Yamaha RCX40 Manuals

Manuals and User Guides for Yamaha RCX40. We have 1 Yamaha RCX40 manual available for free PDF download: User Manual

Yamaha RCX40 User Manual

Yamaha RCX40 User Manual (388 pages)

4-AXIS ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 4.22 MB

Table of Contents

Table of Contents

9
Chapter 1 Safety

17
- Safety
  19
- Warranty
  22
- Operating Environment
  23
Chapter 2 System Overview

25
- System Overview
  27
  - Main System Configuration
    27
  - Axis Definition for the RCX40
    29
- Part Names and Functions
  30
  - RCX40 (Maximum Number of Axes: 4 Axes)
    30
- Controller System
  31
  - Basic Configuration
    31
- Optional Devices
  32
  - MPB Programming Device
    32
  - Expansion I/O Board
    32
  - Regenerative Unit
    32
Chapter 3 Installation

33
- Unpacking
  35
  - Packing Box
    35
- Installing the Robot Controller
  36
  - Installation
    36
  - Installation Methods
    37
- Connectors
  39
- Power Connections
  40
- Robot Cable Connections
  43
- Connecting the MPB Programming Unit
  44
- I/O Connections
  45
- Connecting a Host Computer
  46
- Connecting the Absolute Battery
  47
- Connecting the Absolute Battery
  48
- Replacing the Absolute Battery
  49
- Replacing the Absolute Battery
  50
- Connecting a Regenerative Unit
  52
- Precautions for Cable Routing and Installation
  53
- Checking the Robot Controller Operation
  55
  - Cable Connection
    55
  - Emergency Stop Input Signal Connection
    56
  - Operation Check
    56
Chapter 4 Operation

57
- Operation Overview
  61
- The RCX Robot Controller
  62
  - Part Names
    62
  - Main Functions
    62
- MPB Programming Unit
  63
  - Part Names
    63
  - Main Functions
    64
  - Connection to the Robot Controller
    65
- Turning Power on and off
  66
- Operation Keys
  67
  - MPB Screen
    67
  - Operation Key Layout
    68
  - Basic Key Operation
    69
  - Function Keys
    70
  - Control Keys
    72
  - Data Keys
    74
  - Other Keys
    74
- Emergency Stop
  75
  - Emergency Stop Reset
    76
- Mode Configuration
  78
  - Basic Operation Modes
    78
  - Other Operation Modes
    79
  - Mode Hierarchy
    80
  - SERVICE" Mode
    84
  - Operation Device
    84
  - Prohibition of "AUTO" Mode Operation
    84
  - Hold-To-Run Function
    84
  - Limitations on Robot Operating Speed
    84
  - AUTO" Mode
    85
  - Automatic Operation
    88
  - AUTO" Mode
    88
  - Stopping the Program
    89
- Resetting the Program
  90
- Switching Task Display
  92
- Switching the Program
  93
- Changing the Automatic Movement Speed
  94
- Executing the Point Trace
  94
  - PTP Motion Mode
    96
  - ARCH Motion Mode
    98
  - Linear Interpolation Motion Mode
    100
- Direct Command Execution
  102
- BREAK Point
  103
  - Break Point Setting
    103
  - Break Point Deletion
    104
- Next
  105
- Skip
  105
- Step
  105
- PROGRAM" Mode
  106
- Program List Scroll
  107
- Program Editing
  108
  - Cursor Movement
    110
  - Insert/Overwrite Mode Switching
    110
  - Inserting a Line
    111
  - Deleting a Character
    111
  - Deleting a Line
    112
  - User Function Key Display
    112
  - Quitting Program Editing
    113
  - Specifying the Copy/Cut Lines
    113
  - Copying the Selected Lines
    113
  - Cutting the Selected Lines
    114
  - Pasting the Data
    114
  - Backspace
    114
  - Line Jump
    115
  - Searching a Character String
    116
- Directory
  117
  - Cursor Movement
    118
  - Registering a New Program Name
    118
  - Directory Information Display
    119
  - Copying a Program
    120
  - Erasing a Program
    121
  - Renaming a Program
    122
  - Changing the Program Attribute
    123
  - Displaying Object Program Information
    123
  - Creating a Sample Program Automatically
    124
- Compiling
  126
- Line Jump and Character String Search
  127
- Registering User Function Keys
  127
- Resetting an Error in the Selected Program
  130
- MANUAL" Mode
  131
- Manual Movement
  133
- Displaying and Editing Point Data
  135
  - Point Data Input and Editing
    136
    
    Restoring Point Data
    137
  - Point Data Input by Teaching
    138
  - Point Data Input by Direct Teaching
    142
  - Point Jump Display
    142
  - Copying Point Data
    143
  - Erasing Point Data
    144
  - Point Data Trace
    145
  - Point Comment Input and Editing
    146
    
    Point Comment Input and Editing
    147
    
    Point Data Input by Teaching
    147
    
    Jump to a Point Comment
    148
    
    Copying a Point Comment
    149
    
    Erasing Point Comments
    150
    
    Point Comment Search
    151
  - Point Data Error Reset
    152
- Displaying, Editing and Setting Pallet Definitions
  153
- Changing the Manual Movement Speed
  162
- Displaying, Editing and Setting Shift Coordinates
  163
  - Editing Shift Coordinates
    166
    
    Restoring Shift Coordinates
    167
  - Editing the Shift Coordinate Range
    167
    
    Restoring a Shift Coordinate Range
    169
  - Shift Coordinate Setting Method 1
    169
  - Shift Coordinate Setting Method 2
    171
- Displaying, Editing and Setting Hand Definitions
  173
  - Editing Hand Definitions
    179
    
    Restoring Hand Definitions
    180
  - Hand Definition Setting Method 1
    180
- Changing the Display Units
  182
- Absolute Reset
  183
  - Checking Absolute Reset
    184
  - Axis Absolute Reset
    185
  - Absolute Reset on All Axes
    189
- Setting the Standard Coordinates
  193
- Executing the User Function Keys
  202
- SYSTEM" Mode
  203
- Parameters
  205
  - Robot Parameters
    207
  - Axis Parameters
    212
  - Other Parameters
    228
  - Parameters for Option Boards
    234
    
    Option DIO Setting
    235
    
    Serial I/O Setting
    236
- Communication Parameters
  238
- OPTION Parameters
  244
  - Setting the Area Check Output
    245
  - Setting the "SERVICE" Mode
    249
  - Saving the "SERVICE" Mode Parameters
    254
  - SIO Settings
    255
- Initialization
  258
  - Initializing the Parameters
    259
  - Initializing the Memory
    260
  - Initializing the Communication Parameters
    261
  - Clock Setting
    262
  - System Generation
    263
- Self Diagnosis
  264
  - Error History Display
    265
  - Absolute Battery Voltage Display
    266
- Backup Processes
  267
  - Loading Files
    268
  - Saving Files
    269
  - MONITOR" Mode
    270
  - UTILITY" Mode
    272
- Canceling Emergency Stop; Motor Power and Servo On/Off
  273
  - Motor Power and Servo On/Off
    274
- Enabling/Disabling the Sequence Execution Flag
  275
- Changing the Arm Type
  276
- Resetting the Output Ports
  277
  - Changing the Execution Level
    278
- Changing the Execution Level
  279
  - Displaying the Help Message
    280
- Changing the Access Level (Operation Level)
  281
  - Changing the Access Level
    282
Chapter 5 I\/O Interface

283
- I/O Interface Overview
  285
  - Power Supply
    285
  - Connector I/O Signals
    286
  - Connector Pin Numbers
    287
  - Typical I/O Signal Connection
    288
  - Typical Output Signal Connection
    289
    
    Dedicated Outputs
    289
    
    General-Purpose Outputs
    290
  - Dedicated Input Signals
    291
  - Dedicated Output Signals
    293
  - Dedicated I/O Signal Timing Chart
    295
    
    Controller Power ON, Servo on and Emergency Stop
    295
    
    Absolute Reset
    296
    
    Switching to AUTO Mode, Program Reset and Execution
    297
    
    Stopping Due to Program Interlocks
    298
  - General-Purpose I/O Signals
    299
    
    General-Purpose Input Signals
    299
    
    General-Purpose Output Signal
    299
    
    General-Purpose Output Signal Reset (Off)
    299
- Option I/O Interface Overview
  300
  - Power Supply
    301
- ID Settings
  301
  - Connector I/O Signals
    302
  - Connector Pin Numbers
    303
    
    General-Purpose I/O Signals
    304
    
    General-Purpose Input Signals
    304
    
    General-Purpose Output Signals
    304
    
    Typical Input Signal Connection
    304
    
    Typical Output Signal Connection
    304
    
    General-Purpose Output Signal Reset (Off)
    305
  - Ratings
    306
  - Caution Items
    307
Chapter 6 Safety I\/O Interface

309
- Power
  311
- SAFETY I/O Interface Overview
  311
  - Connector Terminal Numbers
    312
  - Emergency Stop Input Signal Connections
    313
  - Dedicated Input Signal Connections
    316
  - Input Signal Description
    317
Chapter 7 Rs-232C Interface

319
- Communication Overview
  321
- Communication Function Overview
  322
- Communication Specifications
  323
  - Connector
    323
  - Transmission Mode and Communication Parameters
    324
  - Communication Flow Control
    325
    
    Flow Control During Receive
    325
    
    Flow Control During Transmit
    325
  - Other Caution Items
    326
  - Character Code Table
    327
- Chapter 8 Specifications
  331
- Controller Basic Specifications
  331
- Controller Basic Specifications
  332
- Robot Controller External View
  333
- MPB Basic Specifications and External View
  334
Chapter 9 Troubleshooting

335
- Error Messages
  337
  - Robot Controller Error Messages
    337
    
    0] Warnings and Messages
    339
    
    1] Warnings (Error History Entry)
    341
    
    2] Robot Operating Area Errors
    341
    
    3] Program File Operating Errors
    344
    
    4] Data Entry and Edit Errors
    346
    
    5] Robot Language Syntax (Compiling) Errors
    347
    
    6] Robot Programming Execution Errors
    354
    
    9] Memory Errors
    358
    
    System Setting or Hardware Errors
    360
    
    I/O and Option Board Errors
    362
    
    MPB Errors
    365
    
    RS-232C Communication Errors
    366
    
    Memory Card Errors
    367
    
    Motor Control Errors
    370
    
    Major Software Errors
    376
    
    Major Hardware Errors
    378
  - MPB Error Messages
    381
- When Trouble Occurs
  383
- Acquiring Error Information
  384
  - Acquiring Information from the MPB
    384
  - Acquiring Information from the RS-232C
    384
- Troubleshooting Checkpoints
  385

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