installation and adjustmentokura.pro.tok2.com/manuals/gen5/gen4_e_-_9_ninse-01.pdfthe following...

Okura Yusoki Co., Ltd.

Robot Manual

Installation and Adjustment - Electrical -

GEN4(E)-NINSE-01

-Original instructions-

HHHHistoryistoryistoryistory

Version

(Date)

Content Page

01 (2011.09.22) First edition

Introduction Thank you for purchasing a model from the Okura Robot Palletizer A series.

This manual is a guidebook to help you safely and correctly use your A Series Robot Palletizer. It should be useful not only to beginners who are using an Okura Palletizer for the first time, but also to experienced users, who can use this Manual to

reconfirm their knowledge. Please read this Manual carefully and use the Palletizer with a clear understanding of its content.

NOTE

Unauthorized reproduction of part or all of the content of this manual is forbidden.

The content of this manual is subject to future change without prior notice.

Safety Instructions Each A Series Robotic Palletizer is equipped with a variety of protective features.

However, an increased level of safety results when these safety precautions are

constantly reviewed and consistently followed with a separate manual of “Safetey”.

IMPORTANT

IMPORTANT Only AUTHORIZED PERSONNEL can operate, maintain the robot or work on

programming.

The definition of “AUTHORIZED PERSON” is that the only personnel who can

operate the robot and/or robot system, are those who have enough knowledge or

experience of robot operation and have also been trained to operate the robot.

They must also have been authorized by the employer.

The safety instructions with left sign of IMPORTANT throughout this manual are enforcement or warning that

if not correctly operated or handled, you may be seriously injured or killed.

Be sure to follow those safety instructions.

Table of Contents

1. OUTLINE OF CONTROLLER 1111----1111

1.1. APPEARANCE OF CONTROLLER�� 1111----2222 1.2. TEACHING PENDANT (OPTION)�� 1111----3333

2. HARNESS CABLE CONNECTION 2222----1111

2.1. INSIDE-ROBOT HARNESS CABLE �� 2222----2222 2.2. SPARE CABLES �� 2222----7777 2.3. CONNECTION OF MAIN POWER SUPPLY WIRES�� 2222----8888 2.4. PROTECTION AGAINST LIGHTNING SURGE ��2222----10101010 2.5. OTHER NOTES (WIRING)��2222----10101010

3. CONTROLLER BOARDS AND UNITS 3333----1111

3.1. CPU BOARD (RC501) �� 3333----2222 3.2. I/O BOARD (RC512)�� 3333----5555 3.3. SERVO POWER UNIT (SPCU-1A) �� 3333----6666 3.4. CONTACTOR UNIT (MCRU-1) �� 3333----7777 3.5. SAFETY RELAY BOARD (RC516)�� 3333----8888 3.6. AMP UNIT ��3333----10101010

3.7. FIELBUS BOARD (ETHERNET/IP AB6214）））） �� 3333----11111111

4. ADJUSTMENTS 4444----1111

4.1. ORIGIN STORING �� 4444----2222 4.2. BASIC POSTURE �� 4444----3333 4.3. AMP UNIT �� 4444----6666 4.4. COLLISION DETECTION �� 4444----7777

5. SYSTEM STORAGE 5555----8888

5.1. PERIPHERAL EQUIPMENT NAME INPUT �� 5555----9999 5.2. COMMUNICATION SETTING�� 5555----9999 5.3. EXTERNAL PLC COMMUNICATION SETUP ��5555----10101010 5.4. PASSWORD SETTING��5555----12121212 5.5. MEMORY SWITCH��5555----12121212 5.6. PARAMETER SETTING (CONTROLLER DATA) ��5555----16161616 5.7. FIRMWARE UPDATE ��5555----17171717 5.8. HOUR METER ��5555----19191919 5.9. SOFT LIMIT ��5555----20202020 5.10. HAND SETUP ��5555----21212121 5.11. PARAMETER SETTING (ROBOT DATA)��5555----22222222 5.12. ORIGIN STORING ��5555----23232323 5.13. SERVO PARAMETER ��5555----23232323 5.14. EXPANSION AXIS SETTING ��5555----24242424

6. MAINTENANCE FUNCTIONS 6666----1111

6.1. MENU STRUCTURE �� 6666----2222 6.2. DATA MEMORY CONTENTS �� 6666----4444

6.3. I／／／／O MONITOR �� 6666----5555 6.4. OPERATION READY CONDITION �� 6666----6666 6.5. KEY TRACE �� 6666----6666 6.6. FILE OPERATION �� 6666----7777 6.7. LOGIC ANALYZER�� 6666----9999 6.8. ID NO – PRG NO ALLOCATION ��6666----11111111 6.9. BATTERY REPLACE �� 6666----12121212 6.10. CONVEYOR INFORMATION �� 6666----12121212 6.11. STACKED COUNTER REVISION �� 6666----13131313 6.12. PROGRAM SELECTION METHOD �� 6666----14141414 6.13. POSITON & ACCELERATION / DECELERATION TIME�� 6666----14141414 6.14. EXECUTED SEQUENCE COMMAND�� 6666----15151515 6.15. OVERLAP TRACE �� 6666----15151515 6.16. SMOV CALCULATION �� 6666----16161616 6.17. DEVIATION TRACE �� 6666----16161616 6.18. POSITION COMMAND TRACE �� 6666----17171717 6.19. SERVO TORQUE INDICATE �� 6666----18181818 6.20. COLLISION DETECTION �� 6666----19191919 6.21. EXPANSION AXIS TRACE �� 6666----19191919

7. TABLE OF BASIC SPECIFICATIONS 7777----1111

1-1

1. Outline of Controller

Names of part of controller and main parts are introduced in this section.

1-2

1.1. Appearance of Controller

1.1.1. Robot Controller

This is common among RC830 and RC840 (See 5. SYSTEM SPECIFICATIONS for model of

controller for detail.)

1-3

1.2. Teaching Pendant (Installation Personnel Only) Teaching pendant works at manual mode.

Note

・Manual operation on controller does not work once teaching pendnat is

connected.

How to set up teaching pendant

→See”Operation Manual” Section 4

① E/S push button switch

② Data display

③ Enable switch

①

②

③

2-1

2. Harness Cable Connection

2-2

2.1. Inside-Robot Harness Cable

The following shows the cable wiring inside robot and the composition of the cable

harness between robot and controller

[A1800V, A1800V－－－－W]

Inside-robot wiring

Harness cables between robot and controller

CN1

CN2

CN3

CN4

CN5

RB721

RB722

RB723

RB724

RB725

ROBOT CONTROLLER

CN1 CN13 D-motor

CN14

CN15 O-motor

CN16

CN11 R-motor

CN12

CN8

CN9

CN10

CN7

CN2

CN3

RM815

RM816

RM817

RK831

RM832

RK833

CN6

CN18

CN4 CN22 D-encoder

CN23 O-encoder

CN24

CN26

CN31

RM851

RM852

RK853

RK854

RK855 RK873

RM856

CN34 RK857

CN21 R-encoder

T-AXIS

HAND

CN37

CN5

BAT

CN17 T-motor

CN25 T-encoder

CN33

CN32

RK874

CN36

CN35

RM871

RK781

RK782

AIR 12mm

10mm 12mm

12mm

AIR 12mm

R-LS RK858 CN39

RM835

ROTOR

BASE

CN40 FAN

RK875

DangerDangerDangerDanger EnforcementEnforcementEnforcementEnforcement

Make sure if primary power supply is securely connected with

controller. Otherwise, you may get an electric shock.

2-3

[A1600V, A1600V－－－－W]

Inside-robot wiring


CN1 CN13 D-motor

CN14

CN15 O-motor

CN16

CN11 R-motor

CN12

CN8

CN9

CN10

CN7

CN2

CN3

RM731

RM735

RM733

RK731

RM732

RK733

CN6

CN18

CN4

CN22 D-encoder

CN23 O-encoder

CN24

CN26

CN31

RM751

RM752

RK753

RK754

RK755 RK773

RM757

CN34 RK758

CN21 R-encoder

T-AXIS

HAND

CN37

CN5

BAT

CN17 T-motor

CN25 T-encoder

CN33

CN32

RK774

CN36

CN35

RM771

RK781

RK782

AIR 12mm

10mm 12mm

12mm

AIR 12mm

R-LS RK759

CN39

RM737

ROTOR

BASE

CN1

CN2

CN3

CN4

CN5

RB721

RB722

RB723

RB724

RB725

ROBOT CONTROLLER




2-4

[A700V, A700V－－－－P]

Inside-robot wiring


BASE

CN1 CN13 D-motor

CN15 O-motor

CN11 R-motor

CN8

CN7

CN2

RM741

RM742

CN6

CN18

CN4 CN22 D-encoder

CN23 O-encoder

CN24

CN26

CN31

RK761

RK762

RK763

RM764

RK765 RK773

RK767

CN34 RK768

CN21 R-encoder

ROTOR

HAND

CN37

CN5

BAT

CN17 T-motor

CN25 T-encoder

CN33

CN32

RK774

CN36

CN35

RM770

RK781

RK782

AIR 12mm

10mm 12mm

12mm

AIR 12mm

R-LS RK769 CN39

RM736

T-AXIS

CN1

CN2

CN4

CN5

RB728

RB729

RB724

RB725

ROBOT CONTROLLER




2-5

[A400V]

Harness cables inside robot and between robot – controller are composed as shown

below.

Inside-robot


CN1

CN2

CN3

CN4

RB726

RB727

RK714

ROBOT CONTROLLER

CN5

CN6

CN7




BASE

CN13 D-motor

CN11 R-motor

CN15 O-motor

CN8

RM050

CN22 D-encoder

CN23 O-encoder

CN21 R-encoder

ROTOR

HAND

CN37 BAT

CN17 T-motor

CN25 T-encoder

CN33 CN32

12mm 12mm AIR 12mm

T-AXIS

CN1

CN3

CN4

CN5

CN6

CN7

CN2

RM051

RK052

2-6

[AP30V]

Harness cables inside robot and between robot – controller are composed as shown

below.

Inside-robot


*CN3 is not in use

BASE

CN13 D-motor

CN15 O-motor

CN22 D-encoder

CN23 O-encoder

LOWER ARM

HARNESS BOX

CN37 BAT

CN17 C-motor

CN25 C-encoder

CN33 CN32

8mm 12mm AIR 8mm

UPPER ARM

CN1

CN4

CN5

CN6

CN7

CN2

12mm 12mm AIR 12mm

HAND

CN1

CN2

CN3

CN4

RB726

RB727

RK714

ROBOT CONTROLLER

CN5

CN6

CN7




2-7

2.2. Spare Cables The following spare cables for between robot and controller are provided for Okura A

series robot palletizer as shown on the below table.

[A1800V,A1600V,A700V,A400V]

Robot main unit connector Connector in controller

Connector

No.

Pin No. Wire No. Connector No. Pin

No.

Wire No. Wire

size

3 S3 1 S3

4 S4 2 S4

13 S5 3 S5

CN33

[3191-15R1]

14 CLS

CNH2

[F31FSS-05V-KX]

4 CLS

1 S6 A1 S6

2 S7 A 2 S7

3 S8 A 3 S8

4 S9 A 4 S9

5 S10 A 5 S10

6 S11 A 6 S11

7 S12 A 7 S12

8 S13 A 8 S13

9 S14 B1 S14

10 S15 B2 S15

11 S16 B3 S16

12 S17 B4 S17

13 S18 B5 S18

CN35

[3191-15R1]

14 S19

CNH3※２

[F31FDS-16V-K]

B6 S19

0.3 ㎜２

※1 A400V can use a set of CN33 only.

※2 It is optional for such 2-axis robot.

CN33，CN35

（Only CN33 for A400V）

CNH2

CNH3

2-8

2.3. Connection of main power supply wires Connect main power supply wires on the basis of bellows.

1. Introduce of electric wires must be relevant

position of controller.

2. Protection degree of the busing, for electric wires introduction must be equal or more

than IP5X.

3. Connect external protective conductors to

terminal with mark PE by the side of main

breaker(NFB0).

4. Put main power supply wires separately in

the duct, and put a charging mark on the

duct.

5. In connecting main power supply wires and

external protective conductors vend wire

adequately (if needed). And fix them firmly

so that not to strain on the terminal.

Specification of main power supply wires

Wires: UL standard

Wires size: minimum AWG#6

Conductor: copper

Temperature rating: minimum 90°C (194°F)

Terminal processing: A round terminal (UL Listed one) that suits the size of

the electric wire and tool of maker recommendation are used.

Grounding

Specification of external protective conductors

Wires: UL standard

Wires size: minimum AWG#6

Conductor: copper

Temperature rating: minimum 90°C (194°F)

Color: Green/yellow

Terminal processing: A round terminal (UL Listed one) that suits the size of

the electric wire and tool of maker recommendation are used.

2-9

Specification of a main breaker (NFB0)

The robotic control circuit is protected by NFB1 or F0.

A main breaker (NFB0) also protects the control circuit for peripheral conveyors.

NFB0 F0 NFB1 TR

15A

(10A)

20A

(10A)

50A

(30A)

control circuit

of a robot

control circuit

of peripheral

conveyors

*Amperage rating: RC830(RC840)

2-10

2.4. Protection Against Lightning Surge There is no protection against lightning surge inside of controller.

Relevant protection against lightning shall be required when connecting main power

supply.

2.5. Other Notes (Wiring)

2.5.1. Attaching insulation cover

Attach cover to O-axis and D-axis connector, which keep more than 10 mm clearance and

creepage distance not to touch.

2.5.2. Securing of Grounding Continuity

1. Connect following wires between robot body

and protective conductors inside controller. Wires: IEC standard

Wires diameter: more than 10 sqmm

Color: green/yellow

2. Measure resistance value between each

motor frames and external protective

conductor of controller, and confirm if the

value is less than following resistance value.

Resistance value : 0.1 ohm or less per 10 A

3. Attaching duct Harness between controller and robot must

be put in metal duct.

Divide power line and control line by

separator.

Minimum size of duct is 150 mm wide and

100 mm deep.

4. Fix protective conductor terminal with

specified screw to the robot as shown in the

figure. And fix insulator separately.

3-1

3. Controller Boards and Units

The boards inside the controller and their configuration are as follows.

RC512

I/O Board

RC512

I/O Board

SPCU-1A

Servo Power Unit

RC516

Safety Board

RC501

ＣＰＵＣＰＵＣＰＵＣＰＵ Board

AP507

(AP504)* Amp Unit

Servo

motor

Servo

motor

Servo

motor

Servo motor

Ｒ axis

D axis

O axis

T axis

Touch Panel

(POD) OXPA

Teaching

Pendant

AP507 (AP504)* Amp Unit

AP507 (AP504)* Amp Unit

AP508 Amp Unit

*( A700V)

Optional Hand External PLC

RC512

I/O Board

Amp Unit

Amp Unit

Servo

motor

Servo

motor

Spare axis

Spare axis

3-2

3.1. CPU Board (RC501) The arrangement of LED's、switches and 7-segment displays on Main CPU board is as

follows.

DIP switch DSW1 Explanation

No. Descriptions Default setting

１ Firmware Serial transfer OFF

２ System reserve OFF

３ System reserve OFF

４ System reserve OFF

５ Motor rotation test OFF

６ System reserve OFF

７ Execution of master DSP program loading ON

８ Execution of initialization OFF

3-3

LED Explanation

LED No. Lighting condition

D１ CPU(SH) being operated

D２ NMI Detected

D３（7seg） CPU(SH) 7-segment display

D４ USB access

D７ Master DSP 7-segment display

D８（7seg） Slave DSP (D/O axis) 7-seg display

D９（7seg） Slave DSP (R/T axis) 7-seg display

D１０（7seg） Slave DSP (C/X axis) 7-seg display

D１１ Memory backup battery voltage dropped

D１２ Encoder battery voltage dropped

D１３ Gate ON

D１４ Master DSP watchdog

* 7-segment light display is rotating under normal condition.

3-4

Jumper Explanation

Signs. Descriptions Default setting

Ｗ１ FPGA type setting

*It varies depending on the type of encoder

used.

TYPE1(YaskawaΣⅡ)

1-4 close /2-3 close

TYPE2(YaskawaΣⅤ)

1-4 open/2-3 close

TYPE3(Tamagawa)

1-4 close/2-3open

Ｗ２ DSP reset mode setting Close

Ｗ３ Don’t touch (SH endian setting) Open

Ｗ４ Connection setting with FG & SG(CN2） Close

Ｗ５ SH manual resetting Close

Ｗ６ Anybus mode setting 1-6、2-5、3-4 Close

Ｗ７ Master DSP watchdog setting 2-3 Close

Ｗ８ ADC reference power setting on slave DSP 1-2 Close

Ｗ９ Connection with analog and digital GND Open

Ｗ１０ Connection setting with FG & SG（CN6） Close

Ｗ１１ Not installed yet （Direct Close）

Ｗ１２ Not installed yet （Open）

Ｗ１３ Slave DSP boot mode setting Open

Ｗ１４ Slave DSP boot mode setting Open

Ｗ１５ Slave DSP boot mode setting Open

Ｗ１６ Connection setting with FG & SG(CN2） Close

Ｗ１７ Connection setting with FG & SG（CN4） Close

Ｗ１８ Connection setting with FG & SG（CN7） Close

Ｗ１９ Connection setting with FG & SG（CN17） Close

Ｗ２０ Connection setting with FG & SG（CN18） Close

Ｗ２１ Connection setting with FG & SG（CN19） Close

3-5

3.2. I/O Board (RC512) The arrangement of LED's and Jumper pins on the I/O board is as follows.

Jumper Pin Explanation

Signs Descriptions Default setting

JP1

JP2

JP3

Board address setting

1st ：Only JP1 close

2nd ：Only JP2 close

3rd ：Only JP3 close

LED Explanation

LED No. Lighting conditions

D１ When 5VDC is supplied

D２ When 24VDC is supplied

3-6

3.3. Servo Power Unit (SPCU-1A) The arrangement of LED's displays on the servo power unit is as follows.

Jumper Pin Explanation

Signs Descriptions Default setting

JP1 Switching supply voltage over ２－３ close

LED Explanation

LED No. Lighting condition

LD1 Regen resistor temperature failure

LD2 Soft charging completed

LD3 Servo power over voltage

LD4 Servo power low voltage

LD5 In course of charging 300VDC

3-7

3.4. Contactor Unit (MCRU-1-UL/CE) Neither LED nor jumper pin is on contactor unit.

3-8

3.5. Safety Relay Board (RC516) The arrangement of LED's and jumper pins’ displays on the safety relay board is as

follows.

Jumper Explanation

No. Descriptions Default setting

JP１A I/O Type selection (*1) Upto system

JP１B I/O Type selection (*1) Upto system

*RC516B board is supposed to be shipped out being set on Source (default).

*Don’t use any IC else instead of the attached to replace IC7（transistor array IC）.

(*1) Sink（option） Source（default）

JP1A 1-2 close 2-3 close

JP1B 1-2 close 2-3 close

IC7

NPN transistor array IC

PNP transistor array IC

LED1 LED9

LED17

LED8

3-9

■ LED Explanation

No. Lighting condition

LED1 24VDC power supply for external use

LED2 For internal use (for CN4 line) 24VDC power supply (lit at

overload)

LED3 In course of motor power turned ON

LED4 Abnormal reset button

LED5 Brake release（line １）

LED6 Brake release（line ２）

LED7 Operation mode switch manual (line 1)

LED8 Operation mode switch manual (line 2)

LED9 Motor power switch neutral position

LED10 Motor power switch turning on

LED11 Ready to turn Motor power on

LED12 XRUN

LED13 Enable to turn motor power ON （RC501 output signal）

LED14 Brake release （RC501 output signal）

LED15 Buzzer（RC501 output signal）

LED16 In course of motor power turned ON

LED17 Soft charging completed

3-10

3.6. Amp Unit ■ What is the Amp Unit?

“Amp Unit” is composed of individual axis current board, IPM, heat sink and current

sensor.

A1600ⅢN、A1800N A700ⅢN

Servo amp Board IPM type Board IPM type

R axis RC507 PM200CL1A060 RC504 PM100CL1A060

D axis RC507 PM200CL1A060 RC504 PM100CL1A060

O axis RC507 PM200CL1A060 RC504 PM100CL1A060

T axis（C axis） RC508 PS21765 RC508 PS21765

Current board is connected with IPM as shown below.

･R,D,O axes：By connector

･T (C) axes： By soldering

(Example) Amp unit of R, D, O for A1600V and A1800V

RC507RC507RC507RC507

3-11

3.7. Fieldbus board (Ethernet/IP AB6214）））） The arrangement of LED’s displays on fieldbus board is as follows.

# Item

1 Network Status LED

2 Module Status LED

3 Link/Activity 4 Ethernet Interface

Network Status LED

Note: A test sequence is performed on this LED during startup.

LED State Description

Off No power or no IP address

Green On-line, one or more connections established (CIP Class 1

or 3)

Green, flashing On-line, no connections established

Red Duplicate IP address, FATAL error

Red, flashing One or more connections timed out (CIP Class 1 or 3)

Module Status LED

Note: A test sequence is performed on this LED during startup.


Off No power

Green Controlled by a Scanner in Run state

Green, flashing Not configured, or Scanner in Idle state

Red Major fault (EXCEPTION-state, FATAL error etc.)

Red, flashing Recoverable fault(s)

LINK/Activity LED


Off No link, no activity

Green Link established

Green, flickering Activity

Ethernet Interface

The Ethernet interface supports 10/100Mbit, full or half duplex operation.

4-1

4. Adjustments

4-2

4.1. Origin Storing

Operation for automatically calculating origin offset and setting it is called origin storing.

Origin storing is required in the following cases.

A. When encoder cable at motor connector is disconnected.

B. When latched error of [Encoder Battery Voltage Drop] needs to be reset.（＊１）

Procedure for moving to the origin storing screen is as follows.

System storing menu

↓

Motor axis data

↓

Origin storing

[Operation procedure]

① In manual operation, move the axis to be stored to the basic position

See [4.2 Basic posture] for the positions of each axis to store in detail.

② Press the axis to highlight in display. Press [STORE] to store the origin.

③ Cycle main power.

※When origin storing is successfully completed, the current position in pulse to be stored

should be between 0 and 65535.

※If error of “Out of range” occurs during operation ①, move robot arm into the operation

range pressing and holding abnormal reset button.

CautionCautionCautionCaution EnforcementEnforcementEnforcementEnforcement

Make sure if the robot posture is precisely equal to the designated

basic positions when you work on the origin storing. Otherwise, robot

moves unexpectedly to hit conveyors or to have bad shape stacking.

4-3

4.2. Basic Posture When the robot is set in the basic posture, and origin storing is performed, the system

reads the encoder pulses and amount of shift (number of pulses) off the robot basic posture,

and the offset value is automatically calculated.

[A1800V,A1600V,A700V]

Axis Basic posture How to set to basic posture

R

Robot arm oriented in the opposite

direction of the base wiring connector at

bottom is taken as the origin.

With A1600V,A700VSeries）Move

the R-axis, and align the scribed

lines on the base and base.

With A1800V）Move the R-axis,

and align the match marks on the

base and rotor.

D 0 degree (horizontal) is taken as the

origin.

Move the D-axis and align the

match marks on the rotor and

lever.

O

90 degrees (vertical) is taken as the

origin.

Move the O-axis and align the


arm.

Origin

Origin

4-4

T

Hand palm set in parallel with the robot

arm is taken as the origin.

Choose the center position of T axis

cable turning around as the axis can

make multi-turns.

Move the T-axis and align the

match marks (scribed mark).

[A400V] Axis Basic posture How to set to basic posture

R Robot arm oriented in the opposite

direction of the base wiring connector at

bottom is taken as the origin.

Move the R-axis, and align the

match (scribed) marks on the

base and rotor.

D

0 degree (horizontal) is taken as the

origin.


match marks on rotor & lever.

O


origin.



arm.

Origin

Origin

Origin

4-5

T

Hand palm set in parallel with the robot

arm is taken as the origin.

Choose the center position of T axis cable

turning around as the axis can make

multi-turns.

Move the T-axis and align the

match marks (scribed mark).

[AP30V]

Axis Basic posture How to set to basic posture

D

0 degree (horizontal) is taken as the

origin.


match marks on upper and lower

arms.

O


origin.



arm.

Origin

Origin

4-6

4.3. Amp Unit To replace a amp unit follow the instruction below.

<Replacement procedure>

① Shut main power down.

② Disconnect the connectors to/from amp unit and wiring to terminals.

③ Unbolt the mounting screws out of amp unit. Replace whole unit

(including bracket and heat sink) at a time.

④ Connect the connectors and wiring to terminal.

⑤ Make sure if all the connections are correct then turn main power on.

4-7

4.4. Collision Detection

In case of collision, overload has previously errored out to mainly prevent servo motor from

being burnout. Therefore, the robot doesn't stop immediately when collision occurs if the

servo motor reserves strength and there is a possibility that peripheral equipment, handling

products, etc. are damaged a lot.

The collision detection is a function to reduce the damage to station, robot hand, etc. When

hand or arm of robot collides with such peripherals as stations, pallets, handling products, etc,

the robot is stopped detecting collision with sensorless way.

IMPORTANT

The function doesn't work during the manual operation, even when

this function is turned on.

It cannot eliminate the damage by the collision to peripherals at all

even when the collision detection function is turned on.

This function doesn't guarantee safety to the person. Please work

in compliance with all the provided standards.

4.4.1. False detection and the preventative measures

The sensitivity of the detection is decided depending on the servo parameter, when the

collision detection function is turned on. The servo parameter is set at the system storage

mode.

The larger the value of the servo parameter set is, the larger the threshold is. So, the

detection falls down to less sensitive (It becomes more difficult to properly detect).

On the contrary, the smaller the value of the servo parameter is, the smaller the threshold is.

So, the detection goes up to more sensitive and the collision is much more accurately

detected. But higher sensitivity tends to allow the function to more often make false

detection. It can be seen in such that the robot may falsely collide despite usual operation.

In addition, the maximum value of the data by which collision detection is judged is recorded

at the screen display “collision detection”. It is judged that the robot collides when this

maximum value exceeds the threshold, and the robot stops.

The maximum value might change by addition of new products or new patterns. Moreover, it

is likely to change depending on an external factor like the temperature or the lubrication

condition of the grease etc, even if they are the same products, patterns and/or programs.

There is a possibility still remained that the change above mentioned may cause false

detection.

If false detection occurs frequently, it is necessary to fix the value of the servo parameter

again, because the root causes mentioned above can be possible. In that case, please

contact with the customer support desk of service department.

5-8

5. System Storage

The various system parameters are explained in the section. In ordinary operation, there is

no need to change the system parameters. However, resetting them is necessary when

special setting was made, motor has been replaced or other maintenance has been

conducted.

The directory to the system storage menu screen is: Select [S: System storage mode] on

basic menu and enter the password to go.

System storage menu branches off to [Controller data], [Robot data] and [Motor axis data].

Basic menu

Ａ：Auto operation mode

Ｓ：System storage mode

Ｍ：Maintenance mode

Ｔ：Teaching mode

Robot data

Motor axis data

Controller data

5-9

5.1. Peripheral Equipment Name Input The procedure for moving to the conveyor information is as follows.

System Storage Menu

↓

Controller Data

↓

Peripheral Equipment Name Input

1. Peripheral conveyor name

・ Enter conveyor names at the

conveyor manual mode screen.

・Pressing number of item you want

allows to turn to the input mode.

5.2. Communication Setting The serial communication format of “S-I/O port” is determined. Procedure for moving to the

communication setting screen is as follows.

System storage menu

↓

Controller data

↓

Communication setting

The setting becomes effective when

main power is cycled.

5-10

5.3. External PLC Communication Setup This is screen to set up

interfacing wit external PLC.

The directory to external PLC

I/F setting screen is as follows.

System storage menu

↓

Controller data

↓

External PLC I/F setting

１．PLC standard interface

Standard way of interfacing

with PLC is set up.

*See [I/O interfacing with PLC]

edition for detail.

２．PLC expansion interface

Expansion interfacing with PLC

is set up.

*Also set up the below when

[Centronix] is set up.

①Error notice

・If [Do] is selected, error code

is notified to PLC

when error occurs inside

controller.

②Prg No. addition

・ If [Do] is selected,

upper 6 bits and lower

6 bits are added next to ID

No. in this order.

③Layer data addition

・ If [Do] is selected, number of layer is set in front of quantity data of products per

each layer.

(D7 and D6 are always “1”.)

④Special data all notice

・If [Do] is selected, the quantity data of products for special stacking is sent.

* See [I/O interfacing with PLC] edition for detail.

３．Expansion serial communication

・If [BCR] is selected, BCR data can be received through serial port of RC501(CN4).

5-11

・If [VISION] is selected, it can link with VISION system through serial port of RC501(CN4).

４．Fieldbus communication

If [CC-link] is selected, it can link with CC-link on Mitsubishi PLC.

*A option board needs to be added. See the section of [Controller board and Unit] for

detail.

①Remove device setting

・If [Remove output (RY) is selected, robot output can be assigned to device M.

・If [Remove input (RX) is selected, robot input can be assigned to device M.

・If [Remote register (RWw)] is selected, robot output data (word) can be assigned to

device D.

・If [Remote register (RWr)] is selected, robot input data (word) can be assigned to device

D.

・Number of shared I/O are set by [Allocation number of I/O].

・Number of shared devices are set by [Allocation number of devices].

・If [Built-in + CC link setting] is selected, it is allocated as follows.

Remote output(RY) M500

Remote input(RX） M400

Remote register(RWw) D1500

Remote register(RWr) D1400

・If [Pre-set value] is selected, it is allocated as follows.

Remote output(RY) M5000

Remote input(RX） M6000

Remote register(RWw) D5000

Remote register(RWr) D6000

②Input data when data link is failed

・If [Data clear] is selected, device M allocated to [Remote input (RY)] is turned off when

data link is failed.

・If [Data reserve] is selected, it reserves the status before failure when data link is failed.

③Data link failure detection

・If [Effective] is selected, robot controller detects link failure.

Motor power is turned off when link failure is detected.

・If [Ineffective] is selected, robot controller does not detect link failure.

④CC-link setting

Items to be set Contents to be set Setting range

1 Station No. Station No. 1-64

2 Communication

setting

Transmit speed 0-4 (*1)

3 Version CC-link Version 1/2

4 Number of stations

occupied

Number of stations

occupied

1-4

5 Expansion cyclic

setting

Expansion cyclic

setting

1/2/4/8

(*1)Transmit speed

0:156kbps

1:625kbps

2:2.5Mbps

3:5Mbps

4:10Mbps


Never ever use any safety signals on fieldbus or serial

communication. Those may not be detected in case of

communication failure.

5-12

5.4. Password setting In standard setting, the password setting is necessary only at the time of system storing.

Password setting can also be done with each screen of setting for auto operation, teaching

and conveyor data.

The directory is as follows.

System storage menu

↓

Controller data

↓

Password setting

[ Procedure for storing ]

①Select an item to be set by

pressing a key

②Input 4 passwords

③Press Set key

[Procedure for resetting]

①Select an item to be reset by pressing a key

②Press Clear key

Note

The memory switch 1-5 is turned on to make this setting effective.

- As the standard password is master one, it still works even after the system

storing

5.5. Memory Switch The directory to memory switch screen is as follows.

System storage menu

↓

Controller data

↓

Memory switch

- Set the memory switch inside robot.

(Normally, no change is necessary.)

- The following items are set by turning

memory switches ON and OFF.

-For changing, press a switch to be

changed then turn it ON and OFF.

- Descriptions come out in the bottom frame upon pressing the numeral key in left side

5-13

Use key to move to next screen

(Use key to return)

SW No. Name ON OFF Type Default

1-1

T-axis motion T-axis turns to designated position, not taking short cut direction (for aging)

(e.g.) Target position is -179 degree, when current position is 179 degree.

Move to -179 (Approx. 358 degree rotating)

T-axis turns, taking short cut direction

Move to 181 (Approx. 2 degree rotating)

All OFF

1-2 System reserve

All ON

1-3

Variable picking

special movement

1st layer / 1st work is at the height of step 9.

（ It is turned on when COUNT in not-variable picking program is between MOV8 and MOV9, as arm may hit conveyors or

others around）

Normal process All OFF

1-4 Movement with pallet on floor

No shifting upward when there is enough head-room at step 5 and 8.

Normal calculation All OFF

1-5 Use password Password is valid if the password has been set in the system parameter screen

Password is invalid

All OFF

1-6 DMOV movement

T axis is non-synchronized (Only T-axis moves to the target position directly)

T-axis is synchronized (Palm moves in parallel)

All ON

1-7 Operating movement

Robot is under its independency.

(PLC operation signal is to be ignored)

Robot collaborates with PLC signals

All OFF

ＳＷ１

1-8

Expanded PORT tele-com. Log output

(for debugging)

Log output → debug PORT No output All OFF

2-1 Sequence reset handling setting

At resetting,

Y30（M601D）～Y35（M6022）OFF

Y2D（M503A）500mS ON

No change on output relay

All OFF

2-2

Language on POD & Teaching pendant

Foreign language Japanese All OFF

2-3 DA1800 mode DA1800 mode Standard mode All OFF

2-4

DA1800

Multi-pallets per one program

Multi-pallets per one program Standard All OFF

2-5 Timer value setting screen

Use Timer value setting screen

Don’t use All OFF

ＳＷ２

2-6

When product type is set, its code is written in the device

Product code is written Not written All OFF

5-14


2-7

Which

timing

trace data

is stored at

Trace data is saved

when motor power is

turned off.

Trace data is

saved when servo

is failed.

All OFF

2-8 Recalculating STA position when changed

Does not change STA

position even if picking

direction is exact same

when STA position is

changed. Moreover,

position data at steps

of station side is not

changed even if picking

direction is changed.

Standard All OFF

3-1 PC communication restriction

Disable to download from PC while motor power is on.

Normally enable to download

All ON

3-2 Collision

Detection

Valid Invalid All OFF

3-3 System reserve

All OFF

3-4 T axis path improved

T axis path improved Standard All OFF

3-5

Acceleratio

n &

deceleratio

n times

improved

Acceleration &

deceleration times are

shortened.

Standard All OFF

3-6

Managing

of station

timer value

Managed by built-in

PLC.

(D2500-D2515 are usedl)

Managed by robot

（ D6219-D6234 are

used）

All OFF

3-7 A700V Cold weather specs

Valid Invalid All OFF

ＳＷ３

3-8

4-1

4-2

4-3

4-4

4-5

4-6

4-7

ＳＷ４

4-8

5-1

5-2

5-3

5-4

5-5

5-6

ＳＷ５

5-7

5-15


5-8

6-1

6-2

6-3

6-4

6-5

6-6

ＳＷ６

6-7

Note

Pressing No. of switches allows to display its explanation at bottom of screen.

5-16

5.6. Parameter setting (Controller data) The directory to parameter

setting screen is as follows.

System storage menu

↓

Controller data

↓

Parameter setting

１．Job number

・Enter the job number you work

on.

・The job number is shown up at

the basic menu.

２．Top of latch range

・The range on and after the

device No. is set becomes

latched.

３．Number of I/O board

・Number of RC502 boards to be

used is set.

４．IP address

・IP address, Net mask and default gateway of RC501 board are set.

５．Touch panel (POD) IP address

・IP address to be set to touch panel is set.

5-17

5.7. Firmware update The directory to Firmware update

is as follows.

System storage menu

↓

Controller data

↓

Firmware update

IMPORTANT ・・・・Robot may be crashed if wrong firmware is written by mistakes.

・・・・Only the qualified service person can work on the following procedure.

１．List of firmware

List of firmware files (SH software) in the [SH] folder in external memory selected is

displayed.

To select firmware file, pressing No. in the list allows to be reversed into blue color.

＊External memory (USB/CF) to be used can be selected by pressing [USB] ([CF])button.

＊When USB memory is used, insert a USB memory stick into controller before opening this

screen.

２．Firmware loading

It reads files selected at firmware list.

The version read out of file is shown up as [Version of selected file].

It can be compared with the [Current version].

３．Write firmware

Firmware of the version shown on [Version of selected file] is written to RC501.

Cycle main power after written.

Caution

Never ever shut down main power during writing it.

It won’t operate correctly if shut down.

5-18

４．Firmware backup

It reads firmware that is being executed on the current RC501 and that is stored into SH

folder of external memory. The file name is “RC_GEN2_123A.BIN” if [Current version]

display is “1.23A” for example.

６．System parameter initialization

When main power is cycled while the switch is being turned on, the system parameters

are initialized at the system to be booted. Don’t use this normally.

７．System file backup

①Export

Whole the files stored into RC501 are saved into folder of [BACKUP] in a external

memory. If there is already a folder of [BACKUP], a confirmation message to delete it

pops up. It will be overwritten if nothing done upon the message.

*Unnecessary files are recommended to be deleted as much as possible as all the files in

[BACKUP] folder are imported.

②Import

All files in folder of [BACKUP] in a external memory are copied into RC501. After

imported, cycle main power.

Note

See [Note] of [6.6 File operation] for detailed folder structure.

5-19

5.8. Hour meter The directory to the hour meter

screen is as follows.

System storage menu

↓

Controller data

↓

Hour meter

[Date change]

Display the key input screen by pressing the display data of item to be changed. Then,

enter a value to be set by numeral keys, and press WRITING key.

[User time clear]

Press TIME CLEAR key after pressing the USER TIME key.

(All the items of the user time are cleared to “0”)

[Maintenance frequency]

Press [Change] key, display key input screen and enter values you want to change.

Alert message pops up at the interval you set. (It ranges between 1 – 32767 hours)

Note

Total hour cannot be cleared

5-20

5.9. Soft Limit

The directory to soft limit screen is as

follows.

System storage menu

↓

Robot data

↓

Soft limit

1． Soft limits

-This displays the range in which R, D, O

and T axis movement is possible, as an

angle

-The R-axis value is used for the R area

in 5

2. Teaching range

- This sets a movable range under the

automatic operation

- The range is to be indicated in arm

coordinate

- When the robot moves out of the

designated range, situation is to be “Out

of range error“

- During manual operation, the buzzer

sounds at the point of 200mm or 20

degree (30 for T-axis) to the range limit

3. Origin offset

-This is data for correcting the robot base posture (origin)

-This cannot be set or changed by the user.

- Numerical value is of the number of encoder pulse, meaning a deviation between the

encoder pulse origin and robot base posture (origin)

1. Acceleration/Deceleration time

-This sets the acceleration time and deceleration time for robot movement.(Unit :msec)

2. R area

- This is for informing the other control equipment of current R-axis angle

- For the R-axis angle, the range set with soft limit is divided into 7 segments

-These segments are labeled 1 -7 in order from minus side of R-axis angle

- As for the value indicating the segment in the system parameter, set a plus side border

angle in each segment 1 – 6

- A value is to be input in D6000 to indicate in which segment, 1 - 7, the robot is

3. Hand mass

- Set hand mass (work is not included)

- This is to be used for an automatic compensating calculation of handling rate

5-21

5.10. Hand Setup The directory to hand setup


System storage menu

↓

Controller data

↓

Hand Setup

１．Hand manual operation name

input

[Input procedure]

① Press No. key to enter.

② Enter name on input

screen to pop up.

③ Press [Quit] key.

２・Hand weight (hand mass)

・Enter empty hand weight (hand mass). (excluding products)

・This is used to calculate the automatic acceleration / deceleration time.

３．Inertia of T axis

Enter the inertia of T axis. Enter “0” if don’t want.

４．Number of T axis revolution

Enter the max number of T axis revolution. Enter “0” for the default.

５．Number of steps of C axis Enter number of steps of C axis to automatically create a new program.

６．Distance off products

・Enter parameters to automatically generate steps for C axis at a new program creation.

・Positions of steps are calculated by the following equations.

(Step No.1 of C axis) = (width of product) － (value of argue)

(Step No.2 of C axis) = (width of product) ＋ (value of [jog opened])

(Step No.3 of C axis) = (width of product) ＋ (value of [fully opened])

5-22

5.11. Parameter Setting (Robot Data) The directory to parameter

setting screen is as follows.

System storage menu

↓

Robot data

↓

Parameter setting

１．Axis accuracy

・Arrival confirmation is performed

at this precision only when SPC is

selected due to step parameter

overlap

２．SMOV, SMOV2 parameter

No.

Default Range What it means How it works

1 100 Cornering status The bigger value, the smoother

cornering

2 0 For straight movement in

upward motion

The bigger value, the shorter

linear motion

3 0 For straight movement in

Downward motion

The bigger value, the shorter

linear motion

4 100 SMOV inner judgment (Speed regulation for RX motion)

5 100

0~100

[%]

SMOV inner judgment (Speed regulation for RZ motion)

6 100 Step1 effective height

7 100

[mm]

Step3 effective height

Parameter that calculates No.1-3

automatically

3. Robot type change (Never ever touch this key)

IMPORTANT If the machine type is changed, all the programs are

erased.

Select type of robot pressing [Robot type] key.

４．Station No. and Pallet No. Enter number of stations and that of pallets to be used for the system.

５．Acceleration / deceleration time

Enter time to calculate the specified acceleration / deceleration time unless those are

automatically executed having the factor of “0” in step parameter.

5-23

5.12. Origin Storing See 4.1 Origin storing for detail.

5.13. Servo Parameter

This is a screen for displaying or

changing the necessary

parameters for the servo control.

The directory to the servo

parameter screen is as follows.

System storage menu

↓

Motor axis data

↓

Servo parameter

IMPORTANT

・・・・Each parameter should be of within a due range, otherwise,

the robot may malfunction with the possibility of damage to

the robot, controller and/or peripheral equipment.

・・・・Only qualified individuals should change this value.

5-24

5.14. Expansion Axis Setting

This screen is for setting

expansion axis.

The directory to expansion axis

setting is as follows.

System storage menu

↓

Motor axis data

↓

Expansion axis setting

Note) Amp unit is required to add expansion axis.

１．Set expansion axis

Select type of servo motor to be installed.

２．Relationship between expansion axis and C axis

What is difference from expansion axis to be used as C axis from not as C axis.

For C axis Not for C axis

Control

method

Robot sequence commands

（HMOV/HMOVD/TRQC）

*Can be synchronized with

robot sequence.

Built-in PLC commands

（EXMOVA/EXMOVR）

Step

storing

Store per every program

Max 9 steps per a program

Stored per every axis

Max 99 steps per a axis

３．Coordinates offset

・For the expansion axis that [Not use as C axis] is selected, enter the distance of offset

off the position where encoder origin is stored. Normally don’t need to enter as those

are the exact same position.

・For the expansion axis that [Use as C axis] is selected, enter the distance between

palms (paddles) where encoder origin is stored. Normally don’t need to enter as those

are the exact same position.

４．Operation range+-

Enter operation range for the expanded area.

５．Acceleration / deceleration time

Enter Acceleration / deceleration time.

６．Axis accuracy

5-25

Enter axis accuracy.

To enter [0] allows to set it zero overlap.

７．Origin offset

It is entered by itself when others are set at the origin storage screen.

It can also be entered on the screen.

８．Revolving direction

Select [Forward] or [Reverse].

９．Auto operation speed

To select [Synchronize] allows to enable to change by itself the speed proportional to

robot auto operation speed.

To select [Asynchronize] allows to operate it according to the specified.

１０．Unit

Select “mm” or “deg(angle)”.

１１．Teaching range offset (margin)

The teaching range is narrower than the operation range by the offset (margin) off this

range.

１２．Reduction ratio and moving speed

Enter reduction ratio and moving speed.

Number of motor revolution that is equivalent to the value entered is displayed.

Note Cycle main power every after any setting is changed.

6-1

6. Maintenance Functions

Maintenance on Touch panel (POD) is explained.

6-2

6.1. Menu Structure Select [M: Maintenance] on main menu. You can operate various maintenance functions

on the screen.

6.1.1. Move to maintenance menu under operation

Maintenance menu is basically selected only when a robot is stopped. To move to

maintenance menu under operation, press the hidden key located below on the auto

mode screen.

※ In the case of returning from

maintenance menu, it returns to auto

mode screen instead of back to main

menu screen.

Auto mode

screen

Maintenance

mode screen

Main menu

：under operation

：under stop

Auto mode screen (under operation)

Hidden key

S:System storage mode

T:Teaching mode

M:Maintenance mode

Main menu

A:Automatic operation mode

6-3

6.1.2. Maintenance menu detail

The maintenance menu branches off to [Controller data], [Robot data] and [Motor axis

data].

Versions of software are displayed

over here.

Controller

data

Motor

axis data

Robot data

6-4

6.2. Data memory contents Internal data memory contents (data held for each program) and external data

memory contents (Dn) can be monitored and modified on this screen.

Maintenance menu

↓

Controller data

↓

Data memory contents

【【【【Internal data memory】】】】

data held for each program.

D 0 ：stacking layer

D 1 ：stacking product

D 2 ：picking quantity

D 3 ：robot data

D 12 ：stop position (for the

1st bag)

D 13 ：stop position (for the

2nd bag)

D 14 ：centering position

D 15 ：pressing height

D 4 ～ 11 ：universal

【【【【External data memory】】】】

D 1000 ～ D3999 ：user area

D 5000 ～ D 5999 ：system and user area (the system is for input) * 1

D 6000 ～ D 6999 ：system and user area (the system is for output) * 1

D 7000 ～ D 7019 ：supervisor area * 2

(*1：Universal area can be used by user.)

(*2：Don’t change normally although those could be.)

● Press both [Dis Prog No.=] and [Display Start No.=] keys. Enter the required program

No. on the key input screen.

●Press [Continuous start] key allows to monitor continuously.

6-5

6.3. I／／／／O Monitor The directory to I/O monitor screen is as follows.

Maintenance menu

↓

Controller data

↓

I/O Monitor

The status of various relays

can be monitored and/or

changed on the relay monitor

screen.

The contents of relays are

normally retained and

continue to be displayed when

and after you get into the

screen. If [Continuous start]

is pressed, the screen is

continuously updated at every

designated interval.

The status of internal or external relays being operated is separately displayed.

【【【【Internal relays】】】】

Eight internal relays per a program are available.

Those are used for relay logical operation.

Ｒ０～Ｒ７：Universal usage

[Force ＯＮ／ＯＦＦ procedure]

・Press a relay displayed that you want to change.

【【【【External relays】】】】

The allocation of external relay No. is as follows.

Ｘ０～Ｘ７Ｆ Input relay {when (3)-RC502s are used}

Ｙ０～Ｙ６７ Output relay {when (3)-RC502s are used}

Ｍ５０００～Ｍ５７ＦＦ User and system relay (system area for input)※１

Ｍ６０００～Ｍ６７ＦＦ User and system relay (system area for output)※１

Ｍ７０００～Ｍ７０４Ｆ Supervisor relay ※２

(*1：Universal area can be used by user.)

(*2：Don’t change normally although those could be.)

[How to display]

① Select type of relays (X, Y, M).

② Press [Display start No.=] key to display input screen.

③ Enter relay No. you want to display.

[Force ＯＮ／ＯＦＦ procedure]

① Press a relay displayed that you want to change.

※ Cannot do Force ON/OFF with input relay and supervisor.

□（Blue）ＯＦＦ

■（Red）ＯＮ

6-6

6.4. Operation ready condition The directory to operation

status screen

is as follows.

Maintenance menu

↓

Controller data

↓

Operation status

1. If motor power ON

enabling and

operation start enabling are

fulfilled

or not is displayed.

In case all conditions are

highlighted,

you can turn motor power or

operation on.

* In case either motor power or operation is not turned, check if every condition in this

screen comes on.

2. You can see the status of inputs/outputs ON/OFF to/from each CPU at bottom of screen.

6.5. Key trace The directory to key trace

screen is as follow.

Maintenance menu

↓

Controller data

↓

Key trace

１．You can see the

recent 112 logs of touch panel (POD) operation.

※What’s displayed

Date and time：

DD HH:MM

Screen：

Basic screen No.

Sub：Overlap screen No.

Key：Operation contents

Results：Operation results (detailed code)

6-7

6.6. File operation Files can be transferred

between external

memory and robot controller.

The directory to file operation

screen is

as follows.

Maintenance menu

↓

Controller data

↓

File operation

１．Transfer direction

Select file transfer

direction.

Display of the button

toggles between

[external memory <-> robot] whenever it is pressed.

２．File list

①When [external memory -> robot] is selected, file list of external memory as origin side

is displayed. Robot (memory inside controller) is target side in this case.

②When [robot -> external memory] is selected, file list of robot as origin side is

displayed. External memory is target side in this case.

③Pressing No. in the list allows to select file to be transferred (or deleted). The

selected file turns to reversed blue color.

*External memory can be selected with [USB] or [CF].

*Folder of external memory can be selected with [Work folder] or [Backup folder].

(See the note)

*All the files displayed in the list are [grog] only. However, pressing [system] allows to

display system file or pressing all for all files. Password is required to see the all

though.

３．All selection

All the files at origin are selected.

４．Transfer

The selected files are transferred to the target.

*Instruction of overwriting all programs

If [Do] is chosen, files at the target side with same names are forced to be

overwritten all.

If [Don’t do] is chosen, a confirmation message of overwriting pops up when files with

same names exist at the target side.

５．Log file transfer

6-8

Five recent trace data is transferred to external memory.

The file name is changed to that added on with date at the upfront.

(Example: 20100930150157_risc.err)

６．Deletion

Files chosen are deleted.

７．Cancel

Pressing [Cancel] during transferring allows to cancel the process.

Note

External memory

Either USB memory or CF (compact flash) can be connected.

USB memory is regularly used.

・USB memory of 2GBytes or less is to be used.

・The below mentioned folders are to be prepared by computer.

Folder structure of external memory

１）Work folder

Create a folder on root directory in external memory with a exact same name

as [job number] set at [S1-6: Parameter setting ] screen (see section 5.6).The

root directory becomes work folder unless [job number] is designated. File

sending/receiving can be done between job folder of external memory and

robot controller. This kind of file accessing can easily be achieved directory

to/from external memory without computer.

２）Backup folder

¥BACKUP¥

This is a folder that system files of robot is stored as a backup at a time.

３）Folder for firmware (SH software)

¥SH¥

This is a folder that SH software is saved.

6-9

6.7. Logic analyzer The directory to logic analyzer

is as follows.

Maintenance menu

↓

Controller data

↓

Logic analyzer

Select (8)-points out of relays

(X/Y/M) of robot controller,

set a trigger to one of the

selected relays.

The status of timing (as

timing chart) of the relays

before and after the triggered

is shown.

１．How to setup

①Select relays to be monitored

Pressing relay No. shown at left side allows to show ten key and enable to enter

relay No.

※Relay No. to not be selected is shown like 「_ _ _ _」.

②Trigger setting

After entering relay No., press No. ( １～８) at left side to be highlighted in red

color.

The highlighted is trigger.

③Trigger level setting

Touching [TRIGER-EDGE] at bottom left allows to toggle between UP or DOWN.

When [UP] is chosen, rising timing of relay is going to be triggered. When [DOWN],

it is going down timing.

④ Recording time setting

Time interval (100 – 500ms) for one DIV (a division in memory) is to be set using

＋ ― keys. Recording time is also shown depending on the set time.

※Example, when if it is set to 100ms (min), the recording time is 8 seconds. The

sampling frequency is 10msec.

1DIV set Record time Sampling frequency

100ms 8 sec 10ms

200ms 16 sec 20ms

300ms 24 sec 30ms

400ms 32 sec 40ms

500ms 40 sec 50ms

6-10

⑤Recorded data after triggered

Enter number of data after triggered you want. The max number is 80 DIV so 40DIV

is mid point of trigger to enable to evenly see both sides.

２．After setting is completed, press RUN/STOP button to monitor. The indicator below the

button is changed whenever pressed.

※Impossible to set up under RUN status.

※Even if screen is switched over, the status of RUN/STOP can be kept.

※Once triggered, it comes to STOP status.

３．How to see data after triggered

Data of (8)-pages (10DIV/PAGE) can be seen. Page scrolling can be done with ＜＞

buttons.

※Once triggered, the same data can be kept as is until it comes to [RUN] status

even after screen is changed to something else. But all data is cleared when main

power is cycled.

6-11

6.8. ID No – Prg No allocation IDNo-PrgNo. allocation screen is displayed only at the time of the starting mode from

external PLC ( [X/Y] is selected at sys-para PLC control interface).

The directory to ID NO – Prg No allocation screen is as follows.

Maintenance menu

↓

Controller data

↓

IDNo－PrgNo allocation

- ID and program allocation

for

Centronix communication can

be shown and registered.

- To press [Cancel] allows to

cancel all the allocation of

IDNo.1 to 127.

-To press [Change] allows to

display IDNo. allocation

change screen.

ID No.assignment change

1. Enter ID No. with ten key.

Some number next to [Present Prg No.]

is shown up if it exists.

Cursor moves by itself to location of Prg No.

input

after entering ID No.

* A cursor can be also moved manually by

pressing [IDNo.] key or [PrgNo.] key.

2. Enter PrgNo. with ten-key.

Press [Cancel] key to cancel PrgNo. that is already assigned.

3. Press [Set] key after entering ID No. & Prg No.

6-12

6.9. Battery replace The directory to battery

replacement


Maintenance menu

↓

Controller data

↓

Battery replace

Press respective

corresponding [Replace]

button when battery is

replaced for either [for robot],

[for controller] or [for touch

panel]. The current date is

stored. Or you can directly

change year, month and/or

day pressing those displayed.

Note If wrong date is entered, waring message for replacing battery will be wrong

accordingly.

6.10. Conveyor information The directory to conveyor

information is as

Follows.

Maintenance menu

↓

Controller data

↓

Conveyor information

Start, stop, and latch

clearance of

Built-in PLC can be carried out

- Press [Change] key to change

operation or stop in corresponding PLC.

Password is required (For system registration).

- Press [Latch clearance] key to clear latching in Built-in PLC (regular speed + high

speed).

Only under stop state, both regular and high speed PLC can be cleared.

6-13

6.11. Stacked counter revision The directory to stacked

counter revision

is as follows.

Maintenance menu

↓

Robot data

↓

Stacked counter revision

Initialize Pallet Selected

1.To press pallet key to

initialize allows

to display the count value of

the

corresponding program.

2. Press [Initialize Pallet Selected] key to initialize the counter value of the displayed

program.

※In case [All] key is selected in pallet selection, the counter values of all pallet (1 - 6)

are initialized.

※Press [Initialize All Programs] key to initialize the counter values of all program stored

in robot counter.

Counter Revision

Counter value of each program No. can be changed in this screen.

● Press [Prog No.=] key and input the program No. to revise the counter.

●Press [Change] to input the value to revise.

● Press [Enter] to execute the counter revision.

* To hold a count value not per pallet but per program, counter revision of the

program which is not being stacked is also possible.

* In case of moving to maintenance menu under operation, this screen is not

displayed.

6-14

6.12. Program selection method The directory to program

selection method

is as follows.

Maintenance menu

↓

Robot data

↓

Program selection method

See 1.3 Program confirmation

procedure on manual of

[Teaching pallet on floor] for

detail.

6.13. Position & acceleration / deceleration time The directory to acceleration/

Deceleration time screen is as

follows.

Maintenance menu

↓

Robot data

↓

Position, acc/dec time

Last executed 12 steps trace

data is displayed.

(Displayed data are position,

acceleration time, and

deceleration time.)

*The screen is being

automatically updated.

6-15

6.14. Executed sequence command The directory to executed sequence command is as follows.

Maintenance menu

↓

Robot data

↓

Executed sequence command

Up to (40) sequence commands robot has executed are displayed on the executed

sequence command screen. Scroll key can move screen upward or downward to show

you all the rest of the commands.

[Screen explanation]

1. Executed sequence

No.

Numbering is made in

order of new to old.

2. Program No.

Program Nos to be

executed are displayed.

3. Line No.

Line Nos. in sequence

program to be executed

are displayed.

4. Sequence command

Sequence commands to

be executed are

displayed.

6.15. Overlap trace The directory to overlap trace

is as follows.

Maintenance menu

↓

Robot data

↓

Overlap trace

１． Up to (12)-overlapping

among steps executed are

displayed.

① ② ③ ④

6-16

6.16. SMOV calculation The directory to SMOV

Calculation screen is as

follows.

Maintenance menu

↓

Robot data

↓

SMOV calculation

１． Executed step No.,

position data and

acc/dec time are

displayed when SMOV

is executed.

6.17. Deviation trace The directory to deviation

trace is as follows.

Maintenance menu

↓

Motor axis data

↓

Deviation trace

It displays max and min

deviation

of each axis of robot.

※ Press [Max val clear] key

to clear Max value.

(Max value is stored even if

the power is OFF.)

6-17

6.18. Position command trace The directory to position

command trace is as follows.

Maintenance menu

↓

Motor axis data

↓

Position command trace

The position data of each axis

can be displayed as an

instruction value to CPU

(DS) for servo motor

control.

※ Last data for about 20

seconds can be shown.

But, in case a motor

power is off, the data is

not updated by itself.

In case a motor power is

turned off by occurrence of

failure, the data for about

20 seconds before the error

can be shown.

● Press [Write] key to save

data to file.

* [Write] operation cannot be

performed during operation.

* The data saved to file can

be taken in by Oxpa-Qm2,

and can be treated as CSV file.

● Press [Gragh] key to display

speed and position data in

graph.

* Press [Axial change] key to

show the graph of a different

axis.

6-18

6.19. Servo torque indicate The directory to servo torque

indicate is as follows.

Maintenance menu

↓

Motor axis data

↓

Servo torque indicate

１．Measurement of torque

Press [Start/Clear] button

to start.

(960) – data are recorded

in the preset sampling

frequency.

The measurement is

completed up to 960 data.

If [Start/Clear] is pressed

during measured, it is

cancelled.

●Press [Save To File] to save

the measured data.

※ The data saved to file can

be taken in by OXPA-Qm

as CSV file.

●Press [Data display] key to

show speed, torque in

graph.

※ Selecting axis allows to

show each axis data.

Press [Speed/Torque] key

to toggle to show Speed

or Torque.

２．Trace data indicate

While robot is in operation, torque is always being monitored and recorded

automatically. The sampling time is 24 msec and the data is up to 960.

Press [Trace indicate] to show the trace data and press [Trace save] to save data to

file.

6-19

6.20. Collision detection The directory to collision

detection is as follows.

Maintenance menu

↓

Motor axis data

↓

Collision detection trace

6.21. Expansion axis trace The directory to expansion

axis trace is

as follows.

Maintenance menu

↓

Motor axis data

↓

Expansion axis trace

It shows the data of positions

and acc/dec time of last (12)

- steps to be executed.

7-1

7. Table of Basic Specifications

Model RC840

(A700V, A400V,AP30V)

RC830

(A1800V, A1600V)

Number of control axis 4-axes simultaneous + 2 axes (for hand axis etc.

optional)

Path control system PTP (R,T Axes) CP (O,D Axes)

Position detection

system

Absolute encoder

Position control system Digital closed loop

Control Syste

m

Motor control system Digital AC servo control

Program storage system SRAM (battery back-up)

Compact flash (option)

Mem

ory

Memory capacity Max 2000 patterns (Varies depending on stacking

program)

Display device 8.7 inch FTP color LCD touch panel (KANJI supported)

Display

External storage device PC (Needs special program to transfer data )

Teaching system - Teaching play-back and numerical input

- Off-line programming by computer

Number of simultaneous

loading points

Max 14 pallets, 4 stations

Repeat speed 10 levels (1 ~10)

Editor functions Revise, Addition, Delete, Transfer, Copy, Labels

Outside

Teachin

g, Opera

tion

Remote operation Teaching Pendant (For Installation Personnel)

Number of I/O points Standard input 4 (124 Max option)

Standard output 3 ( 99 Max option)

External communication

USB x 1

Ethernet x 1

RS422 x 1

CC-Link x (option)

(All the software is optional)

I/O

I/O points of Hand Input 4, Output 4

Dimension [mm] 940W x 640D x 1150H mm

Weight [kg] 275 kg 250Kg

Ambient temperature 0 ~ 40 Degrees C

Storage temperature 0 ~ 50 Degrees C

Altitude 1000 m or less

Relative humidity 35 ~ 85 %

AC 200 / 220V ±5% 50 / 60 Hz ±1Hz, 3phase

Required power supply 2.5 kVA for robot +

(peripheral conveyors)

6.5 kVA for robot +

(peripheral conveyors)

Controller

Conveyor control Typical simple layout can be controlled by built-in PLC

Robot manual

Installation and Adjustment

- Electrical -

Version 01: 2011.09.22

<Caution>

Unauthorized reproduction of part or all of the content of this manual is forbidden.

The content of this manual is subject to future change without prior notice.

Okura Yusoki Co., Ltd. 900 Furuouchi, Noguchi-cho, Kakogawa,

Hyogo 675-8675 Japan

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