1-1-1-1 1-1-1-2 Safety precaution for EC directive applicability. 1-2 Applicable directives and standards.. 1-3

1-1-2 1-1-3

Robots subject to CE marking. 1-3 Safety Measures... 1-4
1-1-3-1 1-1-3-2 1-1-3-3 Operating conditions.. 1-4 Safety measures for SCARA type robots.. 1-5 Safety measures for single-axis robots, Cartesian robots and pick-and-place robots. 1-5
Safety precautions during robot operation. 1-5 Safety precautions during maintenance.. 1-5 Precautions for motor overload.. 1-6 Warning labels.. 1-7
WARRANTY.. 1-8 Operating Environment.. 1-10

CHAPTER 1 Safety

Safety Items
It is assumed that the operator has sufficient knowledge of basic industrial procedures not discussed in this manual. Note that certain illustrations and diagrams may not include renditions of safety equipment (guards, etc.) which should be used with your Yamaha robot. Remember:
FOLLOW THE WARNINGS, CAUTIONS AND ADVICE INCLUDED IN THIS MANUAL; TAKE ANY AND ALL PRECAUTIONS REQUIRED BY GOOD JUDGEMENT WHEN USING MECHANICAL EQUIPMENT. FAILURE TO DO SO MAY RESULT IN DAMAGE OR INJURY.
Safety Information in this Manual
Particularly important information is distinguished in this manual by the following pictograms:
A NOTE provides key information to make procedures easier or clearer.

CAUTION

A CAUTION indicates essential information that must be followed to avoid a malfunction or damage to the robot.

WARNING

A WARNING indicates special information that must be followed to avoid injury to the robot operator or service personnel.

CE Marking

This section provides a basic description of how YAMAHA robot series products are compatible with CE marking.

1-1-1 1-1-1-1

Safety Standards Safety precaution for EC directive applicability
The YAMAHA robot series products (robots and controllers) do not fall under the robot systems category. We define the YAMAHA robot series products as equipment to be incorporated (built-in equipment) into your system, and declare that our products conform to the EC directives only within the scope of the built-in equipment. This means that use of any single unit of YAMAHA robot series products is not guaranteed to conform to the EC directives, although a CE marking is affixed to each unit of YAMAHA robot series products. When you ship your finished system to Europe or use it in Europe, you are required to verify that your system conforms to the EC directives. Note : Differences between the YAMAHA robot series products (robots and controllers) and robot systems YAMAHA robot series products (robots and controllers) are components used to assemble a robot system and therefore do not constitute a robot system. This is because YAMAHA robot series products do not include the end effector, equipment, devices or sensors required for the robot to perform its tasks, which are listed in the "Robot System" definition in Clause 3.2.20 of the EN775:1992 standard.

Operating Environment

Operating temperature
The ambient temperature should be maintained within a range of 0 to 40C during operation. This is the range in which continuous operation of the robot controller is guaranteed according to the initial specifications. If the robot controller is installed in a narrow space, 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 faulty operation 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

The controller should be stored in a location having an ambient temperature range from -10 to +65C 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

The ambient humidity of the robot controller should be kept below 35% to 85% RH (no condensation) in order to guarantee continuous operation within the initial specifications. Installing the robot controller inside an air-conditioned housing is recommended when an ambient humidity is higher than 85% or condensation occurs.

Storage humidity

The controller should be stored in a location having an ambient humidity below 95% RH when not being used. If the robot controller is stored in a location with high humidity for an extended period of time, rust may form on the electronic components.

Vibration and shock

Do not apply excessive shocks or constant vibrations to the robot controller. Install the robot controller in a location not subject to vibrations.

Atmosphere (gas etc.)

Do not install the robot controller in locations where conductive dust particles, hydrogen sulfide gas or sulfurous acid gas are present. Such an atmosphere may cause the components to erode. If harmful dust particle occur at the current location, then installing the robot controller in an air-conditioned housing is recommended.

Installation location

Install the robot controller indoors, at a height of less than 1000 meters above sea level.
1 Outline of System.. 2-1
1-1 1-2 Main System Configuration... 2-2 Axis Definition for the QRCX-E.. 2-4
Part Names and Functions.. 2-6
2-1 QRCX-E (Maximum number of axes: 4 axes).. 2-6
The Robot Controller System. 2-7
3-1 3-2 Basic configuration... 2-7 Power supply and emergency stop circuits. 2-8
Description of Optional Equipment. 2-9
4-1 4-2 4-3 MPB-E Programming Device.. 2-9 I/O Extension.. 2-10 3.5-inch FD Drive Unit.. 2-10

3.5-inch FD Drive Unit

A 3.5" FD drive unit can be accommodated into the front panel of the QRCH -E controller. This drive unit is compatible with four modes of the MS-DOS format: 1.44MB, 1.2MB, 720KB, and 640KB. This allows easy backup of the program or loading of the data entered with a personal computer.
1 Crate and Unpacking.. 3-1
1-1 1-2 Crate...3-1 Unpacking... 3-1

2-1 Installation... 3-2

Connectors... 3-3 Power Connections... 3-5
4-1 4-2 4-3 4-4 4-5 AC200V Single Phase Specifications.. 3-5 Power capacity... 3-6 Protective Bonding... 3-6 Power Shutdown... 3-7 Insulation Co-ordination.. 3-7
Robot Cable Connections. 3-8 Connecting the MPB-E Programming Device.. 3-9
6-1 6-2 Connection to the Robot Controller.. 3-9 Connecting an External Emergency Stop Circuit. 3-10

I/O Connections.. 3-12

7-1 I/O Connections.. 3-12

External Circuits.. 3-13

8-1 8-2 8-3 8-4 8-5 8-6 External Circuit Connection.. 3-13 Dedicated I/O Connections to External Circuit.. 3-14 Major Components for External Circuits.. 3-15 External Power Supply Circuit Configuration. 3-16 External Emergency Stop Circuit Configuration. 3-16 Operation Sequence of External Circuit.. 3-18
EMC Countermeasures.. 3-20
10 Connecting a Host Computer.. 3-Connecting the Absolute Battery. 3-Replacing the Absolute Battery. 3-Precautions for Cable Connections.. 3-28

CHAPTER 3 Installation

Crate and Unpacking
The robot controller is high precision equipment and is carefully packed in a cardboard crate to avoid shocks and vibrations. If there is any serious damage or dent to the crate due to transportation, please notify your YAMAHA sales representative without unpacking.

Unpacking

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.

Accessories

QRCX -E

Accessories Standard

STD. DIO connector MPB shorting connector MPB-E programming device MPB-E MPB-E output connector for

Option

connection to external circuit Shorting connector for external circuit OP. DI connector OP. DO connector 1 1

Fig. 3-1-1 Unpacking

The robot manipulator and controller are very heavy. Take sufficient care not to drop them during unpacking as this may damage the equipment or cause bodily injury.
Installing the Robot Controller
When installing, choose a proper place for your robot controller taking into account your system layout, accessibility for maintenance, etc.

Usually, return to origin must be completed before starting AUTO mode. When return to origin is not complete, the message Origin incomplete is displayed. In such a case, refer to 12-9 Absolute Reset in Chapter 4. However, it is possible to execute the program even if return to origin has not been completed. For further information, refer to 15 UTILITY Mode.
In AUTO mode, valid (operable) keys and the sub menu contents are as shown below.
Valid keys Cursor Page key F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12 F13 ROBOT ( LOWER + MODE ) Switches the target group. RESET TASK DIR VEL+ VELPOINT DIRECT BREAK VEL++ VEL- STEP SKIP NEXT Menu The program list scrolls. Switches the page display. The program is reset. The program list display changes according to each task. Changes the present program for execution. Automatic movement speed for the target group increases in steps. (152050100%) Automatic movement speed for the target group decreases in steps. (100502051%) Moves to the specified point number position. Executes the command statement for 1 line of key input. Designates the break point. Increases automatic movement speed for the target group in units of 1%. Decreases automatic movement speed for the target group in units of 1%. Executes 1 line of command statement. Does not execute command statement, advances to next line. Executes a command statement for 1 line. (subroutine executes together.) Function

Automatic Operation

Program commands are executed continuously. Before starting an automatic operation, make sure that return to origin, program debugging, I/O signals connections and point data teaching have already been completed. Automatic operation will function during execution at levels other than level 0 even when return to origin is incomplete.
Regardless of the execution level, some commands such as the robot movement command cannot be executed if return to origin is incomplete. When the execution level 5 or 6 is selected, the program is always executed from the beginning.
[OPERATION] 1) Press the START key in AUTO mode. Command statements are executed in order from the line number where the pointer is displayed. The program list disappears during automatic operation and the message Running is displayed on the message line (the 2nd line). During operation, solid lines of a message line change from 1 line to 2 lines.
AUTO 0.2:Running [T1] 100% <TEST1 >

(NEW) key.

3) The message of Enter program name > appears on the guideline. Input FUNCTION following this message and press the key.
PROGRAM>DIR No. NAME TEST1 PARTS100 LINE 38 BYTE 843 <TEST1 RW/RO RW RW RW >
Enter program name >FUNCTION
Fig. 4-11-30 Registering the FUNCTION program (1)
4) Press the ESC key to return to PROGRAM mode. At the same time, FUNCTION is displayed as a current program on the system line.
PROGRAM>DIR No. 4 EDIT NAME TEST1 PARTS100 FUNCTION LINE DIR BYTE <FUNCTION> RW/RO RW RW RW RW COMPILE
Fig. 4-11-31 Registering the FUNCTION program (2) 5) Press the F 1 (EDIT) key to switch to PROGRAM>EDIT mode. A cursor is displayed on the 1st line. 6) Input a command statement for registering in the following format. The command statement format differs between the PROGRAM mode and MANUAL mode. G When registering function keys for editing in PROGRAM mode *P_F<n>:<character string> <n>.. Number of the function key which is registered (n=1 to15) <character string>.. The character string which is registered or displayed on function key (screen). Example) *P_F2:MOVE, P.. MOVE, P is registered for the *P_F8:DELAY. DELAY is registered for the

F 2 F 8

key. key.
G When registering function keys for I/O commands in MANUAL mode *M_F<n>:<character string> <I/O statement 1> <I/O statement 2> <n>.. Number of the registered function key (n=1 to15) <character string>.. The character string displayed on function key (screen). <I/O statement 1>. When the key is pressed, the command statement is executed. <I/O statement 2>. When the key is released, the command statement is executed.
Example) *M_F2:MOMENT. Character string MOMENT is displayed on key. DO (20) =1.. When the DO (20) =0.. When the

F 2 F 2

key is pressed, DO (20) is turned ON. key is released, DO (20) is turned OFF.
*M F14:ALTER. Character string ALTER is displayed on
DO (20) =~DO (20). When the F 14 key is pressed, DO (20) is highlighted (reversed background).*M_F2:MOMENT Character string MOMENT is displayed on key. <I/O statement 2> may be omitted. If omitted the <I/O statement 1> will be executed when the key is pressed, but if released will not be executed. In the above example, ALTER indicates an alternate type function and MOMENT indicates a momentary type function. A <character string> of up to 75 characters can input. However when a : is shown up to 7 characters are displayed on the menu.

xyzr Move arm to 1st P. and press ENTER key 1st P= 2nd P= [POS] 600.00 0.00 0.00 VEL+ 0.00 VEL-
Fig. 4-12-45 Shift coordinate setting method 1 (2) 3) Move the tip of the robot arm to teach point 1 with Jog key. (Fix position accurately.) 4) Press the key, then the current position is read and 1st P is determined. (this value becomes the shift coordinate origin.)
xyzr Move arm to 2nd P. and press ENTER key 1st P= 214.45 2nd P= [POS] 214.45 -15.01 20.32 VEL+ 0.00 VEL-15.01 20.32
Fig. 4-12-46 Teaching shift coordinate 5) Execute the same procedure as for teach point 1, teach point 2 is then determined.
6) Select a coordinate direction from teach point 1 for the teach point 2 coordinate direction with F 1 (+X), F 2 (-X), F 3 (+Y) or F 4 (-Y) key.
Press F.key to get Direction ++> +X 1st P. +X +X -X +Y -Y 2nd P.
Fig. 4-12-47 Coordinate direction setting 7) When a coordinate direction is selected, shift coordinates values (dX, dY, dZ, dR) are calculated automatically, and registration of shift coordinates is completed. The screen returns to MANUAL>SHIFT mode after completion.
The shift value of Z direction is decided automatically when determining the teach point 1. Therefore, the Z-axis data of teach point 2 is ignored. In MANUAL>SHIFT>METHOD1 mode, valid keys and the sub menu contents are as shown below.
Valid keys F4 F5 F9 F10 Menu VEL+ VELVEL++ VEL-Function Teaching speed for the target group increases in steps. Teaching speed for the target group decreases in steps. Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units 1%.

12-6-4

Shift Coordinate Setting Method 2
In the method for setting shift coordinate 2, shift coordinate data is set by entering the 2 shift coordinate data points. The Z value of teach point 1 is the Z value of the shift coordinate

Point 1 (1st P) X

Point 2 (2nd P) X' Y Y'
Fig. 4-12-48 Shift coordinate setting method 2 (1)

X HAND 1 -90.00 degree 150.00mm

HAND 0 100.00mm Y

MANUAL>HAND H0 H1 H2 H3 EDIT = = = 0.00 0.00 0.00 600.00 100.00 0.00 0.00 0.00
50% [MG][S1H1] 0.00 0.00 0.00 0.00 VEL+ 0.00 VELR R
1234 = -90.00 150.00 -100.00
Fig. 4-12-57 Hand attached to R-axis (Cartesian type)

12-7-1

Hand Definition Editing
(EDIT) key in MANUAL>HAND mode.
2) Select the hand definition to be input or edit with the cursor (/) key. The cursor is displayed on the left margin of the specified hand definition line.
MANUAL>HAND>EDIT H0 H1 H2 H3 UNDO [POS] = =_ = = 0 0.00 90.600.00 0.00 100.00 100.00 100.00 0.00 50% [MG][S1H1] 0.00 0.00 100.00 100.00 0.00 0.00 R R
Fig. 4-12-58 Hand editing (1) 3) Use the cursor key (/) to move the cursor to the position to input or to edit.
4) Use the 0 to to input the value.
MANUAL>HAND>EDIT H0 H1 H2 H3 UNDO [POS] = = = = 0 45.00 90.600.00 0.100 100.00 100.00 0.00
50% [MG][S1H1] 0.00 R_ 100.00 100.00 0.00 0.00 R
Fig. 4-12-59 Hand editing (2) 5) Pressing the cursor key (/) determines the editing of the hand definition number which was selected. Execute the operation of step 2) to 4) when other hand definitions are to be edited. 6) Press the ESC key to quit hand definition editing and then the screen returns to MANUAL>HAND mode.
The cursor line at the time of returning to MANUAL>HAND mode is used as the current hand definition. In MANUAL>HAND>EDIT mode, valid keys and the sub menu contents are as shown below.

12-7-1-1

Restoring Hand Definition
[OPERATION] 1) When the F 1 (UNDO) key is pressed during hand definition data correction, data entered up to that time is cancelled and operation returns to the data previous to input. This function is only valid for a cursor line prior to completion of data input.

12-7-2

Hand definition Setting Method 1
Setting of the 2nd arm installation hand is possible for a current hand definition.
The setting methods differ between cartesian type robot and SCARA type robot. Cartesian type robot Hand definition data is set by teaching the identical points for work operation points without the hand and hand work operation point. SCARA type robot Hand definition data is set by teaching identical points for hand definitions for right-hand systems and left-hand systems at work operation points.
When setting two robots, confirm the current target group. If [MG] is displayed, current target is main group. If [SG] is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ).
[OPERATION] 1) In MANUAL>HAND mode, use the cursor key (/) to select the hand definition number.

Valid keys F1 F2 F3 F4 F5 F6 F8 STOP Menu.ALL.PGM.PNT.SFT.HND.PRM.PLT Transmits all data files. Transmits the program file. Transmits the point data file. Transmits the shift data file. Transmits the hand data file. Transmits the parameter file. Transmits the palette definition data file. Stops communication transmission. Function
3) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to start transmitting. Press the F 5 (NO) key to stop transmitting.
SYSTEM>BACKUP>CMU>TRNSMIT mode,data,rate,stop,parity,Code,XON= ONLINE,8,9600,1,ODD,CRLF,YES
Fig. 4-13-68 Confirming transmission 4) The 0.5:Busy message is displayed during execution. Press the STOP key to stop ongoing transmission.

13-3-2-3

Initializing the Communications Port
The buffer for the RS-232C communications port is cleared.
[OPERATION] 1) Press the F 5 (CLEAR) key in the SYSTEM>BACKUP>CMU> TRNSMIT mode. The 0.5:Busy message is displayed during execution.

Initializing

Initialization is executed for data input by the user.
[OPERATION] 1) Press the F 4 (INIT) key in SYSTEM mode. The initialization screen is displayed.

SYSTEM>INIT V7.01X

MEMORY
Fig. 4-13-69 Initialization 2) Select the initializing item with the tion keys.

(PARAM) to

(CLOCK) func-
In SYSTEM>INIT mode, valid keys and the sub menu contents are as shown below.
Valid keys F1 F2 F3 F4 F6 F10 Menu PARAM MEMORY CMU CLOCK GENERAT PASSWRD Erases the user memory. Sets the communication parameter to initial value. Set the clock. Set the robot model. (usually invalid) Makes the
Function Initializes parameter contents.

setting valid.

13-4-1
Initializing the Parameter
The robot parameter data and axis parameter data are set to initial value. However, the Display language (JPN/ENG) items in the robot parameter are not changed.
[OPERATION] 1) Press the F 1 (PARAM) key in SYSTEM>INIT mode. The Enter password message is displayed on the guideline. Input INI and then press the key.
SYSTEM>INIT>PARAM V7.01X

Enter password>_

Fig. 4-13-70 Initializing the parameter (1) 2) When the password is correctly input, a confirmation message is displayed on the guideline.
SYSTEM>INIT>PARAM ROBOT = YK400X D5=M5: no axis D6=M6: no axis V7.01X

15-7-5

Changing the Operation Device in SERVICE Mode
To change the operation device that can be used in SERVICE mode, refer to the table and procedure below. The MPB-E can always be used as the operation device in SERVICE mode. Exclusive control of operation devices
Contents MPB MPB/DI MPB/Online MPB/DI/Online Only the MPB-E operation is valid. The MPB-E and dedicated DI operations are valid. The MPB-E and online command operations are valid. The MPB-E, dedicated DI and online command operations are valid.
[OPERATION] Press the F 11 (MPB), F 12 (+DI) or tion device in SERVICE mode.

UTILITY>SAFE

(+Online) key to select the opera-
Serv.mode : Level3 (V. <3%) Oper.dev. : MPB/DI/Online

+Online

Fig.4-15-26
The MPB-E can always be used as the operation device in SERVICE mode. In other words, the above procedure selects whether to add the dedicated DI and online command operations to the operation device.
The operation device selected here will be effective until the power is turned off. To keep the operation device effective even after the power is turned off, save the setting as explained in 15-7-6.

15-7-6

Saving the "SAFE" mode settings
To save the settings in "SAFE" mode, follow to the procedure below. When this procedure is omitted, the settings in "SAFE" mode will only be effective until the power is turned off.
[OPERATION] After setting the "SERVICE" mode level, operating speed limitation level or operation device, press the [F15](SAVE) key. The following screen then appears awaiting your response. Press the F 4 (YES) key to save the setting. Press the F 5 (NO) key to cancel saving.
UTILITY >SAFE Serv.mode : LEVEL1 (V. <3%) Oper.dev. : MPB

Fig.4-15-27

CHAPTER 5 I/O
2-1 2-2 2-3 2-4 2-5 2-6 2-7 2-8 Power Supply Setting.. 5-2 Table of STD. DIO Connector Input/Output Signals. 5-3 STD. DIO Pin Numbers... 5-4 STD. DIO I/O CN1 Input Signal Connections. 5-5 STD. DIO Output Signal Connections.. 5-7 Dedicated Input Signal.. 5-9 Dedicated Input Signal.. 5-14 Dedicated Input/Output Signal Timing Chart. 5-17
2-8-1 2-8-2 2-8-3 2-8-4 2-8-5 2-8-6 2-8-7 Power ON to Control OK and Alarm Status. 5-17 Control OK to Servo ON, Emergency Stop and Servo ON Error.. 5-18 Return to Origin.. 5-19 SERVICE Mode Switching in AUTO Mode. 5-20 MANUAL to AUTO Mode Switching and Program Reset and Execution.. 5-21 Interruption by Interlock and Emergency Stop during Program Execution. 5-23 Interruption by Serious Error during Program Execution... 5-24

When the internal power supply is used, do not connect pins 47 to 50 of the STD. DIO connector to an external power supply.
Table of STD. DIO Connector Input/Output Signals
1) Connector type No. : MR-50LM (made by HONDA) 2) Pin arrangement
PIN I/O NO. DI 00 DI 01 DI 10 DI 11 DI 12 DI 13 DI 14 DI 15 DI 16 DI 17 DI 20 DI 21 DI 22 DI 23 DI 24 DI 25 DI 26 DI 27 DI 30 DI 31 DI 32 DI 33 DI 34 DI 35 DI 36 DI 37 COMMON DO 1b DO 1a DO 2b DO 2a DO 3b DO 3a DO 10 DO 11 DO 12 DO 13 DO 14 DO 20 DO 21 DO 22 DO 23 DO 24 DO 25 DO 26 DO 27 DC24V GND Name Servo OK Servo ON Sequence control Interlock START AUTO mode Return to origin Program reset MANUAL mode Absolute reset General- purpose input 20 General- purpose input 21 General- purpose input 22 General- purpose input 23 General- purpose input 24 General- purpose input 25 General- purpose input 26 General- purpose input 27 General- purpose input 30 General- purpose input 31 General- purpose input 32 General- purpose input 33 General- purpose input 34 General- purpose input 35 General- purpose input 36 SERVICE mode Relay common Control OK (B contact) Control OK (A contact) Servo ON (B contact) Servo ON (A contact) Alarm (B contact) Alarm (A contact) Automatic mode of operation Return to origin completion 1 during operation 2 during operation Program reset status General- purpose output 20 General- purpose output 21 General- purpose output 22 General- purpose output 23 General- purpose output 24 General- purpose output 25 General- purpose output 26 Servo OUT DC+24V GROUND Remarks
Common terminal: GND Common terminal: P.COMDI N.COMDI
Relay output Maximum capacity of each terminal (resistor load): DC24V 0.5A AC125V 0.2A
PNP open collector output Maximum capacity of each teminal (resistor loaded): 0.10A + common terminal: DC24V - common terminal: GND
Power supply load: 1A maximum

STD. DIO Pin Numbers

Connector side
Connector type No.: MR-50LM STD. DIO connector is an accessory item.

Soldering side

Fig. 5-2-1 STD. DIO Connector

2. DI01 Servo ON input Use this input to turn the motor power supply ON after having cancelled the external emergency stop. The input method of DI00 is different from generalpurpose inputs DI10 to DI37. When the DI01 contact (Servo ON) is closed (ON), the DO03a (Alarm) is cleared (OFF) if issued at the rising edge of the signal, and DO27 (Servo OUT) is output to inform the external unit that motor power should be turned ON. When the controller then confirms the input of DI00 (Servo OK), it cancels DO27 (Servo OUT) and outputs DO02 (Servo ON) to turn ON the motor power and also the servo control of each axis. (Pulse signal input : pulse width 100 msec minimum)
The controller operation flow for turning the servo ON is shown below.
Servo ON from DI01 or Servo ON from MPB-E UTILITY mode or Servo ON from RS232C (@EMGRST and @SERVO ON)

DO27 (Servo OUT) output

Waits for input of DI00 (Servo OK) (500 msec. maximum,100msec. minimun)
DO27 (Servo OUT) cancel ON DO02 (Servo ON) output Servo ON processing OFF Error display

QRCX-E Control circuit

Losic I/O circuit +24V +24V +5V IN Emergency stop button

Power supply circuit

L N Motor power DI00 External emergency stop circuit

GND External unit

Fig. 5-2-5 Servo OK input (DI00)
The Servo OK input DI00 (pin No. 1) is internally shorted to GND (pin No. 49) in the STD.DIO connector. When using DI00, remove the shorting lead wire.

DI00 shorting lead wire

DI11 shorting lead wire

Fig. 5-2-6

STD. DIO CN1 connector internal shorting lead wires (at shipment from factory)
2. DI10 Sequence control input DI10 is used to execute a sequence program. When the DI10 (Sequence control) contact is closed (ON), a sequence program is executed. (Level signal input) 3. DI11 Interlock input DI11 is used to temporarily stop robot movement during program execution or manual operation. When the DI11 (Interlock input) contact is opened (OFF), the message Interlock on appears on the MPB-E and the robot stops operation. This input is valid during return to origin. (Level signal input)
Interlock input DI11 (Pin No.4) is shorted to the STD. DIO connector internal +24V (Pin No.47). Disconnect the ground lead when using DI11. Refer to Fig.5-2-6. Restart operation with the procedure below. When the DI11 (Interlock input) contact is opened during the execution of a program: After the DI11 (Interlock input) contact is closed (ON), press the START key or close the DI12 (START) contact which is mentioned later. When the DI11 (Interlock input) contact is opened during MANUAL mode or return to origin: When the DI11 (Interlock input) contact is closed (ON), the arm can operate again.

NOTE 3)

: Interlock OFF ON

: Absolute reset OFF ON

DO01a : Control OK (A contact) OFF ON DO02a : Servo ON (A contact) OFF ON DO03b : Alarm (B contact) OFF ON DO11 : Return to origin complete OFF Moving Robot arm movement Stopped a) b) c) d) e) f)
Explanation a) DI17 (Absolute reset) pulse input (Robot arms start moving.) b) DO11 (Return to origin complete) ON output (Robot arms stop moving.) c) DI17 (Absolute reset) pulse input (Robot arms start moving.) DO11 (Return to origin complete) OFF output d) DI11 (Interlock) OFF (pulse) input e) DI17 (Absolute reset) pulse input (Robot arms start moving.) f) DO11 (Return to origin complete) ON output (Robot arms stop moving.) NOTE 1) NOTE 2) NOTE 3) Dedicated input signals turn ON at the rising edge, but should be retained for at least 100ms. If return to origin is interrupted by error, the status that origin return is not complete is indicated. The above timing chart is for cases where the internal 24V power supply is used.

DI11 : Interlock

SERVICE Mode Switching in AUTO Mode

: Start OFF ON

: "AUTO" mode OFF ON
: "MANUAL" mode OFF ON
: "SERVICE" mode OFF ON
DO03b : Alarm (B contact) OFF ON DO10 : "AUTO" mode OFF ON DO11 : Return to origin complete OFF ON DO13 : Running 2 OFF a) b) c) d) e) f)
Explanation a) DI12 (Start) pulse input b) DO13 (Running 2) ON output c) DI37 (SERVICE mode) OFF input DO13 (Running 2) OFF output d) DI12 (Start) pulse input e) DI16 (MANUAL mode) pulse input f) DI13 (AUTO mode) pulse input NOTE 1) NOTE 2) Dedicated input signals turn ON at the rising edge, but should be retained for at least 100ms. When DI37 (SERVICE mode) is OFF, dedicated inputs other than DI00 (Servo OK), DI10 (Sequence control), DI11 (Interlock) and DI37 (SERVICE mode) are invalid. The above timing chart is for cases where the internal 24V power supply is used.
MANUAL to AUTO Mode Switching and Program Reset and Execution

: Program reset OFF ON

:Return to origin complete OFF ON

: Running 2 OFF ON

: Program reset status OFF a)b) c) d)e) f) g) h) i)
Explanation a) DI13 (AUTO mode) pulse input b) DO10 (AUTO mode) ON output Duration between a) and b): It may take several seconds depending on the program compiling. c) DI16 (MANUAL mode) pulse input DO10 (AUTO mode) OFF output d) DI13 (AUTO mode) pulse input e) DO10 (AUTO mode) ON output Duration between a) and b): It may take several seconds depending on the program compiling. f) DI15 (Program reset) pulse input g) DO14 (Program reset status) ON output Duration between f) and g): This depends on the program size. h) DI12 (Start) pulse input i) DO13 (Running 2) ON output DO14 (Program reset status) OFF output

1) When an external power supply is used, an error "22.2 Motor power abnormality" may occur when the controller is turned ON. This is because external voltage flowed into the controller even after the controller was turned OFF and the error circuit in the motor power supply unit was not reset. 2) When the internal power supply is used (DSPSW1=OFF), never connect the DC24V terminal to an external power supply. This may cause failure.
General-Purpose Output Signal
There are a total of 7 outputs from DO20 to DO26. These are open collector outputs from PNP darlington transistors, with an maximum current of 100mA. All general-purpose outputs are available to the user and can be specified on the robot program or sequencer program. All of these output signals are reset when the power is turned on or the program is rest.
When the internal power supply is used (DSPSW1=OFF), never connect the DC24V terminal to an external power supply. This may cause failure.

2-10-1

General-Purpose Output Signal Reset (OFF)
All general-purpose output signals are reset (OFF) if any of the following cases occur. 1. When F 5 (RST.DO) was executed in UTILITY mode. (Refer to 15-5 Reset of External Output and Internal Auxiliary Output in Chapter 4, Operation.) 2. When any of the following operations were performed while a sequence program was not executed or the sequencer execution flag was set to RST.DO. I When compiling in the program mode was ended normally. (Refer to 11-4 Compiling in Chapter 4, Operation.) I When compiling of a program in AUTO mode was ended normally. (Refer to 10 AUTO Mode in Chapter 4, Operation.) I When F 1 (RESET) was executed in AUTO mode. (Refer to 10-3 Program Reset in Chapter 4, Operation.) I When a dedicated input signal DI15 (Program reset input) was turned ON during interruption of a program in AUTO mode. (Refer to 2-5 Dedicated Input Signal.) I When either of the following initializations was performed in SYSTEM mode. 1. Program memory initialization (SYSTEM>INIT> MEMORY>PROGRAM) 2. Entire memory initialization (SYSTEM>INIT>MEMORY>ALL) (Refer to 13-4 Initializing in Chapter 4, Operation.) I When the SW1 command was executed with F 7 (DIRECT) in AUTO mode. (Refer to 10-8 Direct Command Execution in Chapter 4, Operation.) I When a online command such as @RESET, @INIT PRG, @INIT MEM, @INIT ALL and @SW1 was executed. (Refer to 5 Communication with Online Commands in Chapter 6, RS232C Interface.) I When the HALT statement was executed in a program. (Refer to 10 Command Statements in the Programming Manual.)

Check robot cables for bent pins, kinks, and other damage before connecting.
The power to the controller must be off when connecting the robot cables. The robot cable connectors have an identical shape. Do not confuse these cable connectors when making connections. Misconnection will cause malfunctions in the robot.
Connecting to the YAMAHA robot manipulator
Fig. 3-5-1 Robot cable connections to the QRCX
The robot cables are essential to the operation of the robot. If they are not securely connected and fail to make good contact, the manipulator may malfunction. Before turning on the power to the controller, make sure again that the cables are securely connected. Be sure that the robot is properly grounded. For details on the grounding method, refer to the Robot User's Manual.
Connecting an MPB Programming Device
Connect the cable from the MPB to the controller, as shown below. When not connecting the MPB, insert the supplied terminator into the MPB connector on the robot controller.

MPB programming device

Terminator When not connecting the MPB
Fig. 3-6-1 MPB programming device connection
The MPB connector must be plugged in the correct orientation into the MPB connector on the robot controller. Incorrect connection will cause operation troubles with the MPB. When not connecting the MPB to the robot controller, be sure to plug the terminator (supplied with the controller) into the MPB connector on the robot controller. This is to cancel emergency stop that triggers when the MPB is disconnected from the robot controller since the MPB has a "B contact" emergency button.

I/O Connections

This is the input/output (I/O) port used for connection to peripheral equipment. Respective numbers are assigned to each of the input/output pins. The I/O connector to be used differs depending on the assignment of these numbers. For more details, refer to I/O Interface in Chapter 5.
The normally-closed terminals (emergency stop and interlock) in the STD. DIO connector are shorted when shipping. If you try test operation of the robot before connecting the I/O cable, plug in the STD. DIO connector to cancel emergency stop and interlock.
Connecting a Host Computer
As a standard feature, the robot controller is equipped with an RS-232C interface port for data communication with a host computer. Almost all models of computers can be interfaced if they are equipped with an RS-232C port. For more information on this RS-232C interface port, see RS-232C Interface in Chapter 6.

D-SUB25P

HOST connector

HOST computer

Fig. 3-8-1 Host computer connection

If an error message of W! battery degradation is displayed while the power supply is turned ON, replace the lithium battery (5 years service life) in the robot controller. Please note that the state of California USA has legal restrictions on the handling of manganese dioxide lithium batteries. See the following website for more information:
http://www.dtsc.ca.gov/hazardouswaste/perchlorate
Always use the cable and connector attached to the MPB for connections to the robot controller. Do not alter the cable or do not connect any relay unit.
1. After turning off the power to the QRCX 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. 2. After turning on the power to the QRCX Controller, wait at least 5 seconds before turning it off. If the power is turned off again too quickly after being turned on, you may be unable to set the origin position the next time the controller starts up. 3. If the control power supply is turned OFF during program execution, this causes errors in the internal system data and normal program restart may not be possible when the power is again set to ON. Always quit or stop the program before turning the power OFF.

Operation Keys

Screen Configuration
The MPB screen display is composed of 4 areas as shown below. 1) System line (1st line) The current mode and the hierarchy are displayed on the 1st line at the top left of the screen. Fig. 4-5-1 shows that you are in the EDIT mode of the PROGRAM mode. When the mode name is highlighted, it shows that the servo power is ON. Therefore, if turning the servo power OFF such as with the emergency stop button, then the reversed background indication is cancelled. 2) Message line (2nd line) An error message is displayed on the 2nd line. Meanings of the other displays are as follows: A dashed line.. Return to origin incomplete. A solid line.. Return to origin complete. 2 solid lines.. During program run. @ mark of the 2nd column. Online command executing through RS232C interface. s mark of the 1st column.. During sequence program execution. 3) Data area (3rd to 7th lines) Various types of data or edit contents are displayed on the 3rd to 7th lines. They scroll to the right and left to display up to 80 characters/line. 4) Guideline (8th line) The contents mainly assigned to function keys are displayed on the lowest line (8th line). 5) Pointer The line number and item selected are highlighted (reversed background). Use the cursor keys (/) to move the pointer up and down. Use the cursor keys (/) to move the pointer right and left.

key to executed the entered command.
The following command statements can be executed directly. Assignment statement, MOVE, MOVEI, DRIVE, DRIVEI, SET, RESET, INPUT, PRINT, SEND, SPEED, ACCEL, OUTPOS, TOLE, WEIGHT, ARCH, SHIFT, RIGHTY, LEFTY, Point definition statement, Shift definition statement, ONLINE, OFFLINE. etc. Before executing the command statements MOVE, MOVEI, DRIVE, DRIVEI return to origin must be completed. The optional STOPON condition specified for the MOVE P statement cannot be used. The MOVE P, MOVE L, MOVE C, MOVEI, DRIVE, DRIVEI command statements conclude after positioning is complete. When setting two robots, the following command statements are added. MOVE2, MOVEI2, DRIVE2, DRIVEI2, SPEED2, ACCEL2, OUTPOS2, TOLE2, WEIGHT2, ARCH2, SHIFT2, RIGHTY2, LEFTY2

Break Point

An ongoing program can be halted 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 by pressing the START key again. In AUTO>BREAK mode, valid keys and the sub menu contents are shown below.
Valid keys Cursor F1 F2 F3 F6 F7 F8 F9 SET CANCEL SEARCH JUMP FIND FIND+ FINDMenu Sets the break point. Deletes the break point. Searches for the line set with the break point. Shows the program list from specified line. Specifies the character string to be found. Finds the specified character string searching backwards from the cursor position. Finds the specified character string searching forwards from the cursor position. Function Specifies the break point and scrolls the screen.
The F 6 to F 9 keys have the same functions as edit operation in PROGRAM mode. Refer to 10-2-13 Line Jump and 10-2-14 Character String Finding.

Break Point Setting

The program execution can be stopped on the line where a break point is set. [OPERATION] 1) Press the F 8 (BREAK) key 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.
3) Press the F 1 (SET) key. A B mark is displayed to the left of the command statement and a break point is set on that line.
AUTO>BREAK [T1] 100% <TEST1 >
1 ***** TEST1 PROGRAM ***** 2 START *SUBTASK,TDO2(0)=0 4BWAIT DI3(4,3,2)=MOVE P,P0 SET CANCEL SEARCH

Fig. 4-9-30 Break point setting

Break Point Deletion

When the be found.
(SEARCH) key is pressed, the break point that was set can easily
[OPERATION] 1) Use the cursor keys (/) to select the line number where the break point is specified. 2) Press the F 2 (CANCEL) key. The B mark disappears and the break point is canceled. 3) To find the line number on which a break point is set, press the (SEARCH) key.
Up to 2 break points can be set in one program. However 2 break points cannot set in different programs. However, when there is COMMON program, 2 break points can be set including the main program. (For more information on the COMMON program. Refer to the programming owner's 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 valid when executing NEXT.

STEP Execution

[OPERATION] 1) Press the F

(STEP) key in AUTO mode.

2) Every 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.
1 ***** TEST1 PROGRAM ***** 2 START *SUBTASK,TDO2(0)=WAIT DI3(4,3,2)=MOVE P,P0 STEP SKIP NEXT
Fig. 4-9-31 STEP execution

(SKIP) key in AUTO mode.

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

NEXT Execution

(NEXT) key in AUTO mode.
2) Every time this key is pressed, the command statement of the highlighted line number is executed. After execution the pointer shifts to the next line. If the command statement is a sub routine or sub-procedure, it is executed at one time.
1 ***** TEST1 PROGRAM ***** 2 GOSUB *SUBPROG 3 DO2(0)=WAIT DI3(4,3,2)=MOVE P,P0 STEP SKIP NEXT
Fig. 4-9-32 NEXT execution
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.

PROGRAM mode

Press F.key to get Direction ++> +X 1st P. +X +X -X +Y -Y 2nd P.
Fig. 4-11-47 Coordinate direction setting 7) When a coordinate direction is selected, shift coordinates values (dX, dY, dZ, dR) are calculated automatically, and registration of shift coordinates is completed. The screen returns to MANUAL>SHIFT mode after completion.
The shift value of Z direction is decided automatically when determining the teach point 1. Therefore, the Z-axis data of teach point 2 is ignored. In MANUAL>SHIFT>METHOD1 mode, valid keys and the sub menu contents are as shown below.
Valid keys F4 F5 F9 F10 Menu VEL+ VELVEL++ VEL-Function Teaching speed for the target group increases in steps. Teaching speed for the target group decreases in steps. Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units 1%.

11-6-4

Shift Coordinate Setting Method 2
In the method for setting shift coordinate 2, shift coordinate data is set by entering the 2 shift coordinate data points. The Z value of teach point 1 is the Z value of the shift coordinate

Point 1 (1st P) X

Point 2 (2nd P) X' Y Y'
Fig. 4-11-48 Shift coordinate setting method 2 (1)
When setting two robots, confirm the current target group. If [MG] is displayed, current target is main group. If [SG] is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ). [OPERATION] 1) Use the cursor key (/) to select the shift coordinates number in MANUAL>SHIFT mode. 2) Press the F 7 (METHOD2) key to switch to MANUAL>SHIFT> METHOD2 mode.
MANUAL>SHIFT>METHOD2 50% [MG][S1H2]
Fig. 4-11-49 Shift coordinate setting method 2 (2)
3) Move the tip of the robot arm to teach point 1 with Jog key. (Fix position accurately.) 4) When the key is pressed, the value of teach point 1 is determined. The cursor is displayed on the beginning of 1st P= line.
MANUAL>SHIFT>METHOD2 Enter the point data [mm] 1st P=_ 2nd P= [POS] 13.00 150.00 0.00 VEL+ 0.00 VEL0.00 0.00 0.00 50% [MG][S1H2]
Fig. 4-11-50 Inputting shift coordinate 5) Use the

, key.

keys to input the
point data of (x, y, z) and press the
6) Execute the same procedure as for teach point 1, teach point 2 is then determined. 7) When the coordinates (x, y) of teach point 2 have been input, the shift coordinates dX, dY, dZ and dR are automatically calculated and registered. The screen then returns to MANUAL>SHIFT mode.
If the teach point and input point have not been determined correctly, incorrectcalculation results are registered, so determine these points correctly.
Since the Z direction shift value is automatically specified when the teach point 1 is determined, the Z axis data for the teach point 2 is ignored. In MANUAL>SHIFT>METHOD2 mode, valid keys and the sub menu contents are as shown below.

When setting two robots, confirm the current target group. If [MG] is displayed, current target is main group. If [SG] is displayed, it means sub group. Switch the target group with the ROBOT key ( LOWER + MODE ). [OPERATION] 1) In MANUAL>HAND mode, use the cursor key (/) to select the hand definition number. 2) Press the F 6 (METHOD1) key to switch to MANUAL>HAND> METHOD1 mode.
MANUAL>HAND>METHOD1 50% [MG][S1H1]
1234 Move arm to 1st P. and press ENTER key 1st P= 2nd P= [POS] 600.00 0.00 0.00 VEL+ 0.00 VEL-
Fig. 4-11-60 Hand setting 1 (1) 3) Use the Jog key to move by teaching a work operation point to point 1. (Execute the positioning accurately.)
For SCARA type robots, always move with the right-hand system.

4) Press the

key to decide the value.
1234 Move arm to 1st P. and press ENTER key 1st P= 214.45 2nd P= [POS] 214.45 -15.01 20.32 VEL+ 0.00 VEL-15.01 20.32
Fig. 4-11-61 Hand setting 1 (2) 5) Use the Jog key to move by teaching a hand work operation point to point 2. (Execute the positioning accurately.)
For SCARA type robots, always move with the left-hand system. 6) Press the key to decide the value. Set the value of hand definition and the screen returns to MANUAL> HAND mode.
1. When the teaching point 1 is determined, the Z direction shift value is decided automatically. 2. When ESC key is pressed during hand definition or hand definition is not calculated, it returns to the original shift value. In MANUAL>HAND>METHOD1 mode, valid keys and the sub menu contents are as shown below.
Valid keys F4 F5 F9 F10 Menu VEL+ VELVEL++ VEL-Function Manual movement speed for the target group increases in steps. Manual movement speed for the target group decreases in steps. Increases manual movement speed for the target group in units of 1%. Decreases manual movement speed for the target group in units of 1%.
Changing the Units Display
[OPERATION] 1) Press the F 8 (MM/PULS) key in MANUAL mode. The units display at the current position is changed while in MANUAL mode. 2) Every time the key is pressed, the units display can be changed to mm or pulse units. mm display (cartesian coordinates) Displays an integer portion and a decimal fraction portion. In this case, manual movement of the robot switches to a cross movement on the shift coordinates axis which was selected. Pulse display (joint coordinates) Displays an integer. The manual movement of the robot is executed in axis units.

Absolute Reset

Absolute reset is an operation to find the origin position, when the position detector in the motor cannot identify the origin position (called "origin incomplete" from now on). Movement commands in robot language cannot be run when the origin is incomplete. Always perform absolute reset when the origin position cannot be found. Origin incomplete may occur due to the following conditions. a. An absolute-related error occurred on the axis. b. A power drop was detected in the absolute battery for the driver installed inside the QRCX Controller. c. Cable connecting to the robot unit from the QRCX Controller was disconnected. (This is the status when shipped from the factory.) d. Robot generation was changed. e. Parameters were initialized. f. Axis-related parameters such as "Origin shift", "Origin detection method" and "Origin return direction" and "Axis polarity" were changed. (This occurs when some unopened parameters were changed.) g. Motor was replaced. h. All data files (data file with extension "ALL") or parameter files (data files with extension "PRM") were written into the QRCX Controller.

L P[3] P[4] P[1] P[2] P[3] L
-- Four points teach method --
-- Three points teach method --

Fig. 4-11-81

In setting the standard coordinates, be careful of the following points. Always execute teaching with the right-hand system. Set the teaching point to be set as near as possible, to the center of actual work operation point. When setting the teaching point, confirm that the teach point settings are in parallel relative to the actual robot X and Y surfaces and also to the work operation points. If there is an R-axis, perform the point teach at the center of the R-axis. The standard coordinates set here greatly affect the overall cartesian coordinates precision.
The following parameters are set automatically when the standard coordinates are set. 1) Arm length [mm] M1= ###.##. X-axis arm length (rotation center distance of X-axis and Y-axis) M2= ###.##. Y-axis arm length (rotation center distance of Y-axis and R-axis, or distance of rotation center of Y-axis and operation point) 2) Offset pulse M1= ######.. X-axis offset pulse (degrees between the X-axis of the robot origin position and the X-axis of the standard coordinate) M2= ######.. Y-axis offset pulse (degrees of X-axis of robot origin position and Y-axis of origin) M4= ######.. R-axis offset pulse (degrees between R-axis direction at robot origin and X-axis standard coordinates) When setting two robots, the following parameters are set automatically for the sub robot. 1) Arm length [mm] S1= ###.##.. X-axis arm length (rotation center distance of X-axis and Y-axis) S2= ###.##.. Y-axis arm length (rotation center distance of Y-axis and R-axis) 2) Offset pulse S1= ######. X-axis offset pulse (degrees between the X-axis of the robot origin position and the X-axis of the standard coordinate) S2= ######. Y-axis offset pulse (degrees of X-axis of robot origin position and Y-axis) S4= ######. R-axis offset pulse (degrees between R-axis direction at robot origin and X-axis standard coordinates)
However, the R-axis offset is not set. Set in SYSTEM>PARAM>AXIS mode.

lengt h

Y-ax is arm

R-axis offset pulse

is ax X-

h gt en l

Y-axis offset pulse

X-axis offset pulse X

Fig. 4-11-82
Rough standard coordinate settings are made prior to shipment. The X, Y and R-axes pulse values during X-axis standard coordinate movement are equal to the offset pulse values.
When setting two robots, confirm the current target group. Switch the target group with the ROBOT key ( LOWER + MODE ). Press the F 15 (COORDI) key in MANUAL mode. In this mode, it can be done with the standard coordinate setting.
MANUAL>COORDI 50% [MG]
xyzr How many points method are used? F1:4 points teach method F2:3 points teach method

4POINTS 3POINTS

Fig. 4-11-83
In MANUAL>COORDI mode, valid keys and sub menu contents are as shown below.

SYSTEM>PARAM>ROBOT 2.Origin sequence MG= 312456 V7.01X

[0-654321] Enter>_

Fig. 4-12-8 Setting of Origin sequence The sequence for return to origin at parameter initialization is shown below. General purpose type robot: 312456 (ZXYRAB) Loader robot: 35241 (ZAYRX)
The origin sequence is a sequence including the robot and auxiliary axis. Use this return to origin sequence for performing absolute reset.
Emergency stop may occur if return to origin at the stroke end is performed for two or more axes simultaneously. In this case, perform return to origin for each axis separately instead of simultaneously.
3. Display language (JPN/ENG) /DUM Language of the display message is switched. [OPERATION] 1) Select 3. Display language(JPN/ENG) in SYSTEM>PARAM>ROBOT mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (/). 4) Press the F 1 (JAPANES) key or the F 2 (ENGLISH) key to switch the display language. 5) Press the ESC key to quit the setting, and the screen then returns to SYSTEM>PARAM>ROBOT mode.
SYSTEM>PARAM>ROBOT 3.Display language(JPN/ENG) RC= ENGLISH V7.01X

JAPANES ENGLISH

Fig. 4-12-9 Setting of JAPANESE/ENGLISH
This parameter is not changed even when the parameters are initialized.
4. R axis orientation /RORIEN For SCARA type robots, when performing cross movement of XY axis with the Jog (manual) key, this parameter is set for deciding whether to maintain the R-axis direction (attitude) or not. When maintaining a direction when moving an arm towards X or Y, the R-axis is automatically rotated and the attitude is maintained. (Only for SCARA type robots) [OPERATION] 1) Select 4.R axis orientation in SYSTEM>PARAM>ROBOT mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (/). 4) Press the F 1 (KEEP) key or the F 2 (FREE) key. 5) Press the ESC key to quit the setting, and the screen then returns to SYSTEM>PARAM>ROBOT mode.
SYSTEM>PARAM>ROBOT 4.R axis orientation MR= KEEP V7.01X
Fig. 4-12-10 Setting of R axis orientation
When the R-axis (the 4th axis) is an auxiliary axis, support for maintaining direction hold is not valid.
5. Data display length /DATLEN This parameter switches the point data display to 6 digits or to 8 digits. [OPERATION] 1) Select 5. Data display length in SYSTEM>PARAM>ROBOT mode. 2) Press the F 1 (EDIT) key. 3) Select the parameter with the cursor key (/). 4) Select the F 1 (6char) key or the F 2 (8char) key. 5) Press the ESC key to quit the setting, and the screen then returns to SYSTEM>PARAM>ROBOT mode.

Erase OK?

Fig. 4-12-55 Confirming erase operation 5) The 0.5:Busy message is displayed during execution.

12-3-1-6

Renaming Files
The name of a file on the floppy disk is changed. [OPERATION] 1) Press the F 8 (RENAME) key in the SYSTEM>BACKUP>FDD mode to display the types of files on the guideline. 2) Select the type of file to rename by using the key.
SYSTEM>BACKUP>FDD>RENAME F 1

(.PLT)

Fig. 4-12-56 Selecting a file to rename The following shows the effective keys and sub menu contents in the SYSTEM>BACKUP>FDD>RENAME mode.
Valid keys F1 F2 F3 F4 F5 F6 F8 Menu *.ALL *.PGM *.PNT *.SFT *.HND *.PRM *.PLT Function Renames all data files. (extension=.ALL) Renames the program files. (extension=.PGM) Renames the point data files. (extension=.PNT) Renames the shift data files. (extension=.SFT) Renames the hand data files. (extension=.HND) Renames the parameter files. (extension=.PRM) Renames the palette definition data files. (extension=.PLT)
3) Enter the file to rename after the Rename file name> message is displayed, then press the key.
SYSTEM>BACKUP>FDD>RENAME

Rename file name>_

Fig. 4-12-57 Entering the file to rename There is no need to enter extension (i.e.,.ALL,.PGM., SFT.) since it is automatically set.
4) Enter the new file name after the New file name> message is displayed, key. then press the
Rename file name>TEST1 New file name >_

.ALL.ALL

Fig. 4-12-58 Entering a new file name 5) A confirmation message is displayed on the guideline. Press the F 4 (YES) key to execute the rename operation. Press the F 5 (NO) key to stop the rename operation.
SYSTEM>BACKUP>FDD>RENAME>.ALL
Rename file name>TEST1 TEST002.ALL Rename OK?

.ALL YES NO

Fig. 4-12-59 Entering a new file name 6) The 0.5:Busy message is displayed during execution.
Be careful since the floppy disk contents are overwritten when a file of the same name already exists. Never remove the floppy disk from the FDD during Busy status.

UTILITY Mode

Pressing the
key in any mode switches to this mode.
[OPERATION] 1) Press the UTILITY key. The following screen is displayed and UTILITY mode begins.
Motor power : On Access level: LEVEL0
Fig. 4-14-1 UTILITY mode The data/time, servo status, sequencer status, access level and arm status are displayed in the data area. In UTILITY mode, valid keys and the sub menu contents are as shown below.
Valid keys F1 F2 F3 F5 F6 Menu MOTOR SEQUENC ARMTYPE RST.DO ACCESS Function Performs ON/OFF of the motor, motor power supply and servo. Permits or prohibits sequencer execution. Specifies the arm type in right-hand system/left-hand system. (only indicated when SCARA type robots are used) Resets DO/MO. Sets the access level (operation level).
2) Press the UTILITY key again. The following screen is displayed.
UTILITY Date,Time : 92/02/20,18:59:40

Execut level: LEVEL0

EXECUTE

RST.DO

Fig. 4-14-2 The date/time and execute level are displayed in the data area.
In UTILITY mode, valid keys and the sub menu contents are as shown below.
Valid keys F1 F5 Menu EXECUTE RST.DO Sets the execute level. Resets DO/MO. Function
Cancelling Emergency Stop/ Motor Power and Servo ON/OFF

14-1-1

Cancelling Emergency Stop
In order to turn the servo ON and operate the robot again under the following conditions, it is necessary to cancel emergency stop. (1) When the emergency stop button was reset after pressing the emergency stop button. (2) When the contact was closed after performing emergency stop by opening the contact of emergency stop input (DI 00). [OPERATION] 1) Press the UTILITY key. (Any mode is okay.) The UTILITY mode screen is displayed. A confirmation message is displayed on the guideline.
UTILITY Date,Time Sequence Armtype : 92/02/20,18:59:37 : DISABLE : RIGHTY YES NO

Motor power: On

Cancel emergency flag?
Fig. 4-14-3 Cancelling emergency stop 2) To cancel the internal emergency stop flag, press the F 4 (YES) key. The internal emergency stop flag is cancelled and the screen moves to the 14-1-2 Motor & Servo ON/OFF operation. Press the F 5 (NO) key when not cancelling the internal emergency stop flag.

14-1-2

Motor Power and Servo ON/OFF
This function is usually used with the motor power ON. This operation is performed after cancelling emergency stop or when turning the servo ON/OFF temporarily in order to perform direct teaching. [OPERATION] 1) Press the F 2) Press the Press the Press the
(MOTOR) key in UTILITY mode. (ON) key for setting the motor power supply and servo to ON. (OFF) key for setting the motor power supply and servo to OFF. (POWER) key for setting only the motor power supply to ON.

F 1 F 2 F 6

Fig. 4-14-4 Servo ON/OFF 3) Press the

Level LEVEL0 LEVEL1 LEVEL2 LEVEL3 LEVEL4 LEVEL5 LEVEL6 LEVEL7 LEVEL8
when return to origin is incomplete NO YES YES YES YES YES YES YES YES
Start mode when power is turned on MANUAL MANUAL MANUAL AUTO AUTO MANUAL AUTO AUTO AUTO
Program reset when Program reset when power is turned on NO NO YES NO YES YES YES NO YES program is started NO NO NO NO NO YES YES NO YES
Note 1: When the return to origin input (DI14) is valid in AUTO mode, the operation 2 (DO13) signal turns on while return to origin is being performed by the return to origin input (DI14).

14-6-1

[OPERATION] 1) Press the UTILITY ( LOWER + ESC ) key twice to enter UTILITY mode, then press the F 1 (EXECUT) key.
UTILITY Date,time : 92/02/20,18:59:41

EXECUT

Fig.4-14-15 2) Select the execution level with the
UTILITY>EXECUTE Execut level: LEVEL0 F 1

(LEVEL0) to

(LEVEL6) keys.

LEVEL4

Fig.4-14-16

14-6-2

Displaying Help Message
[OPERATION] 1) Press the F 10 key. The first page of Help screen is displayed. Press the F 1 (NEXT_P.) key to refer to the next page. Press the F 2 (PREV.P.) key to refer to the previous page.
UTILITY>EXECUTE>HELP LEVEL0:Program cannot execute if arm :has not returned to ORIGIN. :Power-on mode is MANUAL. :Power-on without program reset. :Starting without program reset. NEXT_P. PREV.P.

Fig.4-14-17

UTILITY>EXECUTE>HELP LEVEL1:Program can execute if arm has :not returned to ORIGIN. :Power-on mode is MANUAL. :Power-on without program reset. :Starting without program reset. NEXT_P. PREV.P
Fig.4-14-18 : 2) Return to the setting screen with the
The execution level automatically sets to level 0 in the following cases. 1. When a parameter was damaged 2. When generation data was damaged

CHAPTER 5 I/O

2-1 2-2 2-3 2-4 2-5 2-6 2-7 2-8 Power supply setting... 5-2 STD. DIO Connector Input/Output Signals.. 5-3 STD. DIO Pin Numbers.. 5-4 STD. DIO I/O CN1 Input Signal Connections. 5-5 STD. DIO Output Signal Connections.. 5-7 Dedicated Input Signal.. 5-9 Dedicated Output Signal.. 5-13 Dedicated Input/Output Timing Chart.. 5-16 2-8-1 Power ON/OFF and Emergency Stop; Servo On/OFF... 5-16 2-8-2 Origin Return.. 5-17 2-8-3 Mode Selection.. 5-18 2-8-4 Program Operation.. 5-19 2-8-5 Sequence Program.. 5-20 2-8-6 Major Error and CPU Stop.. 5-20 2-9 General-purpose Input Signal.. 5-21 2-10 General-purpose Output Signal.. 5-21 2-10-1 Reset (OFF) of General-purpose Output Signal. 5-21

The absolute reset input will not work on axes using the mark method for return to origin.
DI01, DI12, DI13, DI14, DI15, DI16 and DI17 are inoperative while program is running. Input only after the program is halted.

Dedicated Output Signal

1. DO01a CPU_OK (A contact) output DO01a is always ON during normal robot operation. Then, the CPU_OK LED on the controller monitor panel lights up at the same time. In the following cases the signal is OFF and CPU operation stops. Major hardware malfunction When the power supply voltage has dropped to lower than the specified value If DO01a is turned OFF once, without turning the power supply again, it will not be reset. 2. DO01b CPU_OK (B contact) output CPU_OK (A contact) has a complementary logic output. (output reversed) DO01b is always OFF during normal robot operation. 3. DO02a Servo ON (A contact) output DO02a is output when the servo system is functioning normally. When a serious malfunction occurs or an emergency stop button is pressed or DI00 is turned OFF, the signal turns OFF. After an emergency stop button or DI00 is canceled, turn servo ON input (DI01) ON in UTILITY mode or an I/O interface and turn servo ON. Then DO02a is turned ON at the same time. 4. DO02b Servo ON (B contact) output Servo ON (A contact) has a complementary logic output. (output reversed) 5. DO03a Alarm (A contact) output DO03a is turned ON in the following conditions. 1) When an emergency stop button is pressed or emergency stop input of an I/O interface has been opened and DI00 then changed from ON to OFF: Then, servo ON output (DO02) and 2 during operation output (DO13) change to OFF, and 0 is displayed on the 7 segment display of the monitor panel. 2) When a driver unit detects a hard limit or a major abnormality such as an overload is found (However an abnormality when the power is turned ON is excluded.): Then, servo ON output (DO02) and 2 during operation output (DO13) change to OFF, and unit No.s (1 to 8) that correspond to the unit where the abnormality occurred are displayed on the 7 segment display of the monitor panel.
3) When the host CPU has stopped due to a major abnormality or other causes: Then, CPU_OK output (DO01), servo ON output (DO02) and 2 during operation output (DO13) change to OFF, and the unit No. that corre sponds to the unit where an abnormality occurred is displayed on the 7 segment display of the monitor panel. 4) When battery voltage for memory hold is low or the battery is discon nected: In such cases, 8 is displayed on the 7 segment display of the monitor panel at the same time. However even if an alarm is ON due to a low battery, it does not effect executions of any other operational conditions or program operations. When an alarm is ON, the ALARM LED on the controller monitor panel lights up at the same time. Follow the indication below to turn OFF an alarm in each case. In the case of 1) Keys other than the ESC key or the UTILITY key cannot be operated. When emergency stop status is cancelled in UTILITY mode, or servo ON input (DI01) of an I/O interface is set to ON and then cancelled, the emergency stop an alarm turns OFF. This can be again cancelled when the power supply is turned ON again. In the case of 2) Keys other than the ESC key or the UTILITY key cannot be operated. Emergency stop status can be cancelled the same as in 1) above. However, while the power supply is turned ON, since the driver unit still has an abnormal condition, when the servo is set to ON or the program is restarted, it is necessary to turn the power supply ON again. In the case of 3) Since CPU has stopped, the power supply must be turned ON again or operation cannot be reset, and the alarm cannot be set to OFF. In the case of 4) When a battery abnormality is detected, the alarm cannot be turned OFF until the power supply is turned ON again. When an alarm occurs even after the power has been turned ON again, it is still necessary to replace the battery or check the battery connection. 6. DO03b Alarm (B contact) output Alarm (A contact) has a complementary logic output. (output reversed)

Fig. 6-3-3 Connection example (2)
(3) When DTR is used for BUSY control
Fig. 6-3-4 Sample connection (3)
(4) When control lines are not used
Fig. 6-3-5 Sample connection (4)
Transmission Methods and Communication Parameters
Transmission method Synchronization BAUD rates Character length Stop bit length Parity BUSY control in control lines Termination code XON/XOFF control Receive buffer Transmit buffer
Full Duplex Start stop 600, 1200, 2400, 4800, 9600, 19200, 38400 [bps] 7 or 8 bits, selection 1 or 2 bits, selection Non, Even or odd, selection Non, RTS/CTS or DTR/DSR, selection CR or CRLF Yes or No, selection (XON=11H, XOFF=13H) 255 bytes 127 bytes
1) When the communication parameters are changed, the communication port and the receive buffer are initialized. 2) Termination code CR (carriage return) Robot transmission : CR code (0DH) is added at the end of a line. Robot receive : CR code to is handled as 1 line. CRLF (carriage return + line feed) Robot transmit : Adds a CR code and LF code (0AH) to the end of the line. Robot receive : To CR code is handled as 1 line and LF code is ignored. 3) Refer to 3-4 Timing Chart for XON/XOFF control.

Flow control

The following methods can be selected by specifying the communications parameters. XON/XOFF DTR/DSR RTS/CTS Yes/No Yes/No Yes/No
Flow control during transmit
XON/XOFF, DSR and CTS indicate whether the other party can receive data.
Flow Control XON/XOFF Yes Temporarily stops transmission when XOFF is sent from the other party. Resumes transmission when XON is sent. DTR/DSR Stops transmission while DSR is OFF. Whether DSR is on or off, it does not affect transmission. RTS/CTS Stops transmission while CTS is OFF. Stops transmission while CTS is OFF. No XON (11H) and XOFF (13H) do not affect transmission even when they are received.
1) Transmission stops when transmission is disabled in either one of XON/XOFF, DTR/DSR or RTS/CTS flow controls. 2) CTS must be on during transmission regardless of flow setting. When RTS/ CTS is set to No, CTS should always be set on. However, if CTS is connected to DTR or RTS of the other party, the possibility exists that CTS may not always be on depending on the other party specifications.
Flow control during receive
To prevent overflow when receiving data, XOFF, DTR and RST are used to notify the other party that this end is busy.

IF V5. 10 or later

Flow Control XON/XOFF Yes
Transmits XOFF when available space in receive buffer falls below a certain capacity. Transmits XON when receive buffer is empty.
XON and XOFF are not transmitted. XON and XOFF are ignored if received.

DTR/DSR

Turns DTR off when available space in receive buffer falls below a certain capacity. Turns DTR on when receive buffer is empty.

DTR is always on.

RTS/CTS
Turns RTS off when available space in receive buffer falls below a certain capacity. Turns RTS on when receive buffer is empty.