Supporting Supplement Manual

Transcription

1 YAMAHA ROBOT CONTROLLER Supporting Supplement Manual ENGLISH E YAMAHA MOTOR CO., LTD. IM Operations 88 Soude, Naka-ku, Hamamatsu, Shizuoka -00.Japan URL E-Ver..0

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3 Introduction Thanks for purchasing the YAMAHA robot controller RCX0/RCX/RCX. This manual describes the CE marking for the RCX0/RCX/RCX. When shipping the RCX0/RCX/RCX to Europe or when using it in Europe, always read this manual thoroughly to use the controller correctly. This manual describes only the items related to CE marking. For operations and programming of the robot controller, refer to the user's manuals that come with the robot controller. Even after reading this manual, keep it in a safe, easily accessible place so that it can be referred to when needed. This manual should be used with the robot and controller and considered an integral part of them. When the robot and controller are moved, transferred, or sold, send this manual to the new user along with the robot and controller. Be sure to explain to the new user the need to read through this manual. Specifications of the robot and controller models other than standard models may be omitted in this manual. In that case, refer to the specifications of standard models. For details on specific operation of the robot controller, refer to the user's manuals that come with the robot controller. NOTES The contents of this manual are subject to change without prior notice. While every effort has been made to ensure the contents of this manual are correct, please contact us if you find any part of this manual to be unclear, confusing or inaccurate. YAMAHA MOTOR CO., LTD. IM Operations Introduction

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5 General contents General contents Introduction Chapter USING THE ROBOT SAFELY. Safety information -. Particularly important cautions -.. System design safety points -.. Installation safety points -.. Wiring safety points -.. Start-up and maintenance safety points -.. Safety precautions during robot operation -7.. Precautions for disposal -8. Safety measures for robots -8.. Safety measures for SCARA type robots -8.. Safety measures for single-axis robots, Cartesian robots, and pick & place robots -8. Motor overload precautions -8. Warning labels and marks -9.. Warning labels -9.. Warning marks -9. Industrial robot operating and maintenance personnel -0.7 Make daily and periodic inspections -0 Chapter CE MARKING. CE Marking -. Safety standards -.. Cautions regarding compliance with EC Directives -.. CE marking -.. Applicable EC Directives and their related standards -.. Robots subject to CE Marking -.. Cautions regarding the official language of EU countries -. Usage conditions - General contents i

6 Chapter SYSTEM OVERVIEW. System overview -.. Main system configuration -. Control system configuration -.. Basic configuration -.. Power supply and emergency stop system circuit configuration -. Programming box (RPB-E) -7.. Part names and functions -7.. RPB connector -9. SERVICE mode -.. What is SERVICE mode? -.. Flow for enabling the SERVICE mode functions -.. SERVICE mode parameter settings -... SERVICE mode level -... Limitations on operating speed during SERVICE mode -... Operation device control during SERVICE mode - Chapter EMC COUNTERMEASURE. EMC countermeasure examples -.. RCX Configuration -... Countermeasure components -.. RCX/RCX Configuration Countermeasure components -9 Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES. External safety circuit examples -.. Performance level -.. Circuit examples for the RCX Category -... Category -... Category -... Overview of circuit operation -7.. Circuit examples for the RCX/RCX Category Category -... Category -... Overview of circuit operation - ii General contents

7 Chapter SPECIFICATIONS. Controller -.. Basic specifications -... RCX RCX -... RCX -.. Basic functions -7.. External view RCX RCX -... RCXHP -... RCX -... RCXHP -. Programming box -.. Basic specifications -... RPB-E -.. External view -... RPB-E - General contents iii

8 MEMO iv General contents

9 Chapter USING THE ROBOT SAFELY Contents. Safety information -. Particularly important cautions -.. System design safety points -.. Installation safety points -.. Wiring safety points -.. Start-up and maintenance safety points -.. Safety precautions during robot operation -7.. Precautions for disposal -8. Safety measures for robots -8.. Safety measures for SCARA type robots -8.. Safety measures for single-axis robots, Cartesian robots, and pick & place robots -8. Motor overload precautions -8. Warning labels and marks -9.. Warning labels -9.. Warning marks -9. Industrial robot operating and maintenance personnel -0.7 Make daily and periodic inspections -0

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11 . Safety information. Safety information Before using the YAMAHA robot controller, be sure to read this manual and related manuals, and follow their instructions to use the robot controller safely and correctly. Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure safety of the user's final system that includes YAMAHA robots and controllers, please take appropriate safety measures as required by the user's individual system. Industrial robots are highly programmable machines that provide a large degree of freedom in movement. To use YAMAHA robots and controllers safely and correctly, be sure to comply with the safety instructions and precautions described in this chapter. Failure to take necessary safety measures or incorrect handling may result not only in trouble or damage to the robot and controller, but also in serious accidents involving injury or death to personnel (robot installer, operator, or service personnel). This manual describes safety precautions and operating points using the following symbols and signal words. w DANGER "DANGER" INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, WILL RESULT IN DEATH OR SERIOUS INJURY. w WARNING "WARNING" INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, COULD RESULT IN DEATH OR SERIOUS INJURY. c CAUTION "CAUTION" indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury or damage to the equipment or loss of data. n NOTE Explains key points in the operation in a simple and clear manner. Use any of the following approaches to this manual when installing, operating and adjusting the YAMAHA robot and/or controller so that you can quickly refer to this manual when needed.. Keep the printed version of this manual (available for an additional fee) handy for ready reference.. View the CD-ROM version of this manual on your PC screen.. Print out the necessary pages of this manual from the CD-ROM and keep them handy for ready reference. Chapter USING THE ROBOT SAFELY -

12 . Particularly important cautions To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and instructions. Please note, however, this supplementary manual cannot cover all items regarding safety. So it is extremely important that the operator or user have knowledge of safety and make correct decisions regarding safety.. Particularly important cautions Particularly important cautions for handling and operating the robot and controller are described below. Additional cautions are also described in each chapter. Be sure to comply with those instructions to ensure safety... System design safety points w DANGER YAMAHA ROBOT CONTROLLERS AND ROBOTS ARE DESIGNED AND MANUFACTURED FOR GENERAL-PURPOSE INDUSTRIAL EQUIPMENT. THEY SHOULD NOT BE USED IN THE FOLLOWING APPLICATIONS: MEDICAL EQUIPMENT OR SYSTEMS WHICH WILL AFFECT HUMAN LIFE EQUIPMENT DESIGNED TO CARRY OR TRANSPORT PERSONS EQUIPMENT OR SYSTEMS WHICH WILL SERIOUSLY AFFECT SOCIETY OR PUBLIC POLICY USE IN ENVIRONMENTS SUBJECT TO VIBRATION, SUCH AS VEHICLES AND SHIPS EACH ROBOT CONTROLLER HAS AN EMERGENCY STOP INPUT TERMINAL TO TRIGGER EMERGENCY STOP. USING THIS TERMINAL, CONFIGURE A SAFETY CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL WORK SAFELY. w WARNING TO CHECK THE OPERATING STATUS OF THE ROBOT CONTROLLER, REFER TO THIS MANUAL AND RELATED USER'S MANUAL. BUILD THE SYSTEM INCLUDING THE ROBOT CONTROLLER SO THAT IT WILL ALWAYS WORK SAFELY. INSTALL A SIGNAL LIGHT (SIGNAL TOWER, ETC.) AT AN EASY-TO-SEE POSITION SO THAT THE OPERATOR WILL KNOW THE STOP STATUS OF THE ROBOT (TEMPORARY STOP, EMERGENCY STOP, ERROR STOP, ETC.). c CAUTION Do not bundle control lines or communication cables together or in close contact with the main power supply circuit or power lines. As a general rule, separate them by at least 00mm. Failure to follow this instruction may cause malfunctions due to noise. - Chapter USING THE ROBOT SAFELY

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

14 . Particularly important cautions.. Wiring safety points w WARNING ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING WORK. FAILURE TO SHUT OFF ALL PHASES MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE. c CAUTION Make sure that no foreign matter such as cutting chips or wire scraps enter the robot controller. Malfunctions, breakdown or fire may result if they have entered. Always store the cables connected to the robot controller in a conduit or clamp them securely in place. If the cables are not stored in a conduit or properly clamped, excessive play or movement or mistakenly pulling on the cable may damage the connector or cables, and poor cable contact may cause equipment malfunctions. Do not modify the cables and do not place any heavy object on them. Handle them carefully to avoid damage. Damaged cables may cause malfunction or electrical shock. If there is a possibility that the cables connected to the robot controller may be damaged, protect them with a cover, etc. Do not apply excessive loads or impacts to the connectors when making cable connections. The connector pins may become bent or the internal PC board may be damaged. When disconnecting the cable from the robot controller, detach by gripping the connector itself and not by tugging on the cable. Loosen the screws on the connector (if fastened with the screws), and then disconnect the cable. Detaching by pulling on the cable itself may damage the connector or cables, and poor cable contact may cause equipment malfunctions. - Chapter USING THE ROBOT SAFELY

15 . Particularly important cautions.. Start-up and maintenance safety points w DANGER NEVER ENTER THE ROBOT'S WORKING ENVELOPE WHILE THE ROBOT IS OPERATING OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCK WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT'S WORKING ENVELOPE. WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE ROBOT'S WORKING ENVELOPE, SUCH AS FOR TEACHING OR MAINTENANCE/INSPECTION, ALWAYS CARRY THE PROGRAMMING BOX WITH YOU SO THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN CASE OF AN ABNORMAL CONDITION. ALSO SET THE ROBOT OPERATING SPEED TO % OR LESS. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH. CHECK THE FOLLOWING POINTS BEFORE OPERATING THE ROBOT. NO ONE IS WITHIN THE ROBOT'S WORKING ENVELOPE. THE PROGRAMMING BOX IS AT THE SPECIFIED POSITION. THERE IS NO ABNORMAL STATE IN THE ROBOT AND RELATED DEVICES. w WARNING ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY OPERATE THE ROBOT. OPERATION BY ANY PERSON WHO HAS NOT RECEIVED THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED. THE ROBOT AND ROBOT CONTROLLER ARE NOT DESIGNED TO BE EXPLOSION-PROOF. DO NOT USE THEM IN LOCATIONS EXPOSED TO INFLAMMABLE GASES, GASOLINE OR SOLVENT THAT COULD CAUSE EXPLOSION OR FIRE. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH, OR LEAD TO FIRE. DO NOT TOUCH ANY ELECTRICAL TERMINAL OF THE ROBOT CONTROLLER. DOING SO MAY CAUSE ELECTRICAL SHOCK OR EQUIPMENT MALFUNCTIONS. ALWAYS CONNECT THE ROBOT AND ROBOT CONTROLLER IN THE CORRECT COMBINATION. USING THEM IN AN INCORRECT COMBINATION MAY CAUSE FIRE OR BREAKDOWN. ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE CLEANING OR TIGHTENING THE TERMINAL SCREWS. FAILURE TO SHUT OFF ALL PHASES MAY CAUSE ELECTRICAL SHOCK, PRODUCT DAMAGE OR MALFUNCTIONS. DO NOT TOUCH THE ROBOT CONTROLLER AND ROBOT DURING OPERATION. SOME PARTS IN THE ROBOT CONTROLLER OR ROBOT ARE HOT DURING OPERATION. TOUCHING THEM MAY CAUSE BURNS. DO NOT HANDLE OR OPERATE THE ROBOT CONTROLLER OR PROGRAMMING BOX WITH WET HANDS. TOUCHING THEM WITH WET HANDS MAY RESULT IN ELECTRICAL SHOCK OR BREAKDOWN. Chapter USING THE ROBOT SAFELY -

16 . Particularly important cautions IMMEDIATELY TURN OFF POWER IF UNUSUAL ODORS, NOISE OR SMOKE ARE NOTICED DURING OPERATION. CONTINUOUS OPERATION UNDER SUCH A CONDITION MAY RESULT IN ELECTRICAL SHOCK, FIRE OR BREAKDOWN. STOP USING AND CONTACT OUR SALES OFFICE OR SALES REPRESENTATIVE. DO NOT DISASSEMBLE OR MODIFY ANY PART IN THE ROBOT CONTROLLER AND PROGRAMMING BOX. DO NOT OPEN ANY COVER. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ELECTRICAL SHOCK, BREAKDOWN, MALFUNCTION, INJURY, OR FIRE. IF A COMPONENT USED IN THE ROBOT OR CONTROLLER NEEDS TO BE REPLACED OR REPAIRED, ALWAYS FOLLOW THE INSTRUCTIONS FROM YAMAHA. INSPECTION AND MAINTENANCE OF THE CONTROLLER OR ROBOT BY ANY PERSON WHO DOES NOT HAVE THE REQUIRED KNOWLEDGE AND EXPERTISE IS DANGEROUS AND MUST BE AVOIDED. WHEN PERFORMING MAINTENANCE OR INSPECTION OF THE ROBOT CONTROLLER UNDER OUR INSTRUCTIONS, WAIT AT LEAST 0 MINUTES AFTER TURNING THE POWER OFF. SOME COMPONENTS IN THE ROBOT CONTROLLER MAY BE HOT OR STILL RETAIN A HIGH VOLTAGE SHORTLY AFTER OPERATION, SO BURNS OR ELECTRICAL SHOCK MAY OCCUR IF THOSE PARTS ARE TOUCHED. DURING STARTUP OR MAINTENANCE WORK, DISPLAY AN EASY TO UNDERSTAND SIGN OR MESSAGE ON THE PROGRAMMING UNIT OR OPERATION PANEL TO PREVENT ANYONE OTHER THAN PERSONNEL FOR THAT WORK FROM MISTAKENLY OPERATING A START OR SELECTOR SWITCH. IF NEEDED, TAKE OTHER MEASURES SUCH AS LOCKING THE COVER ON THE OPERATION PANEL. DECIDE ON "WORK INSTRUCTIONS" IN CASES WHERE PERSONNEL MUST WORK WITHIN THE ROBOT'S WORKING ENVELOPE TO PERFORM STARTUP OR MAINTENANCE WORK. MAKE SURE THE WORKERS KNOW THESE "WORK INSTRUCTIONS" WELL. - Chapter USING THE ROBOT SAFELY

17 . Particularly important cautions c CAUTION When using ferrite cores for noise elimination, fit them to the power cable as close to the robot controller and/or the robot as possible, to prevent malfunctions due to noise. Back up the robot controller internal data in an external storage device. The robot controller internal data (programs, point data, etc.) may be lost or deleted for unexpected reasons. Always make a backup of the internal data. Do not use thinner, benzene, and alcohol to wipe clean the surface of the programming box. The surface sheet may be damaged or printed letters or marks might be erased. Use a soft, dry cloth and gently wipe the surface. Do not use a hard or pointed object to operate the keys on the programming box. Malfunction or breakdown may result if the keys are damaged. Use your fingers to operate the keys. Do not insert any SD memory card other than specified into the SD memory card slot of the programming box. Malfunction or breakdown may result if a wrong memory card is used. Do not leave the SD memory card inserted into the programming box. Doing so may cause malfunction or breakdown. Insert the SD memory card into the programming box only when making a data backup or loading the backup data... Safety precautions during robot operation w DANGER NEVER ENTER THE ROBOT'S WORKING ENVELOPE WHILE THE ROBOT IS OPERATING OR THE MAIN POWER IS TURNED ON. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH. INSTALL A SAFEGUARD (SAFETY ENCLOSURE) OR A GATE INTERLOCK WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT'S WORKING ENVELOPE. WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE ROBOT'S WORKING ENVELOPE, SUCH AS FOR TEACHING OR MAINTENANCE/INSPECTION, ALWAYS CARRY THE PROGRAMMING BOX WITH YOU SO THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN CASE OF AN ABNORMAL CONDITION. ALSO SET THE ROBOT OPERATING SPEED TO % OR LESS. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH. w WARNING ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY OPERATE THE ROBOT. OPERATION BY ANY PERSON WHO HAS NOT RECEIVED THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED. Chapter USING THE ROBOT SAFELY -7

18 . Safety measures for robots.. Precautions for disposal ccaution When disposing of this product discard it as industrial waste. Take appropriate measures in compliance with legal regulations in your country or entrust its proper disposal to a company authorized to handle industrial waste.. Safety measures for robots.. Safety measures for SCARA type robots () Safty measures during transportation: To ensure safety, use the eyebolts that come with the robot. Refer to the robot user's manual for details. () Protective measures against electrical shock: Use the protective ground terminal to ensure safety. Refer to the robot user's manual for details... Safety measures for single-axis robots, Cartesian robots, and pick & place robots () Protective measures against electrical shock: Use the protective ground terminal to ensure safety. Refer to the robot user's manual for details.. Motor overload precautions Since abnormal operation (such as overload) of the motor is detected by software, the controller parameters must be set correctly to match the motor type used in the robot connected to the controller. Prior to shipping, the controller parameters are preset to match the robot model to be used. However, please check the robot model again when connecting it to the controller. -8 Chapter USING THE ROBOT SAFELY

19 . Warning labels and marks. Warning labels and marks.. Warning labels The warning labels shown below are affixed to the controller. To use the YAMAHA robot and controller safely and correctly, be sure to observe the instructions and caution on the labels. () "Read Instruction Manual" label READ INSTRUCTION MANUAL This label means that important information you must know is described in the manual. Before using the controller, be sure to read this manual carefully. When in particular configuring an external safety circuit or connecting a power supply to the controller, read this manual carefully and follow the instructions. Connectors have a particular orientation, so insert each connector in the correct direction... Warning marks The following warning marks are shown on the controller. To use the YAMAHA robot and controller safely and correctly, be sure to observe the instructions and caution of the marks. () "Electric Hazard" mark This mark indicates that a high voltage is present. This mark warns you of possible electrical shock. Do not touch the terminal block and connectors to avoid electrical shock. () "CAUTION" mark! This label means that important information you must know is described in the manual. Before using the controller, be sure to read this manual carefully. When in particular configuring an external safety circuit or connecting a power supply to the controller, read this manual carefully and follow the instructions. Connectors have a particular orientation, so insert each connector in the correct direction. Chapter USING THE ROBOT SAFELY -9

20 . Industrial robot operating and maintenance personnel () "High Temperature Hazard" mark Indicates that the area around this mark may become very hot. Heatsinks and regenerative unit become hot during and shortly after operation. Do not touch them to avoid burns.. Industrial robot operating and maintenance personnel Operators or persons who handle the robot such as for teaching, programming, movement check, inspection, adjustment, and repair must receive appropriate training and also have the skills needed to perform the job correctly and safely. They must read the user's manual carefully to understand its contents before attempting the robot operation. Tasks related to industrial robots (teaching, programming, movement check, inspection, adjustment, repair, etc.) must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots..7 Make daily and periodic inspections Always make sure that daily and periodic inspections are performed, and make a pre-work check to ensure there are no problems with the robot or related equipment. If a problem or abnormality is found, then promptly repair it or take other measures as necessary. -0 Chapter USING THE ROBOT SAFELY

21 Chapter CE MARKING Contents. CE Marking -. Safety standards -.. Cautions regarding compliance with EC Directives -.. CE marking -.. Applicable EC Directives and their related standards -.. Robots subject to CE Marking -.. Cautions regarding the official language of EU countries -. Usage conditions -

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23 . CE Marking. CE Marking This section provides a basic description of how the RCX0/RCX/RCX controllers comply with CE marking. Differences in the basic specifications between CE marking compliant controllers and standard controllers are as follows: Differences in main specifications of CE Marking complaint controller and standard controller CE Marking compliant controller Service mode Provided Not provided Programming box. Safety standards RPB-E (enable switch compatible specifications) Standard controller RPB (standard specifi cations).. Cautions regarding compliance with EC Directives The YAMAHA robot (robot and controller) is not, in itself, a robot system. The YAMAHA robot is just one component that is incorporated into the customer's system (built-in equipment), and we declare that YAMAHA robots conform to the EC Directives only within the scope of built-in equipment. This does not therefore guarantee that YAMAHA robots conform to EC Directives in cases where the robot is used independently. Customers who incorporate a YAMAHA robot into their final system which will be shipped to, or used, in the EU, should therefore verify that the overall system is compliant with EC Directives. Differences between YAMAHA robots (robot and controller) and robot systems A YAMAHA robot (robot and controller) is just one component in a robot system, and is not, in itself, a robot system. This is because a YAMAHA robot does not include the "end effector(s)" or "any equipment, devices, or sensors required for the robot to perform its tasks", as defined in "Robot systems" of the ISO 08-: 00 Standard - Clause.0... CE marking YAMAHA robots are components that are incorporated into the customer's system (built-in equipment). We therefore declare regarding EC Directives that YAMAHA robots are "semifinal products" and so we do not affix a CE mark to the robots. Chapter CE MARKING -

24 . Safety standards.. Applicable EC Directives and their related standards The tables below show directives and related standards applied to YAMAHA robots. () RCX0 EC Directive Machinery Directive 00//EC EMC Directive 00/08/EC Related Standards EN ISO00- : Safety of machinery - Basic concepts Part EN ISO00- : Safety of machinery - Basic concepts Part EN ISO08- : Safety requirements - Part : Robot EN ISO- : Safety of machinery - Risk assessment EN00- : Safety of machinery - Electrical equipment of machines EN 0 : EMC Emission of ISM Equipment EN : EMC Immunity for Industrial Environments () RCX/RCX EC Directive Machinery Directive 00//EC EMC Directive 00/08/EC Related Standards EN ISO00- : Safety of machinery - Basic concepts Part EN ISO00- : Safety of machinery - Basic concepts Part EN ISO- : Safety of machinery - Risk assessment EN00- : Safety of machinery - Electrical equipment of machines EN 0 : EMC Emission of ISM Equipment EN : EMC Immunity for Industrial Environments Referred standards: EN ISO08-: Safety requirements - Part : Robot.. Robots subject to CE Marking The following robot series products are subject to CE marking. Controller RCX RCX RCX0 Single-axis robots Cartesian type robots Pick-and-place type robots Single-axis robots Cartesian type robots Pick-and-place type robots SCARA type robots Robot Name : FLIP-X series, PHASER series : XY-X series : YP-X series : FLIP-X series, PHASER series : XY-X series : YP-X series : YK-X series, YK-XG series.. Cautions regarding the official language of EU countries For YAMAHA robots that will be installed in EU countries, the language used for the user's manuals, CE declarations, and operation screen characters is English only. Warning labels only have pictograms or else include warning messages in English. In the latter case, Japanese messages might be added. - Chapter CE MARKING

25 . Usage conditions. Usage conditions The following description gives major operating conditions for YAMAHA robot series products. EMC (Electromagnetic compatibility) YAMAHA robot series products are designed for use in industrial environments. (Applicable definition relating to the EMC Directive: Refer to the EN000-- Standard, Clause "Scope".) In order to conform to the EMC Directive, the customer must evaluate the finished product (entire system) and take necessary countermeasures. Refer to EMC countermeasures for single units of YAMAHA robots, which are described in Chapter in this manual. Installation conditions Protective structure YAMAHA robots are classified as built-in equipment and have a "Class I" protective structure against electrical shock. The robot and controller must therefore be grounded properly to prevent possible electrical shock. For details, refer to the controller user's manual and the robot user's manual. Enclosure The robot controller case is not designed as an enclosure that conforms to the EN00- Standard. Suitable protection should therefore be provided to prevent the danger of electrical shock due to inadvertent contact and ambient environment problems (dust, water, etc.). Insulation co-ordination Regarding insulation co-ordination, YAMAHA robots and controllers are designed to meet the following conditions: Overvoltage category II Pollution degree Take proper countermeasures as needed if the robot or controller is used in environments more severe than these levels. Explosion-proof YAMAHA robots and robot controllers are not designed to meet explosion-proof specifications. Do not use them in environments exposed to flammable gases, gasoline, or solvents which could cause explosion or fire. Chapter CE MARKING -

26 MEMO - Chapter CE MARKING

27 Chapter SYSTEM OVERVIEW Contents. System overview -.. Main system configuration -. Control system configuration -.. Basic configuration -.. Power supply and emergency stop system circuit configuration -. Programming box (RPB-E) -7.. Part names and functions -7.. RPB connector -9. SERVICE mode -.. What is SERVICE mode? -.. Flow for enabling the SERVICE mode functions -.. SERVICE mode parameter settings -... SERVICE mode level -... Limitations on operating speed during SERVICE mode -... Operation device control during SERVICE mode -

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29 . System overview. System overview The RCX series controllers are designed for use with a SCARA robot or Cartesian robot, mainly for assembly and pick-and-place applications. Applications also include various inspection instruments, sealers and spray equipment utilizing linear and circular interpolation... Main system configuration () RCX0 Example: YK00XG only All the axes on the robot controller are used as the main robot axes. System for controlling one robot OP. OP. RCX0 RPB-E MOTOR PWR SRV ERR XM ROB I/O YM ZM RM BATT XY EXT.E-STOP XY ROB I/O ZR RPB SEL COM BATT STD.DIO ZR SAFETY OP. OP. P N ACIN L N L N YAMAHA robot PC External device (PLC etc.) External emergency stop circuit ( Emergency stop button Safety relay Safety door switch, etc. Chapter SYSTEM OVERVIEW -

30 . System overview () RCX/RCX Example: XY-X series System for controlling one robot OP. MOTOR RCX XM TEMP RGEN ACIN B/A BAT L N RPB L SRV ERR RDY E-STOP ROB I/O OP. RPB-E N YM! SAFETY EXT.E-STOP PIN- SD/COM PC YAMAHA robot External emergency stop circuit ( Emergency stop button Safety relay Safety door switch, etc. External device (PLC etc.) - Chapter SYSTEM OVERVIEW

31 . Control system configuration. Control system configuration.. Basic configuration The basic block diagram of the RCX robot controller system is shown below. () RCX0 Basic block diagram TB L N L N TB ACIN CN RGEN TH (FG) CN DRIVER POWER CN0 CN CN7 CN9 CN8 CN CN CN CN CN CN AC/DC V MOTOR HEATSINK XM YM ZM RM CN CN CN CN7 CN CN DRIVER CN CN AC/DC V, ±V ROB I/O XY BATT XY ROB I/O ZR BATT ZR SAFETY CN8 CN CN CN CN CN CN CN0 CN CN7 DRIVER CN CN CN CN CN CN RPB RPB SEL COM STD.DIO CN CN8 CN CN CN0 CN CN7 CPU BOARD CN CN OP. OP. OP. OP. Chapter SYSTEM OVERVIEW -

32 . Control system configuration () RCX Basic block diagram MOTOR XM YM RGEN TEMP ACIN L N L N CN CN CN CN CN DRIVER BOARD ASSY DRIVER BOARD ASSY D.POWER BOARD CN CN ASSY CN CN CN CN CN CN CN CN MOTHER BOARD ASSY TB CN CN ROB I/O XY RPB CN CN8 CPU BOARD ASSY CN SAFETY CN COM SD MEMORY CN CN CN CN OP.BOARD CN OP.BOARD CN - Chapter SYSTEM OVERVIEW

33 . Control system configuration () RCX Basic block diagram MOTOR XM YM RGEN TEMP ACIN L N L N CN CN CN CN CN DRIVER BOARD ASSY DRIVER BOARD ASSY D.POWER BOARD CN CN ASSY CN CN CN CN CN CN CN CN MOTHER BOARD ASSY BATT A TB CN BATT B CN CN CN ROB I/O XY RPB CN CN8 CPU BOARD ASSY CN SAFETY CN COM SD MEMORY CN CN CN CN OP.BOARD CN OP.BOARD CN Chapter SYSTEM OVERVIEW -

34 . Control system configuration.. Power supply and emergency stop system circuit configuration The control system's power supply system and emergency stop system circuit block diagram are shown below. Power supply and emergency stop circuit block diagram ABS BATTERY * Selector switch RPB-E Emergency stop button ROBOT I/O MOTOR MOTOR +.V * POSITION BACKUP CIRCUIT Position Data MOTOR DRIVE CIRCUIT CONTROL CIRCUIT BLOCK CPU RELAY +V RPB Enable switch SAFETY * VDC, VDC, VDC External emergency stop circuit 80VDC (User equipment) 00 to 0VAC IN MAIN L N FUSE REALY MOTOR POWER CIRCUIT L CONTROL N FUSE * CONTROL POWER CIRCUIT POWER CIRCUIT BLOCK VDC VDC VDC * RCX0/RCX/RCX *) The input power and each control power are insulated by the insulated transformer. *) The 0V line for the.vdc, VDC, VDC and VDC is not connected to the protective earth. *) Refer to the RPB-E connector input/output signal table for the wiring diagram from the RPB-E. *) Excluding RCX. - Chapter SYSTEM OVERVIEW

35 . Programming box (RPB-E). Programming box (RPB-E) The programming box (RPB-E) is a hand-held unit specifically designed to connect to the controller, in order to perform various operations. The RPB-E allows all operations including manual operation of the robot, programming and editing, teaching, and parameter setting... Part names and functions The RPB-E has an emergency stop button and an enable switch. The contact outputs of these can be used to connect to the emergency stop circuit of the entire equipment via the SAFETY connector on the controller. The RPB-E also has a selector switch which can be used according to the customer's specifications and applications. RPB-E Display (liquid crystal screen) Selector switch (rear side) Emergency stop button Sheet key Enable switch RPB Connector Main Functions q Display (liquid crystal screen) This is a liquid crystal display (LCD) with 0 characters lines, showing various types of information. The screen brightness is adjustable. w Sheet keys These keys are used to operate a robot or input programs. The sheet keys are classified into main types: function keys, control keys and data keys. e Emergency stop button Pressing this button during operation immediately stops robot movement. This is a contact B (normally closed) type switch. The XAE-BV0R made by IDEC is used. Chapter SYSTEM OVERVIEW -7

36 . Programming box (RPB-E) r Selector switch This switch can be used as needed by wiring to the RPB SEL connector on the RCX0 or to the SAFETY connector on the RCX/RCX. Turning on this switch opens the contact, and turning it off closes the contact. The switch ON/OFF function is disabled if not wired. t Enable switch This is a -position switch designed in consideration of safety. Pressing this switch to the middle position only enables robot operation. This switch is disabled when LOCKIN to of the SAFETY connector are not wired. Configure an external safety circuit so that the state of this switch determines the robot operating state as follows: Switch released : Emergency stop state Switch in middle position : Operable state Switch pressed : Emergency stop state The HEB-M00PB made by IDEC is used. y RPB connector Use this connector to connect the RPB programming box to the robot controller. -8 Chapter SYSTEM OVERVIEW

37 . Programming box (RPB-E).. RPB connector The RPB-E has an emergency stop button and an enable switch. The contact outputs of these can be used to connect to the emergency stop circuit of the entire equipment via the SAFETY connector on the controller. This section describes signal connections. c CAUTION Do not change or modify the cable and connector. Along with the input/ output signals for the programming box, the RPB connector includes signals used to configure an external safety circuit, and so changing or modifying the cable and connector is very dangerous. Always configure an external safety circuit by using the SAFETY connector. Although the RPB-E has an emergency stop button and an enable switch, they do not function independently because the controller is designed on the assumption that an external safety circuit is configured. () RCX0 Each pin of the RPB connector on the RPB-E is connected to each pin of the SAFETY connector and RPB SEL connector. Pin to pin connections are as follows: RPB-E Emergency stop contact: Line Emergency stop contact: Line Enable contact: Line Enable contact: Line Selector switch RPB connector pin No. Connected connector Connector Name pin No. E-STOPIN E-STOPIN E-STOPIN 7 Connected to SAFETY connector 7 E-STOPIN LCKIN 8 8 LCKIN 9 9 LCKIN 0 0 LCKIN Connected to KEY RPB SEL connector KEY RCX0 RPB-E Emergency stop Enable Selector SAFETY RPB SEL to RPB Chapter SYSTEM OVERVIEW -9

38 . Programming box (RPB-E) () RCX/RCX Each pin of the RPB connector on the RPB-E is connected to each pin of the SAFETY connector. Pin to pin connections are as follows: RPB-E Emergency stop contact: Line Emergency stop contact: Line Enable contact: Line Enable contact: Line Selector switch RPB connector pin No. Connected connector Connector pin No. Name E-STOPIN E-STOPIN E-STOPIN E-STOPIN 7 8 Connected to SAFETY connector 7 8 LCKIN LCKIN 9 9 LCKIN 0 0 LCKIN 8 KEY 9 KEY RCX/RCX RPB-E SAFETY to RPB Emergency stop Enable Selector -0 Chapter SYSTEM OVERVIEW

39 . SERVICE mode. SERVICE mode This section describes SERVICE mode... What is SERVICE mode? SERVICE mode is used to perform maintenance work safely using the RPB-E within the safety fence or enclosure of the robot system. This mode is enabled only when the controller is set to SAFE mode. The CE marking compliant controllers are set to SAFE mode at the time when they are shipped. c CAUTION The CE marking compliant controllers are always set to SAFE mode. Basic operation modes "SERVICE" mode "AUTO" mode "MANUAL" mode "PROGRAM" mode "SYSTEM" mode "DI/DO monitor" mode "UTILITY" mode SERVICE mode includes AUTO and MANUAL modes in the basic operation mode, and is selected by opening (turning OFF) the DI0 contact (SERVICE mode input). Normal mode is maintained as long as the DI0 contact is closed (ON). If a serial I/O option board is installed, SERVICE mode is entered when either one of SI0 or DI0 is open (OFF). (Normal mode is entered only when both SI0 and DI0 contacts are closed.) When the DI0 contact is open (OFF), the controller is in SERVICE mode with the operation level, operating speed limit, and exclusive control of the operating devices specified by the SERVICE mode parameters. The following functions can be selected in SERVICE mode.. Robot is controlled only by RPB-E operation.. Automatic operation is prohibited.. Robot operating speed is set to below % of the maximum speed.. Robot operation is possible only by hold-to-run control. (The Hold-to-Run function allows the robot to move (including program execution) only during the time that the RPB-E operation key is kept pressed.) In SAFE mode setting, therefore, the operations in AUTO mode and MANUAL mode differ from those in normal mode, depending on the SERVICE mode parameter settings. Chapter SYSTEM OVERVIEW -

40 . SERVICE mode n NOTE The robot pauses when the SERVICE mode input is changed during program operation or jog movement. The NPN/PNP specifi cations for DI0 are determined as follows: RCX0 Determined by STD.DIO setting. RCX/RCX Determined by DI.COM and DO.COM input. Current capacity of at least 7mA is required for DI0 input. When the RCX0 controller is set to SAFE mode, it always enters the SERVICE mode state unless power is supplied to STD.DIO from the external V power supply. To cancel this state by software, set the "Watch on STD.DIO DCV" parameter to "INVALID". - Chapter SYSTEM OVERVIEW

41 . SERVICE mode.. Flow for enabling the SERVICE mode functions Controller is set to SAFE mode. SERVICE mode parameters have been set. Open (turn OFF) the DI0 contact. (If a serial I/O option board is installed, SERVICE mode is entered when either one of SI0 or DI0 is open (OFF).) Controller enters SERVICE mode with the operation level, operating speed limit, and exclusive control of the operation devices specified by the SERVICE mode parameters. Refer to the next section for the SERVICE mode parameter settings... SERVICE mode parameter settings There are the following three parameters for SERVICE mode.. SERVICE mode level. Operating speed limit during SERVICE mode. Operation device control during SERVICE mode These parameter settings determine the operation level, operating speed limit, and exclusive control of the operation devices during SERVICE mode. Even after editing the SERVICE mode parameters, the present settings still remain enabled until the controller power is turned off unless the edited parameters are saved. For how to set the SERVICE mode parameters, refer to the controller user's manual. w WARNING CHANGING THE SERVICE MODE PARAMETERS FORM THEIR DEFAULT SETTINGS IS LIKELY TO INCREASE THE RISK TO PERSONNEL OPERATING OR MAINTAINING THE ROBOT. THESE PARAMETERS CAN BE CHANGED IF THE CUSTOMER ASSUMES RESPONSIBILITY, BUT EXTRA CAUTION SHOULD BE TAKEN TO ENSURE SAFETY. Chapter SYSTEM OVERVIEW -

42 . SERVICE mode... SERVICE mode level The SERVICE mode level can be selected to enable or disable the Hold-to-Run function and to permit or prohibit the operation in AUTO mode. The Hold-to-Run function allows the robot to move (including program execution) only during the time that the RPB-E operation key is kept pressed. * Setting Description Hold-to-Run function AUTO mode operation Level 0 Disabled Permitted Level Enabled Permitted Level Disabled Prohibited Level Enabled Prohibited * Default setting... Limitations on operating speed during SERVICE mode The maximum robot operating speed can be specified. Setting Description * < % Robot operating speed is limited to below % of maximum speed. < 00% Robot operating speed is not limited. *Default setting... Operation device control during SERVICE mode The operation device can be specified. * Setting Description RPB Only RPB-E operation is enabled. RPB/DI RPB-E and dedicated input are enabled. RPB/COM RPB-E and online commands are enabled. ALL RPB-E, dedicated input, and online command operation device are enabled. *Default setting c CAUTION Dedicated input is SI when a serial board is connected. - Chapter SYSTEM OVERVIEW

43 Chapter EMC COUNTERMEASURE Contents. EMC countermeasure examples -.. RCX Configuration -... Countermeasure components -.. RCX/RCX Configuration Countermeasure components -9

44

45 . EMC countermeasure examples. EMC countermeasure examples Regarding EMC Directive, the customer's final product (entire system) including the YAMAHA robot must provide the necessary countermeasures. We at YAMAHA determine a model for single units of YAMAHA robots (controller, robot, and peripheral device) and verify that it complies with the relevant standards of EMC Directive. In order to ensure the customer's final product (entire system) complies with EMC Directive, the customer should take appropriate EMC countermeasures. Typical EMC countermeasures for a single unit of YAMAHA robot are shown for reference. c CAUTION The following description and circuits are typical countermeasures used when the robot and controller are tested under YAMAHA installation conditions. When the robot and controller are used while installed in the customer's system, the actual test results may differ depending on installation conditions. Chapter EMC COUNTERMEASURE -

46 . EMC countermeasure examples.. RCX0... Configuration c CAUTION As shown in the following figure, the ferrite cores and noise filter on the controller side should be placed as close to the controller body as possible. The ferrite cores on the robot side should be placed as close to the robot body as possible. Typical component layout for EMC countermeasures Power supply (00 to 0V) Ground L N L N RCX0 ROB I/O XY ZR MOTOR XM YM ZM RM STD.DIO OP.DIO NETWORK RPB COM Robot series Single-axis Cartesian SCARA P&P I/O circuit network RPB-E RS-C SAFETY RGEN External safety circuit Regenerative unit Meaning of symbols : Noise filter NF00A-UP : SOSHIN ELECTRIC CO., LTD. : Ferrite core ZCAT0-0 : TDK : Ferrite core ZCAT-0 : TDK : Ferrite core ZCAT0-090 : TDK : Ferrite core TFT-70S : Takeuchi Kogyo Co., Ltd. : Ferrite core SFT-7SNB-0K : Takeuchi Kogyo Co., Ltd. : Ferrite core turn : Ferrite core turns - Chapter EMC COUNTERMEASURE

47 . EMC countermeasure examples... Countermeasure components () Surge absorber The RCX0 can be used without an external surge absorber. However, to further enhance surge resistance, install a surge absorber on the AC power line. A recommended surge absorber is shown below. Recommended surge absorber Manufacturer : SOSHIN ELECTRIC CO., LTD. Type No. : LT-CG80WS Dimensional outline Status indicator Green : Normal Red : Abnormal Wire (line) (Black) Wire (earth) (Green/Yellow) unit: mm Chapter EMC COUNTERMEASURE -

48 . EMC countermeasure examples () Noise filter Always install an external noise filter on the AC power line. A recommended noise filter is shown below. Recommended noise filter Manufacturer : SOSHIN ELECTRIC CO., LTD. Type No. : NF00A-UP Dimensional outline 8 (7.) 0 (8.8) R., Length: M (8) No. Part name Note Input terminal M Case PBT Name plate Output terminal M Earth terminal M unit: mm - Chapter EMC COUNTERMEASURE

49 . EMC countermeasure examples () Ferrite core Install ferrite cores according to the customer's final product (entire system). Recommended ferrite cores are shown below. Recommended ferrite core Manufacturer : TDK Type No. : ZCAT0-0 Dimensional outline unit: mm Recommended ferrite core Manufacturer : TDK Type No. : ZCAT-0 Dimensional outline unit: mm Recommended ferrite core Manufacturer : TDK Type No. : ZCAT0-090 Dimensional outline unit: mm Chapter EMC COUNTERMEASURE -

50 . EMC countermeasure examples Recommended ferrite core Manufacturer : Takeuchi Kogyo Co., Ltd. Type No. : TFT-70S Dimensional outline (90.).8 7. Ferrite Plastic case Clamped state unit: mm - Chapter EMC COUNTERMEASURE

51 . EMC countermeasure examples Recommended ferrite core Manufacturer : Takeuchi Kogyo Co., Ltd. Type No. : SFT-7SNB-0K Dimensional outline (.) 9.. Ferrite Plastic case Clamped state unit: mm Chapter EMC COUNTERMEASURE -7

52 . EMC countermeasure examples.. RCX/RCX... Configuration c CAUTION As shown in the following figure, the ferrite cores and noise filter on the controller side should be placed as close to the controller body as possible. The ferrite cores on the robot side should be placed as close to the robot body as possible. Power supply (00 to 0V) Ground RCX/RCX ROB I/O L XY N MOTOR L XM N YM OP.DIO NETWORK RPB Robot series Single-axis Cartesian P&P I/O circuit network RPB-E COM RS-C SAFETY RGEN External safety circuit Regenerative unit Meaning of symbols : Noise filter NF00A-UP : TDK-Lambda Corporation : Ferrite core ZCAT0-0 : TDK : Ferrite core ZCAT-0 : TDK : Ferrite core ZCAT0-090 : TDK : Ferrite core turn : Ferrite core turn -8 Chapter EMC COUNTERMEASURE

53 . EMC countermeasure examples... Countermeasure components () Surge absorber The RCX/RCX can be used without an external surge absorber. However, to further enhance surge resistance, install a surge absorber on the AC power line. A recommended surge absorber is shown below. Recommended surge absorber Manufacturer : SOSHIN ELECTRIC CO., LTD. Type No. : LT-CG80WS Dimensional outline Status indicator Green : Normal Red : Abnormal Wire (line) (Black) Wire (earth) (Green/Yellow) unit: mm Chapter EMC COUNTERMEASURE -9

54 . EMC countermeasure examples () Noise filter Always install an external noise filter on the AC power line. A recommended noise filter is shown below. Recommended noise filter Manufacturer : TDK-Lambda Corporation Type No. : MBS-- Dimensional outline LC 0±0. -M 8-.8 (Mounting holes) LC NAME PLATE 8±0. ±0. ± CL MAX 9± MAX 7 0± Case: Iron ± unit: mm -0 Chapter EMC COUNTERMEASURE

55 . EMC countermeasure examples () Ferrite core Install ferrite cores according to the customer's final product (entire system). Recommended ferrite cores are shown below. Recommended ferrite core Manufacturer : TDK Type No. : ZCAT0-0 Dimensional outline Recommended ferrite core Manufacturer : TDK Type No. : ZCAT-0 Dimensional outline unit: mm unit: mm Recommended ferrite core Manufacturer : TDK Type No. : ZCAT0-090 Dimensional outline unit: mm Chapter EMC COUNTERMEASURE -

56 MEMO - Chapter EMC COUNTERMEASURE

57 Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES Contents. External safety circuit examples -.. Performance level -.. Circuit examples for the RCX Category -... Category -... Category -... Overview of circuit operation -7.. Circuit examples for the RCX/RCX Category Category -... Category -... Overview of circuit operation -

58

59 . External safety circuit examples. External safety circuit examples This section describes category-specific safety circuit configuration examples using the RPB-E. Customers should install the appropriate safety measures for their system by referring to the circuit example for each controller, in order to use the robots more safely... Performance level To comply with the machinery directives, the "performance level (PL)" required of the safety circuit must be evaluated. Performance levels (PL) are determined by the following parameters: Major factors that determine performance levels. Category. MTTFd (Mean Time To Dangerous Failure). DCavg (Average Diagnostic Coverage). CCF (Common Cause Failure) : Checklist score >? (Please obtain the data on each component from the component manufacturer.) The performance level (PL) of a safety circuit is determined by the following flow. Flow for determining performance levels. Determine the "performance level (PLr) required of the safety circuit" by means of risk assessment.. Configure the safety circuit that satisfies the requirements of the category that meets PLr.. Calculate the safety circuit's "performance level (PL)" from the MTTFd, DCavg, and CCF of the devices used for the safety circuit, and then make sure that the calculated PL is equal to or higher than the "performance level (PLr) required of the safety circuit" (PLr PL). In the customer's final system, the performance level (PLr) required of the safety circuit should be determined by means of risk assessment, and then the safety circuit with the corresponding performance level (PL) should be configured. Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES -

60 . External safety circuit examples.. Circuit examples for the RCX0 The following shows category-specific safety circuit configuration examples for the RCX0. Customers should install the appropriate safety measures for their system by referring to these safety circuit configuration examples in order to use the robots more safely. The example shown here provide the following input/output signals. Input Reset switch, maintenance mode switch, door switch, and external emergency stop Output Programming box emergency stop output and enable output c CAUTION The controller status output signals of the parallel I/O and serial I/O, such as alarm signals, should be monitored by the host device. Overall connection diagram (with enable switch) Safety circuit L N Controller (PNP specifications) RPB-E AC IN Reset Maintenance Door External emergency stop OUT L N Safety output Wiring to check whether controller is normal when using alarm to shut off main power KA Wiring to check whether controller is normal when not using alarm to shut off main power KA AC OUT +V L N SAFETY STD.DIO SERVICE(DI0) P.COMDI P.COM +V MPRDY N.COM E-STOPV E-STOPRDY MPRDY Status N.COMDI Internal+V E-STOP Status +V_ COMMON CPU_OK (contact A (normally open)) RPB Emergency stop Enable +V +V P.COMDI N.COMDI To PLC Input/output signals - Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES

61 . External safety circuit examples Reference: Connection diagram without enable switch (category B) AUTO SERVICE Maintenance switch Safety circuit External emergency circuit L N L N SAFETY Controller (PNP specifications) RPB RPB Emergency stop +V STD.DIO SERVICE(DI0) P.COMDI P.COM +V MPRDY MPRDY N.COM Status N.COMDI E-STOPV Internal+V E-STOPRDY E-STOP Status 7 9 +V_ COMMON CPU_OK (contact A (normally open)) +V +V To PLC P.COMDI N.COMDI Input/output signals Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES -

62 . External safety circuit examples... Category A safety circuit configuration example of category is shown below. KM KM S AC IN L N Reset switch AUTO SERVICE Maintenance switch L N AC OUT +V Input S Input Input Door switch Input S Input Service Service Enable Enable Enable Enable SRL L L M M M M ON OFF OFF ON T T T T Y T T T7 T7 Y A B OUT B A T T T S S S S +V KA KA KA SAFETY External emergency stop Input S Input SAFETY RPB-E emergency stop Input Input SRL L T T T T Y SRL T T T T Y T T L A T T T TT +V +V L A TT T S S S S S S S KA KA Service Service E-STOPV E-STOPRDY MPRDY * N.COM SERVICE(DI0) P.COM OUT RPB-E emergency st Output Output Input Input RPB-E enable +V +V SRL T T T T T A B T T Enable Enable Enable Enable RPB-E enable Output Output Parts list *: Wiring to check whether the controller is normal when using an alarm to shut off the main power Circuit No. Part name Type No. Manufacturer S Reset switch A series OMRON S Key selector switch A TK series OMRON S Safety door switch D series OMRON S Emergency stop switch AE series OMRON KM, Contactor (mirror contact) LC-D8 Schneider Electric KA to Safety relay G7SA-AB OMRON Socket for safety relay P7SA-0F-ND OMRON SRL Safety relay unit G9SX-GS OMRON SRL Safety relay unit G9SX-AD OMRON SRL Safety relay unit G9SX-BC0 OMRON SRL Safety relay unit G9SA-GS0 OMRON - Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES

63 . External safety circuit examples... Category A safety circuit configuration example of category is shown below. KM KM AC IN L N Reset switch L N AC OUT S AUTO SERVICE Maintenance switch +V Input S Input Input Door switch Input S Input Service Service SRL L L M M M OUT M ON OFF B OFF ON A T T T T Y Enable T Enable T Enable T7 Enable T7 Y A B T T T S S S S +V KA KA KA SAFETY External emergency stop T T Service Service E-STOPV E-STOPRDY MPRDY * N.COM SERVICE(DI0) P.COM Input S Input SAFETY RPB-E emergency stop Input Input SRL T T T T Y L +V A T T T S S KA KA OUT RPB-E emergency s Output Output Input Input RPB-E enable +V +V SRL T T T T T A B T T Enable Enable Enable Enable RPB-E enable Output Output *: Wiring to check whether the controller is normal when using an alarm to shut off the main power Parts list Circuit No. Part name Type No. Manufacturer S Reset switch A series OMRON S Key selector switch A TK series OMRON S Safety door switch D series OMRON S Emergency stop switch AE series OMRON KM, Contactor (mirror contact) LC-D8 Schneider Electric KA to Safety relay G7SA-AB OMRON Socket for safety relay P7SA-0F-ND OMRON SRL Safety relay unit G9SX-GS OMRON SRL Safety relay unit G9SX-BC0 OMRON SRL Safety relay unit G9SA-GS0 OMRON Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES -

64 . External safety circuit examples... Category A safety circuit configuration example of category is shown below. KM S AC IN L N Reset switch AUTO SERVICE Maintenance switch L N AC OUT +V Input S Input Input Door switch S Input Enable Service Service SRL L L M M M OUT M ON OFF B +V OFF ON A T T T T Y T T T7 T7 Y A B T T T S S S S +V KA KA SAFETY External emergency stop S Input SAFETY RPB-E emergency stop +V +V SRL T T T T Y T T +V L A T T T S S Service Service E-STOPV E-STOPRDY MPRDY * N.COM SERVICE(DI0) P.COM Input Input OUT RPB-E emergency st Output RPB-E enable +V Input Input Enable RPB-E enable Output +V +V *: Wiring to check whether the controller is normal when using an alarm to shut off the main power Parts list Circuit No. Part name Type No. Manufacturer S Reset switch A series OMRON S Key selector switch A TK series OMRON S Safety door switch D series OMRON S Emergency stop switch AE series OMRON KM Contactor (mirror contact) LC-D8 Schneider Electric KA, Safety relay G7SA-AB OMRON Socket for safety relay P7SA-0F-ND OMRON SRL Safety relay unit G9SX-GS OMRON SRL Safety relay unit G9SX-BC0 OMRON - Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES

65 . External safety circuit examples... Overview of circuit operation This section describes an overview of the circuit operation for each safety circuit configuration example shown in the previous sections. () During AUTO mode The main power is supplied only when the enable switch is disabled, the controller is in a normal state (MPRDY is ON) with no internal alarms occurring, and also all the following conditions are met: Conditions Maintenance mode switch is in AUTO (M: open, M: closed) Door switch's NC contact is closed. External emergency stop button's NC contact is closed. RPB-E emergency stop button's NC contact is closed. c CAUTION Connect the RPB terminator or RPB-E to the RPB connector on the controller front panel. If the RPB connector on the controller front panel is open, an emergency stop occurs. () During maintenance The main power is supplied only when the door switch is disabled, the controller is in a normal state (MPRDY is ON) with no internal alarms occurring, and also all the following conditions are met: Conditions Maintenance mode switch is in SERVICE (M: closed, M: open) External emergency stop button's NC contact is closed. RPB-E emergency stop button's NC contact is closed. RPB-E enable switch's NO contact is closed. c CAUTION Always disconnect the RPB terminator from the RPB connector on the controller front panel and connect the RPB-E to the RPB connector. Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES -7

66 . External safety circuit examples.. Circuit examples for the RCX/RCX The following shows category-specific safety circuit configuration examples for the RCX/RCX. Customers should install the appropriate safety measures for their system by referring to these safety circuit configuration examples in order to use the robots more safely. The example shown here provide the following input/output signals. Input Reset switch, maintenance mode switch, door switch, and external emergency stop Output Programming box emergency stop output and enable output c CAUTION The controller status output signals of the parallel I/O and serial I/O, such as alarm signals, should be monitored by the host device. Overall connection diagram (with enable switch) Safety circuit L N Controller (PNP specifications) RPB-E AC IN Reset Maintenance Door External emergency stop OUT L N Safety output Wiring to check whether controller is normal when using alarm to shut off main power KA AC OUT +V L N SAFETY DO.COM MPRDY SERVO OUT E-STOPV E-STOPRDY DI.COM INTERLOCK SERVICE(DI0) nternal+v E-STOP Status RPB Emergency stop Enable +V +V STD.DIO +V_ Power connector +V Wiring to check whether controller is normal when not using alarm to shut off main power +VG IO connector 7 CPU OK KA To PLC Input/output signals -8 Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES

67 . External safety circuit examples Reference: Connection diagram without enable switch (category B) AUTO SERVICE Maintenance switch External emergency stop +V Safety circuit +V L N L N SAFETY Controller (PNP specifications) DO.COM DI.COM MPRDY SERVO OUT INTERLOCK SERVICE(DI0) RPB RPB Emergency stop +V +V STD.DIO E-STOPV E-STOPRDY +V_ Power connector +V Internal+V E-STOP Status +VG IO connector 7 CPU OK To PLC Input/output signals Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES -9

68 . External safety circuit examples... Category A safety circuit configuration example of category is shown below. KM KM AC IN L N Reset switch L N AC OUT S AUTO SERVICE Maintenance switch +V Input S Input Input Door switch Input S Input Service SRL L L M M M M ON OFF OFF ON Enable Enable Enable Enable T T T T Y T T T7 T7 Y A B OUT B A T T T S S S S +V KA KA KA +V SAFETY External emergency stop Input S Input SAFETY RPB-E emergency stop Input Input SRL L T T T T Y SRL T T T T Y T T L A T T T TT +V +V L A T T T S S S S S S S KA When INTERLOCK signal is not used KA Service E-STOPV E-STOPRDY DO.COM MPRDY * INTERLOCK SERVICE(DI0) DI.COM OUT RPB-E emergency s Output Output RPB-E enable Input Input +V +V SRL T T T T T A B T T Enable Enable Enable Enable RPB-E enable Output Output Parts list *: Wiring to check whether the controller is normal when using an alarm to shut off the main power Circuit No. Part name Type No. Manufacturer S Reset switch A series OMRON S Key selector switch A TK series OMRON S Safety door switch D series OMRON S Emergency stop switch AE series OMRON KM, Contactor (mirror contact) LC-D8 Schneider Electric KA to Safety relay G7SA-AB OMRON Socket for safety relay P7SA-0F-ND OMRON SRL Safety relay unit G9SX-GS OMRON SRL Safety relay unit G9SX-AD OMRON SRL Safety relay unit G9SX-BC0 OMRON SRL Safety relay unit G9SA-GS0 OMRON -0 Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES

69 . External safety circuit examples... Category A safety circuit configuration example of category is shown below. KM KM AC IN L N Reset switch L N AC OUT S AUTO SERVICE Maintenance switch +V Input S Input Input Door switch Input S Input Service SRL L L M M M OUT M ON OFF B OFF ON A Enable Enable Enable Enable T T T T Y T T T7 T7 Y A B T T T S S S S +V KA KA KA +V SAFETY External emergency stop Input S Input T T When INTERLOCK signal is not used Service E-STOPV E-STOPRDY DO.COM MPRDY * INTERLOCK SERVICE(DI0) DI.COM SAFETY RPB-E emergency stop Input Input SRL T T T T Y +V L A T T T S S KA KA OUT RPB-E emergency st Output Output Input Input RPB-E enable +V +V SRL T T T T T A B T T Enable Enable Enable Enable RPB-E enable Output Output Parts list *: Wiring to check whether the controller is normal when using an alarm to shut off the main power Circuit No. Part name Type No. Manufacturer S Reset switch A series OMRON S Key selector switch A TK series OMRON S Safety door switch D series OMRON S Emergency stop switch AE series OMRON KM, Contactor (mirror contact) LC-D8 Schneider Electric KA to Safety relay G7SA-AB OMRON Socket for safety relay P7SA-0F-ND OMRON SRL Safety relay unit G9SX-GS OMRON SRL Safety relay unit G9SX-BC0 OMRON SRL Safety relay unit G9SA-GS0 OMRON Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES -

70 . External safety circuit examples... Category A safety circuit configuration example of category is shown below. KM S AC IN L N Reset switch AUTO SERVICE Maintenance switch +V L N AC OUT Input S Input Input Door switch S Input Enable Service SRL L L M M M OUT M +V T T T T Y T T T7 T7 Y ON OFF OFF ON A B B A T T T S S S S +V KA KA +V SAFETY External emergency stop S Input SAFETY RPB-E emergency stop Input Input +V +V SRL T T T T Y T T L A +V T T T S S When INTERLOCK signal is not used Service E-STOPV E-STOPRDY DO.COM MPRDY * INTERLOCK SERVICE(DI0) DI.COM OUT RPB-E emergency st Output RPB-E enable +V Input Input Enable RPB-E enable Output +V +V Parts list *: Wiring to check whether the controller is normal when using an alarm to shut off the main power Circuit No. Part name Type No. Manufacturer S Reset switch A series OMRON S Key selector switch A TK series OMRON S Safety door switch D series OMRON S Emergency stop switch AE series OMRON KM Contactor (mirror contact) LC-D8 Schneider Electric KA, Safety relay G7SA-AB OMRON Socket for safety relay P7SA-0F-ND OMRON SRL Safety relay unit G9SX-GS OMRON SRL Safety relay unit G9SX-BC0 OMRON - Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES

71 . External safety circuit examples... Overview of circuit operation This section describes an overview of the circuit operation for each safety circuit configuration example shown in the previous sections. () During AUTO mode The main power is supplied only when the enable switch is disabled, the controller is in a normal state (MPRDY is ON) with no internal alarms occurring, and also all the following conditions are met: Conditions Maintenance mode switch is in AUTO (M: open, M: closed) Door switch's NC contact is closed. External emergency stop button's NC contact is closed. RPB-E emergency stop button's NC contact is closed. c CAUTION Connect the RPB terminator or RPB-E to the RPB connector on the controller front panel. If the RPB connector on the controller front panel is open, an emergency stop occurs. () During maintenance The main power is supplied only when the door switch is disabled, the controller is in a normal state (MPRDY is ON) with no internal alarms occurring, and also all the following conditions are met: Conditions Maintenance mode switch is in SERVICE (M: closed, M: open) External emergency stop button's NC contact is closed. RPB-E emergency stop button's NC contact is closed. RPB-E enable switch's NO contact is closed. c CAUTION Always disconnect the RPB terminator from the RPB connector on the controller front panel and connect the RPB-E to the RPB connector. Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES -

72 MEMO - Chapter EXTERNAL SAFETY CIRCUIT EXAMPLES

73 Chapter SPECIFICATIONS Contents. Controller -.. Basic specifications -... RCX RCX -... RCX -.. Basic functions -7.. External view RCX RCX -... RCXHP -... RCX -... RCXHP -. Programming box -.. Basic specifications -... RPB-E -.. External view -... RPB-E -

74

75 . Controller. Controller c CAUTION Specifications and appearance are subject to change without prior notice... Basic specifications... RCX0 Basic specifications Axis control Programming Item RCX0 RCX0S YAMAHA single-axis robots, linear single-axis robots, cartesian Applicable robots robots, SCARA robots (except YK0X and YK0X), P&P robots Connected motor capacity 00W or less (in total for axes) 800W or less (in total for axes) Power capacity 00VA 00VA Dimensions Weight Power supply voltage No. of axes Drive method Position detection method Control method Coordinate systems Position display units Speed setting Acceleration/ deceleration setting Program language Multitask Sequence program Memory size Program Point Point teaching Internal memory backup Internal fl ash memory W80 H0 D (main unit).kg (main unit) Single phase 00 to 0V AC ±0%, 0/0Hz axes maximum (simultaneous control: axes) AC full digital servo Resolver or magnetic linear scale PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation Joint coordinates, Cartesian coordinates Pulses, mm (millimeters), deg (degrees) -00%, % increments (setting possible during program execution) Automatic acceleration setting by robot model and tip weight parameter Setting by accel coefficient and decel. rate parameters (% steps) (Can be changed by programming.) Zone control (Optimum speed setting matching SCARA robot arm position) YAMAHA BASIC conforming to JIS B89 (SLIM language) 8 tasks maximum program KB (Total of program and point data) (Available size for program when maximum number of points is used: 8KB) 00 programs (maximum number of programs) 9999 lines (maximum lines per program) 98KB (maximum capacity per program, maximum capacity per object program) 0000 points (maximum number of points) MDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit) Lithium battery (service life about years at 0 to 0 C) KB ( ALL data only) Chapter SPECIFICATIONS -

76 . Controller External I/O General specifications Options Item RCX0 RCX0S STD. DIO SAFETY Break output Input Output Input Output Origin sensor input External communications Regenerative unit connection Dedicated 0 points, general-purpose points Dedicated points, general-purpose 8 points Emergency stop input Service mode input (NPN/PNP specifications conform to STD. DIO setting.) Enable switch input (enabled only when RPB-E is used) Motor power ready output Relay contact Connectable to V DC B-contact (normally closed) sensor RS-C : channel (D-SUB 9-pin female connector) RS- : channel (for RPB-E only) RGEN connector Operating temperature 0 to 0 C Storage temperature -0 to C Operating humidity to 8% RH (no condensation) Noise immunity Conforms to IEC000-- Level Protective structure Options board Option slot Parallel I/O board CC-Link board DeviceNet board PROFIBUS board Ethernet board ivy board Tracking board Lighting control board Programming box Absolute battery IP0 slots General-purpose input points/board, output points/board ( boards maximum, compatible with NPN/PNP specifications) Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Conforms to IEEE80., 0Mbps (0BASE-T) Camera input ( channels), camera trigger input, and PC connection input Encoder input, lighting trigger input, and lighting power input/ output Lighting trigger input, and lighting power input/output RPB-E XY axes :.V 00mAH (700mAH, pieces) ZR axes :.V 00mAH (700mAH, pieces) Backup retention time: about year Regenerative unit RGU-, RGU- RGU- PC software VIP+, VIP - Chapter SPECIFICATIONS

77 . Controller... RCX Basic specifi cations Axis control Programming Item RCX RCX HP Applicable robots Connectable motor capacity YAMAHA single-axis robots, linear single-axis robots, cartesian robots, P&P robots 800W or less ( axes total) Power capacity 700VA 00VA Dimensions W0 H0 D8 mm (main unit) 900 to 00W ( axes total) W8 H0 D8 mm (main unit) Weight.9kg (main unit).kg (main unit) Power supply voltage No. of controllable axes Drive method Position detection method Control method Coordinate system Position display units Speed setting Acceleration/deceleration setting Program language Multitask Sequence program Memory capacity Programs Points Point teaching Internal memory backup Internal fl ash memory External memory backup Single phase 00 to 0V AC ±0% (0/0Hz) axes maximum (simultaneous control: axes) AC full digital servo Resolver, Resolver or magnetic linear scale PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation Joint coordinates, Cartesian coordinates Pulses, mm (millimeters), deg (degrees) to 00% (% increments; setting can be changed by program) Automatic acceleration setting by robot model and tip weight parameter Setting by accel coefficient and decel. rate parameters (% steps) (Can be changed by programming.) YAMAHA BASIC conforming to JIS B89 (SLIM language) 8 tasks maximum program KB (Total of program and point data) (Available size for program when maximum number of points is used: 8KB) 00 programs (maximum number of programs) 9999 lines (maximum lines per program) 98KB (maximum capacity per program, maximum capacity per object program) 0000 points (maximum number of points) MDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit) Lithium battery (Service life is about years at 0 to 0 C) KB (ALL data only) SD memory card Chapter SPECIFICATIONS -

78 . Controller External I/O General specifi cations Options Item RCX RCX HP STD.DIO SAFETY Brake output Origin sensor input Input Output Input Output External communication Regenerative unit connection Dedicated 0 points, general-purpose points Dedicated points, general-purpose 8 points Emergency stop input Service mode input Interlock input Enable switch input (enabled only when RPB-E is used) Servo ON status output Main power ON ready output Relay contact Operating temperature 0 C to 0 C Storage temperature -0 C to C Operating humidity Connectable to V DC B-contact (normally closed) sensor RS-C : channel (D-SUB 9-pin female connector) RS- : channel (for RPB-E only) RGEN connector, TEMP connector to 8% RH (no condensation) Noise immunity IEC000-- Level Protective structure Options board Option slot Parallel I/O board STD. DIO CC-Link board OP.DIO DeviceNet board PROFIBUS board Ethernet board Programming box Regenerative unit PC software IP0 slots (including STD.DIO) Dedicated input 0 points, dedicated output points General-purpose input points, general-purpose output 8 points (compatible with NPN/PNP specifications) General-purpose input points/board, output points/board ( boards maximum, (including STD.DIO) compatible with NPN/PNP specifications) Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Conforms to IEEE80., 0Mbps (0BASE-T) RPB-E RG VIP+, VIP - Chapter SPECIFICATIONS

79 . Controller... RCX Basic specifi cations Axis control Programming Item RCX RCX HP Applicable robots Connectable motor capacity YAMAHA single-axis robots, cartesian robots, P&P robots 800W or less ( axes total) Power capacity 700VA 00VA Dimensions W0 H0 D8 mm (main unit) 900 to 00W ( axes total) W8 H0 D8 mm (main unit) Weight.9kg (main unit).kg (main unit) Power supply voltage No. of controllable axes Drive method Position detection method Control method Coordinate system Position display units Speed setting Acceleration/deceleration setting Program language Multitask Sequence program Memory capacity Programs Points Point teaching Internal memory backup Internal fl ash memory External memory backup Single phase 00 to 0V AC ±0% (0/0Hz) axes maximum (simultaneous control: axes) AC full digital servo Resolver PTP motion (point to point), ARCH motion, linear interpolation, circular interpolation Joint coordinates, Cartesian coordinates Pulses, mm (millimeters), deg (degrees) to 00% (% increments; setting can be changed by program) Automatic acceleration setting by robot model and tip weight parameter Setting by accel coefficient and decel. rate parameters (% steps) (Can be changed by programming.) YAMAHA BASIC conforming to JIS B89 (SLIM language) 8 tasks maximum program KB (Total of program and point data) (Available size for program when maximum number of points is used: 8KB) 00 programs (maximum number of programs) 9999 lines (maximum lines per program) 98KB (maximum capacity per program, maximum capacity per object program) 0000 points (maximum number of points) MDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit) Lithium battery (Service life is about years at 0 to 0 C) KB (ALL data only) SD memory card Chapter SPECIFICATIONS -

80 . Controller External I/O General specifi cations Options Item RCX RCX HP STD.DIO SAFETY Brake output Origin sensor input Input Output Input Output External communication Regenerative unit connection Dedicated 0 points, general-purpose points Dedicated points, general-purpose 8 points Emergency stop input Service mode input Interlock input Enable switch input (enabled only when RPB-E is used) Servo ON status output Main power ON ready output Relay contact Operating temperature 0 C to 0 C Storage temperature -0 C to C Operating humidity Connectable to V DC B-contact (normally closed) sensor RS-C : channel (D-SUB 9-pin female connector) RS- : channel (for RPB-E only) RGEN connector, TEMP connector to 8% RH (no condensation) Noise immunity IEC000-- Level Protective structure Options board Option slot Parallel I/O board STD. DIO CC-Link board OP.DIO DeviceNet board PROFIBUS board Ethernet board Programming box Absolute battery Regenerative unit PC software IP0 slots (including STD.DIO) Dedicated input 0 points, dedicated output points General-purpose input points, general-purpose output 8 points (compatible with NPN/PNP specifications) General-purpose input points/board, output points/board ( boards maximum, (including STD.DIO) compatible with NPN/PNP specifications) Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Dedicated input points, dedicated output points General-purpose input 9 points, general-purpose output 9 points Conforms to IEEE80., 0Mbps (0BASE-T) RPB-E.V 00mAH (700mAH, pieces) Backup retention time: about year RG VIP+, VIP - Chapter SPECIFICATIONS

81 . Controller.. Basic functions Function Operation modes Commands Functions Variables Arithmetic operation Monitor Online commands Data files Internal timer Program break points Description AUTO mode (Major functions: program execution, step execution, etc.) PROGRAM mode (Major functions: program creation and editing, etc.) MANUAL mode (Major functions: jog movement, point data teaching, etc.) SYSTEM mode (Major functions: parameter editing, data initializing, etc.) UTILITY mode (Major functions: motor power supply control, etc.) Array declaration commands (DIM statement) Assignment commands (Numeric assignment statement, character string assignment statement, point definition, etc.) Movement commands (MOVE, DRIVE, PMOVE statements, etc.) Conditional branching commands (IF, FOR, WHILE statements, etc.) External output commands (DO, MO, LO, TO, SO statements) Parameter commands (ACCEL, OUTPOS, TOLE statements, etc.) Condition wait command (WAIT statement) Task related commands (START, SUSPEND, CUT statements, etc.) etc. Arithmetic functions (SIN, COS, TAN functions, etc.) Character string functions (STR$, LEFT$, MID$, RIGHT$ functions, etc.) Point functions (WHERE, JTOXY, XYTOJ functions, etc.) Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.) etc. Simple variables (integer variables, real variables, character variables) Array variables (integer variables, real variables, character variables) Point variables Shift variables Element variables (point element variables, shift element variables) Input/output variables etc. Arithmetic operators (+, -, *, /, MOD) Logic operators (AND, OR, XOR) Relational operators (=, <, >, <>, <=, =>) Input/output status monitor (00ms intervals) Key operation commands (AUTO, RUN, RESET, STEP, etc.) Utility commands (COPY, ERA, INIT, etc.) Data handling commands (READ, WRITE,?VER,?CONFIG, etc.) Robot language commands (independent-executable commands) Program, point, parameter, shift, hand, all, error history etc. 0ms intervals points maximum Chapter SPECIFICATIONS -7

82 . Controller.. External view... RCX0 Standard RCX0/RCX0S Top view. 0. Top view Rear view 0 Side view 0. 7-M threaded mounting hole for L-type bracket; top panel thickness mm (See Note.) Front view. (t) L-type bracket attached to front Side view Front view Bottom view 0 L-type bracket attached to side (option) (0) Bracket can be attached to rear Rear view MOTOR PWR SRV ERR XM ROB I/O RPB OP. OP. RCX0 (0) () 0 YM XY BATT XY ROB I/O SEL COM 90 ZR ZM BATT ZR SAFETY STD.DIO OP. OP. RGEN P N Battery holder ACIN RM L N L EXT.E-STOP N M threaded mounting hole for L-type bracket; top panel thickness mm (See Note.). rubber feet Note : When installing this controller using the supplied L-type brackets, remove the rubber feet on the bottom plate Bottom view unit: mm -8 Chapter SPECIFICATIONS

83 . Controller RCX0/RCX0S with RGU- option installed Top view 0. Top view Rear view. 0 RGU- Side view. 0 7 RGU- Front view 7-M threaded mounting hole for L-type bracket; top panel thickness mm (See Note.) Front view. (t) L-type bracket attached to front Side view Bottom view 0 L-type bracket attached to side (option) (0) Bracket can be attached to rear Rear view MOTOR PWR SRV ERR XM ROB I/O YM XY BATT XY RPB SEL OP. OP. RCX0 RGU- RGEN (0) () COM N 0 ROB I/O P 90 ZR ZM RM BATT ZR EXT.E-STOP SAFETY STD.DIO OP. OP. P N L N L N RGEN ACIN Battery holder 0. 7-M threaded.8 00 mounting hole for L-type bracket; top panel thickness mm (See Note.). rubber feet RGU Bottom view unit: mm Chapter SPECIFICATIONS -9

84 . Controller RCX0 with RGU- option installed Top view M threaded mounting hole for L-type bracket; top panel thickness mm (See Note.) Front view (.) (t ) L-type bracket attached to front RGU- Side view 0 L-type bracket attached to side (option) (0) Bracket can be attached to rear Rear view RCX0 RGU- (0) () 0 90 Battery holder 0 7-M threaded mounting hole for L-type bracket; top panel thickness mm (See Note.) rubber feet RGU- Bottom view unit: mm -0 Chapter SPECIFICATIONS

85 . Controller... RCX Standard RCX Bottom view M () MOTOR. RCX 0 00 RGEN SRV ERR RDY E-STOP OP. XM TEMP ROB I/O L N L N ACIN RPB OP. YM! SAFETY EXT.E-STOP PIN- SD/COM unit: mm RCX with RG option installed RG Bottom view M () MOTOR RCX RGEN SRV ERR RDY E-STOP OP. RG XM TEMP RGEN ROB I/O ACIN L N L N RPB OP. TEMP 0 YM! SAFETY EXT.E-STOP PIN- SD/COM unit: mm Chapter SPECIFICATIONS -

86 . Controller... RCXHP RCXHP (High power version) Bottom view 0 0 -M 8 () MOTOR RCX HP RGEN SRV ERR RDY E-STOP OP XM L N L N TEMP ACIN ROB I/O RPB OP. YM! SAFETY RCXHP with RG option installed RG EXT.E-STOP PIN- SD/COM unit: mm Bottom view () -M MOTOR RCX XM HP TEMP RGEN SRV ERR RDY E-STOP OP. RG RGEN ROB I/O ACIN L N L N RPB OP. TEMP 0 YM! SAFETY EXT.E-STOP PIN- SD/COM - Chapter SPECIFICATIONS unit: mm

87 . Controller... RCX Standard RCX Bottom view M () MOTOR. RCX RGEN 0 00 BAT B/A SRV ERR RDY E-STOP OP. XM TEMP ROB I/O YM ACIN! L N RPB L N SAFETY OP. EXT.E-STOP PIN- SD/COM unit: mm RCX with RG option installed RG Bottom view M () MOTOR RCX RGEN BAT B/A SRV ERR RDY E-STOP OP. RG XM TEMP RGEN ROB I/O ACIN L N RPB L N OP. TEMP 0 YM! SAFETY EXT.E-STOP PIN- SD/COM unit: mm Chapter SPECIFICATIONS -

88 . Controller... RCXHP RCXHP (High power version) Bottom view 0 0 -M 8 () MOTOR RCX HP XM TEMP RGEN BAT B/A SRV ERR RDY E-STOP OP ACIN L ROB I/O N RPB L N OP. YM! SAFETY RCXHP with RG option installed RG EXT.E-STOP PIN- SD/COM unit: mm Bottom view 0 0 -M 8 () MOTOR RCX HP XM TEMP RGEN BAT B/A SRV ERR RDY E-STOP OP. RG RGEN ROB I/O ACIN L N RPB L N OP. TEMP 0 YM! SAFETY EXT.E-STOP PIN- SD/COM - Chapter SPECIFICATIONS unit: mm

89 . Programming box. Programming box ccaution Specifications and appearance are subject to change without prior notice... Basic specifications... RPB-E Item Display screen Emergency stop button RPB-E Liquid crystal display (0 characters lines) * Effective number of lines for RCX/RCX: 8 lines Normally-closed contact (with lock function) Enable switch -position type Power DC +V Ambient temperature : 0 to 0 C Operating environment Dimensions (mm) Cable length Weight Storage temperature : -0 to 0 C Humidity : to 80% RH (no condensation) W80 H0 D0 (excluding projecting parts) m 00g (excluding cable) Chapter SPECIFICATIONS -

90 . Programming box.. External view... RPB-E RPB-E external view 0 Selector switch Enable switch unit: mm - Chapter SPECIFICATIONS