1 Robot controller error messages 9-1
[ 0] Warnings and messages 9-3
[ 1] Warnings (error history entry) 9-5
[ 2] Robot operating area errors 9-6
[ 3] Program file operating errors 9-9
[ 4] Data entry and edit errors 9-12
[ 5] Robot language syntax (compiling) errors 9-12
[ 6] Robot language execution errors 9-21
[ 9] Memory errors 9-26
[10] System setting or hardware errors 9-29
[12] I/O and option board errors 9-31
[13] RPB errors 9-35
[14] RS-232C communication errors 9-36
[15] Memory card errors 9-38
[17] Motor control errors 9-40
[21] Major software errors 9-47
[22] Major hardware errors 9-48
1.2 RPB Error Messages 9-53

2. Troubleshooting 9-55
2.1 When trouble occurs 9-55
2.2 Acquiring error information 9-56
2.2.1 Acquiring information from the RPB 9-56
2.2.2 Acquiring information from the RS-232C 9-56
2.3 Troubleshooting checkpoints 9-57
 1. Error Messages

1. Error Messages

1.1 Robot controller error messages

When an error occurs, an error message appears on the message line (second line) of the
RPB screen.
Error messages comprise the following elements.
Chapter

12.1: Emg.stop on 9

TROUBLESHOOTING
Message
Error classification No.
Error No.
Error group No.

(1) Error group number

Error messages are classified by content into groups [0] to [22]. Contents of each
error group are shown below.
Group No. Contents
[ 0] Warnings and messages
[ 1] Warnings (error history entry)
[ 2] Robot operating area errors
[ 3] Program file operating errors
[ 4] Data entry and edit errors
[ 5] Robot language syntax (compiling) errors
[ 6] Robot language execution errors
[ 7] (Not used)
[ 8] (Not used)
[ 9] Memory errors
[10] System setting or hardware errors
[11] (Not used)
[12] I/O and option board errors
[13] RPB errors
[14] RS-232C communication errors
[15] Memory card errors
[16] (Not used)
[17] Motor control errors
[18] (Not used)
[19] (Not used)
[20] (Not used)
[21] Major software errors
[22] Major hardware errors

n NOTE
Messages for group No. 0 are not stored in the error history.

9-1
 1. Error Messages

[Format]
Error No. : [<location where error occurred>,] error message
... Displays the error message on screen.
Code : ... Displays the error code in hexadecimal numbers.
Meaning/Cause : ... Displays the meaning and cause of the error.
Action : ... Displays a message explaining action needed to eliminate or
Chapter
avoid error status.
9 Dedicated output : ... Refer to "(2) Dedicated output status".
TROUBLESHOOTING

* The beginning of the error message may sometimes include information on

the location (axis, option unit, etc.) where the error occurred. An "M" in this
information indicates the main group axis No., an "S" indicates the sub group axis
No., a "D" indicates the driver axis No., and an "OP" indicates the option unit slot
No.
For example, a message "2.1:M1, Soft limit over" indicates that the preset soft
limit values have been exceeded on axis 1 of the main group robot. Likewise, the
message, "17.4:D2, Overload" indicates that an overload has occurred in axis 2 of
the driver unit. The axes viewed by the robot and the axes viewed by the driver are
normally a one-to-one match with each other, but when dual-drive axes are used,
one axis viewed by the robot may sometimes be treated as 2 axes by the driver.

(2) Dedicated output status

Dedicated output status items described below in *1 to *3 show the following
contents.
*1 ... CPU stop
• Turn the power ON again to reset.
DO 01a (CPU OK) = OFF
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
*2 ... Driver stop
• Turn the power ON again to reset.
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
*3 ... Ser vo stop
• Turn the power ON again in "UTILITY" mode to reset.
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON

c CAUTION
When an error cannot be cancelled, contact your YAMAHA sales dealer.

9-2
 [ 0] Warnings and messages

[ 0] Warnings and messages

0.0 : Undefined error

Code : &H0000
Meaning/Cause : Undefined system error.
Action : Contact our company.
Chapter

0.1 : Origin incomplete 9

* If the cause of the Origin incomplete error can be pinpointed, an error

TROUBLESHOOTING
code will be attached in parentheses at the end.
Code : &H0001
Meaning/Cause : a. Return-to-origin is incomplete because return-to-origin has
not been performed. So you …
• cannot execute programs and commands.
• cannot perform point teaching.
• cannot perform manual Cartesian movement (mm units).
b. ROB I/O cable was removed or disconnected.
c. Return-to-origin or absolute search operation was interrupted.
d. System generation was changed or parameters initialized. Or
parameters for specifying the origin position such as for the
return-to-origin direction or axis polarity were changed.
(Equivalent to writing ALL or PRM file on controller.)
Action : Perform return-to-origin to completion.

0.2 : Running
Code : &H0002
Meaning/Cause : Program or command is running.
Action : ---

0.3 : Program terminated by "HALT"

Code : &H0003
Meaning/Cause : Program execution was terminated by a HALT command.
Action : ---

0.4 : Compiling
Code : &H0004
Meaning/Cause : Robot language compiling (making an object program) is in
progress.
Action : ---

9-3
 [ 0] Warnings and messages

0.5 : Busy
Code : &H0005
Meaning/Cause : Data is being saved on a memory card or internal ROM.
Action : ---

0.6 : Program suspended by "HOLD"

Chapter Code : &H0006
9 Meaning/Cause : Program execution was interrupted by a HOLD command.

Action : Press to cancel hold condition and start running the

TROUBLESHOOTING

program from the next command.

0.7 : Turn on power again

Code : &H0007
Meaning/Cause : a. System generation was performed due to a robot change, etc.
b. Parameter was changed by data transfer.
c. System generation data was destroyed.
d. Error occurred when servo was turned ON.
Action : Turn the controller on again.

0.8 : Try again

Code : &H0008
Meaning/Cause : Operation failed.
Action : Try again.

0.9 : Arrived at breakpoint

Code : &H0009
Meaning/Cause : Break point was reached during program execution.
Action : ---

0.10 : INC. motor disconnected

Code : &H000A
Meaning/Cause : Return-to-origin command was attempted on an absolute axis
or an axis that does not exist.
Action : 1. Select the correct axis.
2. Check the system generation data.

0.11 : ABS. motor disconnected

Code : &H000B
Meaning/Cause : Absolute reset was attempted on an incremental mode axis or
semi-absolute mode axis, or an axis that does not exist.
Action : 1. Specify the correct axis.
2. Check the system generation data.

9-4
 [ 1] Warnings (error histor y entr y)

0.14 : Stop executed

Code : &H000E
Meaning/Cause : Stop was commanded while executing a direct command so
operation was stopped.
Action : ---

0.15 : Can't execute while servo on Chapter

Code : &H000F
Meaning/Cause : Writing in "ALL" or "PRM" files was attempted during servo-on.
9

TROUBLESHOOTING
"ALL" or "PRM" files cannot be written in servo-on.
Action : Turn off the servo before writing files.

0.16 : Changed SERVICE mode input

Code : &H0010
Meaning/Cause : Status of service mode inputs (DI02, SI02) was changed.
Action : ---

0.17 : Can't change, DC24V is ON

Code : &H0011
Meaning/Cause : Setting to disable the "DC 24V monitor" parameter was
attempted even though DC 24V was being supplied to a DIO
option board.
Monitor function cannot be disabled while DC 24V is being
supplied to a DIO option board.
Action : To disable the monitor function, change the parameter after
first stopping the DC 24V supply.

[ 1] Warnings (error history entry)

1.31 CPU Reset start

Code : &H011F
Meaning/Cause : CPU was reset and controller operation started.
Action : ---

1.32 Power on
Code : &H0120
Meaning/Cause : Controller operation started by power on.
Action : ---

9-5
 [ 2] Robot operating area errors

[ 2] Robot operating area errors

2.1 : Over soft limit

Code : &H0201
Meaning/Cause : Soft limit value preset in the parameter for operation position
was exceeded.
Chapter
Action : 1. Change the operating position to within the soft limits.
9 2. Change the soft limit value.
TROUBLESHOOTING

2.2 : Std. coord. doesn't exist

Code : &H0202
Meaning/Cause : Setting of standard coordinates is incomplete.
Action : 1. Set the standard coordinates.
2. Set the parameter arm length and offset pulse.

2.3 : Coordinate cal. failed

Code : &H0203
Meaning/Cause : a. Preset calculation for setting standard coordinates is not
functioning.
b. Operating position exceeded the operating area range.
Action : 1. Set the standard coordinates correctly.
2. Change operating position to within operating area.

2.5 : Shift cal. failed

Code : &H0205
Meaning/Cause : Calculating for setting shift coordinates failed.
Action : Set shift coordinates correctly.

2.6 : Hand cal. failed

Code : &H0206
Meaning/Cause : Calculation for setting hand definition failed.
Action : Set hand definition correctly.

2.7 : Illegal Pallet parameter

Code : &H0207
Meaning/Cause : Calculation for setting pallet definition failed.
Action : Set pallet definition correctly.

9-6
 [ 2] Robot operating area errors

2.8 : Movable range cal. failed

Code : &H0208
Meaning/Cause : a. Calculation of movement path failed.
b. Current position is not within movement range.
Action : 1. Change to a correct movement point.
2. Change current position to within movement range.
Chapter
2.9 : Overlap soft limit
Code : &H0209
9

TROUBLESHOOTING
Meaning/Cause : On SCARA robots, the sum of the absolute values for the X-axis
(or Y-axis) minus soft limit and the X-axis (or Y-axis) plus soft
limit is making the arm move 1 rotation or more.
Action : 1. Set the soft limit values correctly.
2. Set the soft limit values so that the movement range of the
arm is less than one rotation.

2.10 : Exceeded movable range

Code : &H020A
Meaning/Cause : Area is outside the movable range of movement path.
Action : 1. Set movement points correctly.
2. Specify movement path to be within the movable range.

2.11 : ? exceeded shift coord. range

Code : &H020B
Meaning/Cause : Shift coordinate range ? value was exceeded.
Action : 1. Change the operating position of ? value to within the shift
coordinates range.
2. Change shift coordinates range ? value.

2.17 : Arch condition bad

Code : &H0211
Meaning/Cause : When target point and arch position data are in mm units, arch
motion is not used on X and Y axes.
Action : Change to correct arch motion command.

2.18 : RIGHTY now selected

Code : &H0212
Meaning/Cause : On SCARA type robots, the arm will now use the right-handed
system for starting Cartesian movement.
Action : ---

9-7
 [ 2] Robot operating area errors

2.19 : LEFTY now selected

Code : &H0213
Meaning/Cause : On SCARA type robots, arm will now use the left-handed
system for starting Cartesian movement.
Action : ---

Chapter 2.20 : Illegal hand type

9 Code : &H0214
Meaning/Cause : An R-axis hand definition was attempted on a robot not having
TROUBLESHOOTING

an R-axis.
Action : 1. Change to Y-axis hand definition.
2. Do not use a hand definition.

2.22 : Arm length is 0

Code : &H0216
Meaning/Cause : When arm length setting is 0 on SCARA type robots, movement
on Cartesian coordinates was attempted.
Action : 1. Set standard coordinates.
2. Set the arm length parameter.

2.23 : Cannot move (RIGHTY to LEFTY)

Code : &H0217
Meaning/Cause : a. Interpolation movement shifting from the right-handed
system to the left-handed system was executed with a SCARA
robot.
Action : 1. Check the current hand system and point data hand system
flag.

2.24 : Cannot move (LEFTY to RIGHTY)

Code : &H0218
Meaning/Cause : a. Interpolation movement shifting from the left-handed system
to the right-handed system was executed with a SCARA
robot.
Action : 1. Check the current hand system and point data hand system
flag.

2.25 : Cannot use TOOL coord.

Code : &H0219
Meaning/Cause : Failed to select tool coordinates could because no hand data
has been entered.
Action : Set the hand data.
Note: An R-axis unit must be installed to a SCARA or Cartesian robot.
Set the hand data while a hand or gripper is attached to the tip
of the R-axis.

9-8
 [ 3] Program file operating errors

2.26 : Collision in W. carrier

Code : &H021A
Meaning/Cause : Failed to move the double-carrier axis, because one carrier will
interfere with the other carrier.
Action : If this error occurred during MANUAL mode:
1. Move the other carrier to a position where the two carriers
will not interfere with each other and then move the robot Chapter
manually.
If this error occurred during AUTO mode:
9

TROUBLESHOOTING
1. Change the target position of one carrier so it will not
interfere with the other carrier.
2. Move the other carrier to a position where it will not
interfere with the first carrier’s target position, and then
move that first carrier.
3. Set the double-carrier parameter control mode to "Off" or "On".
When set to "Off", this error does not occur, but the anti-
collision function for double-carriers will not work so the
carriers might collide with each other.
When set to "On", one carrier starts moving after
waiting until the other carrier moves to a position
where no interference occurs.

2.27 : W. carrier deadlock

Code : &H021B
Meaning/Cause : Failed to move the double-carrier axis and a deadlock
occurred, because the target positions of both carriers will
interfere with each other.
Action : Check the robot program.

[ 3] Program file operating errors

3.1 : Too many programs

Code : &H0301
Meaning/Cause : Making of a new program was attempted after number of
programs exceeded 100.
Action : Make a new program after deleting an unnecessary program.
(Make a backup if necessary.)

9-9
 [ 3] Program file operating errors

3.2 : Program already exists

Code : &H0302
Meaning/Cause : An attempt to make/copy/transmit (by using SEND command) a
new program with a name already registered was attempted.
Action : Making a new program/copy/transmission (by using SEND
command) using a new (unregistered) program name.
Chapter

9 3.3 : Program doesn't exist

Code : &H0303
TROUBLESHOOTING

Meaning/Cause : A registered program of the specified name does not exist.

Action : Correctly enter a registered program name.

3.4 : Writing prohibited

Code : &H0304
Meaning/Cause : The specified program is write protected.
Action : Use a program that is not write protected.

3.5 : File type error

Code : &H0305
Meaning/Cause : Software error occurred.
Action : Contact our company with relevant information.

3.6 : Too many breakpoints

Code : &H0306
Meaning/Cause : Setting of break point exceeding 4 points was attempted.
Action : After deleting unnecessary break points, set the new break
point. (Up to 4 break points can be set in one program.)

3.7 : Breakpoint doesn't exist

Code : &H0307
Meaning/Cause : Break point was not found during search.
Action : Set a break point if needed.

3.9 : Cannot find strings

Code : &H0309
Meaning/Cause : Could not find specified character string during search.
Action : If needed change the character string and try searching again.

3.10 : Object program doesn't exist

Code : &H030A
Meaning/Cause : The object program name is not registered.
Action : Make an object program.

9-10
 [ 3] Program file operating errors

3.11 : Cannot use function

Code : &H030B
Meaning/Cause : Unable to execute or unneeded hierarchy was selected.
Action : ---

3.12 : Cannot overwrite

Code : &H030C Chapter
Meaning/Cause : In "AUTO" mode or "PROGRAM" mode, overwrite of a program
being selected cannot be made by communication with a
9

TROUBLESHOOTING
program of the same name.
Action : 1. Change the mode.
2. Change the program name.

3.13 : Changing data prohibited

Code : &H030D
Meaning/Cause : Data cannot be changed because access level is not at 0.
Action : Set the access level to 0.

3.14 : Cannot use mode

Code : &H030E
Meaning/Cause : Specified mode cannot be changed because access level is set
to level 2 or level 3.
Action : Change the access level to 0 or 1.

3.15 : Illegal password

Code : &H030F
Meaning/Cause : There is a mistake in the password entry.
Action : Enter the correct password.

3.16 : Cannot reset ABS

Code : &H0310
Meaning/Cause : Failed to perform absolute reset or return-to-origin correctly.
Action : 1. Perform absolute reset or return-to-origin again.
2. Replace the robot cable.
3. Replace the controller.

3.17 : Cannot erase current program

Code : &H0311
Meaning/Cause : Currently selected program cannot be deleted.
Action : 1. Cancel deletion of program.
2. Change the specified program.

9-11
 [ 4] Data entr y and edit errors

3.18 : Duplicated Breakpoint

Code : &H0312
Meaning/Cause : Setting of breakpoint was attempted on line already set with
breakpoints.
Action : To set the breakpoint, specify a line where breakpoints have
not yet been set.
Chapter

9 [ 4] Data entry and edit errors

TROUBLESHOOTING

4.1 : Point number error

Code : &H0401
Meaning/Cause : A point number was entered exceeding P9999.
Action : Input a correct point number.

4.2 : Input format error

Code : &H0402
Meaning/Cause : Wrong format was used to enter the data.
Action : Use the correct data format.

4.3 : Undefined pallet

Code : &H0403
Meaning/Cause : Specified pallet is undefined.
Action : 1. Change the specified pallet.
2. Define the pallet.

4.4 : Undefined robot number

Code : &H0404
Meaning/Cause : Specified robot number does not exist.
Action : Enter a correct robot number.

4.5 : Undefined axis number

Code : &H0405
Meaning/Cause : Specified axis number does not exist.
Action : Enter a correct axis number.

[ 5] Robot language syntax (compiling) errors

5.1 : Syntax error

Code : &H0501
Meaning/Cause : Syntax error found in program.
Action : Change to the correct syntax.

9-12
 [ 5] Robot language syntax (compiling) errors

5.2 : Data error

Code : &H0502
Meaning/Cause : Data entered in wrong format.
Action : Input the data in the correct format.

5.3 : Number error

Code : &H0503 Chapter
Meaning/Cause : a. Mistake in the number entry.
b. Expression value is wrong.
9

TROUBLESHOOTING
Action : 1. Change to the correct number.
2. Change to the correct value.

5.4 : Bit number error

Code : &H0504
Meaning/Cause : Specified bit number is not within 0 to 7.
Action : Change to the correct bit number.

5.5 : Port number error

Code : &H0505
Meaning/Cause : a. Port number specified for DO, DI, MO, SI, SO ports is
outside the range 0 to 7, 10 to 17, or 20 to 27.
b. Specified port number for LO, TO is not 0.
c. An output to port 0 or port 1 was set for ports DO, MO, SO.
Action : 1. Change to the correct port number.
2. Change output for ports DO, MO, SO to a port other than
port 0 or port 1.

5.6 : Digit number error

Code : &H0506
Meaning/Cause : a. Binary number has exceeded 8 digits (places).
b. Octal number has exceeded 6 digits (places).
c. Decimal number has exceeded the specified range.
d. Hexadecimal number has exceeded 8 digits (places).
e. Cartesian coordinate point data has more than 3 decimal
places.
Action : 1. Change to the correct number of digits (places).
2. Specify the Cartesian coordinate point data of up to 2
decimal places.

5.7 : Illegal axis name

Code : &H0507
Meaning/Cause : Robot axis name is wrong.
Action : Change to the correct axis name.

9-13
 [ 5] Robot language syntax (compiling) errors

5.8 : Illegal order

Code : &H0508
Meaning/Cause : Wrong bit specified for input/output port.
Action : Change to ascending order starting from right.

5.10 : Too many characters

Chapter Code : &H050A
9 Meaning/Cause : a. Character string was defined in excess of 75 characters.
b. Addition to the character string total exceeds 75 characters.
TROUBLESHOOTING

Action : 1. Change to character string count of 75 characters or less.

2. Change additions to character string to a total of 75
characters or less.

5.12 : Stack overflow

Code : &H050C
Meaning/Cause : a. Parenthesis was used 6 times or continuously in an
expression.
b. Overflow in stack area for compiling/execution.
Action : 1. Reduce parentheses in the expression to 5 times or less.
2. Reduce program size.
3. Reduce nesting of GOSUB statement, CALL statement and
FOR to NEXT statement.
4. Reduce argument of CALL statement. (especially character
variables)

5.13 : Illegal variable

Code : &H050D
Meaning/Cause : A variable other than a global variable was used in SEND/@
READ/@WRITE commands.
Action : Change to a global variable.

5.14 : Type mismatch

Code : &H050E
Meaning/Cause : a. Expression does not match on both sides.
b. Prohibited type constant/variable/expression was used.
Action : 1. Change so that both sides of expression match.
2. Use a correct type of constant/variable/expression.

5.15 : FOR variable error

Code : &H050F
Meaning/Cause : Variable names for NEXT statement and corresponding FOR
statement do not match.
Action : Change so that FOR statement variable names match with
NEXT statement variable names.

9-14
 [ 5] Robot language syntax (compiling) errors

5.16 : WEND without WHILE

Code : &H0510
Meaning/Cause : There is no WHILE statement corresponding to the WEND
statement.
Action : 1. Delete the WEND statement.
2. Add a WHILE statement corresponding to the WEND
statement. Chapter

5.17 : WHILE without WEND

9

TROUBLESHOOTING
Code : &H0511
Meaning/Cause : There is no WEND statement corresponding to WHILE
statement.
Action : 1. Delete the WHILE statement.
2. Add a WEND statement corresponding to the WHILE
statement.

5.18 : NEXT without FOR

Code : &H0512
Meaning/Cause : a. There is no FOR statement corresponding to NEXT statement.
b. NEXT command was executed without executing FOR
command.
Action : 1. Delete the NEXT statement.
2. Add a FOR statement corresponding to the NEXT statement.
3. Confirm execution of FOR command.

5.19 : FOR without NEXT

Code : &H0513
Meaning/Cause : There is no NEXT statement corresponding to FOR statement.
Action : 1. Delete the FOR statement.
2. Add a NEXT statement corresponding to the FOR statement.

5.20 : ENDIF without IF

Code : &H0514
Meaning/Cause : There is no IF statement corresponding to ENDIF statement.
Action : 1. Delete the ENDIF statement.
2. Add an IF statement corresponding to the ENDIF statement.

5.21 : ELSE without IF

Code : &H0515
Meaning/Cause : There is no IF statement corresponding to ELSE statement.
Action : 1. Delete the ELSE statement.
2. Add an IF statement corresponding to the ELSE statement.

9-15
 [ 5] Robot language syntax (compiling) errors

5.22 : IF without ENDIF

Code : &H0516
Meaning/Cause : There is no ENDIF statement corresponding to IF statement.
Action : 1. Delete the IF statement.
2. Add an ENDIF statement corresponding to the IF statement.

Chapter 5.23 : ELSE without ENDIF

9 Code : &H0517
Meaning/Cause : There is no ENDIF statement corresponding to ELSE statement.
TROUBLESHOOTING

Action : 1. Delete the ELSE statement.

2. Add an ENDIF statement corresponding to the ELSE
statement.

5.24 : END SUB without SUB

Code : &H0518
Meaning/Cause : a. There is no SUB statement corresponding to END SUB
statement.
b. END SUB command was executed without SUB command.
Action : 1. Delete the END SUB statement.
2. Add a SUB statement corresponding to the END SUB
statement.
3. Confirm execution of SUB command.

5.25 : SUB without END SUB

Code : &H0519
Meaning/Cause : There is no END SUB statement corresponding to SUB
statement.
Action : 1. Delete the SUB statement.
2. Add an END SUB statement corresponding to the SUB
statement.

5.26 : Duplicated variable

Code : &H051A
Meaning/Cause : Two or more array variables were defined for the same name.
Action : Delete a definition statement for the array variables with the
same name.

5.27 : Duplicated identifier

Code : &H051B
Meaning/Cause : Two or more identifiers were defined for the same name.
Action : Define another identifier.

9-16
 [ 5] Robot language syntax (compiling) errors

5.28 : Duplicated label

Code : &H051C
Meaning/Cause : Two or more of the same labels were defined.
Action : Define another label.

5.29 : Undefined array

Code : &H051D Chapter
Meaning/Cause : Assignment/reference was made for undefined array.
Action : Define the undefined array.
9

TROUBLESHOOTING
5.30 : Undefined identifier
Code : &H051E
Meaning/Cause : An undefined identifier was used.
Action : Define an identifier for undefined identifier.

5.31 : Undefined label

Code : &H051F
Meaning/Cause : Reference made to undefined label.
Action : Set definition for undefined label.

5.32 : Undefined user function

Code : &H0520
Meaning/Cause : Undefined function was called.
Action : Set definition for undefined function.

5.34 : Too many dimensions

Code : &H0522
Meaning/Cause : An array exceeding 3 dimensions was defined.
Action : Change array to within 3 dimensions.

5.35 : Dimension mismatch

Code : &H0523
Meaning/Cause : The number of array dimensions does not match that defined
by the DIM statement.
Action : 1. Make the number of array dimensions match that defined by
the DIM statement.
2. Make the number of array dimensions match the DIM
statement.

5.36 : Argument mismatch

Code : &H0524
Meaning/Cause : The number of SUB statement arguments does not correspond
to the CALL statement.
Action : Make the number of SUB statements correspond to the CALL
statement.

9-17
 [ 5] Robot language syntax (compiling) errors

5.37 : Specification mismatch

Code : &H0525
Meaning/Cause : Cannot execute command under present robot specifications.
Action : Change command for execution.

5.38 : Illegal option

Chapter Code : &H0526
9 Meaning/Cause : Error is present in command option.
Action : Change to a correct option.
TROUBLESHOOTING

5.39 : Illegal identifier

Code : &H0527
Meaning/Cause : Reserved word was used as an identifier.
Action : Change to an identifier not used as a reserved word. Refer to
the Reserved Word List.

5.40 : Illegal command in procedure

Code : &H0528
Meaning/Cause : Cannot execute command within procedure (from SUB to END
SUB statements).
Action : Delete command that cannot be executed within procedure.

5.41 : Illegal command outside proce.

Code : &H0529
Meaning/Cause : Command cannot be executed outside of procedure (between
SUB to END SUB statements).
Action : Delete command that cannot be executed outside of procedure.

5.42 : Illegal command inside IF

Code : &H052A
Meaning/Cause : Cannot execute command between IF to ENDIF
statements.(Command can be executed for one IF statement
line.)
Action : Delete command that cannot be executed between IF to ENDIF
statements.

5.43 : Illegal direct

Code : &H052B
Meaning/Cause : Independent execution of command is impossible.
Action : 1. Change execution according to program.
2. Change it to a command that can be executed independently.

9-18
 [ 5] Robot language syntax (compiling) errors

5.44 : Cannot use external label

Code : &H052C
Meaning/Cause : Command cannot use an external label.
Action : 1. Change to an internal label.
2. Change execution command.

5.45 : Illegal program name Chapter

Code : &H052D
Meaning/Cause : a. When transmitting a program file by SEND command, the
9

TROUBLESHOOTING
NAME statement was not defined on beginning line of the
program data.
b. Characters other than alphanumeric and underscore ( _ )
were used in the program name.
c. Program name has exceeded 8 characters.
Action : 1. Define NAME statement on beginning line of program data.
2. Use only alphanumeric and underscore ( _ ) characters in
the program name.
3. Use 8 characters or less in the program name.

5.46 : Too many identifiers

Code : &H052E
Meaning/Cause : Number of identifiers exceeded 500.
Action : Ensure the number of identifiers is within 500 items.

5.47 : CASE without SELECT

Code : &H052F
Meaning/Cause : There is no SELECT statement corresponding to CASE statement.
Action : 1. Delete the CASE statement.
2. Add a SELECT statement corresponding to the CASE statement.

5.48 : END SELECT without SELECT

Code : &H0530
Meaning/Cause : There is no SELECT statement corresponding to END SELECT
statement.
Action : 1. Delete the END SELECT statement.
2. Add a SELECT statement corresponding to the END SELECT
statement.

5.49 : SELECT without END SELECT

Code : &H0531
Meaning/Cause : There is no END SELECT statement corresponding to SELECT
statement.
Action : 1. Delete the SELECT statement.
2. Add an END SELECT statement corresponding to the SELECT
statement.

9-19
 [ 5] Robot language syntax (compiling) errors

5.50 : CASE without END SELECT

Code : &H0532
Meaning/Cause : There is no END SELECT statement corresponding to CASE
statement.
Action : 1. Delete the CASE statement.
2. Add an END SELECT statement corresponding to the CASE
Chapter statement.

9 5.51 : Illegal command line

TROUBLESHOOTING

Code : &H0533
Meaning/Cause : Cannot execute command statement between SELECT and
CASE statements.
Action : Delete the command statement between SELECT and CASE
statements.

5.52 : Command doesn't exist

Code : &H0534
Meaning/Cause : Line does not have a command statement.
Action : 1. Add a command statement.
2. Delete the line that does not have a command statement.

5.53 : Compile failure

Code : &H0535
Meaning/Cause : Error occurred in software
Action : Report details of error to our company.

5.54 : ELSEIF without IF

Code : &H0536
Meaning/Cause : There is no IF statement corresponding to ELSEIF statement.
Action : 1. Delete the ELSEIF statement.
2. Add an IF statement corresponding to the ELSEIF statement.

5.55 : ELSEIF without ENDIF

Code : &H0537
Meaning/Cause : There is no ENDIF statement corresponding to ELSEIF
statement.
Action : 1. Delete the ELSEIF statement.
2. Add an ENDIF statement corresponding to the ELSEIF
statement.

9-20
 [ 6] Robot language execution errors

[ 6] Robot language execution errors

6.1 : Illegal command

Code : &H0601
Meaning/Cause : Execution of a non-supported or non-executable command was
attempted.
Chapter
Action : Change to a command that can be executed.
9
6.2 : Illegal function call

TROUBLESHOOTING
Code : &H0602
Meaning/Cause : The expression "ON <expression> GOTO"/"ON <expression>
GOSUB" command was a negative value.
Action : Change <expression> to a positive value.

6.3 : Division by 0
Code : &H0603
Meaning/Cause : A command to divide by 0 (÷ 0) was attempted.
Action : Change from the divide by 0 command.

6.4 : Point doesn't exist

Code : &H0604
Meaning/Cause : Assignment/movement/reference to an undefined point was
attempted.
Action : Define the point.

6.5 : Coordinate type error

Code : &H0605
Meaning/Cause : a. Arithmetic operations of joint coordinate point data and
Cartesian coordinate point data were attempted.
b. Joint coordinate system and Cartesian coordinate system
were mixed together within the MOVE C, command point
data.
c. Point data in PMOVE command was not specified in
Cartesian coordinates.
Action : 1. Change to same coordinate system.
2. Change to Cartesian coordinate system.

6.6 : Subscript out of range

Code : &H0606
Meaning/Cause : A subscript of an array variable has exceeded the range defined
in DIM statement.
Action : Change the subscript of array variable to within the defined
range.

9-21
 [ 6] Robot language execution errors

6.7 : RETURN without GOSUB

Code : &H0607
Meaning/Cause : RETURN command was executed without executing the
GOSUB command.
Action : Confirm execution of GOSUB command.

Chapter 6.8 : END SUB without CALL

9 Code : &H0608
Meaning/Cause : END SUB command was executed without executing CALL
TROUBLESHOOTING

command.
Action : Confirm execution of SUB command.

6.9 : EXIT SUB without CALL

Code : &H0609
Meaning/Cause : EXIT SUB command was executed without executing CALL
command.
Action : Confirm execution of SUB command.

6.10 : SUSPEND without START

Code : &H060A
Meaning/Cause : SUSPEND command was executed for a task not executed by
START command.
Action : Confirm execution of START command.

6.11 : CUT without START

Code : &H060B
Meaning/Cause : CUT command was executed for a task not executed by START
command.
Action : Confirm execution of START command.

6.12 : RESTART without START

Code : &H060C
Meaning/Cause : RESTART command was executed for a task not executed by
START command.
Action : Confirm execution of START command.

6.13 : RESTART without SUSPEND

Code : &H060D
Meaning/Cause : RESTART command was executed for a task not executed by
SUSPEND command.
Action : Confirm execution of SUSPEND command.

9-22
 [ 6] Robot language execution errors

6.14 : Task number error

Code : &H060E
Meaning/Cause : a. Task number is outside the range 2 to 8.
b. START, CUT, SUSPEND or RESTART command was executed
for task 1 (main task).
c. START, CUT, SUSPEND or RESTART command was executed
for its own task. Chapter
Action : 1. Change to a correct task number.
2. Delete task command for task 1.
9

TROUBLESHOOTING
3. Delete command for its own task.

6.15 : Task running

Code : &H060F
Meaning/Cause : START command was executed for a task currently in
operation.
Action : Delete START command.

6.16 : Task suspending

Code : &H0610
Meaning/Cause : START or SUSPEND command was executed for a task in pause
(suspend) condition.
Action : Delete START or SUSPEND command.

6.17 : Illegal command in error routine

Code : &H0611
Meaning/Cause : Command which could not be executed was attempted within
an error processing routine.
Action : Delete the command which could not be executed.

6.18 : EXIT FOR without FOR

Code : &H0612
Meaning/Cause : EXIT FOR command was executed without executing FOR
command.
Action : Confirm execution of FOR command.

6.19 : SUB without CALL

Code : &H0613
Meaning/Cause : SUB command was executed without executing CALL
command.
Action : Confirm execution of CALL command.

9-23
 [ 6] Robot language execution errors

6.20 : Not execute CALL

Code : &H0614
Meaning/Cause : CALL command was not executed.
Action : Confirm execution of CALL command.

6.21 : Same point exists

Chapter Code : &H0615
9 Meaning/Cause : a. Same points exist for 1 of 3 points of an MOVE C command.
b. Same points are consecutively on the path of PATH motion.
TROUBLESHOOTING

Action : 1. Change the MOVE C command to 3 different points.

2. Make changes so that the same points are not consecutively
on the path of PATH motion

6.22 : 3 points on line

Code : &H0616
Meaning/Cause : Three points of an MOVE C command were placed on a
straight line.
Action : Change the 3 different points of the MOVE C command so they
are not on the same straight line.

6.23 : Circular arc radius too small

Code : &H0617
Meaning/Cause : MOVE C command radius is less than 1mm.
Action : Change MOVE C command to 1mm or more for circular arc radius.

6.24 : Circular arc radius too large

Code : &H0618
Meaning/Cause : MOVE C command radius exceeded 5000mm (5 meters).
Action : Change MOVE C command to within 5000mm (5 meters) for
circular arc radius.

6.25 : Too low speed

Code : &H0619
Meaning/Cause : Specified speed was too low so movement time exceeded
300 seconds. Maximum movement time is 300 seconds.
Action : Increase the specified speed.

6.26 : No sufficient memory for OUT

Code : &H061A
Meaning/Cause : Failed to run an OUT command due to insufficient memory
caused by multiple OUT commands that were run in
succession.
Action : Check the number of OUT commands. The maximum number
of OUT commands that can be run in parallel is 16.

9-24
 [ 6] Robot language execution errors

6.27 : PATH without SET

Code : &H061B
Meaning/Cause : Any of PATH L, PATH C and PATH END was executed without
executing PATH SET.
Action : First execute PATH SET when setting a path.

6.28 : PATH without END Chapter

Code : &H061C
Meaning/Cause : PATH START was executed without executing PATH END.
9

TROUBLESHOOTING
Action : Execute PATH END to end the path setting and then execute
PATH START.

6.29 : No PATH data

Code : &H061D
Meaning/Cause : No path is set for PATH motion.
Action : Set a path with PATH L and PATH C. The previously set path
will be lost in the following cases:
• When PATH SET is executed.
• When program is changed.
• When program is reset.
• When controller power is turned off.

6.30 : Too many PATH data

Code : &H061E
Meaning/Cause : The number of PATH motion paths has exceeded 300.
Action : Reduce the number of PATH motion paths to 300 or less in
total of straight lines and circular arcs.

6.31 : Not PATH start position

Code : &H061F
Meaning/Cause : Robot's current position is not the start position of PATH motion.
Action : Move the robot to the start position specified with PATH SET
and then execute PATH START.

6.32 : PATH execute error

Code : &H0620
Meaning/Cause : Cannot execute PATH motion.
a. Acceleration zone distance is too short.
b. Speed is too high in the position where the direction changes.
Action : 1. Reduce the speed setting.
2. Lengthen the straight line or circular arc distance containing
acceleration/deceleration.
3. Make setting so that the direction at the connection point of
straight lines does not change greatly.

9-25
 [ 9] Memor y errors

6.34 : MARK method is not allowed

Code : &H0622
Meaning/Cause : Return-to-origin was attempted with an ORIGIN statement
or dedicated input while the return-to-origin method for an
incremental mode axis or semi-absolute mode axis is set to
"Mark".
Chapter Action : Return-to-origin on the incremental mode axis or semi-absolute

9 mode axis cannot be performed by the mark method. Change

the return-to-origin method.
TROUBLESHOOTING

6.35 : Expression value error

Code : &H0623
Meaning/Cause : The expression value is other than -1 and 0 even though
conditional expression is a numeric expression.
Action : 1. Set the expression value correctly.
2. Change the "TRUE condition" parameter setting.

[ 9] Memory errors

9.1 : Program destroyed

Code : &H0901
Meaning/Cause : a. Part or all of the program data has been destroyed
b. This error message is sometimes issued due to a major error
or the power being turned off during rewrite of program
data.
Action : 1. Delete that program during selection.
2. Initialize the program data.

9.2 : Point data destroyed

Code : &H0902
Meaning/Cause : a. Part or all of the point data has been destroyed
b. This error message is sometimes issued due to a major error
or the power being turned off during rewrite of point data.
Action : Initialize the point data.

9.3 : Memory destroyed

Code : &H0903
Meaning/Cause : Error or malfunction occurred in the memory.
Action : Initialize memory.

9.4 : Parameter destroyed

Code : &H0904
Meaning/Cause : Part or all of the parameter data has been destroyed.
Action : Initialize the parameter data.

9-26
 [ 9] Memor y errors

9.5 : Illegal object code

Code : &H0905
Meaning/Cause : An object program has been destroyed.
Action : Compile and make an object program.

9.6 : Shift data destroyed

Code : &H0906 Chapter
Meaning/Cause : Part or all of the shift data has been destroyed.
Action : Initialize the shift data.
9

TROUBLESHOOTING
9.7 : Hand data destroyed
Code : &H0907
Meaning/Cause : Part or all of the hand data has been destroyed.
Action : Initialize the hand data.

9.8 : POS.OUT data destroyed

Code : &H0908
Meaning/Cause : Part or all of the POS.OUT data was destroyed.
Action : Initialize the POS.OUT data.

9.9 : Pallet data destroyed

Code : &H0909
Meaning/Cause : Part or all of the pallet definition data was destroyed.
Action : Initialize the pallet definition data.

9.31 : Memory full

Code : &H091F
Meaning/Cause : No available space in the program/point data area.
Action : Delete unnecessary programs/points.

9.32 : Object memory full

Code : &H0920
Meaning/Cause : Object program size exceeded the upper limit.
Action : Compress the source program size, so that the object program
size is smaller.

9.33 : Sys. generation destroyed

Code : &H0921
Meaning/Cause : Part or all of the system generation data has been destroyed.
Action : Remake the system generation data correctly.

9-27
 [ 9] Memor y errors

9.34 : Sys. generation mismatch

Code : &H0922
Meaning/Cause : Mistake made in specifying the robot type/axis number of
system generation data.
Action : Redo the system generation correctly.

Chapter 9.35 : Program too big

9 Code : &H0923
Meaning/Cause : Source program size exceeded the permissible size.
TROUBLESHOOTING

Action : Compress the source program size.

9.36 : Task data destroyed

Code : &H0924
Meaning/Cause : Part or all of the data used in a task has been destroyed.
Action : Reset the program.

9.37 : Object program destroyed

Code : &H0925
Meaning/Cause : Part or all of an object program has been destroyed.
Action : Make the object program again.

9.38 : Sequence object memory full

Code : &H0926
Meaning/Cause : Sequence object program exceeded its memory capacity.
Action : Compress the source size of sequence program, so that the
object program size is reduced.

9.39 : Sequence object destroyed

Code : &H0927
Meaning/Cause : Part or all of the sequence object program has been destroyed.
Action : Make the sequence object program again.

9.40 : Cannot found sequence object

Code : &H0928
Meaning/Cause : No sequence object program.
Action : Make the sequence object program.

9.41 : Local variable memory full

Code : &H0929
Meaning/Cause : Number of local variables defined within subroutine has
exceeded upper limit.
Action : 1. Reduce number of local variables defined in the subroutine.
2. Use the global variable.

9-28
 [10] System setting or hardware errors

[10] System setting or hardware errors

10.1 : Robot disconnected

Code : &H0A01
Meaning/Cause : Axis control was attempted with "no axis" specified for all axes
of system generation.
Chapter
Action : Re-perform the system generation.
9
10.3 : D.unit disconnected

TROUBLESHOOTING
Code : &H0A03
Meaning/Cause : Manual movement was attempted on the axis that is not
specified.
Action : Do not perform any axis-related operation.

10.6 : DRIVER.unit version mismatch

Code : &H0A06
Meaning/Cause : Driver unit version does not match the CPU unit.
Action : Make sure the CPU unit and driver unit versions match each
other.

10.7 : CPU.unit version mismatch

Code : &H0A07
Meaning/Cause : CPU unit version does not match the CPU.
Action : Make sure the CPU unit and driver unit versions match each
other.

10.8 : Cannot set auxiliary axis

Code : &H0A08
Meaning/Cause : Setting of axis that cannot be set as an auxiliary axis was
attempted.
The following axes cannot be set as an auxiliary axis.
• SCARA type robot axes
• X and Y axes except on MULTI type robots
Action : 1. Do not set an auxiliary axis.
2. Change the axis setting.

10.9 : Cannot set no axis

Code : &H0A09
Meaning/Cause : A no-axis setting was attempted on an axis which cannot
accept it.
The following axes cannot be set to no-axis.
• X and Y axes except on MULTI type robots
Action : 1. Do not make a no-axis setting.
2. Change the axis setting.

9-29
 [10] System setting or hardware errors

10.10 : Cannot change axis

Code : &H0A0A
Meaning/Cause : Changing of an axis whose setting cannot be changed was
attempted.
The following axes cannot be changed.
• X and Y axes on SCARA type robots
Chapter Action : 1. Do not change that axis.

9 2. Change a different axis.

TROUBLESHOOTING

10.13 : Cannot set Dualdrive

Code : &H0A0D
Meaning/Cause : A dual drive setting was attempted on an axis that cannot be
set to dual drive.
Action : 1. Do not set to dual drive.
2. Change the axis setting.

10.14: Undefined parameter found

Code : &H0A0E
Meaning/Cause : a. Undefined, wrong parameter data was written because
controller data from different controller version was used.
b. Parameter name is wrong.
Action : 1. Write the correct parameter data.
2. Enter the parameter name correctly.
3. Set the "Skip undefined parameters" parameter to "VALID".

10.21 : Sys. backup battery low voltage

Code : &H0A15
Meaning/Cause : a. System backup battery voltage is low.
b. System backup battery is disconnected from CPU board.
Action : 1. Replace system backup battery.
2. Connect system backup battery securely to CPU board.
Dedicated output : DO15 (Battery alarm output) turns on when the battery voltage is low.

9-30
 [12] I/O and option board errors

[12] I/O and option board errors

12.1 : Emg.stop on
Code : &H0C01
Meaning/Cause : a. Emergency stop button was pressed.
b. Emergency stop terminals on SAFETY connector are open
Chapter
(emergency stop status).
c. RPB or terminator are not connected to RPB connector. 9
d. SAFETY connector is not connected.

TROUBLESHOOTING
Action : 1. Release the RPB emergency stop button.
2. Close the emergency stop terminals on SAFETY connector.
3. Connect RPB or terminator to RPB connector.
4. Attach the SAFETY connector.
Dedicated output : *3

12.2 : Interlock on
Code : &H0C02
Meaning/Cause : a. Program was executed or moving of axis attempted while
interlock signal was still input.
b. Interlock signal turned ON during execution of program or
axis movement.
c. DC 24V not supplied to SAFETY connector.
d. SAFETY connector is not connected.
Action : 1. Cancel the interlock signal, and execute program or move
axis.
2. Supply DC 24V to SAFETY connector.
3. Connect the SAFETY connector.

12.3 : Arm locked

Code : &H0C03
Meaning/Cause : Movement of an arm was attempted while the arm lock variable
LO was ON.
Action : Clear the arm lock variable LO.

9-31
 [12] I/O and option board errors

12.11 : CC-Link communication error

Code : &H0C0B
Meaning/Cause : a. Error in cable for CC-Link system.
b. Wrong communication setting for CC-Link system.
c. Master station sequencer power is turned off, has stopped
operating or is damaged.
Chapter d. Breakdown in CC-Link compatible unit.

9 Action : 1. Check for a break, misconnection or wiring error in CC-Link

cable.
TROUBLESHOOTING

2. Check the station No. and communication baud rate setting.

3. Check if the master station sequencer is operating correctly.
4. Replace the corresponding CC-Link compatible unit.

12.12 : CC-Link overtime error

Code : &H0C0C
Meaning/Cause : 1. Error in CC-Link system communications due to noise
pickup, etc.
2. Master station sequencer (PLC) power is turned off or has
stopped operating.
Action : 1. Implement countermeasures to protect the CC-Link system
cable and controller from noise.
2. Check if the master station sequencer (PLC) is operating
correctly.

12.16 : DeviceNet link error

Code : &H0C10
Meaning/Cause : a. Error in cable for DeviceNet system.
b. The DeviceNet system's MacID or communication speed
setting is incorrect.
c. No power supplied for communication.
d. The master PLC's power is turned off, has stopped operating,
is not operating correctly or is damaged.
e. Breakdown in DeviceNet compatible unit.
Action : 1. Check for a break, misconnection or wiring error in
DeviceNet cable, and check the specifications (cable length,
etc.)
2. Check the MacID and communication speed settings.
3. Check whether the communication power is supplied.
4. Check whether the master PLC is operating correctly.
5. Replace the DeviceNet compatible unit.

9-32
 [12] I/O and option board errors

12.17 : DeviceNet hardware error

Code : &H0C11
Meaning/Cause : a. Breakdown in DeviceNet compatible unit.
Action : 1. Replace the DeviceNet compatible unit.

12.18 : Incorrect DeviceNet setting

Code : &H0C12 Chapter
Meaning/Cause : a. The MacID or communication speed setting is incorrect.
Action : 1. Check the MacID and communication speed settings.
9

TROUBLESHOOTING
12.19 : DeviceNet link error(Explicit)
Code : &H0C13
Meaning/Cause : a. The DeviceNet board was reset by an Explicit message
request (Reset request to Identity Obj) from the client (master
PLC).
Action :

12.21 : PROFIBUS link error

Code : &H0C15
Meaning/Cause : a. Error in cable for PROFIBUS system.
b. The PROFIBUS system's station address setting is incorrect.
c. The master station PLC power is turned off, or the PLC has
stopped operating or is not operating correctly, or is broken.
d. Breakdown in PROFIBUS compatible unit.
Action : 1. Check for a break, misconnection or wiring error in
PROFIBUS cable, and check the specifications (cable length,
etc.)
2. Check the station address settings.
3. Check whether the master station PLC is operating correctly.
4. Check the hardware configuration settings.
5. Replace the PROFIBUS compatible unit.

12.22 : PROFIBUS hardware error

Code : &H0C16
Meaning/Cause : a. Breakdown in PROFIBUS compatible unit.
Action : 1. Replace the PROFIBUS compatible unit.

9-33
 [12] I/O and option board errors

12.31 : DIO DC24V power low

Code : &H0C1F
Meaning/Cause : a. DC 24V not being supplied to the DIO option board installed
in the option slot.
b. Drop in DC 24V supply to the DIO option board.
Action : 1. Supply DC 24V to the DIO option board.
Chapter 2. Check for short, open-circuit fault or wiring error in the

9 connector.
3. Check if the DC 24V supply capacity is sufficient.
TROUBLESHOOTING

12.34 : POS.OUT Point not exist

Code : &H0C22
Meaning/Cause : Comparison point data does not exist.
Action : Set comparison point data correctly.

12.35 : POS.OUT Point unit error

Code : &H0C23
Meaning/Cause : Comparison points 1 and 2 do not use the same unit system.
Action : Change them to the same unit system.

12.41 : EtherNet link error

Code : &H0C29
Meaning/Cause : TELENET is disconnected.
a. The cable is broken or disconnected.
b. Communicating with a client was off for more than the time
specified by the "7. timeout [min]" parameter for EtherNet.
c. Logout was attempted while the "11. logout" parameter for
EtherNet is set to "STOP".
d. No response for a keep-alive packet from the client.
Action : 1. Connect the cable or connector securely.
2. Communicate with a client at least once within the time
specified by the "7. timeout [min]" parameter, or set the
parameter to "0" to disable the timeout function.
3. Set the "11. logout" parameter to "CONT." to avoid errors
during logout.
4. Check whether the client is responding to the keep-alive
packet, or set the "12. keep-alive [sec]" parameter to "0" to
stop the keep-alive packet from being sent out.

12.42 : EtherNet hardware error

Code : &H0C2A
Meaning/Cause : a. Breakdown in EtherNet compatible unit.
Action : 1. Replace the EtherNet compatible unit.

9-34
 [13] RPB errors

12.70 : Incorrect option setting

Code : &H0C46
Meaning/Cause : a. Error in DIP switch setting on option unit.
b. Mismatched option units have been installed.
c. Cannot identify the installed option unit.
Action : 1. Check the DIP switch settings on the option unit.
2. Install the correct unit. Chapter
3. Replace the option unit.
4. Replace the controller.
9

TROUBLESHOOTING
12.75 : Illegal remote command
Code : &H0C4B
Meaning/Cause : a. The remote command or command data is incorrect.
Action : 1. Check the remote command or command data.

[13] RPB errors

13.1 : RPB communication error

Code : &H0D01
Meaning/Cause : Error occurred in communication with RPB.
Action : 1. Install the RPB correctly.
2. Replace the RPB.
3. Replace the controller.

13.2 : RPB parity error

Code : &H0D02
Meaning/Cause : Abnormal data was entered in communication with RPB.
Action : 1. Install the RPB correctly.
2. Install the RPB in a good operating environment.
(Do not install near sources of noise.)

13.11 : RPB version mismatch

Code : &H0D0B
Meaning/Cause : RPB version does not match the controller, and connection
refused.
Action : Use an RPB version that matches the controller.

13.12 : RPB system error

Code : &H0D0C
Meaning/Cause : Error occurred in communication with RPB.
Action : 1. Replace the RPB.
2. Replace the controller.

9-35
 [14] RS-232C communication errors

[14] RS-232C communication errors

14.1 : Communication error

Code : &H0E01
Meaning/Cause : a. During external communication via the RS-232C, an error
occurred.
Chapter
b. An overrun error or framing error occurred via the RS-232C.
9 c. Power supply for external device turned on or off after
connecting communication cable with the external device.
TROUBLESHOOTING

Action : 1. Change to a correct system environment for RS-232C. (Do

not install near sources of noise.)
2. Replace the communications cable.
3. Check the communication parameter settings.

14.2 : Parity error

Code : &H0E02
Meaning/Cause : During external communication via the RS-232C, an error
occurred.
Action : Check the communication parameter settings.

14.11 : Receive buffer overflow

Code : &H0E0B
Meaning/Cause : Communication receive buffer exceeded permissible capacity.
Action : 1. Delay the communication parameter speed (baud rate).
2. Change communication parameter so that flow control is
enabled.

14.12 : CMU is not ready

Code : &H0E0C
Meaning/Cause : Could not sent data from controller because receive prohibit
status of other party continued for more than 10 seconds.
Action : 1. Replace the communications cable.
2. Check that flow control is normal in software processing for
other party.

14.20 : Too many Command characters

Code : &H0E14
Meaning/Cause : 1. Off-line command character string in 1 line exceeded 80
letters.
2. Command statement created with a remote command
exceeded 80 letters.
Action : 1. Limit number of characters in 1 line for an off-line command
to 80 letters or less.
2. Check the command data of the remote command.

9-36
 [14] RS-232C communication errors

14.21 : No return code (C/R)

Code : &H0E15
Meaning/Cause : 1. Character string in 1 line exceeded 75 letters.
2. CR code (0Dh) was not added at end of line.
Action : 1. Limit number of characters in 1 line to 75 letters.
2. Add a CR code at the end of a single line.
Chapter
14.22 : No start code (@)
Code : &H0E16
9

TROUBLESHOOTING
Meaning/Cause : Starting code "@" was not added at beginning of single line in
an on-line command.
Action : Add starting code "@" at the beginning of on-line command.

14.23 : Illegal command,Operating

Code : &H0E17
Meaning/Cause : During data editing, an on-line command was executed.
Action : After completing data edit, execute an on-line command.

14.24 : Illegal command,Running

Code : &H0E18
Meaning/Cause : During program run, a non-executable on-line command was
attempted.
Action : After stopping the program, execute the on-line system
command which could not previously be executed.

14.25 : Illegal command in this mode

Code : &H0E19
Meaning/Cause : Cannot execute the specified online command in the current
mode.
Action : 1. Stop the online command.
2. Change the mode.

14.26 : Illegal command,SERVICE mode

Code : &H0E1A
Meaning/Cause : Unable to execute since operation is in "SERVICE" mode.
Action : 1. Cancel "SERVICE" mode.
2. Change the exclusive control setting so it can be used in
"SERVICE" mode.

14.31 : Illegal port type

Code : &H0E1F
Meaning/Cause : Communication port not specified.
Action : Contact our company with details on this problem.

9-37
 [15] Memor y card errors

[15] Memory card errors

15.1 : Invalid file attribute

Code : &H0F01
Meaning/Cause : a. Directory was accessed.
b. Read/write protected file was accessed.
Chapter
Action : 1. Change to a file which can be accessed.
9 2. Change to a file allowing read/write.
TROUBLESHOOTING

15.2 : Read only file

Code : &H0F02
Meaning/Cause : Deletion of a read-only file on SD memory card was attempted.
Action : Read-only files cannot be deleted.

15.3 : Same file name already exists

Code : &H0F03
Meaning/Cause : The same file name already exists.
Action : File cannot be saved by overwriting the existing file with the
same name. Change the file name to save it or delete the same
name file on the SD memory card.

15.4 : File doesn't exist

Code : &H0F04
Meaning/Cause : Loading of file was attempted but file name does not exist.
Action : Change to a file name that currently exists.

15.5 : Illegal file type

Code : &H0F05
Meaning/Cause : Extension of the specified file is not supported.
Action : Specify the correct extension for file types that can be saved
and loaded.

15.6 : Illegal file name

Code : &H0F06
Meaning/Cause : Name or extension of the specified file is incorrect.
Action : Alphanumeric characters (uppercase) and "_" (underscore) can
only be used in file names and extensions.

15.7 : Directory level over

Code : &H0F07
Meaning/Cause : On the SD memory card, an attempt was made to move to a
subdirectory which exceeds 8 levels of hierarchy below the
root directory.
Action : This controller does not allow handling subdirectories if they
exceed 8 levels of hierarchy below the root directory.

9-38
 [15] Memor y card errors

15.11 : Directory full

Code : &H0F0B
Meaning/Cause : The file storage capacity was exceeded.
Action : 1. Use a new memory card.
2. Change the directory to save.
3. Delete unnecessary files.
Chapter
15.12 : Disk full
Code : &H0F0C
9

TROUBLESHOOTING
Meaning/Cause : Write failed. No space is available on memory card. (File
contents cannot be guaranteed.)
Action : 1. Use a new memory card.
2. Delete unnecessary files.

15.13 : Unformatted media

Code : &H0F0D
Meaning/Cause : a. Memory card was not formatted.
b. Wrong memory card format.
Action : 1. Format correctly.
2. Replace memory card backup battery.

15.14 : Media protected

Code : &H0F0E
Meaning/Cause : Cannot write. Memory card has been set to write protect.
Action : 1. Change to allow writing.
2. Use another memory card.

15.15 : Media type mismatch

Code : &H0F0F
Meaning/Cause : Memory card is unusable.
Action : Replace the memory card.

15.16 : Media data destroyed

Code : &H0F10
Meaning/Cause : All or part of data stored on memory card is damaged.
Action : 1. Format the memory card.
2. Overwrite the damaged portion with new data.
3. Replace the memory card backup battery.
4. Replace the memory card.

15.21 : Cannot find media

Code : &H0F15
Meaning/Cause : Memory card not inserted correctly in slot.
Action : Insert the memory card correctly.

9-39
 [17] Motor control errors

15.23 : Aborted
Code : &H0F17

Meaning/Cause : The key was pressed during reading/writing from or into

memory card, and the operation halted.

Action : ---
Chapter

9 15.24 : Media hardware error

Code : &H0F18
TROUBLESHOOTING

Meaning/Cause : a. Memory card is defective

b. Error occurred in controller.
Action : 1. Replace the memory card.
2. Replace the controller.

15.27 : Data read error

Code : &H0F1B
Meaning/Cause : Failed to load file.
Action : 1. Try to reload the file.
2. Replace the memory card.
3. Replace the controller.

15.28 : Data write error

Code : &H0F1C
Meaning/Cause : Failed to write file.
Action : 1. Try rewriting the file.
2. Replace the memory card.
3. Replace the controller.

15.29 : Timeout error

Code : &H0F1D
Meaning/Cause : Failed to load/write file.
Action : 1. Try to reload/rewrite the file.
2. Replace the memory card.
3. Replace the controller.

[17] Motor control errors

17.1 : System error (DRIVER)

Code : &H1101
Meaning/Cause : Error occurred in software for driver unit.
Action : Contact our company with details of the problem.
Dedicated output : *2

9-40
 [17] Motor control errors

17.2 : Watchdog error (DRIVER)

Code : &H1102
Meaning/Cause : a. Malfunction occurred in driver unit due to external noise.
b. Controller is defective.
Action : 1. Turn the power on again.
2. Replace the controller.
Dedicated output : *2 Chapter

17.3 : Over current

9

TROUBLESHOOTING
Code : &H1103
Meaning/Cause : a. Short in motor cable.
b. Malfunction occurred in motor.
Action : 1. Replace the motor cable.
2. Replace the motor.
Dedicated output : *2

17.4 : Over load

Code : &H1104
Meaning/Cause : a. Robot drive section mechanically locked
b. Motor current exceeded its rated value due to a motor
overload.
c. Motor acceleration is excessive.
d. System generation setting is wrong.
e. Motor cable wiring is broken or wiring is incorrect.
f. Electromagnetic brake for holding vertical axis is defective.
g. Wiring is incorrect or disconnected on electromagnetic
brake for holding the vertical axis.
h. SAFETY connector is not used correctly.
Action : 1. Perform robot service and maintenance.
2. Decrease load on motor.
3. Lower the motor acceleration.
4. Redo the system generation.
5. Wire the motor cable correctly
6. Replace the motor cable.
7. Replace the magnetic brake for holding the vertical axis.
8. Replace the ROB I/O cable.
9. Do not use DC 24V from SAFETY connector as power source
for external loads.
Dedicated output : *2

9-41
 [17] Motor control errors

17.5 : Over heat

Code : &H1105
Meaning/Cause : Temperature in power module of driver unit exceeded 80 C.
Action : 1. Improve the equipment environment.
2. Check that cooling fan is working correctly.
3. Lower the robot duty cycle and decrease the amount of heat
Chapter generated.

9 4. Replace the controller

Dedicated output : *2
TROUBLESHOOTING

17.6 : P.E.counter overflow

Code : &H1106
Meaning/Cause : a. Robot drive section mechanically locked.
b. Motor acceleration is excessive.
c. System generation setting is wrong.
d. Motor cable wiring is broken or wiring is incorrect.
e. Electromagnetic brake for holding vertical axis is defective.
f. Wiring is incorrect or disconnected on electromagnetic
brake for holding the vertical axis.
g. SAFETY connector is not used correctly.
Action : 1. Perform robot service and maintenance.
2. Lower the motor acceleration.
3. Redo the system generation.
4. Wire the motor cable correctly
5. Replace the motor cable.
6. Replace the magnetic brake for holding the vertical axis.
7. Replace the ROB I/O cable.
8. Do not use DC 24V from SAFETY connector as power source
for driving external loads.
Dedicated output : *2

17.9 : Command error

Code : &H1109
Meaning/Cause : Driver cannot identify commands from CPU.
Action : Check the versions of the CPU unit and driver unit.
Dedicated output : *2

17.10 : Feedback error 1

Code : &H110A
Meaning/Cause : Wiring of motor cable or ROB I/O cable is incorrect.
Action : 1. Rewire the motor cable or ROB I/O cable correctly.
2. Replace the motor cable or ROB I/O cable.
Dedicated output : *2

9-42
 [17] Motor control errors

17.11 : Feedback error 2

Code : &H110B
Meaning/Cause : Motor cable is broken.
Action : Replace the motor cable or encoder cable.
Dedicated output : *2

17.16 : Over velocity 1 Chapter

Code : &H1110
Meaning/Cause : Axis movement speed exceeded the limit during linear
9

TROUBLESHOOTING
interpolation, circular interpolation or manual orthogonal
movement.
Action : 1. Reduce the acceleration.
2. Reduce the speed.
Dedicated output : *2

17.17 : Mode error

Code : &H1111
Meaning/Cause : Driver unit is in abnormal control mode status.
Action : Contact our company with details on the problem.
Dedicated output : *2

17.18 : DPRAM data error

Code : &H1112
Meaning/Cause : Two tries at loading the dual port RAM failed.
Action : Contact our company with details on the problem.
Dedicated output : *2

17.19 : Coord. value error

Code : &H1113
Meaning/Cause : Error occurred during linear interpolation, circular interpolation
or manual orthogonal movement.
Action : Contact our company with details on the problem.
Dedicated output : *2

17.20 : Motor type error

Code : &H1114
Meaning/Cause : A motor type unidentifiable by drive unit was selected.
Action : 1. Redo the system generation.
2. Replace the controller.

9-43
 [17] Motor control errors

17.21 : Bad origin sensor

Code : &H1115
Meaning/Cause : a. Origin sensor is defective.
b. Origin sensor wiring is broken.
Action : 1. Replace the origin sensor.
2. Replace the ROB I/O cable.
Chapter

9 17.22 : Bad PZ
Code : &H1116
TROUBLESHOOTING

Meaning/Cause : a. Motor is defective.

b. Resolver signal wire is broken.
Action : 1. Replace the motor.
2. Replace the ROB I/O cable.

17.23 : Torque limit

Code : &H1117
Meaning/Cause : Torque exceeded the limit.
Action : Lower the acceleration.

17.24 : Can not reserve parameter

Code : &H1118
Meaning/Cause : Data for driver unit from the CPU unit was not received by
driver unit.
Action : 1. Turn the power off and then on again.
2. Replace the controller.

17.28 : Dual P.E. counter overflow

Code : &H111C
Meaning/Cause : On a dual-axis drive, the position differential between the
main axis and sub axis is too large.
a. Friction in the robot drive section is too large.
b. Motor brake wiring is broken.
Action : 1. Check the drive sections for assembled condition and
lubrication to ensure smooth movement.
2. Check that the motor brake works properly.

17.30 : Bad position

Code : &H111E
Meaning/Cause : Cannot perform positioning.
Action : 1. Turn the power off and then on again.
2. Replace the controller.
Dedicated output : *2

9-44
 [17] Motor control errors

17.31 : Servo off

Code : &H111F
Meaning/Cause : Movement command was attempted in servo OFF state.
Action : Change status to servo ON.

17.33 : Busy now

Code : &H1121 Chapter
Meaning/Cause : a. Servo-Off command was attempted while the driver was
stopped.
9

TROUBLESHOOTING
b. Return-to-origin command was attempted before manual
movement was complete.
Action : 1. Turn off the power to the controller and then turn it back on.
2. Wait until the command has finished.
Dedicated output : *2

17.34 : Servo on failed

Code : &H1122
Meaning/Cause : a. Servo-ON was attempted for each axis while motor power
was off.
b. Servo-ON processing failed because the drive unit had been
stopped.
Action : 1. First turn on the motor power if servo-ON for each axis was
attempted.
2. Turn the power off and then on again.

17.35 : Axis weight over

Code : &H1123
Meaning/Cause : The weight (sum of work weight + axis weight) on a particular
robot axis exceeded the maximum payload of that axis.
Action : 1. Redo the system generation.
2. Select the axis weight parameter to a correct value.

17.39 : Servo off failed

Code : &H1127
Meaning/Cause : Servo-OFF processing failed because the drive unit had been
stopped.
Action : Turn the power off and then on again.
Dedicated output : *2

17.40 : Torque mode now

Code : &H1128
Meaning/Cause : Manual movement attempted while in torque mode.
Action : Cancel the torque mode.

9-45
 [17] Motor control errors

17.73 : Resolver wire breakage

Code : &H1149
Meaning/Cause : a. Resolver signal wire is broken.
b. Motor malfunction occurred.
c. Controller malfunction occurred.
Action : 1. Replace the ROB I/O cable.
Chapter 2. Replace the motor.

9 3. Replace the controller.

TROUBLESHOOTING

17.78 : Power module error

Code : &H114E
Meaning/Cause : a. Power module overheated.
b. Power module/motor drew excessive current.
Action : Lighten the load on the robot.

17.82 : CS read error

Code : &H1152
Meaning/Cause : Readout check of resolver electrical angle information failed
twice
Action : 1. Perform return-to-origin.
2. Replace the motor.
3. Replace the controller.

17.90 : DRIVE2 module type error

Code : &H115A
Meaning/Cause : Motor specifications do not match current sensor specifications.
Action : 1. Replace the controller.
2. Redo the system generation.

17.99 : Pole Search Error

Code : &H1163
Meaning/Cause : Failed to detect the motor magnetic pole when the servo was
turned on.
a. Servo wire is broken or misconnected.
b. Position sensor cable is miswired.
c. Axis parameter setting related to motor control is wrong.
Action : 1. Correct the motor wiring.
2. Check the position sensor cable wiring.
3. Correct the parameter setting.

9-46
 [21] Major software errors

[21] Major software errors

21.1 : System error (JOG)

Code : &H1501
Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.
Chapter
21.2 : System error (srvmod)
Code : &H1502
9

TROUBLESHOOTING
Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.

21.3 : System error (TaskID)

Code : &H1503
Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.

21.4 : System error (drcom)

Code : &H1504
Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.

21.5 : System error (drmod)

Code : &H1505
Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.

21.6 : System error (Gen.Data)

Code : &H1506
Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.

21.10 : Watchdog error (CPU)

Code : &H150A
Meaning/Cause : a. CPU malfunctioned due to external noise.
b. Controller is defective.
Action : 1. Turn the power off and then on again.
2. Replace the controller.
Dedicated output : *1

9-47
 [22] Major hardware errors

21.11 : System error (EmgHalt)

Code : &H150B
Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.

21.12 : System error (RTOS)

Chapter Code : &H150C
9 Meaning/Cause : Software error occurred.
Action : Contact our company with details of this problem.
TROUBLESHOOTING

21.13 : System error (CRFPOS)

Code : &H150D
Meaning/Cause : 1. Current position of driver does not match the instructed
position.
Action : 1. Replace the driver.
2. Replace the controller.

21.14 : DPRAM error (PTP data)

Code : &H150E
Meaning/Cause : 1. Failed to write PTP command data into driver.
Action : 1. Replace the driver.
2. Replace the controller.

21.41 : System error (EXCEPTION)

Code : &H1529
Meaning/Cause : a. Software error occurred.
Action : 1. Contact our company with details of this problem.

[22] Major hardware errors

22.1 : AC power low

Code : &H1601
Meaning/Cause : a. AC supply voltage dropped below 85% of rated voltage.
b. Power source has insufficient capacity.
Action : 1. Check the AC supply voltage
2. Check if supply voltage drops during robot operation.
3. Lower the robot duty cycle.
Dedicated output : *1
Caution : This error always occurs when the power is cut off.

9-48
 [22] Major hardware errors

22.3 : DC24V power low

Code : &H1603
Meaning/Cause : a. DC 24V power supply malfunctioned and the voltage
dropped.
b. Electromagnetic brake for vertical axis is defective.
c. Wiring for electromagnetic brake of vertical axis is wrong.
d. Short in DC 24V for safety connector. Chapter
Action : 1. Replace the controller.
2. Replace the vertical axis electromagnetic brake.
9

TROUBLESHOOTING
3. Replace the ROB I/O cable.
4. Check the SAFETY connector wiring.
Dedicated output : *1

22.7 : Main power low

Code : &H1607
Meaning/Cause : Main power voltage dropped when the servo was turned on or
during servo-on.
Action : Check whether main power is input.

22.9 : Abnormal over voltage

Code : &H1609
Meaning/Cause : a. Output voltage for motor power supply exceeded 420 volts.
b. Regenerative unit not connected to controller.
c. Regenerative unit safety device triggered due to temperature
rise (120°C or more) in regeneration damping resistor.
d. Cable connecting regenerative unit and controller is
defective.
e. Regenerative unit is defective.
f. Safety connector is used incorrectly.
Action : 1. Check the power supply voltage.
2. Connect the regenerative unit.
3. Lower the robot operating duty.
4. Replace the RGEN cable.
5. Replace the regenerative unit.
6. Do not supply DC 24V to SAFETY connector from external
source.

9-49
 [22] Major hardware errors

22.10 : Abnormal drop in voltage

Code : &H160A
Meaning/Cause : a. Output voltage for motor power supply dropped below 140V.
b. Power supply has insufficient capacity.
c. Vertical axis electromagnetic brake is defective.
d. SAFETY connector is used incorrectly.
Chapter Action : 1. Check the power supply voltage.

9 2. Check if supply voltage drops during robot operation.

3. Lower the robot duty cycle.
TROUBLESHOOTING

4. Replace the vertical axis electromagnetic brake.

5. Do not supply DC 24V to SAFETY connector from external
source.
6. Do not use DC 24V from SAFETY connector as power source
for driving external loads.

22.12 : Abnormal temperature

Code : &H160C
Meaning/Cause : Controller internal temperature rose to 60°C or more.
Action : 1. Improve the operating environment.
2. Check if the cooling fan is operating correctly.
3. Replace the controller.
Dedicated output : *1

22.13 : Bus interface overtime

Code : &H160D
Meaning/Cause : Could not acquire access rights to dual port RAM.
Action : Replace the controller.
Dedicated output : *1

22.14 : Abnormal DRIVER unit error

Code : &H160E
Meaning/Cause : Error occurred in hardware.
Action : Contact our company with details of the problem.
Dedicated output : *1

22.18 : RGEN overheat

Code : &H1612
Meaning/Cause : Regenerative unit overheated.
Thermal sensor cable for regenerative unit is disconnected.
Action : 1. When a regenerative unit is used, check the thermal sensor
cable connection. If connection is correct, review the robot
operating conditions, etc.
2. When no regenerative unit is used, plug the shorting
connector into the connector for the thermal sensor cable.

9-50
 [22] Major hardware errors

22.20 : DRIVER unit disconnected

Code : &H1614
Meaning/Cause : 1. CPU unit could not recognize driver unit.
2. Dual port RAM is defective.
Action : Replace the controller.
Dedicated output : *1
Chapter
22.30 : DRIVER unit abnormality
Code : &H161E
9

TROUBLESHOOTING
Meaning/Cause : 1. Wrong DIP switch setting on drive unit.
2. Drive unit not operating correctly.
3. Dual port RAM is defective.
Action : Replace the controller.
Dedicated output : *1 or *2

22.40 : PCMCIA interface overtime

Code : &H1628
Meaning/Cause : 1. Failed to acquire access privilege for PCMCIA interface.
Action : 1. Replace the PCMCIA interface driver.
: 2. Replace the controller.
Dedicated output : *1

22.41 : OPT.1 interface overtime

Code : &H1629
Meaning/Cause : 1. Failed to acquire access privilege for interface with option
board connected to option slot 1.
Action : 1. Replace the option board connected to option slot 1.
: 2. Replace the controller.
Dedicated output : *1

22.42 : OPT.2 interface overtime

Code : &H162A
Meaning/Cause : 1. Failed to acquire access privilege for interface with option
board connected to option slot 2.
Action : 1. Replace the option board connected to option slot 2.
: 2. Replace the controller.
Dedicated output : *1

9-51
 [22] Major hardware errors

22.43 : OPT.3 interface overtime

Code : &H162B
Meaning/Cause : 1. Failed to acquire access privilege for interface with option
board connected to option slot 3.
Action : 1. Replace the option board connected to option slot 3.
: 2. Replace the controller.
Chapter Dedicated output : *1

9 22.44 : OPT.4 interface overtime

TROUBLESHOOTING

Code : &H162C
Meaning/Cause : 1. Failed to acquire access privilege for interface with option
board connected to option slot 4.
Action : 1. Replace the option board connected to option slot 4.
: 2. Replace the controller.
Dedicated output : *1

22.45 : DRIVER interface overtime

Code : &H162D
Meaning/Cause : 1. Failed to acquire access privilege for interface with driver.
Action : 1. Replace the driver.
2. Replace the controller.
Dedicated output : *1

9-52
 1. Error Messages

1.2 RPB Error Messages

When a hardware error or a software error occurs in the RPB, the following messages are
highlighted (shown with reversed background) on the guideline of the lowest line of the
screen.

RPB TRAP!!
Contents : Undefined operation code was executed. Chapter
Cause
Action
: A hardware error occurred.
: Replace the RPB.
9

TROUBLESHOOTING
RPB Receive Error!! (Data Register Full)
Contents : Data receive register is full.
Cause : A hardware error occurred.
Action : Replace the RPB.

RPB Receive Error!! (Over Run Error)

Contents : An overrun occurred while receiving data.
Cause : a. Malfunction occurred due to noise.
b. The cable is broken or disconnected.
c. The connector is not making contact.
Action : 1. Separate equipment away from noise source.
2. Replace the RPB cable.
3. Replace the RPB.

RPB Receive Error!! (Parity Error)

Contents : Parity error occurred during communication.
Cause : a. Malfunction occurred due to noise.
b. The cable is broken or disconnected.
c. The connector is not making contact.
Action : 1. Separate equipment away from noise source.
2. Replace the RPB cable.

RPB Receive Error!! (Framing Error)

Contents : Framing error occurred during communication.
Cause : Malfunction occurred due to noise.
Action : Separate equipment away from noise source.

RPB Receive Error!! (Buffer Overflow)

Contents : Remaining area in receive buffer fell below 1% during
communications.
Cause : a. Large amount of data was sent from the controller.
b. Communication control error.
Action : 1. Replace the RPB.
2. Replace the controller.

9-53
 1. Error Messages

RPB Transmit Error!! (Time Out Error)

Contents : Transmitting to controller is impossible.
Cause : a. The cable is broken or disconnected.
b. No response from controller due to problem in CPU unit.
Action : 1. Replace RPB cable.
2. Replace the RPB.
Chapter 3. Replace the controller.

9 RPB Device Not Ready!! (Time Out Error)

TROUBLESHOOTING

Contents : Cannot control the controller.

Cause : a. The cable is broken or disconnected.
b. Handshake with controller is defective due to problem with
controller.
Action : 1. Replace RPB cable.
2. Replace the RPB.
3. Replace the controller.

RPB RS-422 Error!! (RTS/CTS LINE Error)

Contents : Cannot control the controller.
Cause : a. The cable is broken or disconnected.
b. Controller operation is abnormal.
c. The connector is not making contact.
Action : 1. Replace the RPB cable.
2. Replace the controller.

RPB RS-422 Error!! (DATA LINE Error)

Contents : Data communication with controllers is defective.
Cause : a. The cable is broken or disconnected.
b. The connector is not making contact.
Action : 1. Replace the RPB cable.
2. Replace the controller.

RPB Memory Error!! (DATA Write Error)

Contents : Internal memory is defective.
Cause : Internal memory circuit is defective.
Action : Replace the RPB.

RPB Receive Error!! (Buffer Overflow)

Contents : Remaining capacity of data receive data buffer fell below 1 %.
Cause : a. Massive amount of data was sent from controller.
b. Communication control error.
Action : 1. Replace the RPB.
2. Replace the controller.

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 2. Troubleshooting

2. Troubleshooting

2.1 When trouble occurs

Please contact our company with details of the problem that occurs. Report the following
items in as much detail as possible.
Item Description Chapter
• Controller model name and serial No.
example: RCX221 + regenerative unit
9

TROUBLESHOOTING
• Robot model name + serial No.
What happened
example: YK250X
• Controller version No.
example: V9.00 R1050
• Date of purchase
example: August 2004
When
• How long used
example: Since delivery, about 1 year
• Usage conditions
example: when power is turned on
Under what when creating program
conditions during manual movement
when robot is moved to particular location during
program operation.
• Status on RPB screen
example: Nothing is displayed on screen
Error message appears on screen
• Robot servo status
example: Servo won't turn on
Abnormal sound when robot is moved
Current status is
Sets to origin incomplete.
• RPB operating status
example: Keys won't function
Response after pressing key is slow
Only the emergency stop switch functions
etc.
• How often above problem occurs
How often it example: Always occurs when power is turned on.
happens Occurs at particular line during program operation.
Only occurs once, then does not occur again.

n NOTE
When the RPB is connected, the error message appearing on the screen is a
valuable source of information for troubleshooting.

9-55
 2. Troubleshooting

2.2 Acquiring error information

Error history (log) information is stored inside the robot controller. The following two
methods are available for checking this information.

2.2.1 Acquiring information from the RPB

[Procedure]
Chapter

9 1) Press (DIAGNOS) in "SYSTEM" mode.

TROUBLESHOOTING

2) To check controller error status, press (DIAGNOS).

A maximum of 5 error histories are displayed.

3) To check a particular error history, press (HISTORY).

A maximum of 500 error histories can be checked.

2.2.2 Acquiring information from the RS-232C

[Procedure]
1) Connect the robot controller to the PC with the RS-232C cable.

2) Set the communication conditions.

3) Send "@READ LOG" from the PC to receive the internal error history in the robot
controller.
A maximum of 500 error histories can be checked.

9-56
 2. Troubleshooting

2.3 Troubleshooting checkpoints

1. Installation and power supply
Symptom Possible cause Check items Corrective action
1 Controller won't • Power not supplied. • Check power input • Connect power
turn on even with terminal connection input terminal
power supplied. (L/N/L1/N1/FG). correctly.
• Check power input • Supply rated power
Chapter
terminal voltage supply voltage.
(L/N/L1/N1/FG).
• Check if "RDY" LED 9
on front panel is lit.

TROUBLESHOOTING
• Problem in controller • Replace the
internal power. controller.
2 Controller turns • RPB not connected. • Check RPB • Plug in RPB
on but no RPB connector. connector
display. correctly.
• Wrong RPB • Check how RPB
connection. connector is
inserted.
• RPB malfunctioning. • Replace RPB and • Replace the RPB.
check operation.
• Problem in controller • Replace the
internal power controller.
supply.
3 Controller turns • Now in emergency • Connect the RPB • Release RPB
on but "ERR" stop. and check the error emergency stop
LED on front history. switch.
panel lights up. • Check DI00 • Insert RPB
(Emergency stop connector.
ready signal) on • Connect the
RPB screen. emergency stop
terminal of SAFETY
connector.
• Error of error group • Connect the RPB • Check the axis
No. 17 occurred. and check the error from the error
history. information.
• Check the cause
from the error
information.
• Eliminate the cause
of the error.
• Error of error group • Connect the RPB • Check the cause
No. 21, 22 occurred. and check the error from the error
history. information.
• Eliminate the cause
of the error.

9-57
 2. Troubleshooting

2. Robot operation
Symptom Possible cause Check items Corrective action
1 Controller turns • Interlock signal. • Check the interlock • Connect the
on but can't signal of the interlock signal of
execute program SAFETY I/O the SAFETY I/O
and manual interface connector interface
movement. and also check the connector.
24V power supply • Connect the 24V
Chapter
for connection. power supply.
• Disable interlock
9 • Check DI11
(Interlock input) on
signal with the
parameter.
RPB screen.
TROUBLESHOOTING

• Robot is in • Connect the RPB • Release RPB

emergency stop. and check error. emergency stop
information. switch.
• Check DI00 • Plug in RPB
(Emergency stop connector.
ready signal) on • Connect RPB
RPB screen. emergency stop
terminal of SAFETY
connector.
• Error occurred. • Connect the RPB and • Check the cause
check error info from the error
information.
• Check if "ERR" LED • Eliminate the cause
on front panel is lit. of the error.
2 Abnormal sound • Wrong robot or axis • Connect RPB and • Change to correct
or vibration. type setting. check robot settings robot or axis type
in SYSTEM mode. setting.
• Check if robot and • Make sure robot
controller are and controller are
compatible. compatible.
• Tip weight/ • Check tip weight • Set a correct tip
acceleration settings parameter setting in weight parameter
are incorrect. SYSTEM mode.
• Check "Accel. • Set a correct
Coefficient" "Accel. Coefficient"
parameter setting in parameter.
SYSTEM mode.
• Check AXWGHT/ • Make a correct
ACCEL commands setting in the
in program program language.
language.
• Mechanical problem • Check for • Reinforce the robot
occurred. resonance in robot frame.
frame.
• Check for loose • Tighten the robot
screws on robot cover screws.
cover.
• Check for warping • Remove foreign
or damage on matter if found.
guides or ball
screws.
• Replace if warped
or damaged guides
or ball screws are
found.
• Controller is • Replace with • If operation is
defective. another controller normal use the
and check substitute
operation. controller.

9-58
 2. Troubleshooting

Symptom Possible cause Check items Corrective action

3 Position deviation • Position sensor • Move axis in • Replace motor if
occurred. device is defective. emergency stop count is incorrect.
and check the pulse
• There are 2 count.
main types of • Cable is defective. • Replace cable if
position found to be
deviation. defective.
1.Electrical • Position detection • Check grounding of • Ground the robot
position error due to noise. robot and controller. and controller. Chapter
deviation
2.Mechanical
position
• Check robot
periphery for noise.
• Isolate from noise
sources around 9
robot.

TROUBLESHOOTING
deviation • Check for noise • Isolate from noise
In case 1, if sources around sources around
position robot I/O cable. robot I/O cable.
deviation
occurs, you can • Mechanical error • Check the belt • Adjust to correct
perform return- occurred. tension tension if
to-origin and necessary.
return to • Remove foreign
original matter if found.
position. In • Check for warping • Replace guides or
case 2, you or damage on ball screws if
cannot return guides or ball warping or damage
to original screws. is found.
position. • Controller is • Replace with • If operation is
defective. another controller normal use the
and check substitute
operation. controller.

9-59
 2. Troubleshooting

3. I/O operation
Symptom Possible cause Check items Corrective action
1 Won't operate • No DC24V supply. • Check that DC 24V • Supply DC 24V.
even when is supplied from I/O
dedicated input interface connector
signal is (STD.DIO).
supplied.
• Problem in signal • Check wiring on I/O • Make the correct
connection. interface connector wiring on I/O
Chapter (STD.DIO). interface connector
(STD.DIO).
9 • Error has occurred. • Connect RPB and • Check the cause
check robot settings from the error
TROUBLESHOOTING

in SYSTEM mode. information.

• Check if "ERR" LED • Eliminate the cause
is lit on front of of the error.
controller.
2 No output of • No DC24V supply. • Check that DC 24V • Supply DC 24V.
dedicated output is supplied from I/O
signal. interface connector
(STD.DIO).
• Problem in signal • Check wiring on I/O • Make the correct
connection. interface connector wiring on I/O
(STD.DIO). interface connector
(STD.DIO).
• Error has occurred. • Connect the RPB • Check the cause
and check robot from the error
settings in SYSTEM information.
mode.
• Check if "ERR" LED • Eliminate the cause
is lit on front of of the error.
controller.
3 No output of • No DC24V supply. • Check that DC 24V • Supply DC 24V.
general-purpose is supplied from I/O
I/O signal. interface connector
(STD.DIO).
• Check that DC 24V
is supplied for I/O
interface connector
(OP.DIO).
• Problem in signal • Check wiring on I/O • Make the correct
connection. interface connector wiring on I/O
(STD.DIO). interface connector
(STD.DIO).
• Check wiring on I/O • Make the correct
interface connector wiring on I/O
(OP.DIO). interface connector
(OP.DIO).
• Error in I/O interface • Check the I/O • Make the correct
(OP.DIO) setting. interface (OP.DIO) I/O interface (OP.
setting on the DIP DIO) setting.
switch.

• Error has occurred. • Connect the RPB • Check the cause

and check the error from the error
information. information.
• Check if "ERR" LED • Eliminate the cause
is lit on front of of the error.
controller.

9-60
MEMO
Revision record

Manual version Issue date Description

Ver. 2.06 Dec. 2009 The address and other information were added to the front cover.
Ver. 2.07 Mar. 2010 Addition and correction of explanations in "Chapter 1 Using the
Robot Safely". Addition of explanations on installation location.
Addition and correction of specification table and external view in
"Chapter 8 Specifications". Clerical error corrections, etc.
Ver. 2.08 Aug. 2010 Communication mode parameter was added to Ethernet option
board parameter. Addition of Installing a surge absorber
in Chapter 3 "4. Connecting to the power". Clerical error
corrections, etc.
Ver. 2.09 Jan. 2011 The description regarding "Warranty" was changed. Clerical error
corrections.
Ver. 2.10 Jun. 2011 Addition of new parameters to Other parameters.

User's Manual

Robot Controller
RCX221
Jun. 2011
Ver. 2.10
This manual is based on Ver. 2.10 of Japanese manual.

© YAMAHA MOTOR CO., LTD.

IM Operations
All rights reserved. No part of this publication may be reproduced in
any form without the permission of YAMAHA MOTOR CO., LTD.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible
inaccuracies or omissions. If you find any part unclear in this manual,
please contact YAMAHA or YAMAHA sales representatives.