YAMAHA 4-AXIS ROBOT CONTROLLER

RCX340 User s Manual

EUR8149101

Ver. 1.01 E133

CONTENTS RCX340
User’s Manual

Safety Instructions
1. Safety Information S-1

2 . Signal words used in this manual S-2

3. Warning labels S-3

3.1 Warning labels S-3
3.1.1 Warning label messages on robot and controller S-3
3.1.2 Supplied warning labels S-7
3.2 Warning symbols S-8

4. Important precautions for each stage of the robot life cycle S-9
4.1 Precautions for using robots and controllers S-9
4.2 Essential precautions for the linear conveyor module S-10
4.3 Design S-11
4.3.1 Precautions for robots S-11
4.3.2 Precautions for robot controllers S-11
4.4 Moving and installation S-12
4.4.1 Precautions for robots S-12
4.4.2 Precautions for robot controllers S-13
4.5 Safety measures S-15
4.5.1 Safety measures S-15
4.5.2 Installing a safety enclosure S-16
4.6 Operation S-17
4.6.1 Trial operation S-17
4.6.2 Automatic operation S-19
4.6.3 Precautions during operation S-19
4.7 Inspection and maintenance S-21
4.7.1 Before inspection and maintenance work S-21
4.7.2 Precautions during service work S-22
4.8 Disposal S-23

5. Emergency action when a person is caught by robot S-24

6. Cautions regarding strong magnetic fields S-24

7. Using the robot safely S-25

7.1 Movement range S-25
7.2 Robot protective functions S-26
7.3 Residual risk S-27
7.4 Special training for industrial robot operation S-27

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 CONTENTS RCX340
User’s Manual

Warranty

Important information before reading this manual

Introduction i
Available manuals i
About this manual ii
Programming box display illustration shown in this manual ii

Overview of the RCX340 iii

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

Chapter 1 Using the robot safely

1. Emergency action when a person is caught by robot 1-1

2. Emergency stop 1-3

2.1 Emergency stop reset and alarm reset 1-3

3. Power-ON procedures 1-5

4. Usage environments 1-6

Chapter 2 System overview

1. I/O interface overview 2-1
1.1 Main system configuration 2-1
1.2 Axis configuration for the RCX340 2-2

2. Name of each part and control system 2-3

2.1 RCX340 external view 2-3
2.2 Controller system 2-4

3. Optional devices 2-5

3.1 Programming box 2-5
3.2 Basic key operation 2-5
3.3 Expansion I/O board 2-6

4. Basic sequence from installation to operation 2-7

Chapter 3 Installation
1. Packing box, transport, unpacking 3-1
1.1 Packing box 3-1

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CONTENTS RCX340
User’s Manual

1.2 Transport 3-1

1.3 Unpacking 3-1

2. Installing the robot controller 3-2

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

3. Connecting to the power 3-4

3.1 Power supply connection example 3-4
3.2 Power supply and ground terminals 3-5
3.3 AC power connector wiring 3-6
3.4 Considering power capacity and generated heat amount 3-7
3.5 Installing an external leakage breaker 3-9
3.6 Installing a circuit protector 3-9
3.7 Installing an electromagnetic contactor 3-9
3.8 Installing a noise filter 3-10
3.9 Installing a surge absorber 3-10

4. Robot connections 3-11

4.1 Connecting the robot cables 3-11
4.2 Noise countermeasures 3-12

5. Connecting the programming box 3-13

6. I/O connections 3-14

7. Connecting the absolute battery 3-15

8. Connecting the regenerative shorting connector 3-16

9. Connecting the brake power supply 3-16

10. Precautions for cable routing and installation 3-17

10.1 Wiring methods 3-17
10.2 Methods of preventing malfunctions 3-18

11. Checking the robot controller operation 3-19

11.1 Controller wiring 3-19
11.2 Wiring example of emergency stop circuit for operation check 3-20
11.3 Operation check 3-20

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 CONTENTS RCX340
User’s Manual

Chapter 4 I/O interface

1. I/O interface overview 4-1
1.1 ID settings 4-2
1.2 Power supply 4-2
1.3 Power connector wiring work 4-3
1.4 Connector I/O signals 4-4
1.4.1 Standard specification I/O connector signal list 4-4
1.4.2 Expanded specification I/O connector signal list 4-5
1.5 Connector pin assignment lists 4-6
1.5.1 Standard specification I/O connector 4-6
1.5.2 Expanded specification I/O connector 4-6
1.6 Connector pin numbers 4-7
1.7 Typical input signal connection 4-8
1.8 Typical output signal connection 4-9
1.9 Dedicated input signal description 4-10
1.10 Dedicated output signal description 4-12
1.11 Dedicated I/O signal timing chart 4-14
1.11.1 Servo ON from power ON of controller 4-14
1.11.2 Controller emergency stop and servo on reset 4-15
1.11.3 Return-to-origin 4-16
1.11.4 Program reset and program execution 4-17
1.11.5 Stopping by program stop 4-18
1.12 General-purpose I/O signals 4-19
1.12.1 General-purpose input signals 4-19
1.12.2 General-purpose output signals 4-19
1.12.3 General-purpose output signal reset (off) 4-19

2. Ratings 4-20
2.1 Input 4-20
2.2 Output 4-20

3. Caution items 4-21

Chapter 5 SAFETY I/O interface

1. SAFETY I/O interface overview 5-1
1.1 Power 5-1
1.2 Connector I/O signals 5-2
1.3 Connection example combining the programming box with external emergency stop circuitry 5-3
1.3.1 Connection example of controller with normal specifications and PBX 5-3
1.3.2 Connection example of controller with CE specifications and PBX-E 5-4

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CONTENTS RCX340
User’s Manual

1.4 Dedicated input signal connections 5-5

1.4.1 Emergency stop inputs (E-STOP RDY*, E-STOP COM*) 5-5
1.4.2 AUTO mode inputs (AUTO*+, AUTO COM*) 5-5
1.5 Dedicated output signal connections 5-6
1.5.1 Emergency stop contact outputs (E-STOP*1, E-STOP*2) 5-6
1.5.2 Enable switch contact outputs (ENABLE*1, ENABLE*2) 5-6
1.5.3 Motor power ready outputs (MP RDY*+, MP RDY*-) 5-7

Chapter 6 External communication interface

1. Overview 6-1
1.1 Communication overview 6-1
1.2 Online and offline modes 6-2
1.3 Character code 6-3

2. RS-232C 6-4
2.1 Connectors and cables 6-4
2.2 Communication specifications 6-5
2.3 Connections 6-5
2.4 Communication parameter setting 6-6
2.5 Communication flow control 6-7
2.5.1 Flow control during transmit 6-7
2.5.2 Flow control during receive 6-7
2.6 Other caution items 6-8

3. Ethernet 6-9
3.1 Connectors and cables 6-10
3.2 Communication specifications 6-11
3.3 Connections 6-12
3.4 Parameter setting on controller (server) 6-13
3.5 System setting on personal computer (client) 6-15
3.5.1 Setting the TCP/IP protocol 6-15
3.6 Connection check using "Ping" 6-16
3.7 Communication example using "TELNET.EXE" 6-17
3.8 Appendix 6-18
3.8.1 Example of network system configuration 6-18
3.8.2 Glossary 6-21

Chapter 7 Controller system settings

1. Overview 7-1
1.1 Conditions for system setting 7-1
1.1.1 System generation 7-1
1.1.2 Parameter setting 7-1

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 CONTENTS RCX340
User’s Manual

1.2 System setting procedure 7-2

2. Information 7-3
2.1 Robot information 7-3
2.2 Option information 7-4
2.3 Clock 7-5
2.4 Version 7-5

3. History 7-6

4. Initialize 7-7
4.1 Initializing the data 7-8
4.2 Setting the clock 7-9

5. Generation 7-10

6. Access level 7-11

6.1 Changing the access level 7-11

7. USB memory operation 7-13

7.1 Saving the data 7-14
7.2 Loading the data 7-15

8. Check 7-16

9. Communication setting 7-17

9.1 RS-232C 7-17
9.2 Ethernet 7-17

10. Safety setting 7-18

11. Parameters 7-20

11.1 Setting the parameters 7-20
11.2 Parameter list 7-21
11.3 Controller parameters 7-24
11.4 Robot parameters 7-27
11.5 Axis parameters 7-30
11.6 I/O parameters 7-39
11.7 Option board related parameters 7-41

Chapter 8 Periodic inspecition

1. Before carrying out work 8-1

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CONTENTS RCX340
User’s Manual

2. Periodic inspections 8-1

2.1 Daily inspections 8-1
2.2 Three-monthly inspections 8-2

3. Replacing the fan filter 8-3

4. Replacing the absolute battery 8-3

5. Replacing the memory battery 8-4

6. Maintenance parts 8-5

Chapter 9 Specifications
1. Controller 9-1
1.1 Basic specifications 9-1
1.2 Basic functions 9-3
1.3 External view 9-4

2. Programming box 9-5

2.1 Basic specifications 9-5
2.2 External view 9-5

Troubleshooting
1. Alarm messages A-1
1.1 Controller related alarm messages A-1
1.1.1 Alarm group number list A-3
1.1.2 Alarm classification number list A-4
1.1.3 Warning number list A-4
[ 0] Operation messages A-4
[ 1] System events A-5
[ 2] Alarm related to the robot movement range A-7
[ 3] Alarm related to the program file operation A-10
[ 4] Alarm related to the data input A-12
[ 5] Operation alarm related to the syntax of the robot language (compile) A-13
[ 6] Alarm related to the robot language execution A-21
[ 9] Alarm related to the memory A-29
[10] Alarm related to the environment and general hardware A-32
[12] Alarm related to the option board A-36
[14] Alarm related to the communication A-42
[17] Alarm related to the motor control A-44
[21] Serious software alarm A-51

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 CONTENTS RCX340
User’s Manual

[22] Serious hardware alarm A-54

[28] Alarm related to the driver I/F A-56
[C] Warning A-57
1.2 Programming box related alarm messages A-58

2. Troubleshooting A-59
2.1 When trouble occurs A-59
2.2 Acquiring the alarm information A-60
2.2.1 Checking the alarm occurrence status A-60
2.2.2 Checking the alarm history A-60
2.3 Troubleshooting checkpoints A-61
2.3.1 Installation and power supply A-61
2.3.2 Robot operation A-62
2.3.3 I/O operation A-63

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 Safety Instructions

Contents

1. Safety Information S-1

2. Signal words used in this manual S-2

3. Warning labels S-3

3.1 Warning labels S-3
3.1.1 Warning label messages on robot and controller S-3
3.1.2 Supplied warning labels S-7
3.2 Warning symbols S-8

4. Important precautions for each stage of the robot life cycle S-9
4.1 Precautions for using robots and controllers S-9
4.2 Essential precautions for the linear conveyor module S-10
4.3 Design S-11
4.3.1 Precautions for robots S-11
4.3.2 Precautions for robot controllers S-11
4.4 Moving and installation S-12
4.4.1 Precautions for robots S-12
4.4.2 Precautions for robot controllers S-13
4.5 Safety measures S-15
4.5.1 Safety measures S-15
4.5.2 Installing a safety enclosure S-16
4.6 Operation S-17
4.6.1 Trial operation S-17
4.6.2 Automatic operation S-19
4.6.3 Precautions during operation S-19
4.7 Inspection and maintenance S-21
4.7.1 Before inspection and maintenance work S-21
4.7.2 Precautions during service work S-22
4.8 Disposal S-23

5. Emergency action when a person is caught by robot S-24

6. Cautions regarding strong magnetic fields S-24

7. Using the robot safely S-25

7.1 Movement range S-25
7.2 Robot protective functions S-26
7.3 Residual risk S-27
7.4 Special training for industrial robot operation S-27
 1. Safety Information

Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when
performing various manipulative tasks. To ensure safe and correct use of YAMAHA industrial robots and
controllers, carefully read and comply with the safety instructions and precautions in this "Safety Instructions"

Safety Instructions
guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the
robot and controller, and also may cause personal injury (to installation personnel, robot operator or service
personnel) including fatal accidents.

Before using this product, read this manual and related manuals and take safety precautions to ensure cor-
rect handling.
The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that in-
cludes YAMAHA robots, please take appropriate safety measures as required by the user’s individual system.

To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and instruc-
tions.
• For specific safety information and standards, refer to the applicable local regulations and comply with
the instructions.
• Warning labels attached to the robots are written in English, Japanese, Chinese and Korean. This manual
is available in English or Japanese (or some parts in Chinese). Unless the robot operators or service
personnel understand these languages, do not permit them to handle the robot.
• Cautions regarding the official language of EU countries
For equipment that will be installed in EU countries, the language used for the manuals, warning labels,
operation screen characters, and CE declarations is English only.
Warning labels only have pictograms or else include warning messages in English. In the latter case,
messages in Japanese or other languages might be added.

It is not possible to list all safety items in detail within the limited space of this manual. So please note that
it is essential that the user have a full knowledge of safety and also make correct judgments on safety proce-
dures.

Refer to the manual by any of the following methods when installing, operating or adjusting the robot
and controller.
1. Install, operate or adjust the robot and controller while referring to the printed version of the
manual (available for an additional fee).
2. Install, operate or adjust the robot and controller while viewing the CD-ROM version of the
manual on your computer screen.
3. Install, operate or adjust the robot and controller while referring to a printout of the necessary
pages from the CD-ROM version of the manual.

S-1
 2. Signal words used in this manual

This manual uses the following safety alert symbols and signal words to provide safety instructions that must
be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure
you understand the meaning of each symbol and signal word and then read this manual.
Safety Instructions

w DANGER
This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.

w WARNING
This indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.

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

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

S-2
 3. Warning labels

Warning labels shown below are attached to the robot body and controller to alert the operator to potential
hazards. To ensure correct use, read the warning labels and comply with the instructions.

Safety Instructions
3.1 Warning labels

w WARNING
If warning labels are removed or difficult to see, then the necessary precautions may not be taken, resulting in an
accident.
• Do not remove, alter or stain the warning labels on the robot body.
• Do not allow warning labels to be hidden by devices installed on the robot by the user.
• Provide proper lighting so that the symbols and instructions on the warning labels can be clearly seen from
outside the safety enclosure.

3.1.1 Warning label messages on robot and controller

Word messages on the danger, warning and caution labels are concise and brief instructions. For more specific
instructions, read and follow the "Instructions on this label" described on the right of each label shown below.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

■ ■ Warning label 1 (SCARA robots, Cartesian robots)

w DANGER
Serious injury may result from contact with a moving robot.
• Keep outside of the robot safety enclosure during operation.
• Press the emergency stop button before entering the safety enclosure.

Instructions on this label

• Always install a safety enclosure to keep all persons

away from the robot movement range and prevent
injury from contacting the moving part of the robot.
• Install an interlock that triggers emergency stop when
the door or gate of the safety enclosure is opened.
• The safety enclosure should be designed so that no
one can enter inside except from the door or gate
equipped with an interlock device.
• Warning label 1 that comes supplied with a robot
should be affixed to an easy-to-see location on the
door or gate of the safety enclosure.

Potential hazard to human body Serious injury may result from contact with a moving robot.

• Keep outside of the robot safety enclosure during operation.

To avoid hazard
• Press the emergency stop button before entering the safety enclosure.
90K41-001470

■ ■ Warning label 2 (SCARA robots, Cartesian robots, single-axis robots*)

* Warning label 2 is not attached to some small single-axis robots, but is supplied with the robots.

w WARNING
Moving parts can pinch or crush hands.
Keep hands away from the movable parts of the robot.

Instructions on this label

Use caution to prevent hands and fingers from being

pinched or crushed by the movable parts of the robot
when transporting or moving the robot or during
teaching.

Potential hazard to human body Moving parts can pinch or crush hands.

To avoid hazard Keep hands away from the movable parts of the robot.

90K41-001460

S-3
 ■ ■ Warning label 3 (SCARA robots, Cartesian robots, controllers*)
* Some models

w WARNING
Improper installation or operation may cause serious injury.
Before installing or operating the robot, read the manual and instructions on the warning labels and understand
Safety Instructions

the contents.

Instructions on this label

• Be sure to read the warning label and this manual

carefully to make you completely understand the
contents before attempting installation and operation
of the robot.

• Before starting the robot operation, even after you

have read through this manual, read again the
corresponding procedures and "Safety instructions"
in this manual.

• Never install, adjust, inspect or service the robot in

any manner that does not comply with the
instructions in this manual.

Potential hazard to human body Improper installation or operation may cause serious injury.

Before installing or operating the robot, read the manual and instructions on the
To avoid hazard
warning labels and understand the contents.

90K41-001290

■ ■ Warning label 4 (SCARA robots*)

* This label is not attached to omnidirectional type SCARA robots.

c CAUTION
Do not remove the parts on which Warning label 4 is attached.
Doing so may damage the ball screw.

Instructions on this label

The Z-axis ball screw will be damaged if the upper end

mechanical stopper on the Z-axis spline is removed or
moved. Never attempt to remove or move it.

90K41-001520

■ ■ Warning label 5 (controllers, Cartesian robots*, single-axis robots*)

* Some robot models

w WARNING
Ground the controller to prevent electrical shock.
Ground terminal is located inside this cover.
Read the manual for details.

Instructions on this label

• High voltage section inside

• To prevent electrical shock, be sure to ground the

robot using the ground terminal.

Potential hazard to human body Electrical shock

To avoid hazard Ground the controller.

90K41-001480

S-4
■ ■ Warming label 6 (controllers TS-X/TS-P)

w WARNING

• Before touching the terminals or connectors on the outside of the controller, turn off the power and wait at least
10 minutes to avoid burns or electrical shock.
• Motors and heatsinks become hot during and shortly after operation, so do not touch them.

Safety Instructions
c CAUTION
• Before using the controller, be sure to read the manual thoroughly.
• Be sure to ground the ground terminal.

Instructions on this label

• This indicates a high voltage is present.

Touching the terminal block or connector may cause
electrical shock.
• This indicates the area around this symbol may
become very hot.
Motors and heatsinks become hot during and shortly
after operation. Do not touch them to avoid burns.
• This indicates important information that you must
know is described in the manual.
Before using the controller, be sure to read the
manual thoroughly.
When adding external safety circuits or connecting a
power supply to the controller, read the manual
carefully and make checks before beginning the
work.
• Be sure to ground the ground terminal to avoid
electrical shock.

Potential hazard to human body To avoid hazard

Electrical shock Do not touch the terminal section for 10 minutes after power-off.

Do not touch them to avoid burns. Do not touch the motors and heatsinks during power-on.

Improper installation or operation may cause Before installing or operating the robot, read the manual and instructions
serious injury. on the warning labels and understand the contents.

Electrical shock Be sure to ground the ground terminal.

90K41-000950

■ ■ Warming label 7 (controllers RCX240, controllers RCX340)

w WARNING
These are precautions for YAMAHA and distributors' service personnel.
Customers must not attempt to open the covers.

w WARNING
Wait at least 100 seconds after power-off before opening the covers.

Instructions on this label

• Wait at least 100 seconds after power-off

before opening the covers (*).
• Some parts in the controller still retain a high
voltage even after power-off, so electrical
shock may occur if those parts are touched.

Potential hazard to human body Electrical shock

To avoid hazard Wait at least 100 seconds after power-off before opening the covers (*).

* These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers.
90K41-001390

S-5
 ■ ■ Warning label 8 (single-axis linear motor robots)

c CAUTION

A magnetic scale is located inside this cover. Bringing a magnet close to it may cause malfunction.

Instructions on this label

Safety Instructions

• To prevent the robot from operating improperly due

to magnetic scale malfunction, do not bring a strong
magnet to the cover.

• Do not bring tools close to the magnetic scale.

90K41-001510

■ ■ Warning label 9 (single-axis linear motor robots)

c CAUTION
Powerful magnets are installed in the robot.
Do not attempt to disassemble the robot to avoid possible injury.
Do not bring any device that may malfunction due to magnetic fields close to the robot.

Instructions on this label

Be sure to read "6. Cautions regarding strong magnetic

fields" in "Safety instructions" and make sure you fully
understand its contents before handling or operating
the robot.

Potential hazard to human body Injury or death may result in some cases.

To avoid hazard Make you understand the precautions regarding strong magnetic fields.

90K41-001500

■ ■ Warning label 10 (Controller)*

* This label is attached to the front panel.

c CAUTION
Refer to the manual.

Instructions on this label

This indicates important information that you must

know and is described in the manual.
Before using the controller, be sure to read the manual
取扱説明書参照 thoroughly.
When adding external safety circuits or connecting a
READ INSTRUCTION
MANUAL power supply to the controller, read the manual
carefully and make checks before beginning the work.
Connectors have an orientation. Insert each connector
in the correct direction.

93005-X0-00

S-6
3.1.2 Supplied warning labels
Some warning labels are not affixed to robots but included in the packing box. These warning labels should be
affixed to an easy-to-see location.

Warning label is attached to the robot body.

Safety Instructions
Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the
safety enclosure.
Warning label comes supplied with the robot and should be affixed to an easy-to-see location.

SCARA Cartesian Single-axis

robots robots robots

*1
Warning
label 1

Warning
label 2 *1 *2

Warning
label 3 *1

*1: See "Part names" in each SCARA robot manual for label positions.
*2: This label is not attached to some small single-axis robots, but is supplied with the robots.

S-7
 3.2 Warning symbols
Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential

hazards. To use the YAMAHA robot safely and correctly always follow the instructions and cautions indicated
by the symbols.
Safety Instructions

111 Electrical shock hazard symbol

w WARNING
Touching the terminal block or connector may cause electrical shock, so use caution.

Instructions by this symbol

This indicates a high voltage is present.

Touching the terminal block or connector may cause
electrical shock.

93006-X0-00

222 High temperature hazard symbol

w WARNING
Motors, heatsinks, and regenerative units become hot, so do not touch them.

Instructions by this symbol

This indicates the area around this symbol may become

very hot.
Motors, heatsinks, and regenerative units become hot
during and shortly after operation. To avoid burns be
careful not to touch those sections.

93008-X0-00

333 Caution symbol

c CAUTION
Always read the manual carefully before using the controller.

Instructions by this symbol

This indicates important information that you must

know and is described in the manual.

!
Before using the controller, be sure to read the manual
thoroughly.
When adding external safety circuits or connecting a
power supply to the controller, read the manual
carefully and make checks before beginning the work.
Connectors must be attached while facing a certain
direction, so insert each connector in the correct
direction.

93007-X0-00

S-8
 4. Important precautions for each stage of the robot life cycle

This section describes major precautions that must be observed when using robots and controllers. Be sure to
carefully read and comply with all of these precautions even if there is no alert symbol shown.

Safety Instructions
4.1 Precautions for using robots and controllers
General precautions for using robots and controllers are described below.

111 Applications where robots cannot be used

YAMAHA robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the
following applications.

w DANGER
YAMAHA robot controllers and robots are designed as general-purpose industrial equipment and cannot be used
for the following applications.
• In medical equipment systems which are critical to human life
• In systems that significantly affect society and the general public
• In equipment intended to carry or transport people
• In environments which are subject to vibration such as onboard ships and vehicles.

222 Qualification of operators/workers

Operators or persons who perform tasks for industrial robots (such as teaching, programming, movement check, inspec-
tion, adjustment, and repair) must receive appropriate training and also have the skills needed to perform the tasks
correctly and safely.
Those tasks must be performed by qualified persons who meet requirements established by local regulations and
standards for industrial robots. They must also read the manual carefully and understand its contents before attempting
the robot operation or maintenance.

w WARNING
• It is extremely hazardous for persons who do not have the above qualifications to perform tasks for industrial
robots.
• Adjustment and maintenance that require removing a cover must be performed by persons who have the
above qualifications. Any attempt to perform such tasks by an unqualified person may cause an accident
resulting in serious injury or death.

S-9
 4.2 Essential precautions for the linear conveyor module
The linear conveyor module is a YAMAHA robot so safety measures must be followed and safety equipment

must be installed just as required for other YAMAHA robots.

This section describes essential precautions for handling the linear conveyor module. Precautions for each
stage in the robot life cycle are listed from the next section, so be sure to read the whole section of “Safety
Safety Instructions

Instruction” in this manual.

111 Slider ejection

w DANGER
The slider and workpieces ejected at high SPEED from the linear conveyor module may strike persons, causing
serious and POSSIBLY fatal injuries. Please comply with the following points.
• Do not enter or allow the face and hands to intrude anywhere along the line where the linear conveyor guide
rail may extend (not only ejection side of the conveyor but also the insertion side).
• If ejecting the slider on the linear conveyor, then install a suitable ejection mechanism (device to catch and
stop the ejected slider).
• Install a structure and a mechanism to catch and retain the slider on the side where the slider is inserted.
• Install a safety enclosure outside the linear conveyor movement range. Design the safety enclosure so that the
slider and workpieces from the linear conveyor are not ejected outside of the enclosure.

222 Preventing electrical shock

w DANGER
Always comply with the instructions in this manual when installing, operating and inspecting the linear conveyor
module. Failure to do so may lead to electrical shock, serious injury or even death. Please comply with the
following items:
• Read and FOLLOW the instructions in this manual when grounding the linear conveyor module and installing
the termination module.
• Do not touch the motor of the linear conveyor module when it is on.
• Always comply with the instructions in the manual when performing maintenance and be sure to turn off the
power before starting maintenance tasks.
• If cracked or broken plastic motor parts are found, stop using the linear conveyor module immediately and
turn off the power.

333 Strong magnetic field

w WARNING
The linear conveyor module contains powerful permanent magnets and electromagnets that generate strong
magnetic fields. Always comply with the precautions listed in this manual when using the linear conveyor
module. Those persons wearing medical electronic devices such as cardiac pacemakers or hearing aids are at
particular risk of major injury or even death.
• Always attach the magnet protective cover (supplied) when handling, shipping or storing the slider when
removing it from the linear conveyor module’s guide rails.
• Do not approach the motor of the linear conveyor module while the power is on. (Stay at least 100mm away.)
• Do not attempt to disassemble the linear conveyor module (including surrounding covers).
• Do not place any tools near the slider magnets and the linear conveyor motor while the power is on.

444 High temperature hazard

w WARNING
The motor for the linear conveyor module is mounted on the module, and so it is easy to come into contact with.
To allow heat generated during operation to DISSIPATE, install the module on a base made from good heat
conducting material such as metal.
The motor reaches high temperatures during and IMMEDIATELY after operation, so touching it at those times may
cause burns.
Before touching the motor, first turn off the controller power, then wait a while and check that the temperature
has DROPPED sufficiently.

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4.3 Design

4.3.1 Precautions for robots

111 Restricting the robot moving speed

Safety Instructions
w WARNING
Restriction on the robot moving speed is not a safety-related function.
To reduce the risk of collision between the robot and workers, the user must take the necessary protective
measures such as enable devices according to risk assessment by the user.

222 Restricting the movement range

See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

w WARNING
Soft limit function is not a safety-related function intended to protect the human body.
To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the
robot (or available as options).

c CAUTION
If the robot moving at high speed collides with a mechanical stopper installed in the robot (or available as
option), the robot may be damaged.

333 Provide safety measures for end effector (gripper, etc.)

w WARNING
• End effectors must be designed and manufactured so that they cause no hazards (such as a loose workpiece
or load) even if power (electricity, air pressure, etc.) is shut off or power fluctuations occur.
• If the object gripped by the end effector might possibly fly off or drop, then provide appropriate safety
protection taking into account the object size, weight, temperature, and chemical properties.

444 Provide adequate lighting

Provide enough lighting to ensure safety during work.

555 Install an operation status light

w WARNING
Install a signal light (signal tower) at an easy-to-see position so that the operator will be aware of the robot stop
status (temporarily stopped, emergency stop, error stop, etc.).

4.3.2 Precautions for robot controllers

111 Emergency stop input terminal

w DANGER
Each robot controller has an emergency stop input terminal to trigger emergency stop. Using this terminal, install
a safety circuit so that the system including the robot controller will work safely.

222 Maintain clearance

c CAUTION
Do not bundle control lines or communication cables together or in close to the main power supply or power
lines. Usually separate these by at least 100mm. Failure to follow this instruction may cause malfunction due to
noise.

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 4.4 Moving and installation

4.4.1 Precautions for robots

■ ■ Installation environment
Safety Instructions

111 Do not use in strong magnetic fields

w WARNING
Do not use the robot near equipment or in locations that generate strong magnetic fields. The robot may BREAK
DOWN or malfunction if used in such locations.

222 Do not use in locations subject to possible electromagnetic interference, etc.

w WARNING
Do not use the robot in locations subject to electromagnetic interference, electrostatic discharge or radio
frequency interference. The robot may malfunction if used in such locations creating hazardous situations.

333 Do not use in locations exposed to flammable gases

w WARNING
• YAMAHA robots are not designed to be explosion-proof.
• Do not use the robots in locations exposed to explosive or inflammable gases, dust particles or liquid. Failure to
follow this instruction may cause serious accidents involving injury or death, or lead to fire.

■ ■ Moving

111 Use caution to prevent pinching or crushing of hands or fingers

w WARNING
Moving parts can pinch or crush hands or fingers.
Keep hands away from the movable parts of the robot.

As instructed in Warning label 2, use caution to prevent hands or fingers from being pinched or crushed by movable
parts when transporting or moving the robot. For details on warning labels, see "3. Warning labels" in "Safety instruc-
tions."

222 Take safety measures when moving robots

To ensure safety when moving a SCARA robot with an arm length of 500mm or more, use the eyebolts that come
supplied with the robot. Always refer to the robot user’s manual for details.
When moving other robots, please comply with the transport methods described in their respective user’s manuals.

333 Take measures to prevent the robot from falling

When moving the robot by lifting it with equipment such as a hoist or crane, wear personal protective gear and be
careful not to move the robot at greater than the required height.
Make sure that there are no persons on paths used for moving the robot.

w WARNING
A robot falling from a high place and striking a worker may cause death or serious injury. When moving the
robot, wear personal protective gear such as helmets and make sure that no one is within the surrounding area.

■ ■ Installation

111 Protect electrical wiring and hydraulic/pneumatic hoses

Install a cover or similar item to protect the electrical wiring and hydraulic/pneumatic hoses from possible damage.

S-12
■ ■ Wiring

111 Protective measures against electrical shock

w WARNING
Always ground the robot to prevent electrical shock.

Safety Instructions
■ ■ Adjustment

111 Adjustment that requires removing a cover

w WARNING
Adjustment by removing a cover require specialized technical knowledge and skills, and may also involve
hazards if attempted by an unskilled person. This adjustment must be performed only by persons who have the
required qualifications described in “2. Qualification of operators/workers” in section 4.1 of this “Safety instruc-
tions”.

4.4.2 Precautions for robot controllers

■ ■ Installation environment

111 Installation environment

w WARNING
YAMAHA robots are not designed to be explosion-proof. Do not use the robots and controllers in locations
exposed to explosive or inflammable gases, dust particles or liquid such as gasoline and solvents. Failure to
follow this instruction may cause serious accidents involving injury or death, and lead to fire.

w WARNING
• Use the robot controller in locations that support the environmental conditions specified in this manual.
Operation outside the specified environmental range may cause electrical shock, fire, malfunction or product
damage or deterioration.
• The robot controller and programming box must be installed at a location that is outside the robot safety
enclosure yet where it is easy to operate and view robot movement.
• Install the robot 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 cause injury.
• Install the robot controller in a stable, level location and secure it firmly. Avoid installing the controller upside
down or in a tilted position.
• Provide sufficient clearance around the robot controller for good ventilation. Insufficient clearance may cause
malfunction, breakdown or fire.

■ ■ Installation
To install the robot controller, observe the installation conditions and method described in the manual.

111 Installation

w WARNING
Securely tighten the screws to install the robot controller. If not securely tightened, the screws may come loose
causing the controller to drop.

222 Connections

w WARNING
• Always shut off all phases of the power supply externally before starting installation or wiring work. Failure to do
this may cause electrical shock or product damage.
• Never directly touch conductive sections and electronic parts other than the connectors, rotary switches, and
DIP switches on the outside panel of the robot controller. Touching them may cause electrical shock or
breakdown.
• Securely install each cable connector into the receptacles or sockets. Poor connections may cause the
controller or robot to malfunction.

S-13
 ■ ■ Wiring

111 Connection to robot controller

The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot
and controller combination, and connect them in the correct combination.
Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly
Safety Instructions

to match the motor type used in the robot connected to the controller.

222 Wiring safety points

w WARNING
Always shut off all phases of the power supply externally before starting installation or wiring work. Failure to do
this may cause electrical shock or product damage.

c CAUTION
• Make sure that no foreign matter such as cutting chips or wire scraps get into the robot controller. Malfunction,
breakdown or fire may result if these penetrate inside.
• Do not apply excessive impacts or loads to the connectors when making cable connections. This might bend
the connector pins or damage the internal PC board.
• When using ferrite cores for noise elimination, be sure to fit them onto the power cable as close to the robot
controller and/or the robot as possible, to prevent malfunction caused by noise.

333 Wiring method

w WARNING
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 connector manufacturer.

c CAUTION
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. Trying to detach by pulling on the cable itself may damage the connector or cables, and poor cable
contact will cause the controller or robot to malfunction.

444 Precautions for cable routing and installation

c CAUTION
• 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 will cause the controller or robot to
malfunction.
• Do not modify the cables and do not place any heavy objects on them. Handle them carefully to avoid
damage. Damaged cables may cause malfunction or electrical shock.
• If the cables connected to the robot controller may possibly become damaged, then protect them with a
cover, etc.
• Check that the control lines and communication cables are routed at a gap sufficiently away from main power
supply circuits and power lines, etc. Bundling them together with power lines or close to power lines may
cause faulty operation due to noise.

555 Protective measures against electrical shock

w WARNING
Be sure to ground the ground terminals of the robot and controller. Poor grounding may cause electrical shock.

S-14
4.5 Safety measures

4.5.1 Safety measures

111 Referring to warning labels and manual

Safety Instructions
w WARNING
• Before starting installation or operation of the robot, be sure to read the warning labels and this manual, and
comply with the instructions.
• Never attempt any repair, parts replacement and modification unless described in this manual. These
tasks require specialized technical knowledge and skills and may also involve hazards. Please contact your
distributor for advice.

n NOTE
For details on warning labels, see "3. Warning labels" in "Safety instructions."

222 Draw up "work instructions" and make the operators/workers understand them

w WARNING
Decide on "work instructions" in cases where personnel must work within the robot safety enclosure to perform
startup or maintenance work. Make sure the workers completely understand these "work instructions".

Decide on "work instructions" for the following items in cases where personnel must work within the robot safety
enclosure to perform teaching, maintenance or inspection tasks. Make sure the workers completely understand these
"work instructions".
1. Robot operating procedures needed for tasks such as startup procedures and handling switches
2. Robot speeds used during tasks such as teaching
3. Methods for workers to signal each other when two or more workers perform tasks
4. Steps that the worker should take when a problem or emergency occurs
5. Steps to take after the robot has come to a stop when the emergency stop device was triggered, including checks for
cancelling the problem or error state and safety checks in order to restart the robot.
6. In cases other than above, the following actions should be taken as needed to prevent hazardous situations due to
sudden or unexpected robot operation or faulty robot operation as listed below.
• Place a display sign on the operator panel
• Ensure the safety of workers performing tasks within the robot safety enclosure
• Clearly specify position and posture during work
Specify a position and posture where worker can constantly check robot movements and immediately move to
avoid trouble if an error/problem occurs
• Take noise prevention measures
• Use methods for signaling operators of related equipment
• Use methods to decide that an error has occurred and identify the type of error
Implement the "work instructions" according to the type of robot, installation location, and type of work task.
When drawing up the "work instructions", make an effort to include opinions from the workers involved, equipment
manufacturer technicians, and workplace safety consultants, etc.

333 Take safety measures

w DANGER
• Never enter the robot movement range while the robot is operating or the main power is turned on. Failure to
follow this warning may cause serious accidents involving injury or death. Install a safety enclosure or a gate
interlock with an area sensor to keep all persons away from the robot movement range.
• When it is necessary to operate the robot while you are within the robot movement range such as for teaching
or maintenance/inspection tasks, always carry the programming box with you so that you can immediately
stop the robot operation in case of an abnormal or hazardous condition. Install an enable device in the
external safety circuit as needed. Also set the robot moving speed to 3% or less. Failure to follow these
instructions may cause serious accidents involving injury or death.

See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

S-15
 w WARNING
• During startup or maintenance tasks, display a sign "WORK IN PROGRESS" on the programming box and
operation panel in order to prevent anyone other than the person for that task from mistakenly operating the

start or selector switch. If needed, take other measures such as locking the cover on the operation panel.
• Always connect the robot and robot controller in the correct combination. Using them in an incorrect
combination may cause fire or breakdown.
Safety Instructions

444 Install system

When configuring an automated system using a robot, hazardous situations are more likely to occur from the automated
system than the robot itself. So the system manufacturer should install the necessary safety measures required for the
individual system. The system manufacturer should provide a proper manual for safe, correct operation and servicing of
the system.

w WARNING
To check the robot controller operating status, refer to this manual and to related manuals. Design and install the
system including the robot controller so that it will always work safely.

555 Precautions for operation

w WARNING
• Do not touch any electrical terminal. Directly touching these terminals may cause electrical shock, equipment
damage, and malfunction.
• Do not touch or operate the robot controller or programming box with wet hands. Touching or operating them
with wet hands may result in electrical shock or breakdown.

666 Do not disassemble and modify

w WARNING
Never disassemble and modify any part in the robot, controller, and programming box. Do not open any cover.
Doing so may cause electrical shock, breakdown, malfunction, injury, or fire.

4.5.2 Installing a safety enclosure

Be sure to install a safety enclosure to keep anyone from entering within the movement range of the robot. The
safety enclosure will prevent the operator and other persons from coming in contact with moving parts of the
robot and suffering injury.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

w DANGER
Serious injury may result from contact with a moving robot.
• Keep outside of the robot safety enclosure during operation.
• Press the emergency stop button before entering the safety enclosure.

w WARNING
• Install an interlock that triggers emergency stop when the door or gate of the safety enclosure is opened.
• The safety enclosure should be designed so that no one can enter inside except from the door or gate
equipped with an interlock device.
• Warning label 1 (See "3. Warning labels" in "Safety instructions") that comes supplied with a robot should be
affixed to an easy-to-see location on the door or gate of the safety enclosure.

S-16
4.6 Operation
When operating a robot, ignoring safety measures and checks may lead to serious accidents. Always take the

following safety measures and checks to ensure safe operation.

w DANGER

Safety Instructions
Check the following points before starting robot operation.
• No one is within the robot safety enclosure.
• The programming unit is in the specified location.
• The robot and peripheral equipment are in good condition.

4.6.1 Trial operation

After installing, adjusting, inspecting, maintaining or repairing the robot, perform trial operation using the
following procedures.

111 If a safety enclosure has not yet been provided right after installing the robot:
Then rope off or chain off the movement range around the robot in place of the safety enclosure and observe the
following points.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

w DANGER
Place a "Robot is moving - KEEP AWAY!" sign to keep the operator or other personnel from entering within the
movement range of the robot.

w WARNING
• Use sturdy, stable posts which will not fall over easily.
• The rope or chain should be easily visible to everyone around the robot.

222 Check the following points before turning on the controller.

• Is the robot securely and correctly installed?
• Are the electrical connections to the robot wired correctly?
• Are items such as air pressure correctly supplied?
• Is the robot correctly connected to peripheral equipment?
• Have safety measures (safety enclosure, etc.) been taken?
• Does the installation environment meet the specified standards?

333 After the controller is turned on, check the following points from outside the safety enclosure.
• Does the robot start, stop and enter the selected operation mode as intended?
• Does each axis move as intended within the soft limits?
• Does the end effector move as intended?
• Are the correct signals being sent to the end effector and peripheral equipment?
• Does emergency stop function?
• Are teaching and playback functions normal?
• Are the safety enclosure and interlocks functioning as intended?

S-17
 444 Working inside safety enclosures
Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective
function is operating correctly (see the previous section 2.3).

w DANGER
Never enter within the movement range while within the safety enclosure.
Safety Instructions

See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

w WARNING
When work is required within the safety enclosure, place a sign "Work in progress" in order to keep other persons
from operating the controller switch or operation panel.

w WARNING
When work within the safety enclosure is required, always turn off the controller power except for the following
cases:

Exception
Work with power turned on, but robot in emergency stop
Follow the precautions and procedure described in "Adjusting the
Origin position setting SCARA robots
origin".
Follow the precautions and procedure described in "Setting the
Standard coordinate setting SCARA robots
standard coordinates".
Follow the precautions and procedure described in "Setting the soft
SCARA robots
limits".
Soft limit settings
Cartesian robots Follow the precautions and procedure described in "Soft limit" in
Single-axis robots each controller manual.

Work with power turned on

SCARA robots
Teaching Cartesian robots Refer to "5. Teaching within safety enclosure" described below.
Single-axis robots

555 Teaching within the safety enclosure

When performing teaching within the safety enclosure, check or perform the following points from outside the safety
enclosure.

w DANGER
Never enter within the movement range while within the safety enclosure.

See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

w WARNING
• Make a visual check to ensure that no hazards are present within the safety enclosure.
• Check that the programming box or handy terminal operates correctly.
• Check that no failures are found in the robot.
• Check that emergency stop works correctly.
• Select teaching mode and disable automatic operation.

S-18
4.6.2 Automatic operation
Check the following points when operating the robot in AUTO mode. Observe the instructions below in cases
where an error occurs during automatic operation. Automatic operation described here includes all operations

in AUTO mode.

Safety Instructions
111 Checkpoints before starting automatic operation
Check the following points before starting automatic operation

w DANGER
• Check that no one is within the safety enclosure.
• Check the safety enclosure is securely installed with interlocks functional.

w WARNING
• Check that the programming box / handy terminal and tools are in their specified locations.
• Check that the signal tower lamps or other alarm displays installed for the system are not lit or flashing,
indicating no error is occurring on the robot and peripheral devices.

222 During automatic operation and when errors occur

After automatic operation starts, check the operation status and the signal tower to ensure that the robot is in automatic
operation.

w DANGER
Never enter the safety enclosure during automatic operation.

w WARNING
If an error occurs in the robot or peripheral equipment, observe the following procedure before entering the
safety enclosure.
1) Press the emergency stop button to set the robot to emergency stop.
2) Place a sign on the start switch, indicating that the robot is being inspected in order to keep other persons from
restarting the robot.

4.6.3 Precautions during operation

111 When the robot is damaged or an abnormal condition occurs

w WARNING
• If unusual odors, noise or smoke occur during operation, immediately turn off power to prevent possible
electrical shock, fire or breakdown. Stop using the robot and contact your distributor.
• If any of the following damage or abnormal conditions occurs the robot, then continuing to operate the robot
is dangerous. Immediately stop using the robot and contact your distributor.

Damage or abnormal condition Type of danger

Damage to machine harness or robot cable Electrical shock, robot malfunction
Damage to robot exterior Damaged parts fly off during robot operation
Abnormal robot operation (position deviation, vibration, etc.) Robot malfunction
Z-axis (vertical axis) or brake malfunction Z-axis unit falls off

222 High temperature hazard

w WARNING
• Do not touch the robot controller and robot during operation. The robot controller and robot body are very hot
during operation, so burns may occur if these sections are touched.
• The motor and speed reduction gear casing are very hot shortly after operation, so burns may occur if these
are touched. Before touching those parts for inspections or servicing, turn off the controller, wait for a while and
check that their temperature has cooled.

S-19
 333 Use caution when releasing the Z-axis (vertical axis) brake

w WARNING

The vertical axis will slide downward when the brake is released, causing a hazardous situation. Take adequate
safety measures in consideration by taking the weight and shape into account.
• Before releasing the brake after pressing the emergency stop button, place a support under the vertical axis so
Safety Instructions

that it will not slide down.

• Be careful not to let your body get caught between the vertical axis and the installation base when performing
tasks (direct teaching, etc.) with the brake released.

444 Be careful of Z-axis movement when the controller is turned off or emergency stop is triggered
(air-driven Z-axis)

w WARNING
The Z-axis starts moving upward when power to the controller or PLC is turned off, the program is reset, emergen-
cy stop is triggered, or air is supplied to the solenoid valve for the Z-axis air cylinder.
• Do not let hands or fingers get caught and squeezed by robot parts moving along the Z-axis.
• Keep the usual robot position in mind so as to prevent the Z-axis from hanging up or binding on obstacles
during raising of the Z-axis except in case of emergency stop.

555 Take protective measures when the Z-axis interferes with peripheral equipment (air-driven Z-axis)

w WARNING
When the Z-axis comes to a stop due to obstruction from peripheral equipment, the Z-axis may move suddenly
after the obstruction is removed, causing injury such as pinched or crushed hands.
• Turn off the controller and reduce the air pressure before attempting to remove the obstruction.
• Before reducing the air pressure, place a support under the Z-axis because the Z-axis will drop under its own
weight.

666 Be careful of Z-axis movement when air supply is stopped (air-driven Z-axis)

w WARNING
The Z-axis will slide downward when the air pressure to the Z-axis air cylinder solenoid valve is reduced, creating
a hazardous situation.
Turn off the controller and place a support under the Z-axis before cutting off the air supply.

777 Make correct parameter settings

c CAUTION
The robot must be operated with the correct tolerable moment of inertia and acceleration coefficients that
match the manipulator tip mass and moment of inertia. Failure to follow this instruction will lead to a premature
end to the drive unit service life, damage to robot parts, or cause residual vibration during positioning.

888 If the X-axis, Y-axis or R-axis rotation angle is small

c CAUTION
If the X-axis, Y-axis or R-axis rotation angle is set smaller than 5 degrees, then it will always move within the same
position. This restricted position makes it difficult for an oil film to form on the joint support bearing, and so may
possibly damage the bearing. In this type of operation, add a range of motion so that the joint moves through 90
degrees or more, about 5 times a day.

S-20
4.7 Inspection and maintenance
Always perform daily and periodic inspections and make a pre-operation check to ensure there are no prob-

lems with the robot and related equipment. If a problem or abnormality is found, then promptly repair it or
take other measures as necessary.
Keep a record of periodic inspections or repairs and store this record for at least 3 years.

Safety Instructions
4.7.1 Before inspection and maintenance work

111 Do not attempt any work or operation unless described in this manual.
Never attempt any work or operation unless described in this manual.
If an abnormal condition occurs, please be sure to contact your distributor. Our service personnel will take appropriate
action.

w WARNING
Never attempt inspection, maintenance, repair, and part replacement unless described in this manual. These
tasks require specialized technical knowledge and skills and may also involve hazards. Please be sure to
contact your distributor for advice.

222 Precautions during repair and parts replacement

w WARNING
When it is necessary to repair or replace parts of the robot or controller, please be sure to contact your distributor
and follow the instructions they provide. Inspection and maintenance of the robot or controller by an unskilled,
untrained person is extremely hazardous.

Adjustment, maintenance and parts replacement require specialized technical knowledge and skills, and also may
involve hazards. These tasks must be performed only by persons who have enough ability and qualifications required by
local laws and regulations.

w WARNING
Adjustment and maintenance by removing a cover require specialized technical knowledge and skills, and may
also involve hazards if attempted by an unskilled person. This adjustment must be performed only by persons
who have the required qualifications described in “2. Qualification of operators/workers” in section 4.1 of this
“Safety instructions”.

333 Shut off all phases of power supply

w WARNING
Always shut off all phases of the power supply externally before cleaning the robot and controller or securely
tightening the terminal screws etc. Failure to do this may cause electrical shock or product damage or malfunc-
tion.

444 Allow a waiting time after power is shut off (Allow time for temperature and voltage to drop)

w WARNING
• When performing maintenance or inspection of the robot controller under your distributor's instructions, wait at
least the time (*) specified for each controller after turning the power off. Some components in the robot
controller are very hot or still retain a high voltage shortly after operation, so burns or electrical shock may
occur if those parts are touched.
• The motor and speed reduction gear casing are very hot shortly after operation, so burns may occur if they are
touched. Before touching those parts for inspections or servicing, turn off the controller, wait for a while and
check that the temperature has cooled.

* For information on how long you should wait after turning the power off, see the user’s manual for each controller.

555 Precautions during inspection of controller

w WARNING
• When you need to touch the terminals or connectors on the outside of the controller during inspection, always
first turn off the controller power switch and also the power source in order to prevent possible electrical shock.
• Do not disassemble the controller. Never touch any internal parts of the controller. Doing so may cause
breakdown, malfunction, injury, or fire.

S-21
 4.7.2 Precautions during ser vice work

111 Precautions when removing a motor (Cartesian robots and vertical mount single-axis robots)

w WARNING
The vertical axis will slide down when the motor is removed, causing a hazardous situation.
Safety Instructions

• Turn off the controller and place a support under the vertical axis before removing the motor.
• Be careful not to let your body get caught by the driving unit of the vertical axis or between the vertical axis
and the installation base.

222 Be careful when removing the Z-axis motor (SCARA robots)

w WARNING
The Z-axis will slide downward when the Z-axis motor is removed, causing a hazardous situation.
• Turn off the controller and Place a support under the Z-axis before removing the Z-axis motor.
• Be careful not to let your body get caught by the driving unit of the Z-axis or between the Z-axis drive unit and
the installation base.

333 Do not remove the Z-axis upper limit mechanical stopper

c CAUTION
Warning label 4 is attached to each SCARA robot. (For details on warning labels, see "3. Warning labels" in "Safety
instructions.")
Removing the upper limit mechanical stopper installed to the Z-axis spline or shifting its position will damage the
Z-axis ball screw. Never attempt to remove it.

444 Use caution when handling a robot that contains powerful magnets

w WARNING
Powerful magnets are installed inside the robot. Do not disassemble the robot since this may cause injury.
Devices that may malfunction due to magnetic fields must be kept away from this robot.

See "6. Cautions regarding strong magnetic fields" in "Safety instructions" for detailed information on strong magnetic fields.

555 Use the following caution items when disassembling or replacing the pneumatic equipment.

w WARNING
Air or parts may fly outward if pneumatic equipment is disassembled or parts replaced while air is still supplied.
• Do service work after turning off the controller, reducing the air pressure, and exhausting the residual air from
the pneumatic equipment.
• Before reducing the air pressure, place a support stand under the Z-axis (2-axis robots with air driven Z-axis)
since it will drop under its own weight.

666 Use caution to avoid contact with the controller cooling fan

w WARNING
• Touching the rotating fan may cause injury.
• If removing the fan cover, first turn off the controller and make sure the fan has stopped.

777 Precautions for robot controllers

c CAUTION
• Back up the robot controller internal data on 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 this data.
• Do not use thinner, benzene, or alcohol to wipe off the surface of the programming box. The surface sheet may
be damaged or printed letters or marks erased. Use a soft, dry cloth and gently wipe the surface.
• Do not use a hard or pointed object to press the keys on the programming box. Malfunction or breakdown
may result if the keys are damaged. Use your fingers to operate the keys.

S-22
4.8 Disposal
When disposing of robots and related items, handle them carefully as industrial wastes. Use the correct

disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste
disposal company.

Safety Instructions
111 Disposal of lithium batteries
When disposing of lithium batteries, use the correct disposal method in compliance with your local regulations, or
entrust disposal to a licensed industrial waste disposal company. We do not collect and dispose of the used batteries.

222 Disposal of packing boxes and materials

When disposing of packing boxes and materials, use the correct disposal method in compliance with your local regula-
tions. We do not collect and dispose of the used packing boxes and materials.

333 Strong magnet

w WARNING
Strong magnets are installed in the robot. Be careful when disposing of the robot.

See "6. Cautions regarding strong magnetic fields" in "Safety instructions" for detailed information on strong magnetic
fields.

S-23
 5. Emergency action when a person is caught by robot

If a person should get caught between the robot and a mechanical part such as the installation base, then
release the axis.
Safety Instructions

■ ■ Emergency action
Release the axis while referring to the following section in the manual for the robot controller.

Controller Refer to:

RCX240 Section 1, "Freeing a person caught by the robot" in Chapter 1

RCX340 Section 1, "Emergency action when a person is caught by robot" in Chapter 1

n NOTE
Make a printout of the relevant page in the manual and post it a conspicuous location near the controller.

6. Cautions regarding strong magnetic fields

Some YAMAHA robots contain parts generating strong magnetic fields which may cause bodily injury, death,
or device malfunction. Always comply with the following instructions.
• Persons wearing medical electronic devices such as cardiac pacemakers or hearing aids must keep away
from the linear single-axis robot and linear conveyor. (Stay at least 100mm away.)
• Persons wearing ID cards, purses, and/or wristwatches must keep away from the linear single-axis robot and
linear conveyor.
• Do not attempt to disassemble the linear single-axis robot and linear conveyor (including surrounding
covers).
• Do not bring tools close to the internal parts of the robot and the linear conveyor magnets.
• Always attach the magnet protective cover (supplied) when handling, shipping or storing the linear convey-
or’s slider when removing it from the module.

S-24
 7. Using the robot safely

7.1 Movement range

Safety Instructions
When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from
the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and
workpiece attached to the manipulator tip (Figure B).
The actual movement range expands even further if the tool or workpiece is offset from the manipulator tip.
The movement range here is defined as the range of robot motion including all areas through which the robot
arms, the tool and workpiece attached to the manipulator tip, and the solenoid valves attached to the robot
arms move.
To make the robot motion easier to understand, the figures below only show the movement ranges of the tool
attachment section, tool, and workpiece.
Please note that during actual operation, the movement range includes all areas where the robot arms and any
other parts move along with the robot.

Movement range

Figure A: Movement range of robot itself Figure B: Movement range when tool and workpiece are attached
to manipulator tip
93009-X0-00

c CAUTION
To make the robot motion easier to understand, the above figures only show the movement ranges of the tool
attachment section, tool, and workpiece. In actual operation, the movement range includes all areas where the
robot arms and any other parts move along with the robot.

S-25
 7.2 Robot protective functions
Protective functions for YAMAHA robots are described below.

111 Overload detection

This function detects an overload applied to the motor and turns off the servo.
Safety Instructions

If an overload error occurs, take the following measures to avoid such errors:
1. Insert a timer in the program.
2. Reduce the acceleration.

222 Overheat detection

This function detects an abnormal temperature rise in the driver inside the controller and turns off the servo.
If an overheat error occurs, take the following measures to avoid the error:
1. Insert a timer in the program.
2. Reduce the acceleration.

333 Soft limits

Soft limits can be set on each axis to limit the working envelope in manual operation after return-to-origin and during
automatic operation. The working envelope is the area limited by soft limits.

w WARNING
Soft limit function is not a safety-related function intended to protect the human body.
To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the
robot (or available as options).

444 Mechanical stoppers

If the servo is turned off by emergency stop operation or protective function while the robot is moving, then these
mechanical stoppers prevent the axis from exceeding the movement range. The movement range is the area limited by
the mechanical stoppers.

• The X and Y axes have mechanical stoppers that are installed at both ends of the maximum movement
range. Some robot models have a standard feature that allows changing the mechanical stopper
positions. On some other models, the mechanical stopper positions can also be changed by using
SCARA robots option parts.
• The Z-axis has a mechanical stopper at the upper end and lower end. The stopper positions can be
changed by using option parts.
• No mechanical stopper is provided on the R-axis.
• The linear movement axis has a mechanical stopper at both ends of the maximum movement range.
Single-axis robots
The positions of these mechanical stoppers cannot be changed.
Cartesian robots
• No mechanical stopper is provided on the rotational axis.

w WARNING
Axis movement does not stop immediately after the servo is turned off by emergency stop or other protective
functions, so use caution.

c CAUTION
If the robot moving at high speed collides with a mechanical stopper installed in the robot (or available as
option), the robot may be damaged.

w DANGER
When the linear conveyor module is used to insert or eject the slider, mechanical stoppers cannot be attached
to the module body due to the structural limits. So install a device to catch and stop the slider being ejected at
high speed from the module, as well as other necessary safety measures.

555 Z-axis (vertical axis) brake

An electromagnetic brake is installed on the Z-axis to prevent the Z-axis from sliding downward when the servo is OFF.
This brake is working when the controller is OFF or the Z-axis servo power is OFF even when the controller is ON. The
Z-axis brake can be released by the programming unit / handy terminal or by a command in the program when the
controller is ON.

w WARNING
The vertical axis will slide downward when the brake is released, causing a hazardous situation. Take adequate
safety measures in consideration by taking the weight and shape into account.
• Before releasing the brake after pressing the emergency stop button, place a support under the vertical axis so
that it will not slide down.
• Be careful not to let your body get caught between the vertical axis and the installation base when performing
tasks (direct teaching, etc.) with the brake released.

S-26
7.3 Residual risk
To ensure safe and correct use of YAMAHA robots and controllers, System integrators and/or end users

implement machinery safety design that conforms to ISO12100.
Residual risks for YAMAHA robots and controllers are described in the DANGER or WARNING instructions
provided in each chapter and section. Read them carefully.

Safety Instructions
7.4 Special training for industrial robot operation
Operators or persons who handle the robot for tasks such as for teaching, programming, movement checks,
inspections, adjustments, and repairs must receive appropriate training and also have the skills needed to
perform the job correctly and safely. They must also read the manual carefully to understand its contents
before attempting the robot operation or maintenance.

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.

Comparison of terms used in this manual with ISO

This manual ISO 10218-1 Note

Maximum movement range maximum space Area limited by mechanical stoppers.

Movement range restricted space Area limited by movable mechanical stoppers.

Working envelope operational space Area limited by software limits.

Within safety enclosure safeguarded space

See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.

S-27
Revision record

Manual version Issue date Description

Ver. 1.00 May 2012 First edition
Ver. 1.01 Jun. 2012 Description of "Emergency action when a person is caught by
robot" was added, the work sequence for working within the
safety enclosure changed, typing errors corrected, etc.
Ver. 1.02 Sep. 2012 Description of warning labels was added; descriptions of "soft
limits", "mechanical stoppers" and work performed with vertical
axis brake released were changed; and residual risk description
was added.
Ver. 1.03 Dec. 2012 Warning on restricting the robot moving speed was added and
description of warning label language was changed.
Ver. 1.04 Jun. 2013 Description of “Movement range” was added.
Ver. 1.05 Sep. 2013 Description of linear conveyor module was added.
Ver. 1.06 Apr. 2014 Description of warning labels was added and description of
“Qualification of operators/workers” was changed, etc.

Safety Instructions
Apr. 2014
Ver. 1.06
This manual is based on Ver. 1.06 of Japanese manual.

YAMAHA MOTOR CO., LTD. IM Operations

All rights reserved. No part of this publication may be reproduced in
any form without the permission of YAMAHA MOTOR CO., LTD.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible
inaccuracies or omissions. If you find any part unclear in this manual,
please contact your distributor.
 Warranty

Warranty

For information on the warranty period and terms, please contact our distributor where you purchased the
product.

Warranty
■ ■ This warranty does not cover any failure caused by:
1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not
comply with industry standards or instructions specified in the YAMAHA manual;
2. Usage that exceeded the specifications or standard performance shown in the YAMAHA manual;
3. Product usage other than intended by YAMAHA;
4. Storage, operating conditions and utilities that are outside the range specified in the manual;
5. Damage due to improper shipping or shipping methods;
6. Accident or collision damage;
7. Installation of other than genuine YAMAHA parts and/or accessories;
8. Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA,
including customizing performed by YAMAHA in compliance with distributor or customer requests;
9. Pollution, salt damage, condensation;
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc;
11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA;

■ ■ The following cases are not covered under the warranty:

1. Products whose serial number or production date (month & year) cannot be verified.
2. Changes in software or internal data such as programs or points that were created or changed by the customer.
3. Products whose trouble cannot be reproduced or identified by YAMAHA.
4. Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes
whose warranty repairs are judged as hazardous by YAMAHA.

THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS
AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY AND ALL OTHER
WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY
DISCLAIMED BY YAMAHA. MOREOVER, YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT
OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT.

This manual does not serve as a guarantee of any industrial property rights or any other rights and
does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for
any problems involving industrial property rights which may arise from the contents of this manual.

Ver.1.01_201209
Important information before reading this manual

Introduction i
Available manuals i
About this manual ii
Programming box display illustration shown in this manual ii

Overview of the RCX340 iii

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

Important information before reading this manual

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

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

Available manuals
The following manuals are included in the CD-ROM that comes supplied with the YAMAHA robot or
controller.

■ ■ Available manuals

Manual CD-ROM

Controller

Operator’s manual
Describes robot operation and standard parameters.

User’s manual (this manual)

Describes how to install, connect, and set the controller.

Programming manual
Describes the robot program language.

Robots

Installation manual
Describes how to install and connect the robot.

Maintenance manual
Describes the maintenance procedures for the robot.

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.
1. Keep the printed version of this manual (available for an additional fee) handy for ready reference.
2. View the CD-ROM version of this manual on your PC screen.
3. Print out the necessary pages of this manual from the CD-ROM and keep them handy for ready reference.

i
 About this manual
Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure safety of the user's
Important information before reading this manual

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 manual.
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). Observe the precautions given in each chapter.

To use YAMAHA robots and controllers safely and correctly, first read "Safety Instructions" in this manual and
always comply with the safety rules and instructions.
Please note, however, this 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.

Programming box display illustration shown in this manual

In this manual, the portion of the programming box display illustration shown by the mark is omitted.

ii
Over view of the RCX340

Important information before reading this manual

The YAMAHA RCX340 robot controllers were developed based on years of YAMAHA experience and proven
achievements in robotics and electronics. These controllers are specifically designed to operate YAMAHA
industrial robots efficiently and accurately.
Despite their compact size, the RCX340 controllers operate efficiently as multi-axis controllers with a variety
of functions.
Major features and functions are:

111 Multi-task function

Up to 16 tasks* can be executed simultaneously by specifying the priority. However, low priority tasks are halted while
high priority tasks are running.
Programs are processed in parallel to efficiently perform various operations. Additionally, the operation efficiency of the
total robot system including peripheral units is greatly improved.
(*: Refer to "Multi-tasking" in the programming manual for more details on tasks.)

222 Robot language

The RCX series controller comes with a BASIC-like high-level robot language that conforms to the industrial robot
programming language SLIM*. This robot language allows easy programming even of complex movements such as
multi-task operations.
(*: Standard Language for Industrial Manipulators)

333 Robot control

Up to four robots can be controlled.
Versatile motion functions are incorporated and these functions can be executed by multiple robots.

444 Applicable robots

Software servo control provides unit standardization.
The RX340 can be connected to almost all YAMAHA robots.

555 CE marking
The RCX series robot controller is designed to conform to machinery directives and EMC (Electromagnetic compatibility)
directives as a YAMAHA robot series product. In this case,
For details about CE marking compliance, see the Safety standards application guide. Additionally, to make the system
applicable to the CE marking, select the RCX340 CE specifications.

This manual explains how to handle and operate the YAMAHA robot controllers correctly and effectively, as well
as I/O interface connections.
Read this manual carefully before installing and using the robot controller.
Also refer to the separate programming manual and robot user’s manual as needed.

iii
 Before using the robot controller (Be sure to read the following notes)
Important information before reading this manual

Please be sure to perform the following tasks before using the robot controller.
Failing to perform these tasks will require the return-to-origin for setting the origin position each time the
power is turned on or may cause abnormal operation (vibration, noise).

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

Always make a secure connection to the ground terminal on the robot controller to ensure safety and prevent
malfunctions due to noise.
TIP
Refer to "3.2. Power supply and ground terminals" in Chapter 3 for detailed information.

[2]When connecting the battery cable to the robot controller

The absolute battery connector has not been connected to the controller at shipment to prevent discharge. After the
controller has been installed, be sure to connect the absolute battery connector while referring to "7. Connecting the
absolute battery" in Chapter 3 before connecting the robot connection cables.
An error (relating to absolute settings) is always issued if the robot controller power is turned on without connecting the
absolute batteries, so the origin position cannot be detected. This means the robot connected to this controller cannot be
used with absolute specifications.

[3]When connecting robot cables to the robot controller

Be sure to keep robot cables separate from the robot controller power connection lines and other equipment power lines.
Using in close contact with lines carrying power may cause malfunctions or abnormal operation.
TIP
When the controller and robot connection cable are connected and the power is turned on for the first time, be
sure to perform "return-to-origin". Perform absolute reset while referring to the operator’s manual.
Additionally, when the robot connection cable is disconnected form the controller and it is connected again,
the return-to-origin is also needed.

[4]Setting the maximum speed

When operating a ball screw driven robot, the ball screw’s free length will increase as the movement stroke increases,
and the resonant frequency will drop. This may cause the ball screw to resonate and vibrate severely depending on the
motor rotation speed. (The speed at which resonance occurs is called the critical speed.)
To prevent this resonance, the maximum speed must be reduced depending on the robot model when the movement
stroke increases. Refer to our robot catalog for the maximum speed settings.

c CAUTION
Continuous operation while the ball screw is resonating may cause the ball screw to wear out prematurely.

[5]Duty
To lengthen the service life of robots, the robots must be operated within the allowable duty (50%).
The duty is calculated as follows:

Operation time
Duty (%) = ×100
Operation time+ Non-operation time
If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case, increase the stop time to
reduce the duty.

iv
Chapter 1 Using the robot safely

1. Emergency action when a person is caught by robot 1-1

2. Emergency stop 1-3

2.1 Emergency stop reset and alarm reset 1-3

3. Power-ON procedures 1-5

4. Usage environments 1-6

 111 Emergency action when a person is caught by robot

1
If a person should get caught between the robot and mechanical part such as the installation base,or get
captured by the robot, free the person by following the instructions below.

111 For axis not equipped with a brake

Put the robot into the emergency stop status to shut off the motor power to the robot. Then move the axis by pushing it

Using the robot safely

with hands.

222 For axis equipped with a brake

The power to the robot can be shut off by putting the controller into the emergency stop status, but the axis cannot be
moved due to the action of the brake.
Release the brake by following the procedure below, then move the axis by pushing it with hands.

w WARNING
THE VERTICAL AXIS OF THE VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CAUSING A
HAZARDOUS SITUATION.
• PROP UP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE.
• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS AND THE SUPPORT STAND WHEN
RELEASING THE BRAKE.

1 Press on the programming box Step 1 QUICK MENU

to display the "QUICK MENU"
screen.

2 Use the cursor keys ( / ) to

select [Servo Operation], and then
press .
The screen will change to the “SERVO
OPERATION (ALL)" screen.

3 Press (SEP) on the "SERVO

OPERATION (ALL)" screen. Step 2 "SERVO OPERATION (ALL)" screen
The screen will change to the “SERVO
OPERATION (SEP)" screen.

4 On the "SERVO OPERATION (SEP)"

screen, select the axis to release the
brake or select [FREE] for all axes
with the cursor keys ( / / / ),
and then press .
The brake release confirmation screen will
appear.
Step 4 "SERVO OPERATION (SEP)" screen

1-1
 5 Use the cursor keys ( / ) to select Step 5 Brake release confirmation screen

[OK] and press to release the

1 brake.
For the vertical axis, when the brake is
released, the vertical axis may drop. So,
check that the vertical axis is supported by
the table, etc., and then release the brake.
Using the robot safely

To apply the brake again, select [OFF] on

the "SERVO OPERATION" screen.

1-2
 222 Emergency stop

1
To stop the robot immediately in case of emergency during operation, press the emergency stop button on the
programming box.
Pressing the emergency stop button cuts off power to the robot.

c CAUTION
In addition to the emergency stop button on the programming box, the SAFETY connector has terminals for

Using the robot safely

external dedicated input (emergency stop). Refer to chapter 4 "1. I/O interface over view" for details.

Programming box

Emergency stop button

2222 Emergency stop reset and alarm reset

To return to normal operation after emergency stop, release the emergency stop button and reset the alarm.

n NOTE
• Emergency stop can also be triggered by an emergency stop input from the SAFETY I/O interface. To reset the
emergency stop, refer to "1. I/O interface over view" in chapter 4.
• Origin positions are retained even when emergency stop is triggered, so the robot can be restarted by
canceling emergency stop without absolute reset or return-to-origin operation.

1 Turn the emergency stop button

clockwise to reset the emergency
stop.

1-3
 2 Reset the alarm. Step 2 "QUICK MENU" screen
Press on the programming box. The
"QUICK MENU" screen will appear.

1 Use the cursor keys ( / ) to select

[Alarm Reset], and then press . The
confirmation screen will appear.
Use the cursor keys ( / ) to select [YES],
Using the robot safely

and then press .

The alarm status is then reset.

n NOTE
The serious alarm cannot be reset. In this case, it is
necessary to turn off the controller power, and Step 2 Alarm reset confirmation screen
then turn it on again.

To turn on the motor power, follow the steps below.

3 Display the "SERVO OPERATION

(ALL)" screen.
Press on the programming box. The
"QUICK MENU" screen will appear.

Use the cursor keys ( / ) to select [Servo

Operation], and then press

Step 3 "QUICK MENU" screen

4 Turn on the motor power and servo.
Use the cursor keys ( / ) to select [ON],

and then press to turn on the servo.

5 Press to return to the initial

screen.

Step 4 "SERVO OPERATION (ALL)" screen

1-4
 333 Power-ON procedures

1
This section describes the procedures from turning on the controller power to performing return-to-origin of
the robot.

c CAUTION
To connect the programming box to the controller, always use the dedicated cable and connector that come

Using the robot safely

supplied with the programming box. Do not modify the cable and do not connect a relay to the cable.

n NOTE
• After turning off the robot controller, wait at least 5 seconds before turning the power back on again. If power is
turned on again too quickly after the power was turned off, the controller might not start up correctly.
• Do not turn off the robot controller during program execution. If turned off, this causes errors in the internal
system data and the program may not restart correctly when the power is again turned on. Always quit or stop
the program before turning off the robot controller.
• When the "Servo on when power on" parameter is set to "INVALID", the controller always starts with the robot
servo turned off when power is turned on, regardless of SAFE mode and serial I/O settings. Refer to "1.11.1 Servo
ON from power ON of controller" in chapter 4 for details.

1 Check the setup and connections.

Make sure that the necessary setup and connections are correctly completed according to the
instructions in the user’s manual.

2 Activate emergency stop.

Press the emergency stop button on the programming box to activate emergency stop.

3 Turn on the power.

The power is supplied to the power terminal on the front panel of the controller. The “PWR” LED and
7-segment LED are lit and the initial screen appears on the programming box. (It takes maximum 7 sec.
to start the controller correctly after the “PWR” LED has been lit.)

4 Cancel emergency stop.

Turn the emergency stop button on the programming box clockwise to reset emergency stop.

5 Turn on the servo.

Refer to the RCX340 operator’s manual for details on how to turn the servo ON.

6 Perform return-to-origin.
Refer to the RCX340 operator’s manual for details on return-to-origin.

n NOTE
If the warning message “C50 : Memory backup battery low” appears when turning on the power, replace the
lithium battery (service life is about 4 years) inside the controller.

1-5
 444 Usage environments

1
Operating temperature
Operating
0°C to 40°C
temperature

The ambient temperature should be maintained within a range of 0 to 40°C during operation.
This is the range in which continuous operation of the robot controller is guaranteed according to the initial
Using the robot safely

specifications. If the robot controller is installed in a narrow space, then heat generated from the controller itself and
from peripheral equipment may drive the temperature above the allowable operating temperature range.
This may result in thermal runaway or malfunctions and may lower component performance along with shortening their
useful service life. So be sure to install the controller in locations with a vent having a natural air flow. If this proves
insufficient, provide forced air-cooling.
Storage temperature
Storage temperature -10°C to 65°C

The controller should be stored in a location at an ambient temperature between -10 and +65°C when not being used.
If the robot controller is stored in a location at high temperatures for extended periods, deterioration of the electronic
components may occur and the memory backup time may decrease.
Operating humidity
Operating humidity 35% to 85% RH (no condensation)

The ambient humidity of the robot controller should be 35% to 85% RH (no condensation) in order to guarantee
continuous operation within the initial specifications. Installing the robot controller inside an air-conditioned or cooling
unit is recommended when the ambient humidity is higher than 85% or when condensation occurs.
Storage humidity
Storage humidity Below 95% RH (no condensation)

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

Vibration and shock

Do not apply strong shocks to the controller. Do not install the controller in locations subject to large vibrations or
shocks. The controller may malfunction or break down if subjected to large vibrations or shocks.

Environments
The controller is not designed to meet explosion-proof, dust-proof, and drip-proof specifications, and so do not use it in
the following locations. If used in these locations, component corrosion, improper installation, or fire may result.
1) Environments containing combustible gases or dust particles, or flammable liquids, etc.
2) Environments where conductive substances such as metal cutting chips are present.
3) Environments where water, cutting water, oils, dust, metal particles, or organic solvents are present.
4) Environments containing corrosive gases or substances such as acid or alkali.
5) Environments containing mist such as cutting fluids or grinding fluids.
6) Environment containing silicon gas that leads to contact failure of the electrical contact point.
If using the controller in locations where dust particles of gases may generate, it is recommended to install the controller
in a box with a cooling unit.

Installation location
Always install the robot controller indoors, at a height of less than 2000 meters above sea level.
Install the controller in a control panel with a structure that does not allow water, oil, carbon or dust particles to
penetrate it.
Do not install the controller in the following locations:
1) Near devices which may be a source of electrical noise, such as large inverters, highoutput high-frequency
generators, large contactors, and welding machines.
2) Locations where electrostatic noise is generated.
3) Locations subject to radio frequency interference.
4) Locations where there is a possibility of exposure to radioactivity.
5) Locations where dangerous items such as ignitable, flammable or explosive materials are present.
6) Near combustible materials.
7) Environments exposed to direct sunlight.
8) Narrow space where tasks (teaching, inspections, etc.) cannot be performed safely.
1-6
Chapter 2 System overview

1. I/O interface overview 2-1

1.1 Main system configuration 2-1
1.2 Axis configuration for the RCX340 2-2

2. Name of each part and control system 2-3

2.1 RCX340 external view 2-3
2.2 Controller system 2-4

3. Optional devices 2-5

3.1 Programming box 2-5
3.2 Basic key operation 2-5
3.3 Expansion I/O board 2-6

4. Basic sequence from installation to operation 2-7

111 I/O interface over view
1111 Main system configuration

■ ■ Configuration 1 : System for controlling one robot

2
Example : YK500XG
All the axes on the robot controller are used as the main robot axes.

System overview
Programming box

PC

External unit
(PLC etc.)

YAMAHA robot

■ ■ Configuration 2 : Multiple-robot setting

Example: Robot 1 : MXYx
Robot 2 : MF30 double-carrier type
Axes 1 and 2 of the robot controller are used as axes of the robot 1 while axes 3 and 4 are used as axes of the
robot 2.

Programming box

PC

External unit
(PLC etc.)

(Double-carrier type)
YAMAHA robot

2-1
 1111 Axis configuration for the RCX340
The axis configuration for the YAMAHA RCX340 robot controller is shown below.

Controller Robot [1] Normal axis

Auxiliary axis

2
Robot [n] Normal axis

Auxiliary axis

Robot [n] ("n" is a numeric

Aggregate of axes making up one robot. Up to four robots can be controlled.
value, 1 to 4.)
System overview

Normal axis Axis making up one robot. This axis is moved by the "MOVE" command of the robot language.

This axis is not moved by the "MOVE" command of the robot language, but is moved by the
Auxiliary axis
“DRIVE” command.

Example 1 4-axis SCARA robot, 1 unit

Robot number Robot type M1 M2 M3 M4

1 SCARA robot X Y Z R

Example 2 XY-robot, 2 units

Robot number Robot type M1 M2 M3 M4

1 XY-robot 1 X Y
2 XY-robot 2 X Y

2-2
222 Name of each par t and control system
The RCX340 external view and the control system basic diagram are shown below.

2222 RCX340 external view

14 2 13 2 4 8 8

System overview
5

16 11 10 9 1 9 1 9 1 9 15 1 3 8 8

Name Function

1 M1/M2/M3/M4 These connectors are used to drive the servo motor.

2 ROB I/O[1-2/3-4] These connectors are used for servo motor feedback and sensor signals.

3 SAFETY This is a safety input/output connector for emergency stoppages, etc.

4 PB This connector is used to connect the programming box.

5 COM This is an RS-232C interface connector.

6 EN This is an Ethernet connection connector.

7 USB This is an USB connection connector.

8 (OP.)1/2/3/4 These are option ports. Up to four option boards can be installed.

9 BAT[1/2/3/4] This connector is used to connect a battery for absolute backup battery.

10 AC IN[L/N/L1/N1] This is the control power supply and main power supply (motor drive power supply).

11 (PE) This is the ground terminal. D class grounding work is required.

12 “PWR”LED Lights up when the power is turned ON.

13 7SEG LED Indicates the controller or robot status.

Ensures that the temperature inside the controller is kept at a fixed level. When installing the
14 FAN controller, keep a space of 50mm or more from the left side panel so that the fan opening is not
closed.

15 BK24V This is an external 24V-input power connector for the brake.*

This is a regenerative unit connector for the expansion. For the standard specifications, connect the
16 RGEN
thermal sensor shorting connector.

* When two or more axes use the brake.

2-3
 2
System overview

2-4
2222

L
N
L1
N1
AC IN
RGEN
FAN

REGISTOR

M1
ROBO I/O
DRIVER2 1-2
■ ■ Basic block diagram

AXIS1
BAT1
BAT2

M2
DRIVER2
Controller system

M3 AXIS2

DRIVER POWER
DRIVER1

DRIVER2 ROBO I/O

AXIS3 3-4
BAT3
BAT4
M4

DRIVER2 PB
AXIS4
SAFETY

BK24V

COM

CPU BOARD EN
USB

OP.2 OP.1

OP.4 OP.3
333 Optional devices
3333 Programming box
Use of this programming box makes it possible to perform the robot manual operation, program input and
editing, teaching, and parameter settings.

2
Emergency stop button

System overview
Manual lock switch

USB connector

Enable switch
(PBX-E only)
PB connector

3333 Basic key operation

Each key allows three kinds of entries.

Alpha Alpha Alpha: Alphabet entry

Num Num Num: Number entry
Sym Sym
Sym: Symbol entry
When pressing the key, the character type to be entered will change. Additionally, the LED indication
showing the key status will also change.

■ ■ LED indication (alphabet entr y status)

For details about key operation, see the operation manual.

2-5
 3333 Expansion I/O board
The expansion I/O board used in the robot controller has 24 general-purpose input points and 16 general-
purpose output points.

2
System overview

2-6
444 Basic sequence from installation to operation
OP … Operator’s manual
Basic procedure Refer to:
Installation, connection and wiring

Install the controller. Chapter 3 1. Packing box, transport, unpacking

~
10. Precautions for cable

2
routing and installation
• Make cable and connector connections.
• Ground the controller.
• Configure an emergency stop circuit. Chapter 4 I/O interface
Chapter 5 SAFETY I/O interface

When a serial I/O board is added: See serial I/O user's manuals
Set the station number, communication speed, etc. (Setup for details.
depends on the serial I/O type.)

System overview
Power ON

Check that the wiring and supply voltage are correct and then turn power on. Chapter 1 3. Power-ON procedures

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

Check that the robot type setting in the controller matches Chapter 7 Controller system settings
Robot type check the robot that is actually connected.

Set the following parameters to optimize the robot operation.

• Tip weight (workpiece weight + tool weight)
Parameter initial * Set the "Axis tip weight" parameter if the robot is set to
setting "MULTI" or has an auxiliary axis.
Initial setting

• Soft limits (movement range)

* Before determining soft limit positions by jog movement,
return-to-origin must first be complete.
* Always set this parameter when using the robot for the
first time. After that, change it as needed.
OP
Return-to-origin Perform the return-to-origin to teach the origin position to Chapter 3 5. Return-to-origin
the controller.
When using the robot for the first time, be sure to perform
the return-to-origin.
After that, perform the return-to-origin in the following
cases.
• Incremental axis: Before starting the robot operation
after turning on the power or when the origin position is
infinite (return-to-origin incomplete status).
• Absolute axis: When the origin position is infinite
(return-to-origin incomplete status).

Parameter setting Set parameters according to the operation conditions. Chapter 7 Controller system settings

2. Point editing
Data setting

OP
Point data editing Create or edit point data according to the robot operation.
Chapter 4 6. Pallet definitions

Programming Create programs according to the robot operation. OP 1. Program editing

Chapter 4 See programming
* Programming is not needed when the program is not used, manual for information
such as operation with the online commands.
about programming
language.
Trial operation

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

OP
Make a trial run using step operation and make adjustment as needed. Chapter 3 4. Automatic operation

4. Automatic operation
Operation

OP
Start operation. Chapter 3

2-7
Chapter 3 Installation

1. Packing box, transport, unpacking 3-1

1.1 Packing box 3-1
1.2 Transport 3-1
1.3 Unpacking 3-1

2. Installing the robot controller 3-2

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

3. Connecting to the power 3-4

3.1 Power supply connection example 3-4
3.2 Power supply and ground terminals 3-5
3.3 AC power connector wiring 3-6
3.4 Considering power capacity and generated heat amount 3-7
3.5 Installing an external leakage breaker 3-9
3.6 Installing a circuit protector 3-9
3.7 Installing an electromagnetic contactor 3-9
3.8 Installing a noise filter 3-10
3.9 Installing a surge absorber 3-10

4. Robot connections 3-11

4.1 Connecting the robot cables 3-11
4.2 Noise countermeasures 3-12

5. Connecting the programming box 3-13

6. I/O connections 3-14

7. Connecting the absolute battery 3-15

8. Connecting the regenerative shorting connector 3-16

9. Connecting the brake power supply 3-16

10. Precautions for cable routing and installation 3-17

10.1 Wiring methods 3-17
10.2 Methods of preventing malfunctions 3-18

11. Checking the robot controller operation 3-19

11.1 Controller wiring 3-19
Chapter 3 Installation

11.2 Wiring example of emergency stop circuit for operation check 3-20
11.3 Operation check 3-20
111 Packing box, transpor t, unpacking
1111 Packing box
The robot controller is high precision equipment and is carefully packed in a cardboard box to avoid shocks
and vibrations.
If the packing box is seriously damaged or dented, please notify your distributor before unpacking.

1111 Transport
When transporting the robot controller, transport carefully with a trolley to prevent damage caused by

3
dropping.

c CAUTION
To prevent injury, or damage to the robot controller, do not drop or expose to vibrations during transport.

1111 Unpacking

Installation
Take sufficient care not to apply shocks to the equipment when unpacking. After unpacking, check the
accessories to make sure that nothing is missing.

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

Accessories

Power supply connector 1

SAFETY connector 1

PB terminator 1
Standard
Connector guard for COM connector 1

USB Connector guard 1

CD-ROM manual 1

Programming box 1

Absolute battery 1 to 4

I/O connector *1 1 set

Option
Communication cable 1

External power connector brake 1

Support software installation CD-ROM 1

*1 A dedicated connector for the selected I/O option is provided.

*2 Accessories other than those listed above may be provided depending on the selected options.

3-1
 222 Installing the robot controller
2222 Installation conditions
Take note of the following points when installing the robot controller.

■ ■ Installation location
Use the screws to secure the controller to the installation plate inside the control panel so that it is in a horizontal
position.
At this time, be sure to use the metallic installation plate.

■ ■ Operating temperature and humidity

3 Always use the controller under the following temperature and humidity conditions.
• Ambient temperature: 0 – 40 ºC
• Ambient humidity: 35 – 85% RH (there should be no condensation)
Installation

■ ■ Operating environments to be avoided

The controller should never be used in the following environments in order to ensure normal operation.
• Atmosphere with flammable gas, inflammable liquids, etc.
• Atmosphere with flying conductive material such as shavings generated during metal machining
• Atmosphere with corrosive acid or alkaline gases
• Mist atmosphere containing cutting fluid, grinding fluid
• Near electrical noise sources such as large inverters, high-output high-frequency transmitters, large contactors, welding
machines
• Environments exposed to oil or water
If the controller is to be used under such adverse conditions, place it in a watertight box equipped with a cooling unit.
• Locations subject to excessive vibrations
• Environment with controller installed on its side or end, or in an inverted position
• Environment in which controller connector cables are subject to impact or loads

■ ■ Surrounding clearance
Install the controller in a well ventilated area, and ensure sufficient clearance on all sides. (See drawing below.)

■ ■ Installation clearance

50mm or more

50mm
or more 50mm
or more

50mm or more
(A clearance of 100mm or more is recommended.)

c CAUTION
To prevent degradation or breakdowns, never use the controller in other than the specified installation conditions.
For the bottom clearance, take the battery replacement workability into consideration. (A clearance of 100mm
or more is recommended.)

3-2
2222 Installation methods
Use the screws to secure the controller to the installation plate inside the control panel so that it is in a
horizontal position. To secure the controller, use the M5 screws (6 pcs.). (See the figure below.)
Additionally, be sure to use the metallic installation plate.

Installation

3-3
 333 Connecting to the power
Attach the power connector to the power cable and insert it into the "AC IN" connector on the front panel of
the controller as shown below.

3333 Power supply connection example

■ ■ Connection example

See 3.5. See 3.8. See 3.6. See 3.7.

RCX340

3
Single phase
AC200V

Leakage Noise Circuit Electro- L

breaker filter protector magnetic
contactor N
Installation

L1
Circuit
protector
N1
Surge
absorber

See 3.9.

c CAUTION
To prevent break downs, do not mistake the terminal connection locations.

3-4
3333 Power supply and ground terminals

c CAUTION
Before connecting the power cable, be sure to check that the power supply voltage matches the power
specifications of your controller.

Symbol Wiring Remarks

L 200 to 230V Live

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

L1

N1
200 to 230V

200 to 230V
Live

Neutral
Power for control Wire cross-section 1.25sq* or more
3
*sq (square) is a unit used to indicate the cross-sectional area of stranded wires, with 1sq indicating 1 square millimeter.

Installation
Class D grounding
(PE) Ground Tightening torque 1.4Nm 2.0sq* or more
(100 ohms or less)

w WARNING
• To prevent electrical shocks or faulty operation caused by noise, the earth terminal (protective
conductor) must be grounded properly.
• To prevent electrical shocks, never touch the AC IN terminals when power is supplied to the robot
controller.

■ ■ AC IN and ground terminals

3-5
 3333 AC power connector wiring

■ ■ Requirements
Prepare the following to wire power connectors.

Connection lever (provided) Connector (provided) Wire

or flat-blade screwdriver.

■ ■ Wiring method
3 Strip the wire coating to expose 8 to 9mm of bare lead.
Use either of the methods shown below to insert the wire core into the opening in the power connector, and then ensure
that the wire does not come out.
Installation

Strip 8 to 9 mm of coating. If using connection lever provided. If using flat-blade screwdriver.

8 – 9 mm

Connection lever

The wire can be inserted while

using the screwdriver to press
down the spring from the opening
on the top of the connector.

c CAUTION
As a rule, only connect a single wire to each wire opening.

3-6
3333 Considering power capacity and generated heat amount
The required power capacity and generated heat amount depend on the robot model and the number of axes to
be controlled.

c CAUTION
The power supply voltage for the robot controller must always be regulated within ±10%.
If the voltage drops, the controller detects the voltage drop error, causing the robot to trigger the emergency
stop.
In contrast, operation at a voltage higher than specified may damage the robot controller or trigger emergency
stop due to detecting an excessive motor power supply voltage.

3
Use the following tables as a guide to prepare a power supply and to determine the control panel size,
controller installation method, and cooling means.
Controller: RCX340
1.When connected to SCARA robot

Installation
Robot model Power Generated
heat
capacity
Dust-proof & Wall-mount & amount
Standard type Clean type Orbit type (VA)
drip-proof type inverse type (W)

YK120XG, YK150XG 300 58

YK180XG, YK180X,
YK180XC, YK220XC 500 63
YK220X
YK250XCH,
YK350XCH,
YK250XGP,
YK250XG, YK350XG, YK400XCH,
YK350XGP,
YK400XG, YK250XGC, YK300XGS,
YK400XGP, 1000 75
YK500XGL, YK350XGC, YK400XGS
YK500XGLP,
YK600XGL YK400XGC,
YK600XGLP
YK500XGLC,
YK600XGLC

YK500XC, YK600XC 1500 88

YK500XGP, YK500XGS,
YK500XG, YK600XG 1700 93
YK600XGP YK600XGS
YK700XC,
YK800XC, 2000 100
YK1000XC
YK600XGHP,
YK600XGH, YK700XGS,
YK700XGP,
YK700XG, YK800XG, YK800XGS,
YK800XGP, YK500TW 2500 113
YK900XG, YK900XGS,
YK900XGP,
YK1000XG, YK1200X YK1000XGS
YK1000XGP

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

Axis current sensor value Generated

Power capacity (VA) heat amount
X-axis Y-axis (W)

05 05 600 65

10 05 800 70

20 05 1100 78

10 10 1000 75

20 10 1300 83

20 20 1700 93

3-7
 3.When connected to 3 axes (Cartesian robot or multi-axis robot)

Axis current sensor value Generated

Power capacity (VA) heat amount
X-axis Y-axis Z-axis (W)

05 05 05 700 68

10 05 05 900 73

20 05 05 1200 80

10 10 05 1000 75

20 10 05 1300 83

3 20

10
20

10
05

10
1600

1200
90

80

20 10 10 1500 88
Installation

20 20 10 1800 95

20 20 20 2000 100

4.When connected to 4 axes (Cartesian robot or multi-axis robot)

Axis current sensor value Generated

Power capacity (VA) heat amount
X-axis Y-axis Z-axis R-axis (W)

05 05 05 05 800 70

10 05 05 05 1000 75

20 05 05 05 1200 80

10 10 05 05 1100 78

20 10 05 05 1400 85

20 20 05 05 1600 90

10 10 10 05 1300 83

20 10 10 05 1500 88

20 20 10 05 1800 95

20 20 20 05 2100 103

10 10 10 10 1400 85

20 10 10 10 1700 93

20 20 10 10 2000 100

20 20 20 10 2200 105

20 20 20 20 2500 113

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

3-8
3333 Installing an external leakage breaker
In the interests of safety, always equip the robot controller power connection with an earth leakage current
breaker.
Since the robot controller drives the motors by PWM control of IGBT, leakage current flows at high frequencies.
This might cause the external leakage breaker to malfunction.
When installing an external leakage current breaker, it is important to choose the optimum sensitivity current
rating (IΔn).
(Check the leakage breaker manufacturer's data sheets to select the optimum product compatible with
inverters.)

c CAUTION
1.Leak current was measured with a leak tester with a low-pass filter turned on (100Hz).

3
Leak tester: Hioki Electric 3283
2.When using two or more controllers, sum the leakage current of each controller.
3.Make sure that the controller is securely grounded.
4.Stray capacitance between the cable and FG may vary depending on the cable installation condition,
causing the leakage current to fluctuate.

Installation
Leakage current

RCX340 control power supply (L1, N1)

Total 2.7mA(MAX)
RCX340 main power supply (L, N)

3333 Installing a circuit protector

In the interests of safety, always equip the robot controller power connection with a circuit protector.
An inrush current, which might be from several to nearly 20 times higher than the rated current, flows at the
instant that the controller is turned on or the robot motors start to operate. When installing an external circuit
protector for the robot controller, select a circuit protector that provides optimum operating characteristics.
To ensure proper operation, we recommend using a medium to slow response circuit protector with an inertial
delay function. (Refer to the circuit protector manufacturer's data sheets for making the selection.)
Example

Rated current Operating characteristics

RCX340 control power supply (L1, N1) 5A

Slow type with inertia delay
RCX340 main power supply (L, N) 15A

3333 Installing an electromagnetic contactor

When controlling the power on/off operation of the robot controller using an external unit such as a PLC, an
electromagnetic contactor should be installed on the AC power supply line for the controller. Select an
electromagnetic contactor that falls under the required safety category and control the open/close operation
using a circuit that meets the safety category.
In this case, separate the main power supply line from the control power supply line, and install the
electromagnetic contactor on the main power supply side.
To control the operation using emergency stop, turn the main power on and off.

3-9
 3333 Installing a noise filter
Installation of a noise filter is recommended in order to suppress power line noise.

■ ■ Dimensional outlines of recommended noise filter

Manufacturer : TDK-Lambda Corporation
Type No. : RSHN-2016

127±1

115±0.5

10±1
13±1 13±1
3
43±0.5
52±1

6-M4

2-φ4.5 35±1
Installation

Product name Recommended tightening torque

RSHN-2016 1.27N•m

3333 Installing a surge absorber

It is recommended to install a surge absorber so as to increase the resistance against the surge noise generated
by lightning.

■ ■ Dimensional outlines of recommended surge absorber

Manufacturer : SOSHIN ELECTRIC CO., LTD.
Type No. : LT-C12G801WS

Status indicator
Green : Normal
25 ±1.0

Red : Abnormal
±1.0
33.5
4
-0 .3
.1
.3 +0

19 ±1.0
φ4

Power lines (black)

Ground wire (green/yellow)
250 +25
-0
28 ±1.0

4 ±0.5

22.5 ±1.0
38 ±1.0

3-10
444 Robot connections
4444 Connecting the robot cables
Connect the robot connection cables to the "M1", "M2", "M3", "M4", "ROB I/O 1-2", and "ROB I/O 3-4"
connectors on the front of the controller.
The "M1" and "M2" connectors and the "ROB I/O 1-2" connector are intended for axes 1 and 2. Additionally,
the "M3" and "M4" connectors and the "ROB I/O 3-4" connector are intended for axes 3 and 4.

Installation
For axes 1 and 2 For axes 3 and 4
The robot connection cable specification may vary depending on the robot. For details, see the robot manual.

c CAUTION
Always securely connect the robot cables. If they are not securely connected and fail to make good contact,
the robot may malfunction. Before turning on the controller, make sure again that the cables are securely
connected.
Additionally, ground the robot securely. For details about grounding, see the robot manual.

w WARNING
The power to the controller must be off when connecting the robot cables.
The "M1", "M2", "M3", and "M4" connectors and the ROB I/O connector (1-2/3-4) have the same shape. Be
careful not to make incorrect connections.
If connected incorrectly, this may cause the robot to malfunction.
KEEP THE ROBOT CABLES SEPARATE FROM THE POWER CABLES AND OTHER EQUIPMENT POWER LINES. FAILURE TO
FOLLOW THIS INSTRUCION MAY CAUSE MALFUNCTIONS.

n NOTE
Make sure there are no bent or broken connector pins and no cable damage before connecting.

3-11
 4444 Noise countermeasures
Cables to be connected to the "M1", "M2", "M3", and "M4" connectors are motor cables for the motor drive.
Since the motor cable produces switching noise by motor control, do not install the sensor, etc. close to the
motor cable. Otherwise, the robot may malfunction. In this case, take noise preventive measures described
below.

1. Install the sensor, etc., further away from the motor cable.
2. Use a shielded cable for the sensor, etc., and ground the shield.
3. Install a noise filter in the cable which connects the controller to the robot.

■ ■ Noise filters:

3 Model KBG-M6563-00 (for M1, M3)

Model KBG-M6563-10 (for M2, M4)
Installation

Connected to the YAMAHA robot

Noise filter

3-12
555 Connecting the programming box
Connect the programming box to the PB connector on the front of the robot controller.

c CAUTION
The PB connector must be connected in the right direction, and therefore caution is required. The programming
box may break down if connected incorrectly.

Installation
Programming box

■ ■ Connecting a terminator
If not connecting the programming box, plug the terminator provided into the PB connector.

Terminator

c CAUTION
If not connecting the programming box, always plug the terminator provided into the PB connector.
The programming box is equipped with a B-contact (normally closed) type emergency stop button, and so the
emergency stop function is triggered when the programming box is disconnected from the robot controller. Plug
the terminator into the PB connector to avoid such emergency stop conditions.

3-13
 666 I/O connections
The various input/output (I/O) signals from peripheral equipment can be connected to the robot controller.
Each I/O is set with a number, and the I/O connector to be used depends on that number.
For more detailed information on inputs and outputs, refer to chapter "4. I/O interface" or chapter "5.
SAFETY I/O interface".
The terms used in the manual are described as follows.

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

3 of a sink output and a source input (see drawing below).

DO output (sink type)

Current
Installation

NPN
N.COM

DI input (source type)

P.COM

Current

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

DO output (source type)

P.COM

Current

PNP

DI input (sink type)

Current

N.COM

3-14
 777 Connecting the absolute batter y
The absolute battery connector has not been connected to the controller at shipment to prevent discharge.
After the controller has been installed, be sure to connect the absolute battery connector before connecting
the robot connection cables.
Connect the absolute battery to the BAT connector corresponding to the axis used as an absolute type axis.

■ ■ Installing the absolute batter y

1 Loosen the knob on the bottom.

2 Remove the bottom cover.
3 Fit each absolute battery to the battery case on the bottom to install it. 3
4 Connect the connector of each absolute battery to the BAT connector.

Installation
* Replace the absolute battery in the same manner.

4
4 2

Absolute battery

c CAUTION
Do not process or extend the cable. Otherwise, abnormal operation or malfunction may occur.

n NOTE
If the absolute battery is disconnected from the BAT connector with the power turned off, the robot enters the
return-to-origin incomplete status.
Since the absolute battery connector has not been connected to the controller at shipment to prevent
discharge, the alarm message showing the return-to-origin incomplete status is always displayed when turning
on the power for the first time. This alarm message does not show the controller or robot failure.
When the controller power is turned off for a period of time exceeding the backup retention time, the battery
needs to be replaced.
When storing the controller for an extended period of time, disconnect the absolute battery from the BAT
connector to suppress the consumption of the absolute battery.
Install the absolute battery with the positive (+) pole faced leftward.

3-15
 888 Connecting the regenerative shorting connector
A regenerative unit is incorporated.
To enable the temperature error monitor, short-circuit the sensor signal line with the shorting connector.

3
Installation

999 Connecting the brake power supply

When there are two or more brake axes, an external power supply is needed. Prepare a 24V10W-power
supply for each axis.

n NOTE
The power connector specifications and wiring are the same as the parallel I/O board.
For details, see "1.2 Power supply" and "1.3 Power connector wiring work" in Chapter 4.

3-16
1111 Precautions for cable routing and installation
11111 Wiring methods
When performing the cable wiring to the controller, strictly observe the following cautions to prevent
malfunction due to noise.

c CAUTION
As a general guide keep the specified cables separated at least 100mm from each other.
1. Keep the external device cable, robot cables and power cable separate from each other. Never bundle them
together.

3
2. Keep the external device cable and robot cables away from other equipment power lines. Never bundle them
together.
3. The wiring of electromagnetic contactors, induction motors, solenoid valves or brake solenoids should be
separate from the external device cable and robot cable. Never pass them through the same conduit or
bundle them together.
4. Do not extend the ground wire longer than necessary. The ground wire should be as short as possible.

Installation
For each cable name, see the figure below.

OPTION 1 3

1 3
2 4
PWR

External
*
PB

device connection cable

ROB I/O
COM
2 4
ROB I/O SAFETY
1-2 3-4
Power cable

AC IN

L1

N1

M1 BAT2 M2 BAT3 M3 BAT4 M4

EN
USB

Robot connection cable

*External devices: DIO, SAFFTY, COM, Ethernet, and USB, etc.

3-17
 11111 Methods of preventing malfunctions
To prevent malfunctions due to noise, take into account the following points.

1. Place a noise filter and ferrite core at a point near the robot controller.
Do not bundle the primary wiring and secondary wiring of the noise filter together.

■ ■ Noise filter installation

Bad examplev

Primary and secondary sides for the noise filter are bundled together.

3
Secondary N
Robot
Primary wiring wiring L1 controller
Noise
filter N1

Ground wire
Installation

Ground wire is bundled with primary wire.

2. Always attach a surge absorber to the coil of inductive loads (induction motor, solenoid valve, brake
solenoid and relay) located near the robot controller.

■ ■ Example of surge absorber circuit

For induction motor

Single-phase 3-phase
A motor
motor

A
A: Surge killer

■ ■ Example of surge absorber circuit

For solenoid valve, solenoid

B C

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

3-18
1111 Checking the robot controller operation
This section explains how to check the controller operation using a special connector that comes with the
controller and an applicable robot.

11111 Controller wiring

Make the connections to the controller as described below.
• Power supply (Do not supply power until you actually begin the operation check.)
• Robot cable
• Programming box

3
• Absolute battery (absolute type only)
• Regenerative unit (if needed)
• SAFETY connector (supplied)
Short-circuit the following pins of the SAFETY connector supplied with the controller.

SAFETY connector

Installation
A1 － A2

A3 － A4

A5 － A6

B1 － B2

B3 － B4

B5 － B6

Programming box

SAFETY connector
(supplied)

Connected to YAMAHA robot

3-19
 11111 Wiring example of emergency stop circuit for operation check
ACIN
L
N To main power circuit
Controller PB

Main power on/off control

Emergency stop
Internal power +24V

A1 E-STOP1+
B1 E-STOP2+ PB

3
A2 E-STOP11 13 E-STOP11 13
A3 E-STOP12 14 E-STOP12 14
B2 E-STOP21 15 E-STOP21 15
B3 E-STOP22 16 E-STOP22 16
A4 E-STOP RDY1 3.3kΩ

A5 E-STOP COM1 Emergency stop

B4 E-STOP RDY2 3.3kΩ
Installation

status detection
B5 E-STOP COM2
A6 E-STOP1-
B6 E-STOP2-

SAFETY Internal power GND

The emergency stop button contacts of the programming box are output from the A2, A3, B2, and B3 pins of
the SAFETY connector through the PB connector.

11111 Operation check

Supply the power to the controller after connecting the controller, robot, and supplied connector.

n NOTE
When the parallel I/O is installed, the robot enters the operation prohibition status by the stop function since the
24V-power is not supplied from the parallel I/O connector. This status can be reset from a viewpoint of software
as the parallel I/O board setting is disabled.

Normal status
· The “PWR” LED on the front of the controller is lit and the 7-segment LED displays as follows.
(Servo off, return-to-origin incomplete, emergency stop reset)

S O E

Abnormal status
· The “PWR” LED on the front of the controller is lit and the 7-segment LED displays the alarm code.
· Check the alarm message shown on the programming box and take corrective actions while referring to the
troubleshooting.
(Example) Display if an alarm occurs.
"E + alarm group number" and "alarm classification number" are displayed alternately.

* For details about alarm contents shown by each alarm code, see "Troubleshooting".

3-20
Chapter 4 I/O interface

1. I/O interface overview 4-1

1.1 ID settings 4-2
1.2 Power supply 4-2
1.3 Power connector wiring work 4-3
1.4 Connector I/O signals 4-4
1.4.1 Standard specification I/O connector signal list 4-4
1.4.2 Expanded specification I/O connector signal list 4-5
1.5 Connector pin assignment lists 4-6
1.5.1 Standard specification I/O connector 4-6
1.5.2 Expanded specification I/O connector 4-6
1.6 Connector pin numbers 4-7
1.7 Typical input signal connection 4-8
1.8 Typical output signal connection 4-9
1.9 Dedicated input signal description 4-10
1.10 Dedicated output signal description 4-12
1.11 Dedicated I/O signal timing chart 4-14
1.11.1 Servo ON from power ON of controller 4-14
1.11.2 Controller emergency stop and servo on reset 4-15
1.11.3 Return-to-origin 4-16
1.11.4 Program reset and program execution 4-17
1.11.5 Stopping by program stop 4-18
1.12 General-purpose I/O signals 4-19
1.12.1 General-purpose input signals 4-19
1.12.2 General-purpose output signals 4-19
1.12.3 General-purpose output signal reset (off) 4-19

2. Ratings 4-20
2.1 Input 4-20
2.2 Output 4-20

3. Caution items 4-21

111 I/O interface over view
To make the robot applicable to the customer's system, the dedicated or general-purpose I/O interface is
selected for the controller.
To use the I/O interface, add an optional parallel I/O board to the controller.
The parallel I/O board can select the standard specifications that include the dedicated input/output or the
expanded specifications that have only the general-purpose input/output. Additionally, up to four boards can
be installed.
The standard specifications/expanded specification and the PNP specifications/NPN specifications of the
parallel I/O board are determined at shipment.
Additionally, when the serial I/O (CC-Link, DeviceNet, etc.) is selected, dedicated inputs other than DI06 (stop)
of the parallel I/O board become disabled.
For details about the definitions of the NPN specifications and PNP specifications, see "6. I/O connections"
in Chapter 3. In the following descriptions, the input signal and output signal are expressed as “DI” and “DO”,
respectively.

n NOTE
The dedicated inputs are limited to ensure the safety during manual operation of the robot. 4
Specifications Connector name Connector type No. Wire thickness

I/O interface
Dedicated 8
Input
General-purpose 16
Standard Shell: 10350-52A0-008
STD.DIO
specifications
Dedicated 9 Plug: 10150-3000PE
Output
Manufacturer: AWG30 to 24
General-purpose 8
SUMITOMO 3M
24 points
Input
Expanded (Max. 96 points)
EXP.DIO
specifications 16 points
Output
(Max. 64 points)

■ ■ Parallel I/O board

Power connector

Parallel I/O connector

4-1
 1111 ID settings
Parallel I/O board IDs (1 to 4) are automatically allocated from the board connection position (in the option
slot number order).
The option slot numbers are shown on the option slots of the controller main body in the order like "upper left
→ lower left → upper right → lower right”.
Additionally, the parallel I/O board IDs can be set using the parameters. However, when the board has the
standard specifications, the ID is always "1".

ID General-purpose input/output Dedicated input/output

Standard specifications DI20-DI37 / DO20-DO27 Provided.*1

1
Expanded specifications DI10-DI37 / DO10-DO27 None

2 DI40-DI67 / DO30-DO47 None

3 DI70-DI117 / DO50-DO67 None

4
4 DI120-DI147 / DO70-DO107 None

*1 To enable the dedicated input, it is necessary to short-circuit CHK1 (pin number 4) and CHK2 (pin number 40) of the I/O.

n NOTE
•Standard specifications/expanded specifications are determined at shipment.
I/O interface

•Only one standard specification board can be used.

•When changing the ID, it is necessary to turn off the controller power, and then turn it on again.
•If the ID setting is mismatched, all parallel I/O board IDs are initialized.

1111 Power supply

When using the I/O interface, it is necessary to connect an external 24V-power supply.
Perform the wiring of the power connector of the parallel I/O board, and then connect the 24V-power supply.

■ ■ Power connector (Figure when viewed from the cable insertion side)

1 2

Connector model name 734-102 WAGO JAPAN

Terminal Input Electric wire to be used

1 DC24V AWG22~18

2 GND AWG22~18

c CAUTION
When the controller main body is turned off, do not supply an external DC24V-power to the parallel I/O interface
continuously. If the external DC24V-power is supplied continuously, this may cause the controller to malfunction.

4-2
1111 Power connector wiring work

■ ■ Stripping the electric wire

Strip the electric wire sheath 7mm.

7mm

Perform the work while referring to the figures shown below.

■ ■ When using the finger operation lever

I/O interface
1. Push the finger operation lever 2. Insert the electric wire all the way 3. Releasing the operation lever will
installed on the top by finger to from the insertion port while connect the wire. To check the
push down the spring. pushing the operation lever. connection, lightly pull the electric
wire. (At this time, do not pull the
electric wire strongly.)

■ ■ When using the screwdriver (front entr y)

1. Insert the screwdriver into the 2. Insert the electric wire that has 3. To check the connection, lightly
operation slot (square hole). been stripped correctly all the way pull the electric wire. (At this time,
When the screwdriver is inserted to the wire hole (round hole). do not pull the electric wire
correctly, it is then held. strongly.)

4-3
 1111 Connector I/O signals

111111 Standard specification I/O connector signal list

n NOTE
•"CHK1" and "CHK2" are connection check inputs of the standard specification I/O connector. When the ID is set
at "1", be sure to short-circuit these inputs.
•When the serial I/O option is installed in the controller and the serial I/O is enabled, the dedicated inputs of the
serial I/O are enabled and the dedicated inputs of the DIO options are disabled.

Pin I/O No. Signal name Remarks

1 DI 01 Dedicated input Servo ON input
2 DI 10 Dedicated input Sequence control
3 DI 03 Spare Do not use.
4 CHK 1 Check signal 1 Short-circuit with CHK2.
5 DI 05 Spare Do not use.

4
6 DI 06 Dedicated input Stop
7 DI 07 Spare Do not use.
8 DI 20 General-purpose input 20
9 DI 21 General-purpose input 21
10 DI 22 General-purpose input 22
11 DI 23 General-purpose input 23
I/O interface

12 DI 24 General-purpose input 24
13 DI 25 General-purpose input 25
14 DI 26 General-purpose input 26
15 DI 27 General-purpose input 27
16 DO 00 Spare Do not use.
17 DO 01 Dedicated output CPU OK
18 DO 10 Dedicated output AUTO mode output
19 DO 11 Dedicated output Return-to-origin complete
20 DO 12 Dedicated output Sequence program-in-progress
21 DO 13 Dedicated output Robot program-in-progress
22 DO 14 Dedicated output Program reset status output
23 DO 15 Dedicated output Warning output
24 DO 16 Spare Do not use.
25 DO 17 Spare Do not use.
26 DI 12 Dedicated input Automatic operation start
27 DI 13 Spare Do not use.
28 DI 14 Dedicated input Return-to-origin (for INC axis)
29 DI 15 Dedicated input Program reset input
30 DI 16 Dedicated input Alarm reset input
31 DI 17 Dedicated input Return-to-origin (for ABS axis)
32 DI 30 General-purpose input 30
33 DI 31 General-purpose input 31
34 DI 32 General-purpose input 32
35 DI 33 General-purpose input 33
36 DI 34 General-purpose input 34
37 DI 35 General-purpose input 35
38 DI 36 General-purpose input 36
39 DI 37 General-purpose input 37
40 CHK 2 Check signal 2 Short-circuit with CHK1.
41 DO 02 Dedicated output Servo-on output
42 DO 03 Dedicated output Alarm output
43 DO 20 General-purpose output 20
44 DO 21 General-purpose output 21
45 DO 22 General-purpose output 22
46 DO 23 General-purpose output 23
47 DO 24 General-purpose output 24
48 DO 25 General-purpose output 25
49 DO 26 General-purpose output 26
50 DO 27 General-purpose output 27

4-4
111111 Expanded specification I/O connector signal list
The IDs are set using the parameter.
Pin I/O No. (ID=1) I/O No. (ID=2) I/O No. (ID=3) I/O No. (ID=4) Signal name
1 --- --- --- --- Reserved
2 DI 10 DI 40 DI 70 DI 120 General-purpose input 10,40,70,120
3 --- --- --- --- Reserved
4 DI 11 DI 41 DI 71 DI 121 General-purpose input 11,41,71,121
5 --- --- --- --- Reserved
6 --- --- --- --- Reserved
7 --- --- --- --- Reserved
8 DI 20 DI 50 DI 100 DI 130 General-purpose input 20,50,100,130
9 DI 21 DI 51 DI 101 DI 131 General-purpose input 21,51,101,131
10 DI 22 DI 52 DI 102 DI 132 General-purpose input 22,52,102,132
11 DI 23 DI 53 DI 103 DI 133 General-purpose input 23,53,103,133
12 DI 24 DI 54 DI 104 DI 134 General-purpose input 24,54,104,134
13 DI 25 DI 55 DI 105 DI 135 General-purpose input 25,55,105,135

4
14 DI 26 DI 56 DI 106 DI 136 General-purpose input 26,56,106,136
15 DI 27 DI 57 DI 107 DI 137 General-purpose input 27,57,107,137
16 --- --- --- --- Reserved
17 --- --- --- --- Reserved
18 DO 10 DO 30 DO 50 DO 70 General-purpose output 10,30,50,70

I/O interface
19 DO 11 DO 31 DO 51 DO 71 General-purpose output 11,31,51,71
20 DO 12 DO 32 DO 52 DO 72 General-purpose output 12,32,52,72
21 DO 13 DO 33 DO 53 DO 73 General-purpose output 13,33,53,73
22 DO 14 DO 34 DO 54 DO 74 General-purpose output 14,34,54,74
23 DO 15 DO 35 DO 55 DO 75 General-purpose output 15,35,55,75
24 DO 16 DO 36 DO 56 DO 76 General-purpose output 16,36,56,76
25 DO 17 DO 37 DO 57 DO 77 General-purpose output 17,37,57,77
26 DI 12 DI 42 DI 72 DI 122 General-purpose input 12,42,72,122
27 DI 13 DI 43 DI 73 DI 123 General-purpose input 13,43,73,123
28 DI 14 DI 44 DI 74 DI 124 General-purpose input 14,44,74,124
29 DI 15 DI 45 DI 75 DI 125 General-purpose input 15,45,75,125
30 DI 16 DI 46 DI 76 DI 126 General-purpose input 16,46,76,126
31 DI 17 DI 47 DI 77 DI 127 General-purpose input 17,47,77,127
32 DI 30 DI 60 DI 110 DI 140 General-purpose input 30,60,110,140
33 DI 31 DI 61 DI 111 DI 141 General-purpose input 31,61,111,141
34 DI 32 DI 62 DI 112 DI 142 General-purpose input 32,62,112,142
35 DI 33 DI 63 DI 113 DI 143 General-purpose input 33,63,113,143
36 DI 34 DI 64 DI 114 DI 144 General-purpose input 34,64,114,144
37 DI 35 DI 65 DI 115 DI 145 General-purpose input 35,65,115,145
38 DI 36 DI 66 DI 116 DI 146 General-purpose input 36,66,116,146
39 DI 37 DI 67 DI 117 DI 147 General-purpose input 37,67,117,147
40 --- --- --- --- Reserved
41 --- --- --- --- Reserved
42 --- --- --- --- Reserved
43 DO 20 DO 40 DO 60 DO 100 General-purpose output 20,40,60,100
44 DO 21 DO 41 DO 61 DO 101 General-purpose output 21,41,61,101
45 DO 22 DO 42 DO 62 DO 102 General-purpose output 22,42,62,102
46 DO 23 DO 43 DO 63 DO 103 General-purpose output 23,43,63,103
47 DO 24 DO 44 DO 64 DO 104 General-purpose output 24,44,64,104
48 DO 25 DO 45 DO 65 DO 105 General-purpose output 25,45,65,105
49 DO 26 DO 46 DO 66 DO 106 General-purpose output 26,46,66,106
50 DO 27 DO 47 DO 67 DO 107 General-purpose output 27,47,67,107

For details regarding the definition of NPN and PNP specifications, see "6. I/O connections" in Chapter 3.

4-5
 1111 Connector pin assignment lists

111111 Standard specification I/O connector

1 DI01 Servo ON 26 DI12 RUN
2 DI10 SEQ enable 27 DI13 (Spare)
ORIGIN
3 DI03 (Spare) 28 DI14 (for INC axis)
4 CHK1 Check input 1 29 DI15 RESET
5 DI05 (Spare) 30 DI16 ALMRST
ORIGIN
6 DI06 STOP 31 DI17 (for ABS axis) General-
7 DI07 (Spare) 32 DI30
General- General- purpose input
8 DI20 33 DI31
purpose input General- purpose input General-
9 DI21 34 DI32
purpose input purpose input
General- General-
10 DI22 35 DI33
purpose input General- purpose input General-
11 DI23 36 DI34
purpose input purpose input
General- General-
12 DI24 37 DI35
purpose input General- purpose input General-
13 DI25 38 DI36
purpose input purpose input
General- General-
14 DI26 39 DI37
purpose input General- purpose input
15 DI27 40 CHK2 Check input 2
purpose input

4
16 DO00 (Spare) 41 DO02 SERVO
17 DO01 CPUOK 42 DO03 ALARM
General-
18 DO10 AUTO 43 DO20 purpose output General-
19 DO11 ORGOK 44 DO21 purpose output
General-
20 DO12 SEQRUN 45 DO22 purpose output General-
21 DO13 RUN 46 DO23 purpose output
General-
I/O interface

22 DO14 RESET 47 DO24 purpose output General-

23 DO15 WARNING 48 DO25 purpose output
General-
24 DO16 (Spare) 49 DO26 purpose output General-
25 DO17 (Spare) 50 DO27 purpose output

111111 Expanded specification I/O connector

The following shows the expanded specification I/O connector pin assignment list when the ID is “2”.
For details about pin assignments other than those with the ID set at “2”, see the input/output signal list.
General-
1 − Do not use. 26 DI42 purpose input
General- General-
2 DI40 27 DI43
purpose input purpose input General-
3 − Do not use. 28 DI44 purpose input
General- General-
4 DI41 29 DI45
purpose input purpose input General-
5 − Do not use. 30 DI46 purpose input
General-
6 − Do not use. 31 DI47 purpose input General-
7 − Do not use. 32 DI60 purpose input
General- General-
8 DI50 33 DI61
purpose input General- purpose input General-
9 DI51 34 DI62
purpose input purpose input
General- General-
10 DI52 35 DI63
purpose input General- purpose input General-
11 DI53 36 DI64
purpose input purpose input
General- General-
12 DI54 37 DI65
purpose input General- purpose input General-
13 DI55 38 DI66
purpose input purpose input
General- General-
14 DI56 39 DI67
purpose input General- purpose input
15 DI57 40 − Do not use.
purpose input
16 − Do not use. 41 − Do not use.
17 − Do not use. 42 − Do not use.
General- General-
18 DO30 43 DO40
purpose output General- purpose output General-
19 DO31 44 DO41
purpose output purpose output
General- General-
20 DO32 45 DO42
purpose output General- purpose output General-
21 DO33 46 DO43
General- purpose output General- purpose output
22 DO34 47 DO44
purpose output purpose output
General- General-
23 DO35 48 DO45
General- purpose output General- purpose output
24 DO36 49 DO46
purpose output purpose output
General- General-
25 DO37 50 DO47
purpose output purpose output

4-6
1111 Connector pin numbers

■ ■ Figure when viewed in the cable connector soldering direction

26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
4

I/O interface
1 26
2 27
3 28
4 29
5 30
6 31
7 32
8 33
9 34
10 35
11 36
12 37
13 38
14 39
15 40
16 41
17 42
18 43
19 44
20 45
21 46
22 47
23 48
24 49
25 50

Connector shell model number 10350-52A0-008 SUMITOMO 3M

Connector plug model number 10150-3000PE SUMITOMO 3M

4-7
 1111 Typical input signal connection
For details regarding the definition of NPN and PNP specifications, see "6. I/O connections" in Chapter 3.

■ ■ NPN specifications

External DC24V
power
supply 4.7kΩ
DC24V
DI

DI Logic Internal
circuit circuit
DI

CHK1

CHK2

4
GND

■ ■ PNP specifications
I/O interface

DC24V

DI 3.6kΩ

DI Logic Internal
750Ω circuit circuit
DI

External CHK1
power
supply CHK2
DC24V
GND

4-8
1111 Typical output signal connection
For details regarding the definition of NPN and PNP specifications, see "6. I/O connections" in Chapter 3.

■ ■ NPN specifications

DC24V

DO
Load

Internal Logic DO
circuit Load
circuit

DO
Load
External
power
supply

4
DC24V
GND

c CAUTION

I/O interface
• When connecting an inductive load (solenoid, relay, etc.), connect a diode in parallel to the load as a surge
killer.
• For the NPN specifications, do not short-circuit DO and DC24V. If they are short-circuited, this may cause the
circuit to break.

■ ■ PNP specifications

DC24V
External
power
supply
DC24V

DO
Load

Internal Logic
circuit DO
circuit Load

DO
Load
GND

c CAUTION
For the PNP specifications, do not short-circuit DO and GND. If they are short-circuited, this may cause the circuit
to break.

4-9
 1111 Dedicated input signal description

n NOTE
• If two or more dedicated inputs are supplied simultaneously or the pulse width of input signals is too short, the
input signals might not be recognized. Be sure to provide an interval of about 100ms between input pulses
when two or more dedicated inputs are used.
• The dedicated inputs are valid when the controller is in the AUTO mode and the control authority is released.

111 DI01 Ser vo ON input

DI01 is used to reset the emergency stop status and turn on the servo.
When the DI01 contact is closed (ON), the servo turns on at the signal rise.
• Input signal pulse width: 100ms minimum

n NOTE
• To use this function, it is necessary that no alarm occurs and the emergency stop input is also closed.
• In PHASER series robot operation, when the servo is first turned on after power-on, the robot emits a noise (sound)

4
for 0.5 to 2 seconds during the servo ON process and then enters a servo ON state. This is normal operation
necessary for obtaining control information by slightly moving the robot and is not an abnormal condition.

222 DI06 Stop

DI06 is used to pause the program or robot operation during program execution or manual robot movement operation.
I/O interface

When the DI06 contact is open (OFF), the program and robot operation stop. Additionally, the program execution and
manual robot movement operation cannot be performed in the DI06 contact open status.

333 DI10 Sequence control

DI10 is used to execute a sequence program.
When the DI10 contact is closed (ON), a sequence program is executed.
DO12 (Sequence program-in-progress) is output while a sequence program is executed.

w WARNING
The stop signal is not a safety input. Therefore, do not use this signal for the safety purpose.
Even when the stop signal is turned on, the servo does not turn off.

n NOTE
When an external 24V-power is not supplied to the parallel I/O board, the robot always enters the stop status.
When the parallel I/O board setting is made invalid, the stop status is canceled.

444 DI12 Automatic operation start

This is used to start execution of the program.
When the DI12 contact is closed (ON) in AUTO mode, the robot program starts as the signal pulse is established. DO13
(Robot program-in-progress) is output when the robot program is executed.
• Input signal pulse width: 100ms minimum

c CAUTION
When the program execution is stopped by a signal such as DI06 (Stop), the program re-executes the command
that has stopped.

555 DI14 Return-to-origin (for INC axis)

DI14 is used to perform the return-to-origin of the incremental type axis and semi-absolute type axis. For the incremental
type axis, when the return-to-origin is executed, the return-to-origin operation is performed. For the semi-absolute type
axis, when the return-to-origin is executed, the absolute search operation is performed.
When the DI14 contact is closed (ON), the axes will start returning to their origin positions at the rising edge of the
signal pulse, in the return-to-origin sequence specified by parameter.
When there are no incremental type axis and semi-absolute type axis, “6.309: INC. motor disconnected” alarm occurs.
This input signal is only for the axes whose return-to-origin method is set to "SENSOR" or "TORQUE" (stroke end).
• Input signal pulse width: 100ms minimum

4-10
666 DI15 Program reset input
DI15 is used to reset the program.
When the DI15 input turns on in the program execution stop status, the robot program is then reset.
At this point, all general-purpose outputs and variables are reset.
DO14 (Program reset status output) is output when the program is correctly reset.
• Input signal pulse width: 100ms minimum

777 DI16 Alarm reset input

DI16 is used to reset the alarm.
If an alarm occurs, remove the cause and execute this command to reset the alarm.
* Some alarms cannot be reset depending on their contents. In this case, shut down the control power and reset the
alarm.

888 DI17 Return-to-origin (for ABS axis)

The operation may vary depending on the setting of the I/O parameter "DI17 mode".

1. When the "DI17 Mode" parameter is set to "ABS"

DI17 is dedicated to the return-to-origin of the absolute type axis.
DI17 is used to perform the return-to-origin of the absolute type axis. When the DI17 contact is closed (ON), the axes
4
will start returning to their origin positions at the rising edge of the signal pulse, in the return-to-origin sequence
specified by parameter.

I/O interface
When there is no absolute type axis, “6.310: ABS. motor disconnected” alarm occurs. DI17 is intended only for the axis
with the return-to-origin method set at "SENSOR" or "TORQUE" (stroke end). Absolute reset cannot be performed when
return-to-origin is incomplete on axes whose return-to-origin method is set to "MARK".
• Input signal pulse width: 100ms minimum

2. When the "DI17 Mode" parameter is set to "ABS/ORG"

DI17 is commonly used for the return-to-origin of the absolute type axis and incremental type axis.
DI17 is used to perform the return-to-origin of the absolute type axis and incremental type axis.
1. Absolute type axis
For details about operation, see “1. When the "DI17 Mode" parameter is set to "ABS"” shown above.
2. Incremental type axis
For details about operation, see DI14 (return-to-origin) shown above.
When the absolute type axis and incremental type axis are mixed, the return-to-origin of the incremental type axis is
performed after the return-to-origin of the absolute type axis has been executed.
• Input signal pulse width: 100ms minimum

c CAUTION
In most cases, do not use this setting. Only use this setting when the return-to-origin signal must be input to DI17.
(For example, in cases where an RCX141 or RCX221 controller was replaced by the RCX240)

n NOTE
The return-to-origin (for INC axis) and return-to-origin (for ABS axis) inputs do not execute the absolute reset for
the axis with the mark return-to-origin method.

c CAUTION
DI01, DI12, DI14, DI15, DI16 and DI17 inputs are disabled while the program is being executed. Input these signals
only after the program is halted.

4-11
 11111 Dedicated output signal description

111 DO01 CPU_OK

This is always on during normal controller operation.
In the following cases this output turns off and CPU operation stops.
• Serious malfunction
• When the power supply voltage has dropped to lower than the specified value.
Normal operation cannot resume if this signal is turned off once, without turning the power supply on again.

222 DO02 Ser vo ON output

This output is on when the motor power supply inside the controller is on. However this signal turns off when a serious
malfunction occurs or the emergency stop input contacts are open.
When DI01 (servo on input) of the "servo operation" or I/O interface is turned on after the emergency stop input contact
has been closed, DO02 turns on in synchronization with it.
The servo will not turn on if a serious malfunction occurs or the emergency stop input contacts are open.

4 n NOTE
In PHASER series robot operation, when the servo is first turned on after power-on, the robot emits a noise (sound)
for 0.5 to 2 seconds during the servo ON process and after the robot moves slightly it then enters a servo ON
state. This is normal operation for obtaining the necessary control information by slightly moving the robot and is
not an abnormal condition.
I/O interface

333 DO03 Alarm

This output turns on in the following cases.
1) When the emergency stop input contact is open in the servo on status.
2) When a driver unit detects a serious malfunction such as an overload.
3) When the host CPU has stopped due to a major abnormality or other causes.
4) When the battery is not connected.
When the alarm is on, the alarm number is displayed on the 7-segment LED on the front of the controller at the same
time.
Additionally, turn off the alarm as described below in the cases shown above.
In case of 1)
After closing the emergency stop input contact, turn on DI16 (alarm reset input) of the I/O interface.
The alarm can also be reset as the power is turned off, and then it is turned on again.
In case of 2)
Turn on DI16 (alarm reset input) of the I/O interface to turn off the alarm. Additionally, when the alarm is reset from the
programming box, the alarm is turned off.
In case of 3)
Since the CPU has stopped, the alarm cannot be turned off and operation cannot be reset unless the power supply is
turned on again.
If the alarm remains on even after the power has been turned off and then turned back on, the controller needs to be
replaced.
In case of 4)
When a battery abnormality is detected, the alarm cannot turn off until the power supply is turned on again.
If the alarm is still on even after the power has been turned on again, then the battery connections must be checked or
the battery replaced.

444 DO10 AUTO mode output

DO10 is always on when the controller is in the AUTO mode and the control authority is released.

555 DO11 Return-to-origin complete

DO11 is always on when return-to-origin on all axes is complete.
If this output is off, absolute reset or return-to-origin must be performed.

666 DO12 Sequence program-in-progress

DO12 is always on when the sequence program is being executed.

4-12
777 DO13 Robot program-in-progress
DO13 is always on when the robot program is being executed in AUTO mode, or when program instruction commands
are executed individually.

888 DO14 Program reset status output

DO14 is always on when the robot program is in its reset status.
DO14 turns off when robot program execution is started.

999 DO15 Warning output

DO15 turns on if a warning occurs, for example, the controller detects the battery voltage drop.

n NOTE
The warning target is the system backup battery and absolute battery.

I/O interface

4-13
 11111 Dedicated I/O signal timing chart

1111111 Ser vo ON from power ON of controller

■ ■ Ser vo ON from power ON of controller

Approx. 3 sec. Conditions: AUTO mode

Control power

CPU _OK on
DO01 off

Servo ON output on
DO02 off

Alarm output on
DO03 off

4
on
Emergency stop
off

Alarm reset input on

DI16 off

Servo ON input on
I/O interface

DI01 off

MP RDY* on
(SAFETY connector) off

Main power

a) b) b’) c) d) e) f)

*For details on MP RDY signal, refer to Chapter 5, "SAFETY I/O interface".

c CAUTION
It will take about 3 seconds until the CPU_OK output status is confirmed after the power is turned on.

Initial servo ON processing when power is turned on.

a) Control power turns on.
b) MP RDY output turns on. (Main power supply turns on after MP RDY output turns on.)
b') CPU_OK output turns on.
c) Emergency stop input turns on.
d) Servo ON input turns on.
e) Servo ON output turns on.
f) Servo ON input turns off after checking for servo ON output.

* When processing with dedicated inputs, use I/O signals to perform handshake processing. If handshake processing is
impossible, hold the input signal for a minimum of 100ms.
* Configure external circuitry so that when "MP RDY" is turned on mains power is supplied.

4-14
1111111 Controller emergency stop and ser vo on reset

■ ■ Emergency stop and ser vo on reset from ser vo on status

Conditions: AUTO mode

Control power

CPU _OK on
DO01
off
on
Servo ON output
DO02 off

Alarm output on
DO03 off

on
Emergency stop
off

Alarm reset input on

DI16
off

Servo ON input
DI01
on
off

on
4
MP RDY*
(SAFETY connector) off

I/O interface
Main power

a) b) c) d) e) f) g) h) i) j) k)

Emergency stop
a) Emergency stop input turns off.
b) Alarm output turns on and servo ON output turns off.

Shifting from emergency stop to servo-on

c) Emergency stop input turns on.
d) Alarm reset input turns on.
e) Alarm output turns off.
f) Alarm reset input turns off after checking that the alarm reset output turns off.
g) Servo ON input turns on.
h) Servo ON output turns on.
i) Servo ON input turns off after checking for servo ON output.

* When processing with dedicated inputs, use I/O signals to perform handshake processing. If handshake processing is
impossible, hold the input signal for a minimum of 100ms.

Serious alarm occurs.

j) Alarm output turns on, servo ON output turns on, and MP RDY OFF output turns on.
k) Control power turns off.

* If a serious alarm occurs (alarm classification number 900s), the alarm reset cannot be performed.
* An external circuit is constructed so that the main power is shut down as MR RDY turns off.

4-15
 1111111 Return-to-origin

■ ■ Return-to-origin

Conditions: Servo ON, AUTO mode

CPU_OK on
DO01a off

Servo ON output on
DO02a off
on
Return-to-origin complete
DO11 off

Stop on
DI06 off

Return-to-origin on
DI14/DI17 off
100ms or more

Move
Robot axis status

4
Stop
a) b) c)d) e) f) g) h) i)

Return-to-origin
a) Return-to-origin input turns on. (pulse width: 100ms or more)
I/O interface

b) Robot axis starts moving to origin position.

c) Robot axis reaches origin position and stops moving.
On semi-absolute axes, the current position is determined and movement stops.
d) Return-to-origin complete output turns on.

Stop during return-to-origin

e) Return-to-origin input turns on (pulse width: 100ms or more) and return-to-origin complete output turns off.
f) Robot axis starts moving to origin position.
g) Stop input turns off.
h) On-going robot axis movement stops.
i) Stop input turns on.

* When the return-to-origin complete output is on, return-to-origin does not have to be performed.
* Return-to-origin complete output is on until return-to-origin reset is required.
* The return-to-origin cannot be executed unless the robot is in the servo on status.
* When the return-to-origin input is on, the return-to-origin complete output is off.
* When turning on the controller with the incremental type axis, the robot enters the return-to-origin incomplete status.
So, the return-to-origin complete output turns off.
* When the robot consists of only the absolute type axes, it starts up in the return-to-origin completion output on status
if the position information alarm does not occur at the controller power on.
* When the "DI17 Mode" parameter is set to "ABS/ORG", return-to-origin can also be performed with DI17. For
description of DI14 and DI17, refer to "1.9 Dedicated input signal description".

4-16
1111111 Program reset and program execution

■ ■ Program reset and program execution

Conditions: AUTO mode

Return-to-origin complete on
DO11 off

Robot program-in-progress on
DO13 off

Program reset status output on

DO14 off
on
Stop
DI06 off

on
Automatic operation start
DI12 off

Program reset input on

DI15

4
off
100ms
or more
a) b) c) d) e) f)

Program reset

I/O interface
a) Program reset input turns on.
b) Program reset status output turns on.
c) Program reset input turns off after checking program reset status output is turned on.

Program execution
d) Automatic operation start input turns on.
e) Program reset status input turns off, and robot program-in-progress output turns on.
f) Program start input turns off after checking robot program-in-progress output is turned on.

* Program cannot be executed when the emergency stop input and stop input are off.
* The AUTO mode input of the SAFETY connector is a function that is intended only for the controller with the CE
specifications.

4-17
 1111111 Stopping by program stop

■ ■ Stopping by program stop

Conditions: AUTO mode

on
Return-to-origin complete
DO11 off

Robot program-in-progress on
DO13 off

on
Stop
DI06 off

Automatic operation start on

DI12 off
100ms
or more

a) b) c) d) e) f) g) h) i)

4 Program execution
a) Automatic operation start input turns on.
b) Robot program-in-progress output turns on.
c) Automatic operation start input turns off after checking that the robot program running output turns on.
I/O interface

Program stop process by stop input

d) Stop input turns off.
e) Robot program running output turns off.

Program execution process after program stop by stop input

f) Stop input turns on.
g) Automatic operation start input turns on.
h) Robot program-in-progress output turns on.
i) Automatic operation start input turns off after checking that the robot program running output turns on.

* Switching to emergency stop will cause the program to stop. An alarm is output at this time and the servo ON output
turns off. The servo must be turned on to execute the program again.

w WARNING
The stop signal is not a safety input. Therefore, do not use this signal for the safety purpose.
Even when the stop signal is turned on, the servo does not turn off.

c CAUTION
If the program execution is stopped halfway by the stop input, it is executed again from the command that stops
the program.
When the program execution is stopped during robot movement, the robot movement is started by executing the
program again. So, take great care when executing the program again.

4-18
11111 General-purpose I/O signals

1111111 General-purpose input signals

The standard specifications provide 16 points in total, DI20 to DI27 and DI30 to DI37 while the expanded
specifications provide 24 points in total, DI10 to DI17, DI20 to DI27, and DI30 to DI37.
These general-purpose inputs are available to the user and can be used arbitrarily. They can be connected to
components such as pushbutton switches and sensors. The input status of these can be read in the robot
program or sequence program.

c CAUTION
For input signals, input signals with 6ms or longer on/off time.

1111111 General-purpose output signals

The standard specifications provide 8 points in total, DO20 to DO27 while the expanded specifications
provide 16 points in total, DO10 to DO17 and DO20 to DO27.

4
All signals are Darlington transistor open-collector outputs.
Maximum output current of each transistor is 100mA.
These general-purpose inputs are available to the user and can be used arbitrarily. The output status of these
can be changed in the robot program or sequence program.

All output signals are initialized when the controller power is turned on.

I/O interface
Additionally, the area check outputs can be allocated to the general-purpose outputs.

c CAUTION
If the port used for area check output is the same as that used by the user program, the output data might
change. Do not use the same port.

n NOTE
The number of general-purpose input/output points can be increased by expanding the optional parallel I/O
boards.

1111111 General-purpose output signal reset (off)

All general-purpose output signals are reset (off) in the following cases.

■ When “ALL RESET” is executed on the “AUTO OPE” screen.

■ When the dedicated input signal DI15 (Program reset input) was turned on in AUTO mode while the program was
stopped.
(Refer to "1.9 Dedicated input signal description" in this chapter.)
■ When any of the following initialization is performed on the “INITIALIZE” screen ([System] → [Initialize]).
1. ALL: All data
2. PGM: Program data
■ When the online commands @RESET, @INIT PGM, @INIT MEM, or@INIT ALL were executed.
■ When the HALTALL statement was executed in the program.

4-19
 222 Ratings
For details regarding the definition of NPN and PNP specifications, see "6. I/O connections" in Chapter 3.

2222 Input

■ ■ NPN specifications
DC input (positive common type)
Method
Photocoupler insulation method

Input power 24V DC ±10%, 5.1mA/point

OFF voltage: 9.9Vmin (3.0mA)

Load
ON voltage: 4.0Vmax (4.2mA)

*1
Response time 2ms or longer or 4ms or longer

4 ■ ■ PNP specifications
DC input (negative common type)
Method
Photocoupler insulation method
I/O interface

Input power 24V DC ±10%, 5.5mA/point

ON voltage: 11.6Vmin (2.7mA)

Load
OFF voltage: 4.6Vmax (1.1mA)

*1
Response time 2ms or longer or 4ms or longer

2222 Output

■ ■ NPN specifications
NPN open-collector (negative common type)
Method
Photocoupler insulation method

Load 24V DC ±10%, 50mA/point (resistance load)

Residual voltage 1.0V

*1
Response time 2ms or longer or 4ms or longer

■ ■ PNP specifications
PNP open-collector (positive common type)
Method
Photocoupler insulation method

Load 24V DC ±10%, 50mA/point (resistance load)

Residual voltage 1.0V

*1
Response time 2ms or longer or 4ms or longer

*1 This time applies when three or more optional I/O interface boards are installed.

4-20
333 Caution items
1. When using a dual-lead proximity sensor as an input signal, check whether or not the electrical
specifications of the sensor output signal are within the input signal specifications of the controller. For
example, if the residual voltage is large at turn on or off, this may cause malfunction.

2. Take noise preventive measures when using an inductive load such as a solenoid valve as an output load.
For example, connect a diode (high-speed type) in parallel at both ends of a load, as a surge killer to
protect against noise.

3. If a short occurs in the load or an excessive current flows, the over-current protective circuit shuts off the
interface circuit.
Once this circuit is activated, it may be required to replace parts in order to restore it to its previous state.
Additionally, be sure to perform the operation within the rated load. Furthermore, heat generated inside
may lead to burning damage if operated beyond the rated load.

4. As a noise prevention, keep the machine power cables separate and make sure wires are well shielded.

5. When the controller main body is turned off, do not supply the external DC24V-power to the I/O interface
continuously. If the external DC24V-power is supplied continuously, this may cause the controller to
4
malfunction.

I/O interface

4-21
Chapter 5 SAFETY I/O interface

1. SAFETY I/O interface overview 5-1

1.1 Power 5-1
1.2 Connector I/O signals 5-2
1.3 Connection example combining the programming box with external emergency stop circuitry 5-3

1.3.1 Connection example of controller with normal specifications and PBX 5-3
1.3.2 Connection example of controller with CE specifications and PBX-E 5-4
1.4 Dedicated input signal connections 5-5
1.4.1 Emergency stop inputs (E-STOP RDY*, E-STOP COM*) 5-5
1.4.2 AUTO mode inputs (AUTO*+, AUTO COM*) 5-5
1.5 Dedicated output signal connections 5-6
1.5.1 Emergency stop contact outputs (E-STOP*1, E-STOP*2) 5-6
1.5.2 Enable switch contact outputs (ENABLE*1, ENABLE*2) 5-6
1.5.3 Motor power ready outputs (MP RDY*+, MP RDY*-) 5-7
111 SAFETY I/O interface over view
A SAFETY I/O interface is prepared to construct a robot safety circuit. Use the terminals to construct a safety
circuit so that the system including the controller operates toward the safe side. Additionally, connect the
input/output terminals correctly and effectively, and then start the operation after checking the operation of
the safety circuit sufficiently.

Specifications Connector name Connector model No. Wire thickness

DFMC 1,5/12-ST-3,5-LR BK 2BD

SAFETY SAFETY AWG24-16
PHOENIX

1111 Power
The emergency stop input uses either the controller’s internal power for emergency stop, or external 24V-power.
Additionally, the AUTO mode input (valid only for the CE specifications) uses the external 24V-power.

SAFETY I/O interface

5-1
 1111 Connector I/O signals

A1
B1

A12
B12

Release
Lock

PIN I/O No. PIN I/O No. Name Remarks

B1 E-STOP2+ A1 E-STOP1+ Internal power (+) for emergency stop

5 B2

B3
E-STOP21

E-STOP22
A2

A3
E-STOP11

E-STOP12
Emergency stop contact output

B4 E-STOP RDY2 A4 E-STOP RDY1

SAFETY I/O interface

Emergency stop ready input +24V/45mA

B5 E-STOP COM2 A5 E-STOP COM1

B6 E-STOP2- A6 E-STOP1- Internal power (-) for emergency stop

B7 ENABLE2+ A7 ENABLE1+ 1A/30Vmax

Enable switch contact output Valid only when PBX-E is
B8 ENABLE2- A8 ENABLE1- connected.

B9 AUTO2+ A9 AUTO1+ 7mA at24V

AUTO mode input Valid only for the CE
B10 AUTO COM2 A10 AUTO COM1 specifications

B11 MP RDY2+ A11 MP RDY1+

DC30V/300mAmax
Motor power ready output
(MOS FET contact)
B12 MP RDY2- A12 MP RDY1-

The input/output signals have two systems, A line and B line of the connector.

c CAUTION
• Construct a physical emergency stop circuit so that the system including the controller operates toward the
safe side.
• Do not connect any external power to "E-STOP+/-" of the internal power for the emergency stop. Additionally,
do not use "E-STOP+/-" for a purpose other than the emergency stop.

For details regarding the definition of NPN and PNP specifications, see "6. I/O connections" in Chapter 3.

5-2
 1111 Connection example combining the programming box with
external emergency stop circuitr y

c CAUTION
• Construct an external emergency stop circuit so that the emergency stop function of the overall system
including the controller operates securely.
• "E-STOPRDY*" needs a relay or photocoupler drive current of 45mA or more.

111111 Connection example of controller with normal specifications and PBX

ACIN
L
N To main power circuit
Controller PBX

Main power on/off control

Internal power Emergency stop Manual lock
EXTERNAL +24V OFF ON
E-STOP
A1 E-STOP1+
B1 E-STOP2+ PB
A2 E-STOP11 13 E-STOP11 13
A3 E-STOP12 14 E-STOP12 14
B2 E-STOP21 15 E-STOP21 15
B3 E-STOP22 16 E-STOP22 16

5
A4 E-STOP RDY1

A5 E-STOP COM1 Emergency stop

B4 E-STOP RDY2
status detection
B5 E-STOP COM2
A6 E-STOP1-
B6 E-STOP2-
Internal power +24V
Internal power GND

SAFETY I/O interface

A7 ENABLE1+ 17 ENABLE11 17
A8 ENABLE1- 18 ENABLE12 18
B7 ENABLE2+ 19 ENABLE21 19
B8 ENABLE2- 20 ENABLE22 20
21 21
22 22
Not used. 23 23
A9 AUTO1+ Manual lock switch
status detection
A10 AUTO COM1
B9 AUTO2+ AUTO mode
change detection
B10 AUTO COM2
A11 MP RDY1+ Internal power GND

A12 MP RDY1-
Connected to Motor power ready output
B11 MP RDY2+
external device
B12 MP RDY2-

SAFETY

■ ■ Operation description
• Use the internal power for the emergency stop. Short-circuit "E-STOP COM*" and "E-STOP*-".
• In the connection example, the emergency stop button on the programming box and external emergency stop button
are connected in series.
a. In the normal operation status, "E-STOP*+" is connected to "E-STOPRDY*" through each emergency stop button and
SAFETY connector to turn on the motor power relay inside the controller.
b. In the emergency stop status, the current does not flow to "E-STOP RDY*" of the SAFETY connector and the motor
power turns off.
• When the programming box and SAFETY connector are removed, the robot enters the emergency stop status.
• The following PB connector pins of the PB terminator supplied with the controller are short-circuited and the automatic
operation is ready to start.

PB connector

13 pin - 14 pin

15 pin - 16 pin

17 pin - 18 pin

19 pin - 20 pin

21 pin - 22 pin

5-3
 111111 Connection example of controller with CE specifications and PBX-E
ACIN
L L
N N To main
power circuit Controller PBX-E
CE specifications
100mA*2

Main power on/off control Emergency

T* External power GND External power GND
Internal power stop Enable Manual lock
I*
O* +24V
EXTERNAL OFF ON
E-STOP O*
A1 E-STOP1+
B1 E-STOP2+ PB
T* T* A2 E-STOP11 13 E-STOP11 13
I* I* A3 E-STOP12 14 E-STOP12 14
T* T* B2 E-STOP21 15 E-STOP21 15
I* B3 E-STOP22 16 E-STOP22 16
I* A4 E-STOP RDY1
O*
A5 E-STOP COM1 Emergency stop
O* B4 E-STOP RDY2
status detection
B5 E-STOP COM2
A6 E-STOP1-
SAFETY B6 E-STOP2-
CONTROLLER External Internal power +24V
EXTERNAL power Internal power GND
DOOR ENABLE GND
T* T* A7 ENABLE1+ 17 ENABLE11 17
I* I* A8 ENABLE1- 18 ENABLE12 18
T* T* B7 ENABLE2+ 19 ENABLE21 19
I* B8 ENABLE2- 20 ENABLE22 20
I*
21 21
AUTO MODE 22 22
SWITCH T* O* A9 AUTO1+ Manual lock switch 23 23
I* status detection
T* A10 AUTO COM1
O* B9 AUTO2+
I* AUTO mode
External power B10 AUTO COM2 change detection
+24V Internal power GND

5
V T* External power GND A11
G
I* A12
B11 MP RDY2+ Motor power ready output
External power T*
GND I* B12 MP RDY2-
SAFETY
SAFETY I/O interface

■ ■ Operation description
• This example does not use the internal power for the emergency stop. Use the external power and do not connect
"E-STOP*+" and "E-STOP*-".
• The safety controller monitors the emergency stop and enable switch status of two systems. If any contact is open, the
main power is shut down by the external contactor to put the robot in the emergency stop status.
• The safety controller operates the external main power according to the safety protection door open/close status, AUTO
mode switch, and MP RDY* signal status of two systems. Additionally, the safety controller judges "E-STOP RDY*" and
"AUTO*+" and outputs this judgment signal to the controller.
• To restart the external main power of the controller, it is necessary to input RESET to the safety controller.
• When the programming box and SAFETY connector are removed, the robot enters the emergency stop status.
• The following PB connector pins of the PB terminator supplied with the controller are short-circuited and the automatic
operation is ready to start.

PB connector

13 pin - 14 pin

15 pin - 16 pin

17 pin - 18 pin

19 pin - 20 pin

21 pin - 22 pin

* For details about the CE specifications, see the Safety standards application guide.

5-4
1111 Dedicated input signal connections

111111 Emergency stop inputs (E-STOP RDY *, E-STOP COM*)

L
To main power circuit
N

Main power on/off control

45mA
E-STOP RDY1 3.3kΩ 7mA

E-STOP COM1

45mA
E-STOP RDY2 3.3kΩ 7mA
DC24V
E-STOP COM1

The emergency stop inputs are used to construct a physical emergency stop circuit as a safety protection
function of the overall system including the controller.
To operate the robot, the emergency stop input contact needs to be closed. For connection example, see "1.3.1
5
Connection example of controller with normal specifications and PBX".
When the emergency stop input contact is closed (ON), the servo power can be turned on. When any

SAFETY I/O interface

emergency stop input contact is open (OFF), the servo power cannot be turned on.
To drive the internal power relay that is connected in parallel, E-STOP RDY*/E-STOP COM* needs a current of
45mA.

111111 AUTO mode inputs (AUTO*+, AUTO COM*)

7mA
3.3kΩ
AUTO1+

AUTO COM1

7mA
3.3kΩ
AUTO2+

DC24V
AUTO COM2

The AUTO mode inputs are valid only for the controller with the CE specifications. The AUTO mode inputs can
change the external safety circuit of the controller to the AUTO mode and inform that the robot is in the
automatic operation ready status. When either AUTO mode input turns off, the controller changes to the
MANUAL mode. The AUTO mode inputs are valid only for the controller with the CE specifications. For the
controller with the standard specifications, the operation mode can be changed only from the manual lock
switch on the programming box.

5-5
 1111 Dedicated output signal connections

111111 Emergency stop contact outputs (E-STOP*1, E-STOP*2)

PBX-E Controller

Emergency stop

E-STOP11

E-STOP12
E-STOP21

E-STOP22

The emergency stop contact outputs are used to construct a physical emergency stop circuit as a safety
protection function of the system including the controller. To operate the robot, the contact needs to be closed.
For details about connections, see "1.3.1 Connection example of controller with normal specifications and
PBX".

5
The emergency stop switch contacts are connected to the emergency stop switch contacts of the programming
box.

111111 Enable switch contact outputs (ENABLE*1, ENABLE*2)

SAFETY I/O interface

PBX-E Controller

Enable

ENABLE11

ENABLE12
ENABLE21

ENABLE22

The enable switch contact outputs are connected to the enable switch contacts of the programming box.
3-position enable switch status is informed to the external system as a safety protection function of the system
including the controller.
Construct an external system so that it monitors the enable switch status (always on) in the MANUAL mode to
permit the main power supply to the controller.

5-6
111111 Motor power ready outputs (MP RDY*+, MP RDY*-)

300mAmax
MP RDY1+
DC30Vmax

MP RDY1-
300mAmax Load
MP RDY2+
DC30Vmax

DC24V

MP RDY2-

Load

5
This signal turns on when the controller can receive the external main power supply. When this signal turns on,
this means that the servo on operation can be performed by supplying the main power and operating the servo
on input signal.
If a serious alarm (alarm classification number 900s) that needs to turn off the power and turn it off again so as
to reset the alarm, turn off the motor power ready output. This signal is connected to the PLC or external
device and used to judge the main power supply on/off conditions.

SAFETY I/O interface

The output current is up to 300mA.

5-7
Chapter 6 External communication interface

1. Overview 6-1
1.1 Communication overview 6-1
1.2 Online and offline modes 6-2
1.3 Character code 6-3

2. RS-232C 6-4
2.1 Connectors and cables 6-4
2.2 Communication specifications 6-5
2.3 Connections 6-5
2.4 Communication parameter setting 6-6
2.5 Communication flow control 6-7
2.5.1 Flow control during transmit 6-7
2.5.2 Flow control during receive 6-7
2.6 Other caution items 6-8

3. Ethernet 6-9
3.1 Connectors and cables 6-10
3.2 Communication specifications 6-11
3.3 Connections 6-12
3.4 Parameter setting on controller (server) 6-13
3.5 System setting on personal computer (client) 6-15
3.5.1 Setting the TCP/IP protocol 6-15
3.6 Connection check using "Ping" 6-16
3.7 Communication example using "TELNET.EXE" 6-17
3.8 Appendix 6-18
3.8.1 Example of network system configuration 6-18
3.8.2 Glossary 6-21
111 Over view
1111 Communication over view
To perform the communication between the controller and external device, a communication port (RS-232C
interface or Ethernet interface) is used to directly send the robot command communication command (SEND
command) or send the command through the communication port.
As these communications are used individually or together, the robot is applicable to applications using an
external communication.

111 Robot language command (SEND command) is used.

Example: SEND A TO CMU … Sends the value of variable A to an external device through the RS-232C port.
SEND CMU TO P100 … Receives the point data P100 through the RS-232C port.
SEND ETH TO ALL … Receives the memory data of all systems through the Ethernet port.

The controller sends or receives the data corresponding to these commands.

* When using the RS-232C port and Ethernet port, specify “CMU” and “ETH”, respectively.

222 Various commands are directly sent from the external device through the communication port.
These commands are called "online commands".
When using this function, a part of the controller operation can be performed from an external device.
Example: @RUN … Executes the program.
@READ PNT … Reads out all of point data.
@MOVE P,P123,SPEED=30… Moves the robot 1 to point 123 at 30%-speed.
6
n NOTE
All online commands can be used only when the controller is in the AUTO mode and the control authority is
released externally.

External communication interface

When the controller is not in the AUTO mode, some commands, such as "@MOVE" cannot be executed.

6-1
 1111 Online and offline modes
The controller provides two communication modes, online mode and offline mode.

111 OFFLINE mode

In OFFLINE mode, the communication between the robot and external unit is executed with SEND commands in the
program.
When using the RS-232C port and Ethernet port, specify “CMU” and “ETH”, respectively.

• SEND command (robot → external unit)

SEND <source file> TO CMU

SEND <source file> TO ETH

• SEND command (external unit → robot)

SEND CMU TO <destination file>

SEND ETH TO <destination file>

222 ONLINE mode

In ONLINE mode, commands can be directly sent to the robot from the external device.
Commands to be sent directly from the external device are called "online commands".
The SEND command in the robot program is valid even in the offline command.
To set ONLINE mode, select "ONLINE" as a communication parameter. The ONLINE statement in the program can also

6 be used to set ONLINE mode.

• ONLINE command format

External communication interface

@ [_] <online command> [<_command option>] <termination code>

[ ] shows optional arguments.

@.. ....................... Start code (=40h)

_ . ....................... Blank
<online command>.. ........ See the programming manual.
<command option>......... See the programming manual.
<termination code>......... CRLF(= 0Dh + 0Ah) code

■ Robot control commands start with the start code “@"(=40h) and are executed by sending a statement that the
termination code CRLF ((= 0Dh +0Ah) code) is put at its end. As exceptions, the control code "^C" or “^V" does not
need the start code and termination code.
■ One line consists of up to 80 characters except for the termination code ((CRLF(= 0Dh + 0Ah) code).
■ The communication command consists of <online command> and <command option> parts. Some commands have
no <command option> part or multiple <command option> parts.
■ Character codes to be used are JIS8 unit system codes (KATAKANA characters are added to the ASCII codes). For
details about the character code table, see "1.3 Character code" in this Chapter.
■ One or more space must be put between the <online command> and <command option> parts.
■ The <command option> part is specified by the user. Check the details of each communication command, and then
input appropriate data.

n NOTE
• In offline mode, online commands from external devices cannot be received.
• When using online commands be sure to switch to online mode.
• In the offline mode, the controller cannot be connected from the PC support software "RCX-Studio".Therefore,
when connecting the controller using the support software, be sure to put the controller in the online mode.

6-2
1111 Character code
HEX. 0- 1- 2- 3- 4- 5- 6- 7- 8- 9- A- B- C- D- E- F-

-0 SP 0 @ P p

-1 XON ! 1 A Q a q

-2 " 2 B R b r

-3 STOP XOFF # 3 C S c s

-4 $ 4 D T d t

-5 % 5 E U e u

-6 & 6 F V f v

-7 ' 7 G W g w

-8 BS ( 8 H X h x

-9 TAB ) 9 I Y i y

-A LF EOF * : J Z j z

-B + ; K [ k {

l
-C , < L ￥ l
l

-D CR - = M ] m }

-E

-F
.

/
>

?
N

O
^ n

o
~
6
Note 1: The above character codes are written in hexadecimal.

External communication interface

Note 2: SP indicates a blank space.
Note 3: Only capital letters can be used for robot language.
Small letters are used for program comments and so on.
However, these cannot be entered on the programming box.
Note 4: BS deletes the preceding character in the receive buffer.
Note 5: TAB is replaced with one space.

6-3
 222 RS-232C
2222 Connectors and cables
The RS-232C interface connector is located on the front panel of the robot controller as shown below.

RS-232C interface

Input/
Pin No. Name Description
output

Pin No. Pin No. 1 NC Not used

5 2 RXD Receive data Input
9
4
8 3 TXD Send data Output
3
7
2 4 NC Not used
6
1
5 GND GND
6 NC Not used
Request to
7 RTS Output
send
Permission
8 CTS Input
to send
9 NC Not used
The controller connector is a 9-pin D-Sub female connector.

■ ■ Cable wiring for connections

a. Cable capable of hardware busy control

6 Controller
NC 1
External device
DCD
RXD 2 RXD
TXD 3 TXD
NC 4 DTR
External communication interface

GND 5 GND
NC 6 DSR
RTS 7 RTS
CTS 8 CTS
NC 9

b. Cable not using control wires

Controller External device

NC 1 DCD
RXD 2 RXD
TXD 3 TXD
NC 4 DTR
GND 5 GND
NC 6 DSR
RTS 7 RTS
CTS 8 CTS
NC 9

* When arranging signal wiring on an external device, be sure to refer to the manufacturers manual.

6-4
2222 Communication specifications
Transmission mode Full duplex
Synchronous system Start-stop synchronization
Baud rate [bps] 4800, 9600, [19200], 38400, 57600, 115200
Character length [bit] 7, [8]
Stop bit [bit] [1], 2
Parity None, even, [odd]
RTS/CTS control Yes, [No]
Termination code CR, [CRLF]
XON/XOFF control [Yes], No
Receive buffer 1024 bytes
Transmit buffer 1024 bytes
Numbers or items in square brackets [ ] indicate settings after initialization.

n NOTE
1) Termination code
• Robot transmit
When CRLF (carriage return + line feed) is selected:
Transmits data with a CR code (0DH) and LF code (0AH) added at the end of a line.
When CR (carriage return) is selected:
Transmits data with a CR code (0DH) added at the end of a line.
• Robot receive
Receives data by treating entries made up to the CR code as 1 line and ignoring the LF code, regardless of
which termination code is selected.
2) If the "Display language" parameter is set to "JAPANESE" in SYSTEM mode, then set the character length to 8
bits. Katakana letters (Japanese phonetic) cannot be output from the communication port if set to 7 bits.

2222 Connections 6
The following are examples of connecting to a PC using the YAMAHA communication cable.

External communication interface

111 Using the PC's COM port
COM port

* The communication cable is optional.

9 pins 9 pins

RCX340 PC

Communication cable Length Cable type No.

9 pins ↔ 9 pins 5m KAS-M538F-10

222 Using the PC's USB port

USB port

Communication cable

9 pins USB port

RCX340 PC

Communication cable Length Cable type No.

9 pins ↔ USB Port 5m KBG-M538F-00

6-5
 2222 Communication parameter setting
Parameters and communication mode related to the communication that uses the RS-232C interface are set.
There are six communication parameters.
Communication parameter set values

Item name Set value Initial value Remarks

Sets the mode of the communication with the computer

(online/offline).
1 LINE ONLINE, OFFLINE ONLINE
The online command can be executed only in the
online mode.
Sets the communication speed.
When the communication speed is set at a high speed,
4800, 9600, 19200,
2 Baud Rate 19200 the communication error occurs easily.
38400, 57600, 115200
If the communication error occurs frequently, set the
communication speed to a low speed.
Sets the data bit length.
3 Length 7, 8 8 When the data bit length is set at "7 bits", KATAKANA
characters cannot be sent.
Sets the stop bit length.
4 Stop Bits 1, 2 1 If the communication error occurs frequently, set the
stop bit length to "2 bits".
Sets the parity check.
5 Parity 0: None, 1: Odd, 2: Even 1
Use the parity check as much as possible.
Sets whether or not the data flow control using the
0: None XON/XOFF code or RTS/CTS signal is performed.
6 Flow 1: Xon/Xoff 1 When the data flow control is not performed, data
2: RTS/CTS missing may occur.
So, set the data flow control as much as possible.

6 7 Eof 0:CRLF 1:CR 0 Sets the line feed code.

■ ■ Setting the communication mode and communication parameters

External communication interface

Setting the communication mode

1 Select [System] - [Communication Step 1 and communication parameters
Setting] from the initial screen.

2 Set the communication mode.

Press the F2 (ONLINE) or F3 (OFFLINE) key on
the "RS-232C" screen to change the setting
to [ONLINE] or [OFFLINE].

3 Set the communication parameters.

Use the cursor keys to select the set value
you want to edit, input a numeric value, and
then press the Enter key.
To set the data you have edited, press the
Enter key until the cursor selects the numeric
value in [BaudRate].
* When pressing the ESC key halfway, the
contents you have edited are canceled.

4 Press the ESC key to exit the data

editing.

n NOTE
• External offline commands are not accepted in the offline mode.
• When using offline commands, be sure to set the mode to the online mode.
• In the offline mode, the controller cannot be connected from the PC support software "RCX-Studio".
Therefore, when connecting the controller using the support software, be sure to put the controller in the online
mode.

6-6
2222 Communication flow control
Software flow control (XON/XOFF) and hardware flow control (RTS/CTS) can be set.

222222 Flow control during transmit

XON/XOFF and CTS indicate whether the other party can receive data.
Flow Control Yes No
Temporarily stops transmission when XOFF is
XON (11H) and XOFF (13H) do not affect
XON/XOFF sent from the other party.
transmission even when they are received.
Resumes transmission when XON is sent.
RTS/CTS Stops transmission while CTS is OFF. Stops transmission while CTS is OFF.

n NOTE
1) Transmission stops when transmission is disabled in either of XON/XOFF or RTS/CTS flow control.
2) CTS must be on during transmission regardless of flow setting. When RTS/CTS is set to "No", the CTS should
always be set on. However, if CTS is connected to RTS of the other party, CTS may not always be on causing
the transmission to halt, depending on the other party specifications.

222222 Flow control during receive

To prevent overflow when receiving data, XON/XOFF and RTS are used to notify the other party whether or not
it is possible to receive data.
Flow Control Yes No
Transmits XOFF when available space in XON and XOFF are not transmitted.

6
XON/XOFF receive buffer falls below a certain capacity.
Transmits XON when receive buffer is empty. XON and XOFF are ignored if received.

Turns RTS off when available space in receive

RTS/CTS buffer falls below a certain capacity. RTS is always on.
Turns RTS on when receive buffer is empty.

External communication interface

n NOTE
"XON/XOFF" and "RTS/CTS2 operate individually. For example, when all flow controls are set enabled, XOFF is sent
and RTS is turned off if the free space of the receive buffer becomes insufficient. After that, when the free space
of the receive buffer is recovered, XON is sent and RTS is turned on.

6-7
 2222 Other caution items
1) The controller allows receiving data as long as the receive buffer has a free area.
The receive buffer is cleared in the following cases.
• When the power was turned off and turned back on.
• When the program was reset.
• When an ONLINE CMU statement or OFFLINE CMU statement was executed according to the robot language.
• When the communication parameter was changed or when the initialization was executed.
2) Turning on an external device might sent incorrect data to the robot controller which is readying to receive
data when the power is turned on. That incorrect data might then be stored in the receive buffer if the
controller is turned on prior to the external device and cause communication errors.
In such a case, carr y out the following steps:
• R eset the program before program execution.
• Clear the receive buffer by placing an ONLINE CMU statement or OFFLINE CMU statement at the top of the program.
• Turn on the external device, and then turn on the controller.
3) When the external device does not support handshake protocols (BUSY control, XON/XOFF control), the
data processing speed becomes slower than the communication speed, and this can generate a
communication error. In this case, take countermeasures such as reducing the communication speed
(baud rate).
4) When the communication speed is set at a high rate, communication errors may occur due to external noise.
In this case, take countermeasures such as reducing the communication speed.
5) No response can be returned to the transmission from the external device during point trace execution.
The response is returned after the execution has been completed.

6 6) Improper connection to an external device might cause electrical shocks, controller malfunctions or external
device malfunctions or breakdowns, depending on the external device specifications and operating
conditions.
Always comply with the following points when connecting an external device.
External communication interface

1. When the external device has a ground wire, be sure to ground it properly.
2. If using an external device that does not have a ground wire, check whether or not its structure is designed to protect
from electrical shock. Be sure to use an external device that is designed to protect from electrical shocks.

Problems caused by poor connections

Improper ground wire connection

might cause electrical shock if
connector metal parts are
touched.

External device * RCX340

Communication cable
AC100 to 200V

FG
Connector metal
parts
Potential

Malfunction or breakdown might

Ground wire was not at ground Failure to use ground wire might occur when making connection or
potential or not connected. raise the voltage potential. after connection.

* External device: Notebook PC using an AC adapter, etc.

6-8
333 Ethernet
■ ■ Features of Ethernet
The RCX340 controller adopts the TCP/IP protocol. Therefore, the RCX340 controller can exchange the data with a TCP/
IP protocol built-in device.

c CAUTION
Connect the Ethernet port of the RCX340 only to the PC for development, or other controller or PC.
Therefore, do not connect this port to the public telephone line.

■ As the 100BASE-TX specifications are adopted, cables to be used are UTP cables (shield-less twist pair cable) or STP
cables (shielded twist pair cable). Therefore, the wiring work is very easy.
■ Multiple controllers can be connected to the same network and all of the information can be controlled from the
specific personal computer.
■ Since the robot controller operates as a TELNET (socket) server, you can easily access the robot controller from the
TELNET terminal, such as a personal computer. (For details about how to install TELNET of the personal computer, see
the manual for relevant product.)

Additionally, for details about other device, such as network setting on the personal computer, see also the manual for
relevant product. Furthermore, for details about robot programming, see the programming manual.
* Ethernet is a registered trademark of Xerox in the United States.

■ ■ Communication mechanism

6
TCP/IP can identify each device uniquely by assigning the number unique to each device called "IP address" to each
device connected to the network.
Therefore, the connection process is performed first by specifying the IP address of a robot controller to be communicated
with. After exchanging the data, the connection is disconnected.
At this time, the controller operates as a server, monitors the connection request from the client (mating device, such as

External communication interface

personal computer), and performs the specified operation according to the request from the client.
Therefore, the voluntary connection to other server from the robot controller is not performed.

192.168.0.5

IP address Operates as a server.

192.168.0.3 RCX-series Performs the specified
robot controller operation according to
Server the request from the
client.

Ethernet

(2) (1)

Client Client Client

192.168.0.10 192.168.0.11 192.168.0.12

Device, such as a personal computer becomes a client, and connects to the server to give the
instruction so as to perform a specified operation.

(1) The connection process is performed by specifying the IP address of a robot controller to be communicated with.
(Above example shows the client 192.168.0.10 has specified the robot controller 192.168.0.5 and made a
connection.)
(2) After making the connection, the robot controller runs a specific series of actions according to instructions from the
client.

n NOTE
During multitasking by the client, one client can connect to multiple robot controllers at the same time.
Only one client can make a simultaneous connection to one robot controller unit.
The IP address or subnet is set from the programming box.

6-9
 3333 Connectors and cables
The Ethernet interface is located at the position shown in the figure below.

External interface Modular connector

Pin number Signal name

1 TD+
12345678
2 TD-
3 RD+
Link/Activity
4 N.C
5 N.C
6 RD-
7 N.C
8 N.C
Speed
*Pin numbers 4, 5, 7, and 8 are not used.

The Ethernet cable is standardized in ANSI/TIA/EIA568A. To avoid miswiring or malfunction, be sure to use a
cable that complies with this standard.
Additionally, 100BASE-TX needs transmission characteristics category 5 or higher.

Straight cable
This cable is used to connect the robot controller or mating device to the hub.
T-568A pin assignments T-568A pin assignments

Signal name Wiring color Pin number Pin number Wiring color Signal name

6
TD+ Green/white 1 1 Green/white TD+

TD- Green 2 2 Green TD-

RD+ Orange/white 3 3 Orange/white RD+

Not use Blue 4 4 Blue not use

External communication interface

Not use Blue/white 5 5 Blue/white not use

RD- Orange 6 6 Orange RD-

Not use Brown/white 7 7 Brown/white Not use

Not use Brown 8 8 Brown Not use

* 100BASE-TX does not use the wiring of 4, 5, 7, and 8 pins.

* There is a straight cable with T-568B pin assignments wired.

Cross cable
This cable is used to directly connect the robot controller and mating device. Additionally, when the hub does
not have any cascade port, this cable is used for the cascade connection of the hub.
For devices applicable to Auto MDI/MDI-X, the straight cable can be used when the controller and mating
device are connected directly.
T-568A pin assignments T-568A pin assignments

Signal name Wiring color Pin number Pin number Wiring color Signal name

TD+ Green/white 1 1 Orange/white TD+

TD- Green 2 2 Orange TD-

RD+ Orange/white 3 3 Green/white RD+

Not use Blue 4 4 Blue not use

Not use Blue/white 5 5 Blue/white not use

RD- Orange 6 6 Green RD-

Not use Brown/white 7 7 Brown/white Not use

Not use Brown 8 8 Brown Not use

* 100BASE-TX does not use the wiring of 4, 5, 7, and 8 pins.

6-10
3333 Communication specifications
Type
Specification item Ethernet applicable unit

Network specifications In conformity with Ethernet (IEEE802.3)

Communication speed 100Mbps (100BASE-TX)

Connector specifications RJ-45 connector (8 modular connectors)

UTP cable (shieldless twist pair cable) or STP cable (shielded twist pair cable)
Cable specifications
applicable to category 5 or higher

Maximum cable length 100m (between hub and controller)

Communication mode Full duplex

Application layer : TELNET

Transport layer : TCP
Network protocol Network layer : IP, ICMP, ARP
Data link layer : CSMA/CD
Physical layer : 100BASE-TX

Number of simultaneous log-in cycles 1

IP address setting Setting is made from the programming box.

Monitor LED Link/Activity, Speed

IP address initial value 192.168.0.2

Subnet mask initial value 255.255.255.0

Default gateway initial value 192.168.0.254

* The specifications and external views are subject to change without prior notice due to continual improvement.
6
c CAUTION

External communication interface

YAMAHA uses FL HUB (PHOENIX CONTACT) for the operation check. When incorporating a system, it is
recommended to use this hub. It is not assumed to use general consumer hubs at factory. Such hubs may have
low noise immunity. Therefore, note that YAMAHA does not warrant the operation of a hub other than that
specified above.
Be sure to connect a hub with high noise immunity to the controller.

6-11
 3333 Connections
The UTP cable (shieldless twist pair cable) or STP cable (shielded twist pair cable) applicable to category 5 or
higher is used for the connections. The wiring type uses the straight type.
To make the connections, insert the modular jack of the cable into the modular connector of the controller
until a click sounds. In the same manner, insert also the modular jack into the modular connector of the hub.
Hub

1 2 3 4 5 6 7 8

UTP (STP) straight cable

c CAUTION
YAMAHA uses FL HUB (PHOENIX CONTACT) for the operation check. When incorporating a system, it is
recommended to use this hub.

6 It is not assumed to use general consumer hubs at factory. Such hubs may have low noise immunity. Therefore,
note that YAMAHA does not warrant the operation of a hub other than that specified above.
Be sure to connect a hub with high noise immunity to the controller.

c
External communication interface

CAUTION
The maximum cable length between the hub and controller is 100m.
When making the connections, be sure to refer to the manuals for mating device, such as personal computer or
peripheral device, such as hub, etc.
When the communication mode of the hub can be set manually, set it to "100Mbps/Full duplex".

n NOTE
To connect to the mating device, it is recommended to make connections using the straight cable through the
hub. It is also possible to directly connect to the mating device using the cross cable without using the hub. In this
case, the communication may not be performed depending on the LAN adapter of the mating device.

6-12
3333 Parameter setting on controller (ser ver)
It is necessary for the controller to set the IP address, subnet mask, and gateway port number. These settings are
performed from the programming box.

Communication parameter set values on controller (server)

Item name Initial value Remarks

Set value: ONLINE (online), OFFLINE (offline)

1 LINE ONLINE Sets the mode of the communication with the computer (online/offline).
The online command can be executed only in the online mode.
Sets the IP address.
This IP address is a number unique to each device that is assigned to
2 IP Address 192.168.0.2 identify multiple devices connected to the network. Therefore, it is
necessary to set and control the IP address so that it is not duplicated
with that of other device.
Selects the subnet mask.
3 Subnet Mask 255.255.255.0
The subnet mask is used to finely separate the network.
Sets the gateway. Actually, specify the IP address of the router.
4 Default Gateway 192.168.0.254 This router is a device that relays the information from a certain network
to other network when there are multiple networks.
Sets the TCP port number of the controller.
5 PORT ※ 23 (TELNET port) Specify the port number that is set here together with the IP address
when the client connects to the robot controller.
* I f a setting other than TELNET port (23) is made, the negotiation using the TELNET protocol is not attempted.
( The communication becomes the simple socket communication.)
* W hen changing the port, it is recommended to use a port number other than "Well-Known Port (0 to 1023)".

c CAUTION
When connecting the robot controller to the existing network, be sure to check with the network administrator
6
regarding the settings, such as IP address, subnet mask, and gateway.

n NOTE

External communication interface

The IP address is separated into network address and host address sections. The network address section is
extracted from the IP address by AND processing with the subnet mask. The remaining portion is the host address
section. Devices belonging to the same network must all be set to have the same network address. The host
address, however, should be different for every device and set so that no two devices have the same number.
The first and the last host address numbers are reserved for the system so be sure not to set these as the IP
address.
When the IP address for example is 192.168.0.10 and the subnet mask is 255.255.255.0, the network address
section is found to be 192.168.0 and the host address section to be 10 by means of AND processing with the
subnet mask. In this case, the network address section of all other devices belonging to that network must all be
192.168.0. The host address section of those other devices on the other hand, must be set to a number other than
10. The number 0 and 255 are reserved, so do not use them for setting the host address.
So when a device having an IP address of 192.168.0.10 and a subnet mask of 255.255.255.0 belongs to a
particular network and you want to add another device to that network, then you would assign IP addresses
from among 192.168.0.1 to 192.168.0.9 and 192.168.0.11 to 192.168.0.254.

n NOTE
The RCX340 is not applicable to IP address auto acquisition functions such as DHCP and BOOTP. You must set the
IP address manually.

6-13
 ■ ■ Setting the communication mode and communication parameters
Setting the communication mode
1 Display the “Ethernet” screen. Step 1 and communication parameters
Select [System] - [Communication Setting]
from the initial screen. Next, press the F1 key
(Ethernet) on the “RS-232C” screen.

2 Set the communication mode.

Press the F2 (ONLINE) or F3 (OFFLINE) key on
the "RS-232C" screen to change the setting
to [ONLINE] or [OFFLINE].

3 Set the communication parameters.

Use the cursor keys to select the set value
you want to edit, input a numeric value, and
then press the Enter key.
To set the data you have edited, press the
Enter key until the cursor selects the numeric
value in [IP Address].
* When pressing the ESC key halfway, the
contents you have edited are canceled.

4 Press the ESC key to exit the data

editing.

n NOTE
• External offline commands are not accepted in
the offline mode.

6
• When using online commands, be sure to put the
controller in the online mode.
• In the offline mode, the controller cannot be
connected from the PC support software
"RCX-Studio".
Therefore, when connecting the controller using
External communication interface

the support software, be sure to put the controller

in the online mode.

6-14
 3333 System setting on personal computer (client)
The following describes the basic setting procedure by using Windows7 as an example. For details about other
OS or device, see the relevant manual.
Additionally, for details about setting procedure, see the first step guide supplied with Windows7.
Additionally, the set values, such as IP address need to be changed appropriately according to the customer's
network environment.

* Windows7 is a registered trade mark of Microsoft in the United States.

333333 Setting the TCP/IP protocol

1 Open the "Control Panel" window.

Step 2 [Network and Sharing Center] icon
2 Click the [Network and Sharing
Center] icon in the “Control Panel”
window.

3 Click [Change adapter settings] in Step 3 [Change adapter settings] icon

the "Network and Sharing Center"
window.

4 Right-click the [Local Area

Connection] icon to open the
"Local Area Connection Properties"
window.

5 Check that [Client for Microsoft

Networks] and [Internet Protocol
Version 4 (TCP/IPv4)] are shown in
Step 4 [Local Area Connection] icon 6
the "Networking" tab window.

External communication interface

6 Check on [Internet Protocol Version Step 5 "Local Area Connection Properties" window
4 (TCP/IPv4)] and click the
[Properties] button.
7 According to the operating
conditions, enter the IP address,
subnet mask, and gateway on the
personal computer side in the
"Internet Protocol Version 4 (TCP/
IPv4) Properties" window.
Set the DNS server according to the
operating conditions.

8 Click the [OK] button to close the

setting window.

Entering the IP address, etc. on the

Step 7 personal computer side

6-15
 3333 Connection check using "Ping"
After the network has been set, check using "ping" if the communication can be performed correctly. "ping" is a
network diagnosis tool that is incorporated into OS as a standard accessory.
The following describes how to use "ping" that is incorporated into Windows7. For details about other OS or
device, see the relevant manual.

1 From the [Start] button, select [All Step 1 "Command Prompt" window
Programs] -> [Accessories] ->
[Command Prompt] to display the
"Command Prompt" window.

2 Execute "ping".
Enter "ping xxx.xxx.xxx.xxx" next to ">", and Step 2 Executing "ping"
then press the Enter key. At this time, enter
the IP address of the controller in the "xxx.
xxx.xxx.xxx" portion.

3 Check the "ping" results.

When communicated successfully, the Step 3 (1) Communicated successfully.
display becomes as follows.
Reply from xxx.xxx.xxx.xxx: bytes=32
time<1ms TTL=64
(See also figure (1).)

If the communication fails, "Request timed

out." is displayed. (See figure (2).)
In this case, review the network device,

6
controller setting, and wiring to solve the
problem.
(2) Communication fails.
External communication interface

6-16
 3333 Communication example using "TELNET.EXE"
The following describes how to make the connections using "TELNET.EXE". For details about how to install
TELNET in the personal computer, see the manual for relevant product. It is preconditioned that the IP address
of the robot is set at "92.168.0.2" and the port number is set at "23.

1 From the [Start] button, select Step 1 "Run" window (1)

[Accessories] -> [Run] to display
the "Run" window.

2 After you have input "telnet" in the

"Open" field, and then click the
[OK] button.

3 Input "open xxx.xxx.xxx.xxx" next

to ">", and then press the Enter
key.
At this time, enter the IP address of the
controller in the "xxx.xxx.xxx.xxx" portion. The Step 2 "Run" window (2)
controller is then connected and the
message "Welcome to RCX340" will appear.

4 To cancel the connection with the

controller, input “LOGOUT” or
“BYE”, and then press the Enter key.

Step 3 "telnet" window (1) 6

External communication interface

Step 4 "telnet" window (2)

6-17
 5 The message appears and the Step 5 "telnet" window (3)
connection is then canceled.
Press any key to return to Step 3.

6 To exit "telnet", input “quit” next

to ">", and then press the Enter
key.

n NOTE
To control multiple robot controllers at the same Step 6 "telnet" window (4)
time, run multiple TELNET.EXE.

3333 Appendix

333333 Example of network system configuration

c CAUTION
The network system configuration may vary depending on the user's network scale.
For details, be sure to consult the system administrator.

6 ■ ■ Configuration example 1
One controller is controlled by one personal computer.
External communication interface

Ethernet cable (category 5 or higher)

RCX340 PC

System setting example

IP address Subnet mask Gateway

Personal computer 192.168.0.2 255.255.255.0 192.168.0.1

Controller 1 192.168.0.3 255.255.255.0 192.168.0.1

6-18
■ ■ Configuration example 2
Many controllers are controlled by performing the cascade connection of the hubs.

Hub

1 2 3 4 5 6 7 8

Cross cable

Straight cable 1 2 3 4 5 6 7 8

Hub

Cascade port
(UPLINK port, MDI port)

X 1 2 3 4 5 6 7 8

Hub with cascade port

6
RCX340

PC

External communication interface

* Similar network can be configured by performing the stack connection of the stackable hubs. In this case, multiple
hubs that are connected through the stack connection are recognized as a single large hub from the network. So,
unlike the cascade connection, the number of connection hubs is not limited.
* Be sure to use the Ethernet cable with category 5 or higher.

System setting example

IP address Subnet mask Gateway

Personal computer 192.168.0.2 255.255.255.0 192.168.0.1

Controller 1 192.168.0.3 255.255.255.0 192.168.0.1

Controller 2 192.168.0.4 255.255.255.0 192.168.0.1

: : : :

Controller 9 192.168.0.11 255.255.255.0 192.168.0.1

Controller 10 192.168.0.12 255.255.255.0 192.168.0.1

6-19
 ■ ■ Configuration example 3

Factory 2
Internet

Factory 1

Router

Head office

Router
Hub
1 2 3 4 5 6 7 8

1 2 3 4 5 6 7 8

Hub

6
External communication interface

PC Controller

To secure the security, it is recommended to construct a firewall (illegal access prevention mechanism).

System setting example

IP address Subnet mask Gateway

Router in head office 133.215.0.2 255.255.255.0

Personal computer 133.215.0.3 255.255.255.0 133.215.0.1

Router at factory 1 133.215.1.1 255.255.255.0

Controller 1 133.215.1.2 255.255.255.0 133.215.1.1

Router at factory 2 133.215.2.1 255.255.255.0

Controller 1 133.215.2.2 255.255.255.0 133.215.2.1

* The routers need to be set appropriately.

* To connect to the Internet, the global address needs to be set for the IP address.
* Since duplicated addresses are not permitted, the customer cannot use the addresses shown in the setting examples
above. Be sure to use the customer's unique addresses. Note that the address allocation and control are performed by
NIC (JPNIC in Japan).

6-20
333333 Glossar y

■ ■ TCP/IP
TCP/IP is a general term for a group of standard protocols for carrying out communications over the Internet centering
around TCP and IP protocols. Computers and PCs capable of accessing the Internet all use TCP/IP protocols.
The RCX340 incorporates the TCP, IP, ICMP, ARP, and TELNET protocols of the TCP/IP protocols.

■ ■ Ethernet
One of the network related hardware standards.
This Ethernet is a network that was developed by Xerox in the United States at the beginning of 1970s. Presently, the
Ethernet is standardized internationally as IEE802.3. According to the transmission cable type, the Ethernet is classified
into 100BASE-T2, 100BASE-T5, and 100BASE-TX, etc. The maximum cable length or the maximum number of connections
may vary depending on the classification.
The RCX340 adopts the 100BASE-TX specifications.
Protocols that are generally used on the Ethernet are NetBEUI and IPX/SPX in addition to the TCP/IP protocols.
The CSMA/CD data transmission method is also the features of the Ethernet.

■ ■ CSMA/CD (Carrier Sense Multiple Access with Collision Detection)

CSMA/CD is a method of sending signals, developed by combining a CSMA data transmission method with a transmission
error handling method called CD.
CSMA refers to joint use of one transmission cable by many devices connected over a network. CSMA is therefore a
method for checking network status beforehand and then transmitting the data after verifying that transmission is
possible.
CD is a method for handling data collisions that occur on the network. In this method, when a data collision (conflict)
occurs, that data is re-transmitted after a randomly selected time period has elapsed.
Many devices can be connected to the Ethernet by using these CSMA/CD methods. However, performance cannot be
guaranteed in real-time because of transmission standby (time awaiting transmission) and retransmissions.

■ ■ IP address
6
This IP address is a number unique to each device that is assigned to each device so that the numbers are not duplicated
with each other so as to identify the device on the network. (More precisely, the IP address is assigned to each network

External communication interface

interface since multiple network interfaces may be installed into one personal computer.) In the TCP/IP protocols, the
data transmission source or communication destination is specified by this IP address. The IP address is a 32bit-(4byte)-
numeric value. Normally, the IP address is separated 1-byte by 1-byte by a dot (".") and expressed in decimal notation.
For example, an IP address of "0xC0A80002" is expressed as "192.168.0.2".
The IP address consists of two address parts. One is a network address part that shows the address of the network's own
address.
The other is a host address part that shows the address to identify each device.
N bits from the beginning of the IP address are used as a network address. Bits from the "N+1"th bit to 32th bit are used
as a host address. (The value of "N" is determined by the subnet mask.)

1 N N+1 32
IP address Network address part Host address part

For example, when the IP address is "192.168.0.2" and the value of "N" (network length) is 24 bits, the network address
part becomes "192.168.0" and the host address part becomes "2". Generally, to express the network address, set "0" for
the host address part and describe "/" and the network length next to the address. In the example shown above, the
network address is expressed as "192.168.0.0/24".

One network can be connected with as many devices as there are addresses to identify them. However, host address bits
having all zeroes (0), or all ones (1) are reserved and so cannot be used. Therefore, in the example shown above, the
host address can identify 256 units. However, since "0" and "256" cannot be used, the maximum number of units that
can be connected becomes 254.

192.168.0.0/24

192.168.0.1
Max. 254 units
192.168.0.100

192.168.0.254

6-21
 The host address can be set freely by each company (organization). However, when connecting to the Internet, it is
necessary to make an application to the NIC (JPNIC in Japan) for a network address to get the acquisition. Note that the
network address can also be set freely by each company (organization) in the environment where the network is not
connected to the Internet in the same manner as the host address.
In the environment where the network is not connected to the Internet, it is permitted to freely use the addresses
shown below.
These addresses are called "private address".
10.0.0.0 to 10.255.255.255 (1 unit of class A)
172.16.0.0 to 172.31.255.255 (16 units of class B)
192.168.0.0 to 192.168.255.255 (256 units of class C)
An address acquired by making application to NIC on the other hand is referred to as a global address.

■ ■ Subnet mask
This subnet mask is used to separate the IP address into a network address part and host address part. The network
address bits are set to "1" and the host address bits are set to "0".
In the same manner as the IP address, the subnet mask is a 32bit-(4byte)-numeric value. The subnet mask is separated
1-byte by 1-byte by a dot (".") and expressed in decimal notation.
Therefore, when the subnet mask is "255.255.255.0", the network address part becomes 24 bits.

Generally, when making an application to the NIC for an IP address, only one network address is allocated to each
company (organization). Any of class A to class C is allocated depending on the scale of each company (organization).
For example, since the network length is 16 bits in class B, one network address that can connect up to 65533 units is
allocated. However, when using this network address as it is, the efficiency of the management or process becomes poor.
So, normally, the subnet mask is set appropriately to separate the network into multiple networks.
For example, when a subnet mask of 255.255.255.0 is set for the class B network, 256 networks, each of which can
control up to 254 units, can be set.

6 ■ ■ MAC address (Media Access Control Address)

This MAC address is also called "Ethernet address" and shows a hardware identification number (6-byte numeric value)
set for each network interface. Since the MAC address is set for each unit in the manufacture phase, the user does not
need to set it.
External communication interface

The Ethernet system identifies the connected unit from this MAC address. That is, even when the communication is
performed using the TCP/IP protocols, the communication is performed while the IP address is automatically converted
into the MAC address.

■ ■ HUB
A device used to connect the personal computer and each unit. This hub is equipped with multiple ports to connect the
modular jacks. A unit is connected to this port using the twist pair cable with the modular jack.

■ ■ Router
A device used to connect multiple networks with each other. This router sends the external data transmitted from the
internal network to the external network or sends the data transmitted from the external network to the internal network.
Additionally, specific data is disposed of through the filtering process to ensure the network safety.

The IP address of the router is set for each network unit as a gateway address. As this setting is made, each unit can
correctly receive or send the data among the networks.

6-22
Chapter 7 Controller system settings

1. Overview 7-1
1.1 Conditions for system setting 7-1
1.1.1 System generation 7-1
1.1.2 Parameter setting 7-1
1.2 System setting procedure 7-2

2. Information 7-3
2.1 Robot information 7-3
2.2 Option information 7-4
2.3 Clock 7-5
2.4 Version 7-5

3. History 7-6

4. Initialize 7-7
4.1 Initializing the data 7-8
4.2 Setting the clock 7-9

5. Generation 7-10

6. Access level 7-11

6.1 Changing the access level 7-11

7. USB memory operation 7-13

7.1 Saving the data 7-14
7.2 Loading the data 7-15

8. Check 7-16

9. Communication setting 7-17

9.1 RS-232C 7-17
9.2 Ethernet 7-17

10. Safety setting 7-18

11. Parameters 7-20

11.1 Setting the parameters 7-20
11.2 Parameter list 7-21
11.3 Controller parameters 7-24
11.4 Robot parameters 7-27
Chapter 7 Controller system settings

11.5 Axis parameters 7-30

11.6 I/O parameters 7-39
11.7 Option board related parameters 7-41
111 Over view
To operate the robot, various settings corresponding to the customer's operation are needed.
This Chapter describes how to make the various controller settings and display the information.
Additionally, system settings other than the robot operation settings are also described.

Item Description

2 Information Displays the information controlled by the controller.

3 History Displays the alarm history data.

4 Initialize Initializes various data.

Makes the settings corresponding to specifications of the axis and the robot
5 Generation
to be connected.

6 Access Level Sets the operation level (operable range).

USB Memory
7 Saves or restores various data using the USB memory.
Operation

8 Check Checks if an alarm occurs in the controller.

Communication
9 Sets the external communication interfaces.
Setting

10 Safety Setting Sets the safety parameters.

11 Parameter Sets the parameters.

1111 Conditions for system setting

111111 System generation

The system generation of the controller has been set at shipment corresponding to the specifications of robot to
be connected and axis. So, the system generation setting by the customer is not needed.
7
If the system generation related memory is corrupted by serious trouble or if the robot or axis to be connected
to the controller is changed, the system generation setting is needed.

Controller system settings

For details about how to operate the system generation, contact your distributor.

111111 Parameter setting

Perform the parameter setting in the following cases.
The system generation is performed.
The robot in the factory shipment status is installed and operated.
The robot or axis movement range is changed.
The robot or axis transfer conditions are changed.

For details about parameter settings, see "11 Parameters" in this Chapter.

7-1
 1111 System setting procedure
The basic controller system setting procedure is shown below.

Installation, connection,
wiring, power on, etc.

Check that the robot model set in the controller corresponds

Robot model check to the actually connected robot.
→ 2. Information

Set the following parameters to optimize the robot operation.

・ Tip weight
Parameter initial
setting
・ Plus (+) soft limit → 11. Parameters
・ Minus (-) soft limit
・ Axis tip weight

Return-to-origin, etc. Teach the origin position according to the connected robot.

Parameter setting Set the parameters according to the operating conditions. → 11. Parameters

Point data and Create point data or program according to the operation
program creation, etc. contents.

7 Operation

c CAUTION
Be sure to set the following parameters before performing the return-to-origin.
Controller system settings

• Tip weight
• Axis tip weight (for optimization of the acceleration/deceleration of the robot/axis during return-to-origin)

7-2
222 Information
When selecting [System] - [Information] from the initial screen, the "INFORMATION" screen will appear.

The "INFORMATION" screen displays the robot information, option information, clock, and version.
Valid keys and submenu descriptions on the “INFORMATION” screen are shown below.

Valid keys Menu Function

ROBOT Displays the robot information set in the controller.

OPTION Displays the type of the board connected to the option slot.

CLOCK Displays the clock.

VERSION Displays various versions.

Press [ESC] to return to the initial screen.

2222 Robot information

The robot type number and axis type number connected to the controller are displayed.
To display the “ROBOT” screen, select [Menu] [System] [Information] or press the F1 key (ROBOT) on
other information screen.

■ ■ “ROBOT” screen

Controller system settings

7-3
 2222 Option information
When pressing the F2 key (OPTION), the "OPTION" screen will appear.
The “OPTION” screen displays the type and version of the option board connected to the option slot of the
controller.

■ ■ “OPTION” screen

Display Meaning

Displays that the option DIO with the NPN specifications is installed. "m" shows the specifications. (S
DIO_Nm
:Standard DIO, 2 : Expanded DIO2)
Displays that the option DIO with the PNP specifications is installed. "m" shows the specifications. (S
DIO_Pm
:Standard DIO, 2 : Expanded DIO2)

CCLNK Displays that the CC-Link unit is installed.

7 D_Net

ENet_IP
Displays that the DeviceNet unit is installed.

Displays that the EtherNet/IP unit is installed.

YCLnkE/M Displays that the YC-Link/E master unit is installed.

Controller system settings

YCLnkE/S Displays that the YC-Link/E slave unit is installed.

iVY Displays that the iVY (VISION) unit is installed.

iVY_LC Displays that the iVY (VISION with light) unit is installed.

Gripper1 Displays that the electric gripper (first unit) is installed.

Gripper2 Displays that the electric gripper (second unit) is installed.

• For details about the definitions of the NPN specifications and PNP specifications, see "6. I/O connections" in Chapter 3.
• For details about the serial I/O units, such as CC-Link, EtherNet/IP, YC-Link, and iVY system, see the manual for
relevant unit.

n NOTE
When two electric grippers are installed, “Gripper1” and “Gripper2” are displayed.

7-4
2222 Clock
When pressing the F3 key (CLOCK), the controller built-in clock will appear.

■ ■ “CLOCK” screen

2222 Version
When pressing the F4 key (VERSION), various versions inside the controller and the version of the
programming box are displayed.

■ ■ “VERSION” screen

Controller system settings

7-5
 333 Histor y
When selecting [System] - [History] from the initial screen, the "HISTORY" screen will appear.
The “HISTORY” screen displays five past alarm history records from the newest history record. Up to 500
alarm history records are saved.
The alarm display format is shown below.

Alarm occurrence date and time

Number
Alarm number: Alarm occurrence location

■ ■ “HISTORY” screen

The display is scrolled one line with the cursor keys. When the scroll function is set at ON, the display is scrolled one
screen with the cursor keys.

7 c CAUTION
The alarm history data is very important information when taking the robot troubleshooting measures. Therefore,
do not initialize the alarm history data carelessly.
Controller system settings

n NOTE
• When the number of alarm history records exceeds 500, the oldest history record is deleted.
• When the same alarm as the previous alarm occurs, this alarm is not recorded.
• When the alarm classification is " 0 ", such alarm is not recorded.

7-6
444 Initialize
When selecting [System] - [Initialize] from the initial screen, the "Initialize" screen will appear.
On this screen, you can initialize the data managed by the controller. Use the F1 key (ALL DATA) to F11
(CLOCK) to select the item you want to initialize.

■ ■ “INITIALIZE” screen

Valid keys and submenu descriptions on the “INITIALIZE” screen are shown below.

Valid keys Menu Function

ALL Initializes all data.

PGM Deletes the program data.

PNT

PNM
Deletes the point data.

Deletes the point name data.

7
SFT Deletes the shift coordinate data.

Controller system settings

HND Deletes the hand definition data.

PRM Initializes the parameter data.

PLT Deletes the pallet definition data.

ION Deletes the input/output name data.

LOG Deletes the alarm history data.

CLOCK Sets the clock.

7-7
 4444 Initializing the data
Programs, point data, point names, shift coordinates, hand definitions, parameters, pallet definitions, IO
names, and alarm history data are initialized or deleted.
Before executing the initialization process, carefully check that the currently input data is unnecessary.

n NOTE
• Once the memory is initialized, the external data needs to be input to restore the data.
• If the memory is corrupted for some reason, the memory needs to be initialized.

Valid keys and submenu descriptions on the “INITIALIZE” screen are shown below.

Valid keys Menu Function

ALL Initializes all data.

PGM Deletes the program data.

PNT Deletes the point data.

PNM Deletes the point name data.

SFT Deletes the shift coordinate data.

HND Deletes the hand definition data.

PRM Initializes the parameter data.

PLT Deletes the pallet definition data.

ION Deletes the input/output name data.

LOG Deletes the alarm history data.

7 1 Use the function keys to select the

item you want to initialize.
Step 1 Confirming the initialization execution

Use the F1 key (ALL DATA) to F10 key (LOG)

to select the item.
The initialization execution confirmation
Controller system settings

screen will appear.

2 Execute the initialization process.

Select the [OK] button, and then press the
Enter key to execute the initialization
process.
Select the [CANCEL] button, and then press
the Enter key to cancel the initialization
process.

7-8
 4444 Setting the clock
The controller is equipped with the clock function, allowing you to set the date and time.

c CAUTION
The clock used inside the controller has an error when compared to the actual time.
If an error occurs, make the setting again.

1 Press the F11 key (CLOCK) on the

“INITIALIZE” screen.
The current date and time will appear.

2 Enter the date.

Use the cursor keys to select the date (year/
month/day), use 0 to 9 keys to input a value,
and then press the Enter key.
Subsequently, use the cursor keys to select
[SET], and then press the Enter key. The date
is then set in the controller.

3 Enter the time.

Use the cursor keys to select time (hour:
minute: second). Use the 0 to 9 keys to input
a value, and then press the Enter key.
Subsequently, use the cursor keys to select
[SET], and then press the Enter key. The time
is then set in the controller.

Controller system settings

7-9
 555 Generation
The system generation of the controller has been set at shipment corresponding to the specification of robot
to be connected and axis. So, the system generation setting by the customer is not needed.
If the system generation related memory is corrupted by serious trouble or if the robot or axis to be connected
to the controller is changed, the system generation setting is needed.
For details about how to operate the system generation, contact your distributor.

c CAUTION
• If the system generation is changed by mistake, this may adversely affect the robot operation or cause serious
hazard to the operator. When the system generation needs to be changed, contact your distributor.
• If the system generation is changed without consulting your distributor, YAMAHA shall not be held responsible
for any trouble arising from this change.

7
Controller system settings

7-10
 666 Access level
Changing a program or point data incorrectly may cause the robot and/or controller to break down or
malfunction.
To prevent such problems, the controller can be set to operating levels that permit or prohibit changing
programs and point data.
The operation level can be set to any of the following levels.

Level Description

Maintenance level All operations can be performed.

(Level 0) To move to this level, a password is required.
Operator level Only the manual operation and automatic operation can be performed.
(Level 1) Programs with Hidden (hide) attribute cannot be loaded.

n NOTE
When any of the following conditions arises, the access level is forcibly set to "level 0".
1. All of the data are initialized. (See "4. Initialize" in this Chapter.)
2. The memory is corrupted. (“9.723: Controller status data destroyed" appears.)

6666 Changing the access level

To change the access level, follow the procedure below.

n NOTE
The correct password must be entered to change the access level.

1 Display the “ACCESS LEVEL” screen.

Use the cursor keys to select [System] on the
initial screen, and then press the Enter key.
Next, select [Access Level], and then press
the Enter key.
The “ACCESS LEVEL” screen will appear.
7
2 Enter the access level you want to set. Step 2 ACCESS LEVEL

Controller system settings

Input the access level, and then press the
Enter key. Select [SET], and then press the
Enter key.

0 Maintenance level

1 Operator level

To set "1 (operator level)", press the Enter key

again. Determine the setting you have
entered.
To set "0 (maintenance level)", perform the
operation stated in Step 3.

3 Enter the password.

Enter the password in the password entry
field, and then press the Enter key.
* If an incorrect password is entered, "6.35:
Password mismatch" alarm occurs.
Press the ESC key to exit the access level
setting.

7-11
 ■ ■ Changing the password

1 Press the F1 key (CHANGE PW) on

the “ACCESS LEVEL” screen.
The "CHANGE PW" screen will appear.

2 Set a new password. Step 2 Changing the password

Enter the current password in [Pass], and
then press the Enter key.
Next, enter a new password in [New Pass] at
two locations, and then press the Enter key.
Press the ESC key to exit the password
change.

Enter the current password.

Enter a new password (two locations).

7
Controller system settings

7-12
777 USB memor y operation
Various data in the memory inside the controller can be saved into the USB memory. Additionally, various
data saved in the USB memory can be restored to the controller.

n NOTE
If the internal memory is corrupted for some reason, the internal memory of the controller can be restored using
the data saved in the USB memory.
Before operating the robot controller as a system, it is recommended to save the internal data.

When selecting [System] - [USB Memory Operation] from the initial screen, the "USB MEMORY" screen will
appear.

■ ■ “USB MEMORY” screen

7
c CAUTION
• If a trouble (data corruption or error, etc.) occurs in the USB memory or saved data, the data cannot be

Controller system settings

restored. Be sure to save the data into an external storage device, such as personal computer.
• If an abnormal process, such as power shutdown occurs while the data is being saved, the saved data is not
guaranteed.

Press [ESC] to return to the initial screen.

7-13
 7777 Saving the data
The data in the internal memory of the controller is saved into the USB memory.
The data is saved into the “YAMAHA” folder immediately beneath the USB memory.

n NOTE
If the internal memory is corrupted for some reason, the internal memory of the controller can be restored using
the data saved in the USB memory.
Before operating the robot controller as a system, it is recommended to save the internal data.

1 Press the F1 key (SAVE).

The type of the data to be saved appears.
Type Contents
ALL Saves all data.
PGM Saves the program data.
PNT Saves the point data.
SFT Saves the shift coordinate data.
HND Saves the hand definition data.
PRM Saves the parameter data.
PLT Saves the pallet definition data.
ION Saves the input/output name data.
LOG Saves the error history data.

2 Select the type of the data you want Step 2 Selecting the save data file.
to save.
Use the cursor keys to select the type of the
data you want to save, and then press the
F1 key (CHOOSE).
The save file list will appear.

7 3 Select the file you want to save.

To save the file newly, press the F1 key
(CHOOSE). Input the file name in the next
step.
To save the file in the overwrite mode, use
Controller system settings

the cursor keys to select the file you want to

save, and then press the F1 key (CHOOSE) or
Enter key.

When many files are saved, press the F2 key

(NEXT) to scroll the file list.

4 Save the file.

Input the file name of the file you want to
save.
To save into a new file, input a new file
name.
To save into an existing file in the overwrite
mode, input an existing file name.
Press the Enter key to save the file into the
USB memory.
Press the ESC key to cancel the data saving.
The message, “Now Saving”, will appear
during data saving.

c CAUTION
• If a trouble (data corruption or error, etc.) occurs in the USB memory or saved data, the data cannot be restored.
Be sure to save the data into an external storage device, such as personal computer.
• If an abnormal process, such as power shutdown occurs while the data is being saved, the saved data is not
guaranteed.
• The "Skip undefined parameter" item of other parameters is not saved.

7-14
 7777 Loading the data
The data saved in the USB memory is restored to the internal memory of the controller.
The data is saved into the “YAMAHA” folder immediately beneath the USB memory.

n NOTE
If the internal memory is corrupted for some reason, the internal memory of the controller can be restored using
the data saved in the USB memory.
Before operating the robot controller as a system, it is recommended to save the internal data.

1 Press the F2 key (LOAD).

The data type appears.
Type Contents
ALL Loads all data.
PGM Loads the program data.
PNT Loads the point data.
SFT Loads the shift coordinate data.
HND Loads the hand definition data.
PRM Loads the parameter data.
PLT Loads the pallet definition data.
ION Loads the input/output name data.
LOG Loads the error history data.

2 Select the type of the data you Step 2 Selecting the loading data type
want to load.
Use the cursor keys to select the type of the
data you want to load, and then press the
F1 key (CHOOSE).
The files that can be loaded will appear.

3 Select the file you want to load.

Use the cursor keys to select the type of the
data you want to load, and then press the
F1 key (CHOOSE).
7
The confirmation message will appear.
When many files are saved, press the F2 key
(NEXT) to scroll the file list.

Controller system settings

4 Load the data.
Press the Enter key to load the data from the
file.
Press the ESC key to cancel the data
loading.
The message, “Now Loading”, will appear
during data loading.

c CAUTION
•When loading the data as ALL file or parameter file, the controller must be put in the servo off status.
Additionally, after the data has been loaded, the robot is put in the origin return incomplete status.
•If a trouble (data corruption or error, etc.) occurs in the USB memory or saved data, the data cannot be
restored. Be sure to save the data into an external storage device, such as personal computer.
•If an abnormal process, such as power shutdown occurs while the data is being loaded, the restored data is not
guaranteed.

7-15
 888 Check
When selecting [System] - [Check] from the initial screen, the "CHECK" screen will appear.The controller is
diagnosed. If an error is detected, relevant message will appear.

■ ■ “CHECK” screen

n NOTE
Additionally, even when the DC24V power is not supplied to the option DIO, the alarm occurs.

Press [ESC] to return to the initial screen.

7
Controller system settings

7-16
999 Communication setting
The communication mode and communication parameters of the external communication interface are set.

9999 RS-232C
When selecting [System] - [Communication Setting] from the initial screen, the "RS-232C" screen will appear.
On the “RS-232C” screen, you can set the commutation parameters and communication mode of the RS-232C
interface.

■ ■ RS-232C communication setting

For details about how to set the RS-232C, see "2. RS-232C" in Chapter 6.

9999 Ethernet
When selecting [System] - [Communication Setting] from the initial screen, the "RS-232C" screen will appear.
7
Next, when pressing the F1 key (Ethernet) on the “RS-232C” screen, the “Ethernet” screen will appear.
On the “Ethernet” screen, you can set the commutation parameters and communication mode of the Ethernet

Controller system settings

interface.

■ ■ Ethernet communication setting

For details about how to set the Ethernet, see "3. Ethernet" in Chapter 6.

7-17
 1111 Safety setting
The safety parameters are set to safely perform the work with the programming box within the safety
enclosure of the system using the robot.

When selecting [System] - [Safety Setting] from the initial screen, the "SAFETY SETTING" screen will appear.

On the “SAFETY SETTING" screen, you can set five items described below.

Item name Setting Remarks

Hold to Run When set valid, the robot operation (including the program execution) is executed
1 Valid/Invalid
For Aut while holding down the key on the programming box.
Deceleration
2 Valid/Invalid When set valid, the maximum robot movement speed is limited to its 3%.
Control
Sets the dedicated input of the I/O interface valid or invalid.
3 Exclusive IO Valid/Invalid To use the dedicated input, set "Valid".
* Even when set invalid, the general-purpose inputs and outputs can be used.
Sets the RS-232C interface valid or invalid.
4 RS-232C Valid/Invalid
To use the RS-232C interface, set "Valid".
Sets the Ethernet interface valid or invalid.
5 Ethernet Valid/Invalid
To use the Ethernet interface, set "Valid".

■ ■ Setting procedure

1 Select [System] - [Safety Setting] Warning screen

from the initial screen.
The warning screen appears. Agree to the
contents, and then press the Enter key.

7
Controller system settings

2 Set [VALID] or [INVALID]. Setting the safety parameters

Use the cursor keys to select [VALID] or
[INVALID] of the item you want to set, and
then press the Enter key.

To set the setting valid even after the power

shut-down, perform the operation stated in
Step 3.

7-18
3 Save the settings. Saving the safety parameters
When pressing the F1 key (SAVE) on the
“SFETY SETTING” screen, the setting save
confirmation screen will appear.
Select [OK], and then press the Enter key to
save the settings.
When selecting [Cancel], the settings are
not saved.

4 Press the ESC key to exit the data editing.

w WARNING
In "SAFETY SETTING", changing the settings from their default values is likely to increase hazards to the
robot operator during maintenance or operation.
Customers can change these settings based on their own responsibility, but adequate consideration
should first be given to safety.

Controller system settings

7-19
 1111 Parameters
There are six kinds of parameters available, controller setting related parameters, robot operation related
parameters, axis related parameters, control related parameters, I/O related parameters, and option board
related parameters.

c CAUTION
• The parameters are important data to match the robot specifications to the controller specifications. If the
parameters are set incorrectly, this may cause alarm or malfunction. So, be sure to set the parameters correctly.
• Save the data files (program, point, point comment, parameter, shift, hand, and pallet, etc.) saved inside the
RCX340 to an external storage device, such as personal computer before and after setting the parameters.
• If incorrect parameter setting is changed, this may adversely affect the robot operation or cause serious hazard
to the operator. Before changing the parameters, contact your distributor.
• The absolute reset or return-to-origin may be required as the parameters are changed.

When selecting [Edit] - [Parameter] from the initial screen, the "PARAMETER" screen will appear.

11111 Setting the parameters

The robot operation and controller setting related parameters are set.

Step 1 "PARAMETER" screen

1 Press the F1 key (CONTROLLER) to
F6 key (OPTION) to select the
parameter category.
The "PARAMETER" screen for the selected
category will appear.

2 Select the parameter.

7 Use the cursor keys to select the parameter.
Or, enter the parameter number on the pop-
up screen that is displayed by pressing the
F2 key (JUMP) to select the parameter.
Press the F1 key (EDIT).
Controller system settings

Enter the parameter with the numeric keys.

For details about each parameter, see "11.3
Controller parameters" and subsequent
sections in this Chapter.

3 Press the ESC key to exit the

parameter editing.

Valid keys and submenu descriptions on the parameter category selection screen are shown below.

Valid keys Menu Function

CONT Sets the controller setting related parameters.

ROBOT Sets the robot operation related parameters.

AXIS Sets the axis related parameters.

CONTROL Sets the control related parameters.

IO Sets the I/O related parameters.

OPTION Sets the option board related parameters.

7-20
11111 Parameter list

■ ■ Controller parameters
For details about parameters, see "11.3 Controller parameters" in this Chapter.
Name Identifier Setting range Initial value Unit

Skip undefined parameters PRMSKP 0: Disable, 1: Enable 0: Disable

Incremental mode control INCMOD 0: Disable, 1: Enable 0: Disable

MOVE1/DRIVE1 start position MOVIMD 0: Keep, 1: Reset 0: Keep

Servo on when power on SRVOON 0: Disable, 1: Enable 0: Disable

Current program number CRNTPG 0 to 100 0

Main program number MAINPG 0 to 100 0

n NOTE
This manual describes the control parameters shown above.
Other control parameters are normally write-protected. When such parameters need to be changed, contact
your distributor.

■ ■ Robot parameters
For details about parameters, see "11.4 Robot parameters" in this Chapter.

Name Identifier Setting range Initial value Unit

This value
Tip weight *2 WEIGHT 0 to 500 depends on kg
the model.

Return-to-origin order ORGORD 0 to 654321 312456

R-axis orientation hold *1 RORIEN 0: Hold, 1: Not hold 0: Hold

7
0: None,
Arm type at reset *1 ARMTYP 1: Right-handed system, 0: None
2: Left-handed system
2
SCARA R-axis moment of inertia *1 SCRINR 0 ~ 32767 0 10-4kgm

*1 This parameter is valid only for SCARA robots.

Controller system settings

n NOTE
This manual describes the control parameters shown above.
Other control parameters are normally write-protected. When such parameters need to be changed, contact
your distributor.

7-21
 ■ ■ Axis parameters
For details about parameters, see "11.5 Axis parameters" in this Chapter.

Name Identifier Setting range Initial value Unit

0 to value depending
Axis tip weight *2 AXSTIP kg
on the model
-6144000 to This value depends
Pulse (+) soft limit PLMT+ pulse
+6144000 on the model.
-6144000 to This value depends
Minus (-) soft limit PLMT- pulse
+6144000 on the model.

Arm length ARMLEN 0 to 9999999 0 0.001mm,0.001deg

-6144000 to
Offset pulse OFFSET 0 pulse
+6144000

Acceleration coefficient ACCEL 1 to 100 100 %

This value depends

Deceleration rate DECRAT 1 to 100 %
on the model.

Manual acceleration MANACC 1 to 100 100 %

This value depends

OUT valid position OUTPOS 1 to 9999999 pulse
on the model.
This value depends
Arch pulse 1 ARCHP1 0 to 9999999 pulse
on the model.
This value depends
Arch pulse 2 ARCHP2 0 to 9999999 pulse
on the model.
0: Mark, 1: Sensor,
This value depends
Return-to-origin method ORGMTD 2: Stroke end, 3: R
on the model.
stroke end
This value depends
Return-to-origin direction ORGDIR 0: Minus, 1: Pulse
on the model.
1 to value depending
Return-to-origin speed 1 ORGVEL1 20 pulse/ms
on the model
-6144000 to
Origin shift ORGSFT 0 pulse

7
+6144000
1 to value depending
Tolerance TOLE 80 pulse
on the model
This value depends
Motor axis polarity MOTDIR 0:CW 1:CCW
on the model.
Controller system settings

*2 Payload setting
As the workpiece weight to be transferred by the robot is set, the controller optimizes the acceleration during robot
operation.

For multi type robot or auxiliary axis:

• The tip weight parameter needs to be set for each axis. (Set the tip weight for each axis, such as tip weight of axis 1,
tip weight of axis 2, and so on.)
• Set the axis tip weight parameter of the axis parameters.
• Even when the tip weight of the robot parameters is changed, the acceleration does not change.
For robots other than multi type robot:
• Set the workpiece weight held at the robot tip for the tip weight of the robot parameters.
• The value of the arm length parameter may affect the acceleration. The effective stroke value of each axis needs to
be entered for the arm length.

* In this manual, the multi type robot means a robot that is not orthogonalized.

n NOTE
This manual describes the axis parameters shown above.
Other axis parameters are normally write-protected. When such parameters need to be changed, contact your
distributor.
When the payload needs to be changed due to special robot configuration, contact your distributor.

■ ■ Control parameters

n NOTE
Control parameters are normally write-protected. When the parameters need to be changed, contact your
distributor.

7-22
■ ■ I/O parameters
For details about parameters, see "11.6 I/O parameters" in this Chapter.

Name Identifier Setting range Initial value Unit

DO output at emergency stop EMGCDO 0: Reset, 1: Hold 1: Hold
DIO noise cancel count DIOCAN 0 to 7 1
DO output at program reset RESCDO 0: Reset, 1: Hold 0: Reset
DI17 mode DI17MD 0: ABS, 1: ABS/ORG 0: ABS

n NOTE
This manual describes the I/O parameters shown above.
Other I/O parameters are normally write-protected. When such parameters need to be changed, contact your
distributor.

■ ■ Option parameters
For details about parameters, see "11.7 Option board related parameters" in this Chapter.

Name Identifier Setting range Initial value Unit

Option board enable OPTENBL 0: Disable, 1: Enable 1: Enable
CC-Link station number CCLADD 1 to 61 1
0:156k, 1:625k,
CC-Link baud rate CCLCOM 2:2.5M, 3:5M, 0:156k
4:10M
0:Ver.1.10
CC-Link version CCLVER 0:Ver.1.10
1:Ver.2.00
DeviceNet station number DEVADD 0 to 63 0
0:125k, 1:250k,
DeviceNet baud rate DEVCOM 0:125k
500k, 4:Auto
0: Normal,
DeviceNet I/O size DEVTYP 0: Normal
1: Compact

7
0.0.0.0 ~
EtherNet/IP IP address EIPADD 0.0.0.0
255.255.255.255
0.0.0.0 to
EtherNet/IP subnet mask EIPSUB 0.0.0.0
255.255.255.255
0.0.0.0 to
EtherNet/IP default gateway EIPDEF 0.0.0.0
255.255.255.255

Controller system settings

EtherNet/IP DHCP EIPDHCP 0: Disable, 1: Enable 0: Disable

n NOTE
This manual describes the option parameters shown above.
Other option parameters are normally write-protected. When such parameters need to be changed, contact
your distributor.

7-23
 11111 Controller parameters
Controller related parameters are edited

■ ■ “PARAMETER>CONTROLLER” screen

n NOTE
Controller parameters not described in this manual are normally write-protected. When such parameters need
to be changed, contact your distributor.

Valid keys and submenu descriptions on the “PARAMETER>CONTROLLER” screen are shown below.

Valid keys Menu Function

/ Moves up or down the cursor.

EDIT Edits the parameter.

7
JUMP Moves the cursor to the specified number.

■ ■ Setting by entering numeric values

Controller system settings

The following shows how to set the parameter by using the current program number as an example.

1 Select [Current program no.] and

press the F1 key (EDIT).
2 Enter the current program number. Step 2 Setting the current program number
The settable value range will appear on the
screen.
Enter a numeric value 0 to 9 and press the
Enter key.

3 Press the ESC key to exit the

"EDIT" screen.

7-24
 ■ ■ Setting by entering selections
The following shows how to set the parameter by using the servo on when power on as an example.

1 Select [Servo on when power on]

and press the F1 key (EDIT).

2 Set the servo on when power on. Step 2 Setting the servo on when power on
The selectable value lists [1] to [12] will
appear.
Use 0 to 9 keys to select the value, and then
press the Enter key.

n NOTE
At this time, enter the value you want to actually
set for the controller. Be careful not to select [1] to
[12].
For example, when you want to set "0" for the
controller in the figure on the right, press the "0"
key on the programming box.
Do not press the "1" key.

3 Press the ESC key to exit the

"EDIT" screen.

■ ■ Skip undefined parameters

This parameter sets whether or not the undefined data (parameters not supported by the controller) of the parameter file
to be loaded to the controller is skipped.
When this parameter is enabled, the parameter file is loaded by skipping the undefined data in the file. This parameter is
automatically disabled when starting up the controller.

Setting Meaning

7
1: Enable Undefined parameters are not loaded.

0: Disable Undefined parameters are loaded.

c CAUTION
• When this parameter is enabled, spelling errors in the parameter file cannot be detected. Do not set this

Controller system settings

parameter enabled except for the case that new version parameters need to be loaded into the old version
controller.

n NOTE
As the controller software is upgraded, new parameters may be added. When new version parameters including
added parameters are loaded to the old version controller, “10.14: Undefined parameter found" error occurs.

■ ■ Incremental mode control / INCMOD

This parameter sets whether or not the robot is always put in the return-to-origin incomplete status when starting up this
controller.
When the parameter is initialized, "0: Disable" is set.

Setting Meaning
Holds the origin position information on absolute type axes
0: Disable
even when the power is shut down.
Puts all axes in the return-to-origin incomplete status when
1: Enable
turning on the power.

n NOTE
• When this parameter is enabled, all axes are always put in the return-to-origin incomplete status when turning
on the controller.
• When using the absolute type axes without installing the absolute battery, set this parameter enabled.

c CAUTION
When there is an axis with the mark return-to-origin method selected, set this parameter disabled.

7-25
 ■ ■ MOVEI/DRIVEI start position / MOVIMD
This parameter sets the operation when executing the relative motion command again after it has been stopped by the
interlock or emergency stop. When the parameter is initialized, "0: Keep" is set.

n NOTE
This parameter is set at "Keep" at shipment.

Setting Meaning
When executing the relative motion again after it has been stopped, the previous motion continues. The
0: Keep target position before executing again does not change. When executing the return-to-origin or absolute
reset, the target position after the relative motion stop is reset.
When executing the relative motion again after it has been stopped, the relative motion is newly
1: Reset performed from the current position.
The target position before executing again will change.

■ ■ Ser vo on when power on/SRVOON

This parameter sets whether the controller starts in the servo on status or servo off status when starting up the controller.
When the parameter is initialized, "0: Disable" is set.

Setting Meaning

The controller starts in the servo on status. However, when the control authority is not released or the
1: Enable serial I/O setting is enabled, the controller starts in the servo on status.
(RCX141/142 and RCX221/222 controller compatible mode)
The controller always starts in the servo on status.
0: Disable
(RCX143/144 controller compatible mode)

■ ■ Current program number / CRNTPG

This parameter sets the current program number. When the parameter is initialized, "0" is set.

n NOTE

7 The current program is a program that is executed last in the task 1.

Additionally, when the main program number is "0", the current program is a program that is registered as task 1
when resetting the program.
Controller system settings

■ ■ Main program number / MAINPG

This parameter sets the main program number. When the parameter is initialized, "0" is set.

n NOTE
The main program is a program that is registered as task 1 with the top priority when resetting the program.

7-26
 11111 Robot parameters
Robot related parameters are edited

■ ■ “PARAMETER>ROBOT” screen

n NOTE
Controller parameters not described in this manual are normally write-protected. When such parameters need
to be changed, contact your distributor.

Valid keys and submenu descriptions on the “PARAMETER>ROBOT” screen are shown below.

Valid keys Menu Function

/ Changes the selected parameter.

EDIT Edits the parameter.

JUMP Moves the cursor to the specified number.

■ ■ Setting by entering numeric values

7
The following shows how to set the parameter by using

Controller system settings

the tip weight as an example.

1 Select [Tip weight] and press the F1

key (EDIT).
2 Enter the tip weight. Step 2 Setting the tip weight
The settable value range will appear on the
screen.
Use 0 to 9 keys to enter a value, and then
press the Enter key.

3 Press the ESC key to exit the

"EDIT" screen.

7-27
 ■ ■ Setting by entering selections
The following shows how to set the parameter by using the tip weight as an example.

1 Select [R axis orientation] and press

the F1 key (EDIT).

2 Set the R-axis orientation. Step 2 Setting the R-axis orientation

The selectable value lists [1] to [12] will
appear.
Use 0 to 9 keys to select the value, and then
press the Enter key.

n NOTE
At this time, enter the value you want to actually
set for the controller. Be careful not to select [1] to
[12].
For example, when you want to set "0" for the
controller in the figure on the right, press the "0"
key on the programming box.
Do not press the "1" key.

3 Press the ESC key to exit the

"EDIT" screen.

■ ■ Tip weight / WEIGHT

The tip weight (workpiece weight + tool weight) of the robot is set in "kg" units.
However, when the robot for which the tip weight is set is YK120XG, YK150XG, YK180XG, or YK220X, the tip weight is
set in "0.1kg" units.
The maximum value is determined by the robot model that has been set.
When the parameter is initialized, the maximum value is set.

7 n NOTE
• For multi type robots, this parameter cannot be entered.
• For the tip weight setting for the axis with the auxiliary axis setting, the tip weight is set with the axis tip weight of
the axis parameters.
Controller system settings

• When using the electric gripper YRG series, the weight of the gripper main body is added to the tool weight. For
details, see the user's manual for electric gripper YRG series.)

c CAUTION
The acceleration value, etc. is set to the optimal valve according to the value of this parameter.
Therefore, when a value lower than the actual tip weight is set, this may adversely affect the robot main body.
So, be sure to enter a correct value.

* In this manual, the multi type robot means a robot that is not orthogonalized.

■ ■ Return-to-origin order / ORGORD

This parameter sets the order of the return-to-origin operation to set the motor position by the robot using the numeric
value. When the parameter is initialized, "312456" is set.
1, 2, 3, 4, 5, and 6 correspond to relevant axis numbers. Axis corresponding to the numeric value performs the return-to-
origin operation in order from the left end. Axes that are not set finally perform the return-to-origin operation at the same
time.

n NOTE
• Perform the return-to-origin operation from an axis that may interfere with a peripheral device.
• This order includes the robot axis and axillary axis.

c CAUTION
When performing the return-to-origin of three or more axes with the return-to-origin method set at the stroke end
method, the emergency stop may be activated.
At this time, change the stroke end return-to-origin method to simultaneous two axes or return-to-origin of each axis.

7-28
When different position detection methods (absolute specifications or incremental specifications) are mixed in
one robot, the order of the return-to-origin operations may vary depending on the return-to-origin method.

Example:
Robot axis configuration: Axis 1, axis 2, axis 3, axis 4
Return-to-origin order setting: 312456
Position detection method of each axis: Axis 1, axis 2 Incremental specifications
Axis 3, axis 4 Absolute specifications
1. The return-to-origin operations of only the absolute type axes are performed.
The return-to-origin operations of only the absolute type axes are performed from the left end of the return-to-origin order
setting in order.
3 1 2 4 5 6

Axis 3 operation Axis 1 cancel Axis 2 cancel 4 operation Axis 5 cancel Axis 6 cancel

2. The return-to-origin operations of only the incremental type axes are performed.
The return-to-origin operations of only the incremental type axes are performed from the left end of the return-to-origin order
setting in order.
3 1 2 4 5 6

Axis 3 cancel Axis 1 operation Axis 2 operation Axis 4 cancel Axis 5 cancel Axis 6 cancel

3. The return-to-origin operations of both the absolute type and incremental type axes are performed.
First, the return-to-origin operations of the absolute type axes are performed from the left end of the return-to-origin order
setting in order.
Subsequently, the return-to-origin operations of the incremental type axes are performed in the same manner.

3 1 2 4 5 6

Axis 3 operation Axis 1 cancel Axis 2 cancel Axis 4 operation Axis 5 cancel Axis 6 cancel

3 1 2 4 5 6

Axis 3 cancel Axis 1 operation Axis 2 operation Axis 4 cance Axis 5 cancel Axis 6 cancel

n NOTE
The semi-absolute specifications of the PHASER series are included in the incremental specifications.
7
The actual example of the return-to-origin operation is shown below.

Programming box operation PGM execution IO operation

Controller system settings

Key operation Command *1 Input port DI17 mode *2
Absolute Impossible (axis-by-axis is
ORIGIN 0,2 DI17 ABS
specifications only possible.)
Incremental Impossible (axis-by-axis is
ORIGIN 0,1 DI14 ABS
specifications only possible.)
Both specifications at
“ALL” ORIGIN 0,0 DI17 ABS/ORG
the same time

*1 For details about ORIGIN command, see the programming manual.

*2 This is the DI17 mode setting of the control parameters.

■ ■ R-axis orientation / RORIEN

This parameter sets whether or not the R-axis orientation (posture) is held when performing the manual operation on the
XY coordinates in the SCARA robot.
When the parameter is initialized, "0: Hold" is set.
When the orientation set at "Hold", the R-axis automatically rotates so that the R-axis holds the current orientation if the
arm tip moves in the X-coordinate axis direction or Y-coordinate axis direction.
This parameter is invalid in robots other than the SCARA robot.

Setting Meaning

0: Hold Holds the R-axis orientation (posture).

1: Not hold Does not hold the R-axis orientation (posture).

n NOTE
This parameter is invalid when the R-axis does not exist or the R-axis has the auxiliary axis setting.

7-29
 ■ ■ Arm type at reset / ARMTYP
This parameter sets the hand system that is selected at program reset.
When the parameter is initialized, "no designation" is set.
When moving on the XY coordinates in the SCARA robot or when performing the coordinate conversion (joint
coordinates Cartesian coordinates), the hand system setting becomes important.
This parameter is invalid in robots other than the SCARA robot.

Setting Meaning

0: No designation Does not specify the hand system at program reset.

1: Right-handed Sets the hand system at program reset to the right-handed

system system.
2: Left-handed Sets the hand system at program reset to the left-handed
system system.

■ ■ SCARA R-axis moment of inertia / SCRINR

This parameter sets the moment of inertia for the R-axis of the SCARA robot.
The unit is "kgm2 × 10-4".
This parameter is invalid in robots other than the SCARA robot.

11111 Axis parameters

Axis related parameters are edited.

■ ■ “PARAMETER>AXIS” screen

7
Controller system settings

n NOTE
Controller parameters not described in this manual are normally write-protected. When such parameters need
to be changed, contact your distributor.

Valid keys and submenu descriptions on the “PARAMETER>AXIS” screen are shown below.

Valid keys Menu Function

/ Changes the selected parameter.

EDIT Edits the parameter.

JUMP Moves the cursor to the specified number.

7-30
 ■ ■ Setting by entering numeric values
The following shows how to set the parameter by using the axis tip weight as an example.

1 Select [Axis tip weight] and press

the F1 key (EDIT).
Step 2 Setting the axis tip weight
2 Select the robot.
Use the F1 key (PREVIOUS) and F2 key (NEXT)
to select the robot.

3 Enter the axis tip weight.

The settable value range will appear on the
screen.
Use the cursor keys to select the axis you
want to set.
Use 0 to 9 keys to enter a value, and then
press the Enter key.

4 Press the ESC key to exit the edit

screen.

■ ■ Setting by entering selections

The following shows how to set the parameter by using the return-to-origin method as an example.

1 Select [Origin method] and press

the F1 key (EDIT).
Step 2 Setting the return-to-origin method
2 Select the robot.
Use the F1 key (PREVIOUS) and F2 key (NEXT)
to select the robot.

3 Select the return-to-origin method.

The selectable value lists [1] to [12] will
appear.
Use 0 to 9 keys to select the value, and then
7
press the Enter key.

Controller system settings

NOTE
At this time, enter the value you want to actually set
for the controller. Be careful not to select [1] to [12].
For example, when you want to set "0" for the
controller in the figure on the right, press the "0"
key on the programming box.
Do not press the "1" key.

4 Press the ESC key to exit the edit

screen.

7-31
 ■ ■ Axis tip weight / AXSTIP
This parameter sets the tip weight (workpiece weight + tool weight) in "kg" units when the robot setting is the multi type
robot and axillary axis setting.
When the parameter is initialized, the maximum value is set. The maximum value is automatically set by the model.

* In this manual, the multi type robot means a robot that is not orthogonalized.

n NOTE
• For robots other than the multi type robot and auxiliary axis, this parameter cannot be entered.
At this time, set the tip weight of the robot parameters.

c CAUTION
An optimal value is automatically set for the acceleration, etc. according to the value of this parameter.
Therefore, when a value lower than the actual axis tip weight is set, this may adversely affect the robot main
body. So, enter a correct value.

■ ■ Pulse (+) soft limit / PLMT+

Minus (-) soft limit / PLMT-
This parameter sets the axis movement range using the upper limit value (pulse (+) soft limit) and lower limit value (minus
(-) soft limit).
When the parameter is initialized, the value unique to the model is set.
When performing the point teaching or automatic operation, check that the specified point data is within the soft limit
range.

n NOTE
Enter the soft limit value with 0 to 9 keys, “.” key, and “-” key.
When the value that is entered with the keys is a real number (numeric value including a period), the unit is
automatically converted into the pulse value.

7 w WARNING
Be sure to set the soft limit inside the mechanical movement range (mechanical stopper) of the axis.
If the soft limit is set outside the mechanical movement range, the axis collides with the mechanical
stopper at a high speed, causing object clamped by the end effector to scatter or the robot to
malfunction.
Controller system settings

c CAUTION
• Since this parameter is important to determine the operating range, be sure to set the correct value.
• For the X-axis and Y-axis of the SCARA robot, make the setting so that the total of the pulse (+) and minus (-)
soft limit absolute values does not exceed 360 degrees. If the setting that exceeds 360 degrees is made, an
error may occur in the coordinate conversion results.
• When the return-to-origin is incomplete, the functions by the soft limit become invalid. So, take great care when
performing the jog movement.

■ ■ Arm length / ARMLEN

For the SCARA robot, this parameter sets the X- and Y-arm lengths.
When the parameter is initialized, the value unique to the model is set.
Additionally, this parameter is set automatically when setting the standard coordinates.
For the Cartesian robot, this parameter sets the effective stroke length of each axis. According the arm length setting, the
axis weight of each axis is set automatically.
When the parameter is initialized, "0" is set.

n NOTE
Enter the arm length with 0 to 9 keys, “.” key, and “-” key.

c CAUTION
For the SCARA robot, the coordinate conversion to the Cartesian coordinates is performed using the arm length
and offset pulse. So, be sure to set the correct arm length value.

7-32
■ ■ Offset pulse / OFFSET
This parameter sets the angle to the arm posture or standard coordinate axis in the status that the X-, Y-, and R-axis motor
positions of the SCARA robots are located at their "0"-pulse positions.
When the parameter is initialized, "0" is set.
• X-axis offset pulse … Angle formed by the pulse (+) X-axis direction of the standard coordinates and the X-axis
arm. (Unit: pulse)
• Y-axis offset pulse … Angle formed by the X-axis arm and Y-axis arm. (Unit: pulse)
• R-axis offset pulse … Angle formed by the pulse (+) X-axis direction of the standard coordinates and the R-axis tip
tool. (Unit: pulse)
Additionally, this parameter is set automatically when setting the standard coordinates.

"Offset pulse" setting

X-axis offset pulse

X
X-axis arm length

X-axis arm

Y-axis arm length

Y-axis arm

Y
R-axis offset pulse Y-axis offset pulse

Tip tool

c CAUTION
• For the SCARA robot, the coordinate conversion to the Cartesian coordinates is performed using the arm length
and offset pulse. So, be sure to set the correct offset pulse.
• When the data is entered using this parameter (press in the input cursor display status), the standard

7
coordinates are set.

■ ■ Acceleration coefficient / ACCEL

Controller system settings

This parameter sets the acceleration during robot movement by the movement command in a range of 1 to 100%.
When the parameter is initialized, "100" is set.
This coefficient acquires the optimal performance when "100%" is set to the tip weight setting.

n NOTE
When the tip swings during robot movement acceleration, decrease this value to suppress the swing.

c CAUTION
When decreasing the acceleration coefficient, a period of stop time in response to the stop command by the
STOP key or stop signal may become long. Take great care when using the robot with the acceleration
coefficient decreased extremely.

■ ■ Deceleration rate / DECRAT

This parameter sets the deceleration rate during robot movement by the movement command in a range of 1 to 100%.
This parameter shows the rate on the speed reduction side to the acceleration side.
When the parameter is initialized, the value unique to the model is set.

n NOTE
When the tip swings during robot movement stop, decrease this value to suppress the swing.

c CAUTION
When decreasing the deceleration rate, a period of stop time in response to the stop command by the STOP key
or stop signal may become long. Take great care when using the robot with the deceleration rate decreased
extremely.

7-33
 ■ ■ Manual acceleration / MANACC
This parameter sets the acceleration coefficient during robot movement with the manual operation in a range of 1 to
100%.
When the parameter is initialized, "100" is set.
This coefficient acquires the optimal performance when "100%" is set to the tip weight setting.

n NOTE
When the tip swings during acceleration of the manual movement, decrease this value to suppress the swing.

c CAUTION
When decreasing the acceleration coefficient, a period of stop time in response to the stop command by the
STOP key or stop signal may become long. Take great care when using the robot with the acceleration
coefficient decreased extremely.

■ ■ OUT valid position / OUTPOS

This parameter sets the execution completion range to the target position when the movement command is executed in
the program. However, this parameter applies to only the PTP motion.
When the parameter is initialized, the value unique to the model is set.
When the current position of the robot enters the specified range, this is judged to the movement command execution
completion. However, the movement to the target position continues. The smaller the value, the shorter the time until the
next command is executed.
When performing the movement command continuously, the next movement command cannot be executed until the
positioning is completed even when the previous movement command line has been completed.

n NOTE
Enter the OUT valid position with 0 to 9 keys, “.” key, and “-” key. When the value entered with the keys is a real
number (numeric value including a period), the unit is converted into the pulse value.

OUT valid position range

7 Current position Target position

OUT valid position range

Tolerance range
Controller system settings

c CAUTION
If the tolerance value is larger than the OUT valid position value, both the command execution and positioning
are completed when it enters the OUT valid position range.

■ ■ Arch pulse 1 / ARCHP1

Arch pulse 2 / ARCHP2
This parameter sets the overlap area of the arch-specified axis and other axis movement when executing the arch motion
that is an option of the PTP motion. When the parameter is initialized, "9999999" is set.
The smaller the value, the larger the overlap area during axis movement. As a result, the movement execution time can
be reduced.
The value that the unit conversion of the set value of the selected is performed is displayed.

n NOTE
Enter the arch pulse 1 and arch pulse 2 with 0 to 9 keys, “.” key, and “-” key. When the value entered with the
keys is a real number (numeric value including a period), the unit is converted into the pulse value.

7-34
 Arch pulse
2. Other axis movement
Arch-specified axis = 0

Arch pulse 1 Arch pulse 2

1. Arch-specified axis movement 3. Arch-specified axis movement

Current position Target position

1. The arch-specified axis starts moving to the position specified by the option. ("1" shown in the figure above)
2. When the arch-specified axis moves arch pulse 1 or more, other axes move to their target positions. ("2" shown in the
figure above)
3. The arch-specified axis moves to the target position so that the remaining distance becomes arch pulse 2 when the
movement of other axes is completed. ("3" shown in the figure above)
4. When all axes enter the OUT valid position range, the command is completed.

c CAUTION
• The tracking of the arch motion may vary depending on the movement speed. Perform the interference check
at actual robot operation speed.

■ ■ Return-to-origin method / ORGMTD

This parameter sets the return-to-origin method of the robot.
When the parameter is initialized, the stroke end method is set.
0: Mark method …… Method to set the origin position, such as match mark by the user.
1: Sensor method …… Origin position detection method by sensor input
2: Stroke end method … Origin position detection method by mechanical stroke end
3: ZR-stroke end method … Origin position detection method by mechanical stroke end dedicated to the ZR-axis
The origin position is detected by combining the Z-axis and R-axis return-to-origin methods.
* It is necessary to set this parameter for both axes with the coordinate attribute set at ZR-axis.

c CAUTION
• According to the robot specifications, this parameter is set at shipment.
• If the setting is changed without consulting your distributor, your distributor shall not be held responsible for any
7
trouble arising from this setting change.
• When this parameter is changed, the robot is put in the origin return incomplete status.

Controller system settings

■ ■ Return-to-origin direction / ORGMTD
This parameter sets the movement direction when the robot performs the return-to-origin. When the parameter is
initialized, the value unique to the model is set.
0: Minus … The minus (-) direction of the motor position is the return-to-origin direction.
1: Plus … The plus (+) direction of the motor position is the return-to-origin direction.

c CAUTION
• When any of the conditions shown below is satisfied, do not change the setting that has been preset at factory
prior to shipping.

Conditions Problem at setting change

When performing the stroke end return-to-origin on the non-motor side, the
The model is the F14H lead 5mm.
origin position becomes unstable.

The iVY system is used. The camera calibration is not executed correctly.

When the setting needs to be changed, contact your distributor.

• If the setting is changed without consulting your distributor, your distributor shall not be held responsible for any
trouble arising from this setting change.
• When this parameter is changed, the robot is put in the origin return incomplete status.

7-35
 ■ ■ Return-to-origin speed / ORGVEL1
This parameter sets the movement speed when performing the return-to-origin.
When the parameter is initialized, the value unique to the model is set for the incremental type axis and absolute type
axis. For the semi-absolute type axis, "20 pulses/ms (= 20mm/s)" is set.

c CAUTION
For the incremental type axis and absolute type axis, the maximum value of the return-to-origin speed is
determined by the motor.
For the semi-absolute type axis, the maximum value is "20 pulses/ms (= 20mm/s)".

■ ■ Origin shift / ORGSFT

This parameter is used to correct the deviation amount of each axis if the work position deviates after the motor has been
replaced and an impact has been applied. When the parameter is initialized, "0" is set.
Set the electrical deviation origin position amount to the mechanical origin position of the robot. The value of this
parameter becomes the current motor position immediately after the return-to-origin.
Example:
When the current position after moved to the work position before positional deviation is expressed by “A” pulse and the
current position after moved to the work position after positional deviation is expressed by “B” pulse, enter the value (A - B).

c CAUTION
• This parameter is important to determine the robot position. Set the correct value. Additionally, change the
parameter setting only when required.
• When this parameter is changed, the robot is put in the origin return incomplete status.
• This parameter is valid after the absolute reset or return-to-origin.

■ ■ Tolerance / TOLE
This parameter sets the positioning completion range to the target position when the robot moves.

7
When the parameter is initialized, the value unique to the model is set.
When the current position of the robot enters the specified range, this is judged to the positioning completion. The larger
the parameter value, the shorter the time until positioning completion.

n NOTE
Enter the tolerance value with 0 to 9 keys, “.” key, and “-” key.
Controller system settings

When the value that is entered with the keys is a real number (numeric value including a period), the unit is
automatically converted into the pulse value.

Tolerance range

Current position Target position

Tolerance range

c CAUTION
• This parameter is important to determine the robot behavior around the target position. So, set the correct value.
• When the tolerance value is made small extremely, a variation in robot positioning time may occur.
• The maximum value of the tolerance is determined by the motor type.

7-36
■ ■ Motor axis polarity / MOTDIR
This parameter sets the direction, in which the robot moves.
When the parameter is initialized, the value unique to the model is set.
0: CW … The motor CW direction is the minus (-) direction of the axis.
1: CCW … The motor CCW direction is the minus (-) direction of the axis.
This parameter cannot be changed in the servo on status. To change the parameter, put the robot in the servo off status.
For details about the robot operation direction to the minus (-) direction of the motor, see "Robot operation direction list"
in this Chapter.

c CAUTION
• When any of the conditions shown below is satisfied, do not change the setting that has been preset at factory
prior to shipping.

Conditions Problem at setting change

When performing the stroke end return-to-origin on the non-motor side, the
The model is the F14H lead 5mm.
origin position becomes unstable.

The iVY system is used. The camera calibration is not executed correctly.

When the setting needs to be changed, contact your distributor.

• If the setting is changed without consulting your distributor, your distributor shall not be held responsible for any
trouble arising from this setting change.
• When this parameter is changed, the robot is put in the origin return incomplete status.

Controller system settings

7-37
 Robot operation direction list
Series name Classification Model name Motor minus (-) direction
Compact T type T4H,T5H,T6
Direction to move to the motor side
Compact clean type C4H,C5H,C6
Compact F type F8,F8L,F8LH
Direction to move to the non-motor side
Compact clean type C8,C8L,C8LH
Medium T type T9,T9H
Medium, large F type F10,F14,F14H,F17,F17L,F20 Direction to move to the motor side
Medium, large clean type C10,C14,C14H,C17,C17L,C20
Direction to move to the side opposite to
FLIPX Nut rotation F20N
the motor installation
FLIPX-C
Direction to move left when viewed from
Nut rotation (hollow motor) N15,N18
the flexible cable guide.
B10,B14,B14H
Belt drive Motor installation R direction Direction to move to the motor side
Motor installation L direction Direction to move to the non-motor side
Counterclockwise direction when viewed
Rotation axis R5,R10,R20
from the side opposite to the shaft
MR type Direction to move left when viewed from
MR type (semi-absolute MR12 the flexible cable guide.
specifications) MR12A
PHASER
MF type MF7,MF15,MF20,MF30,MF50,MF75
MF type (semi-absolute MF7A,MF15A,MF20A,MF30A,MF50A,MF75A
specifications)
PXYX
Axis 1 Direction to move to the motor side
FXYX
Axis 1 Direction to move to the motor side
Axis 2 Direction to move to the motor side
FXYBX
Axis 1
XY-axis
Arm variations A1 , A2 Move to the non-motor side

XY-X

7
Arm variations A3 , A4 Move to the motor side

Axis 2

Arm variations A1 , A4 Move to the motor side

Arm variations A2 , A3 Move to the non-motor side

Controller system settings

ZRS
Axis 3 Shaft protrusion direction
ZR-axis
Counterclockwise direction when viewed
Axis 4
from the side opposite to the shaft
YP220BX
Axis 1 Shaft protrusion direction
Axis 3 Up direction
2-axis
YP320X
Axis X Shaft retraction direction
Axis Z Up direction
YP220BXR
Axis 1 Shaft protrusion direction
Axis 3 Up direction
Counterclockwise direction when viewed
Axis 4
YP-X 3-axis from the side opposite to the shaft
YP330X
Axis 1 Shaft retraction direction
Axis 2 Left side when viewed from the robot front
Axis 3 Up direction
YP340X
Axis 1 Shaft retraction direction
Axis 2 Left side when viewed from the robot front
4-axis
Axis 3 Up direction
Counterclockwise direction when viewed
Axis 4
from the side opposite to the shaft

* For details about arm variations, see "YAMAHA robot catalog".

7-38
 11111 I/O parameters
I/O parameters are edited.

■ ■ “PARAMETER>IO” screen

Valid keys and submenu descriptions on the “PARAMETER>IO” screen are shown below.

Valid keys Menu Function

/ Changes the selected parameter.

EDIT Edits the parameter.

JUMP Moves the cursor to the specified number.

The following shows how to set the parameter by using the DIO noise cancel count as an example.

1 Select "DIO Noise Cancel Num."

and press the F1 key (EDIT).
7
2 Enter the DIO noise cancel count. Step 2 Setting the DIO noise cancel count

Controller system settings

The settable value range will appear on the
screen.
Use 0 to 9 keys to enter a value, and then
press the Enter key.

3 Press the ESC key to exit the

"EDIT" screen.

■ ■ DO at emergency stop / EMGCDO

This parameter sets whether or not the DO/MO/LO/TO/SO port outputs are held when the emergency stop is input to the
controller.
When the parameter is initialized, "1: Hold" is set.

Setting Meaning

0: Reset Resets the DO/MO/LO/TO/SO port outputs when the emergency stop is input to the controller.

1: Hold Holds the DO/MO/LO/TO/SO port outputs when the emergency stop is input to the controller.

7-39
 ■ ■ DIO noise cancel count / DIOCAN
Short pulse shape external input signals (dedicated input signals and general-purpose input signals) are canceled.
Unintended input signals, such as noise are prevented.Signals with length that does not satisfy the conditions (specified
cycle x 0.25msec.) are determined to noise and they are canceled.

* For input signals, input signals with 6ms or longer on or off time.

■ ■ DO output at program reset / RESCDO

This parameter sets whether or not the DO/MO/LO/TO/SO port outputs are reset when all programs are reset or the HALT
ALL statement is executed. When the parameter is initialized, "0: Reset" is set.

Setting Meaning

The DO/MO/LO/TO/SO port outputs are reset when executing any of the following operations.
• All reset (RESETALL) is performed during automatic operation.
• Dedicated input signal DI15 or SI15 (program reset) is turned on during program stop. (For details, see "1.9
Dedicated input signal description" in chapter 4.)
0: Reset • Any of the following data is initialized by selecting [System] [Initialize].
ALL: All data
PGM: Program data
• Online command @RESET, @INIT PGM, @INIT ALL, @INIT MEM, or @SWI is executed.
• HALTALL is executed in the program.

1: Hold Even when any of the operations shown above is executed, the DO/MO/LO/TO/SO port outputs are not reset.

■ ■ DI17 mode / DI17MD

This parameter sets the operation of the dedicated input DI17/SI17.
When the parameter is initialized, "0: ABS" is set.

Setting Meaning

7
DI17/SI17 is made dedicated to the return-to-origin of the absolute type axis.
When the signal is input, the return-to-origin of the absolute type motor axis is performed according to the
0:ABS
return-to-origin order.
For the incremental specifications, the return-to-origin is performed by the DI14/SI14 input.
Determines the DI17/SI17 input to the return-to-origin of the absolute and incremental type axes.
When the signal is input, the return-to-origin of the absolute and incremental type axes is performed.
Controller system settings

1:ABS/ORG
When there is the absolute type axis, the return-to-origin of the absolute type axis is performed first. After
that, when there is the incremental type axis, the return-to-origin of the incremental type axis is performed.

7-40
11111 Option board related parameters
Option related parameters are edited.

n NOTE
• For details about the serial I/O unit, such as CC-Link, EtherNet/IP, YC-Link, and iVY system, see the manual for
relevant unit.
• For YC-Link, there are no parameter settings.

■ ■ "PARAMETER>EDIT" screen

Valid keys and submenu descriptions on the “PARAMETER>EDIT” screen for the option board related parameters are
shown below.

Valid keys Menu Function

EDIT
Changes the selected parameter.

Edits the parameter.

7
JUMP Moves the cursor to the specified number.

Controller system settings

■ ■ Option board enable / OPTENBL
This parameter sets the option DIO (PNP specifications and NPN specifications) enabled or disabled.
When the parameter is initialized, "1: Enable" is set.

Setting Meaning

0 Disables the option DIO.

1 Enables the option DIO.

■ ■ CC-Link station number / CCLADD

This parameter sets the CC-Link station number.
When the parameter is initialized, "1" is set.

7-41
 ■ ■ CC-Link baud rate / CCLCOM
This parameter sets the CC-Link baud rate station.
When the parameter is initialized, "0: 156kbps" is set.

Setting Meaning

0 156kbps

1 625kbps

2 2.5Mbps

3 5Mbps

4 10Mbps

■ ■ CC-Link version / CCLVER

This parameter sets the CC-Link version.
When the parameter is initialized, "0: Ver.1.100" is set.

Setting Meaning

0 Ver.1.10

1 Ver.2.00

■ ■ DeviceNet station number / DEVADD

This parameter sets the DeviceNet station number.
When the parameter is initialized, "0" is set.

7
■ ■ DeviceNet baud rate / DEVCOM
This parameter sets the CC-Link baud rate.
When the parameter is initialized, "0: 125kbps" is set.

Setting Meaning
Controller system settings

0 125kbps

1 250kbps

2 500kbps

3 Auto

■ ■ DeviceNet I/O size / DEVTYP

This parameter selects the number of channels shared by the DeviceNet applicable unit from "Normal" or "Compact".
When "Normal" is selected, each of the input and output shares 24CH.
When "Compact" is selected, each of the input and output shares 2CH.
When the parameter is initialized, "0: Normal" is set.

Setting Meaning

0 Normal

1 Compact

7-42
■ ■ EtherNet/IP IP address / EIPADD
This parameter sets the IP address.
When the parameter is initialized, "0.0.0.0" is set.

■ ■ EtherNet/IP subnet mask / EIPSUB

This parameter sets the subnet mask.
When the parameter is initialized, "0.0.0.0" is set.

■ ■ EtherNet/IP default gateway / EIPDEF

This parameter sets the gateway.
When the parameter is initialized, "0.0.0.0" is set.

■ ■ EtherNet/IP DHCP setting / EIPDHCP

This parameter sets the DHCP function enabled or disabled.
Set this parameter enabled when assigning the IP address, etc. from the host unit.
When the parameter is initialized, "0: Disable" is set.

Setting Meaning

0 Disable

1 Enabled

* After the parameter setting has been changed, the power need to be turned on again.
* When the DHCP function is enabled, the IP address, subnet mask, and gateway set values become "0.0.0.0".

Controller system settings

7-43
Chapter 8 Periodic inspecition

1. Before carrying out work 8-1

2. Periodic inspections 8-1

2.1 Daily inspections 8-1
2.2 Three-monthly inspections 8-2

3. Replacing the fan filter 8-3

4. Replacing the absolute battery 8-3

5. Replacing the memory battery 8-4

6. Maintenance parts 8-5

111 Before carr ying out work

8
In order to operate the robot system safely and more efficiently, carry out the periodic inspection and
maintenance. This section describes how to carry out periodic inspections on the controller. Before carrying
out the inspection, carefully read and follow the instructions in this chapter and in Chapter 1 "Using the
robot safely".

Periodic inspecition
222 Periodic inspections
2222 Daily inspections
The following inspections must be performed on a daily basis before and after robot operation.

111 Inspections carried out with the power turned off

w WARNING
• Turn off the primary power source or the power on the controller inside the control panel.
• Display an "IN USE" sign to warn other users not to turn on the controller power.

Inspect the below items.

Inspection item Inspection details

Verify that the terminal is not loose.

Ground terminal
Tighten where necessary.
Check that the power connector is not loose.
Power connector
Tighten and connect securely where necessary.
Check that the power cable is securely connected to the power connector.
Power cable
Connect securely where necessary.
Check that the robot cable is securely connected to the controller.
Robot cable
Connect securely where necessary.

Other cables Check for damage to cables, excessive bending and loose connectors.

222 Inspections carried out with the power turned on

w WARNING
• Check that no one is inside the safety enclosure before turning the controller power on.
• Display an "IN USE" sign to warn other users not to use the controller, programming box or
control panel.
• Carry out inspections from outside the safety enclosure.

Inspect the below items from outside the safety enclosure.

Inspection area Inspection details

Check if it is in the correct position.

Safety enclosure
Is an emergency stop executed when the door is opened?

Emergency stop device Check if an emergency stop is executed when the device is operated.

Mode switching device Check if the mode switches correctly when the device is operated.

Robot motion Check for unusual motion, vibrations or sounds.

8-1
 2222 Three-monthly inspections
The following inspections must be performed every three months.

8 w WARNING
• Turn off the primary power source or the power on the controller inside the control panel.
• Display an "IN USE" sign to warn other users not to turn on the controller power.
Periodic inspecition

Inspect the below items.

Inspection item Inspection details

Power connector Check that the power connector is not loose.

Power cable Check that the power cable is securely connected to the power connector.

Robot cable Check that the robot cable is securely connected to the controller.

Other cables Check for damage to cables, excessive bending and loose connectors.

Check the fan filter for dirt and damage.

Fan filter For details concerning how to inspect the fan filter, see the next section
"3. Replacing the fan filter".

8-2
 333 Replacing the fan filter

8
Check the fan filter on the back of the controller for dirt and damage.

w WARNING
Turn off the primary power source or the power on the controller inside the control panel.

1 Remove the filter cover.

Periodic inspecition
Step 1 Removing the filter cover
The filter cover is fixed to the controller
with nails in four places.
Insert fingers into the 2 gaps located in the
upper corners of the filter and pull towards
you.
Pulling the upper part
2 Check the fan filter for dirt and toward you
damage.
Replace the filter if it is dirty or is
damaged.

3 Attach the filter cover.

After attaching the filter cover, check that
the all four of the fixing nails are fastened
securely.

c CAUTION
Do not loosen the screws that secure the fan cover. Otherwise, malfunction may occur.

444 Replacing the absolute batter y

The absolute battery is a consumable part. If a trouble occurs in the backup data retention, this is
determined as expiration of the battery service life, and replace the absolute battery.
The reference for battery replacement may vary depending on the operating conditions. However, this
reference is that the total power off time after the battery has been connected to the controller reaches
about 8,000 hours (about one year).

Battery specifications 3.6V 2750mAh

Battery part number KAS-M53G0-11

n NOTE
For details about how to replace the absolute battery, see "7. Connecting the absolute battery" in Chapter 3.

8-3
 555 Replacing the memor y batter y

8
The memory battery is a consumable part. If a trouble occurs in the backup data retention, this is determined
as expiration of the battery service life, and replace the memory battery.
The reference for battery replacement may vary depending on the operating conditions. However, this
reference is that the total power off time reaches about 4 years.
Periodic inspecition

c CAUTION
• If the memory battery is removed, the data files (program, point, point comment, parameter, shift, hand, and
pallet, etc.) saved inside the controller will be lost. Therefore, be sure to perform the replacement work after the
data has been saved into an external storage device.
• After the battery replacement work has been completed, load the data that has been saved into the external
storage device into the controller.
• As the memory battery replacement work is performed, the robot is put in the return-to-origin incomplete status.
Be sure to perform the return-to-origin after the battery replacement work has been completed.

■ ■ Replacing the memor y batter y

1 Loosen the knob on the bottom. Step 1

2 Remove the bottom cover, to which

the memory battery is secured.

3 Disconnect the memory battery

connector from the controller main
body.

4 Remove the memory battery from Step 4

the bottom cover and replace it
with a new one.

5 Install the new battery in the

reverse order of removal.
4

8-4
666 Maintenance par ts
■ ■ Consumable parts

Part name Part No. Remarks

8
Absolute battery KCA-M53G0-01 3.6V 2750mAh

Periodic inspecition
Fan filter KCX-M427G-00 5 / bag

Memory battery KAS-M53G0-01 3.0V 850mAh

■ ■ Replacing the memor y batter y

The memory battery is a consumable part. If a trouble occurs in the backup data retention, this is determined as
expiration of the battery service life, and replace the memory battery.
The reference for replacement may vary depending on the operating conditions. However, this reference is that the total
power off time reaches about 4 years.

8-5
Chapter 9 Specifications

1. Controller 9-1
1.1 Basic specifications 9-1
1.2 Basic functions 9-3
1.3 External view 9-4

2. Programming box 9-5

2.1 Basic specifications 9-5
2.2 External view 9-5
111 Controller
1111 Basic specifications
Single-axis robot FLIP-X, Linear single-axis robot PHASER, Cartesian robot XY-X, SCARA
Applicable robots
robot YK-XG & YK-X (except YK120X and YK150X), Pick & Place robot YP-X
Basic specifications

9
Connected motor capacity 1600W or less (in total for 4 axes)

Power capacity 2500VA

Dimensions W355 × H195 × D130 (main unit)

Weight 6.2kg (main unit)

Specifications
Power supply voltage Single phase 200 to 230V AC ±10%, 50/60Hz

4 axes maximum (simultaneous control: 6 axes)

Number of controllable axes
Up to 16 axes (4 robots) can be expanded through the controller link.

Drive method AC full digital servo

Position detection method Resolver, Magnetic linear scale

Control method PTP motion (Point to Point), ARCH motion, linear interpolation, circular interpolation
Axis control

Coordinate systems Joint coordinates, Cartesian coordinates

Position display units Pulses, millimeters (1/1000 increments), degrees (1/1000 increments)

Speed setting 1-100%, 1% increments (setting possible with the commands execution)

Automatic acceleration setting based on robot model and tip weight parameter
Setting with accel coefficient and decel. rate parameters (1% steps)
Acceleration/deceleration setting
*Can be changed by programming.
Zone control (Optimum acceleration setting matching SCARA robot arm position)

Program language YAMAHA BASIC II (conforming to JIS B8439 (SLIM language))

Multitask 16 tasks maximum

Sequence program 1 program

2.1MB (Total of program and point data) (Available size for program when the maximum of
Memory size
point is used: 300KB)
Programming

100 programs (maximum number of programs)

Program
9999 lines (maximum lines per program)

Point 30000 points (maximum number of points)

MDI (coordinate value input), direct teaching, teaching playback, offline teaching (data
Point teaching
input from external unit)
System backup
Lithium battery (service life about 4 years at 0 to 40°C)
(Internal memory backup)

Internal flash memory 512KB ("ALL" data only)

Emergency stop ready input, 2 systems

Input
AUTO mode input, 2 systems (valid only for the CE specifications)
SAFETY Emergency stop contact output, 2 systems
Output Enable contact output, 2 systems (valid only when using the PBX-E)
Motor power ready output, 2 systems
External I/O

Break output Transistor output (PNP open-collector)

Origin sensor input Connectable to 24V DC NC contact (normally closed) sensor

RS-232C : 1 channel (D-SUB 9-pin female connector)

Ethernet : 1CH (IEEE802.3u/IEEE802.3 compliance)
100Mbps/10Mbps（100BASE-TX/10BASE-T）
External communications
Applicable to Auto Negotiation
USB : 1CH (B type)
RS-422 : 1CH (dedicated to the pendant)

9-1
 Operating temperature 0 to 40°C

General specifications
Storage temperature -10 to 65°C

Operating humidity 35 to 85% RH (no condensation)

Noise immunity Conforms to IEC61000-4-4 Level 3

Protective structure IP20

Protection class I

9 Option slot

Standard
4 slots

Dedicated input 8 points, dedicated output 9 points

General-purpose input 16 points, general-purpose output 8 points
Parallel I/O specifications
(1 boards maximum, NPN/PNP specifications)
Options board

board
Expanded General-purpose input 24 points, general-purpose output 16 points
Specifications

specifications (4 boards maximum, NPN/PNP specifications)

CC-Link board
Options

4 stations occupied. Ver2.0

DeviceNet board Dedicated input 16 points, dedicated output 16 points
Compact and normal DeviceNet board General-purpose input 96 points, general-purpose output 96 points

EtherNet I/P board

Programming box PBX, PBX-E

Absolute battery 3.6V, 2750mAH/axis Backup retention time: about 1 year

PC software RCX-Studio

9-2
1111 Basic functions
Function Description

AUTO mode (Major functions: program creation, program execution, step execution, etc.)
Operation modes
MANUAL mode (Major functions: jog movement, point data teaching, parameter editing, etc.)
Array declaration commands (DIM statement)
Assignment commands (Numeric assignment statement, character string assignment statement, point
definition, etc.)

9
Movement commands (MOVE, DRIVE, PMOVE statements, etc.)
Commands 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.

Specifications
Arithmetic functions (SIN, COS, TAN functions, etc.)
Character string functions (STR$, LEFT$, MID$, RIGHT$ functions, etc.)
Functions
Point functions (WHERE, JTOXY, XYTOJ functions, etc.)
Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.) etc.
Simple variables (integer variables, real variables, character variables)
Array variables (integer variables, real variables, character variables)
Variables Point variables
Shift variables
Input/output variables etc.
Arithmetic operators (+, -, *, /, MOD)
Arithmetic operation Logic operators (AND, OR, XOR)
Relational operators (=, <, >, <>, <=, >=)
Monitor Input/output status monitor (200ms intervals)
Program operation commands (RUN, STOP, RESET, STEP, etc.)
Utility commands (COPY, ERA, INIT, etc.)
Online commands
Data handling commands (READ, WRITE, etc.)
Robot language commands (independent-executable commands)
Data files Program, point, parameter, shift, hand, all, error history etc.
Internal timer Timer count variable (TCOUNTER), 1ms interval
Program break points 32 points maximum

9-3
 1111 External view

■ ■ RCX340 external view

9
10.5 355 3-φ5.5
Specifications

OPTION 1 3

1 3
2 4
PWR

PB
195

225
213

COM
2 4

ROB I/O ROB I/O SAFETY

1-2 3-4
AC IN

L1

N1

(PE) M1 BAT1 M1 BAT2 M2 BAT3 M3 BAT4 M4

EN
USB

5.5
130 22.5 155 155

9-4
222 Programming box
2222 Basic specifications

■ ■ Programming box basic specifications

9
Item PBX PBX-E

Display screen Color LCD (320 × 240dot)

Emergency stop button Normally-closed contract (with lock function)

Enable switch Not provided 3-position type

Specifications
Manual lock selector switch 90°, 2-notch

Power +12V DC
Ambient temperature : 0 to 40°C,
Operating environment Storage temperature : -10 to 60°C
Humidity : 35 to 80% (no condensation)
Dimensions (mm) W141 × H245 × D45 (excluding projecting parts)

Cable length 5m (Standard), 12m（Option）

Weight 440g (excluding cable) 460g (excluding cable)

2222 External view

141

17 84 45
245
135

9-5
Troubleshooting

1. Alarm messages A-1

1.1 Controller related alarm messages A-1
1.1.1 Alarm group number list A-3
1.1.2 Alarm classification number list A-4
1.1.3 Warning number list A-4
[ 0] Operation messages A-4
[ 1] System events A-5
[ 2] Alarm related to the robot movement range A-7
[ 3] Alarm related to the program file operation A-10
[ 4] Alarm related to the data input A-12
[ 5] Operation alarm related to the syntax of the robot language (compile) A-13
[ 6] Alarm related to the robot language execution A-21
[ 9] Alarm related to the memory A-29
[10] Alarm related to the environment and general hardware A-32
[12] Alarm related to the option board A-36
[14] Alarm related to the communication A-42
[17] Alarm related to the motor control A-44
[21] Serious software alarm A-51
[22] Serious hardware alarm A-54
[28] Alarm related to the driver I/F A-56
[C] Warning A-57
1.2 Programming box related alarm messages A-58

2. Troubleshooting A-59
2.1 When trouble occurs A-59
2.2 Acquiring the alarm information A-60
2.2.1 Checking the alarm occurrence status A-60
2.2.2 Checking the alarm history A-60
2.3 Troubleshooting checkpoints A-61
2.3.1 Installation and power supply A-61
2.3.2 Robot operation A-62
2.3.3 I/O operation A-63
111 Alarm messages
1111 Controller related alarm messages
If an alarm occurs, relevant alarm message appears on the screen of the programming box. For details about
A
contents of each alarm message, see the list.
The alarm code consists of two elements, "group" and "classification". Each code is classified as follows.

Troubleshooting
XX . YYY

Classification number Classified by the axis operation or resetting procedure if an alarm occurs.
Group number Classified into groups [0] to [30] according to the alarm contents.

[Error message display format]

Group number
Alarm code
Classification number
Alarm message

12.600 : Emergency stop on

The group number and classification number of the alarm are
expressed in hexadecimal notation.

Meaning/Cause

Action

Shows the measures to reset or avoid the alarm.

Shows the alarm meaning and the cause of the alarm occurrence.

n NOTE
If the alarm cannot be solved even after taking the corrective action, contact your distributor.

* The alarm occurrence status and alarm history can be checked from the programming box.
Information on the alarm occurrence location (axis or option unit, etc.) may be added next to the alarm code.

■ ■ Checking the alarm occurrence status

Alarm code Occurrence location

A-1
 Alarm occurrence location list
Task
T*
*… Task number

A
SYS Startup, memory check, generation

ONL Online command

RMT Remote command

Troubleshooting

SEQ Sequence program

SIN Standard input

Controller
C*
*… Controller number
Option board
C*O*
*… Controller number, option slot number
Robot, axis
R*/R*A*
*… Robot number, axis number
Physical motor
M*/C*M*
*… Controller number, motor number

For example, when “17.403:M1” is displayed, this shows that the position reset position error occurs in motor 1.
In the same manner, when “14.400:T02” is displayed, this shows that the communication shutdown error
occurs in task 2.

A-2
111111 Alarm group number list
The alarm message is classified into groups [0] to [30] according to the alarm contents.
The contents of each group are shown below.

Group number

[0] Operation messages

Contents
A
[1] System events

Troubleshooting
[2] Alarm related to the robot movement range

[3] Alarm related to the program file operation

[4] Alarm related to the data input

[5] Operation alarm related to the syntax of the robot language (compile)

[6] Alarm related to the robot language execution

[7] (Not used.)

[8] (Not used.)

[9] Alarm related to the memory

[10] Alarm related to the environment and general hardware

[11] (Not used.)

[12] Alarm related to the option board

[13] (Not used.)

[14] Alarm related to the communication

[15] (Not used.)

[16] (Not used.)

[17] Alarm related to the motor control

[18] (Not used.)

[19] (Not used.)

[20] (Not used.)

[21] Serious software alarm

[22] Serious hardware alarm

[23] (Not used.)

[24] (Not used.)

[25] (Not used.)

[26] (Not used.)

[27] (Not used.)

[28] Alarm related to the driver I/F

[29] (Not used.)

[30] (Not used.)

A-3
 111111 Alarm classification number list
Axis operation LED
Error code Type Level History Reset method Example
in case of error display

A 0

1 to 199
Correct

Message
-

-
-

-
-

-
×

×
-

Operation restart
-

HALT, HOLD, break point

200 to 299 - - × CPU start

Individual
Troubleshooting

300 to 399 Operation - × Corresponding No point

operation stop
error operation restart
400 to 499 - Operation stop Stop
PIO24V off,
500 to 599 Level 3 Operation stop
External SIO link error
Save
error Emergency stop, main
600 to 699 Level 2 Servo brake
Display Reset command power off
700 to 799 Level 3 Operation stop Fan error

800 to 899 Internal Level 2 Servo brake Overload

error
Immediate Over-current, driver
900 to 999 Level 1 System restart
servo off communication failure

111111 Warning number list

Warning Axis operation LED
Type Level History Reset method Example
number in case of error display
General Warning Warning cause is
c1 to c99 - - - Overload warning
warning Status removed.

[ 0] Operation messages

0.0 : OK
Code : &H0000 &H0000

Meaning/Cause Correct status. No alarm occurs.

Action −−−

0.2 : Running
Code : &H0000 &H0002

Meaning/Cause Program or command is running.

Action −−−

0.5 : Busy
Code : &H0000 &H0005

Meaning/Cause Data is being saved.

Action −−−

0.7 : Turn on power again

Code : &H0000 &H0007
a. System generation was performed due to a robot change, etc.
b. Parameter was changed by data transfer.
Meaning/Cause
c. System generation data was destroyed.
d. Error occurred when servo was turned ON.

Action Turn the power off and then on again.

A-4
0.8 : Tr y again
Code : &H0000 &H0008

Meaning/Cause

Action
Operation failed.

Try again.
A

Troubleshooting
0.16 : Can’t edit while DIO DC24V on
Code : &H0000 &H0010
Setting to disable the DC24V monitor function of the DIO was attempted even when DC24V is
Meaning/Cause supplied to the DIO connector.
(The monitor function cannot be disabled when DC24V is supplied to DIO.)

Action To disable the monitor function, stop the DC24V supply, and then change the parameter.

0.19 : Can’t edit

Code : &H0000 &H0013

Meaning/Cause

Action

0.20 : Illegal command in this mode

Code : &H0000 &H0014

Meaning/Cause Cannot execute the specified online command in the current mode.

1. Stop the online command.

Action
2. Change the mode.

0.21 : No control authority

Code : &H0000 &H0015

Meaning/Cause Operation cannot be executed since there is no control authority.

Action Release the control authority with the programming box.

[ 1] System events

1.1 : Program terminated by "CUT"

Code : &H0001 &H0001

Meaning/Cause Program execution was terminated by the “CUT” command.

Action −−−

1.2 : Program terminated by “EXIT TASK”

Code : &H0001 &H0002

Meaning/Cause Program execution was terminated by the “EXIT TASK” command.

Action −−−

1.3 : Program terminated by ”HALTALL”

Code : &H0001 &0003

Meaning/Cause Program execution was terminated by the “HALTALL” command.

Action −−−

A-5
 1.4 : Program ended by ”HALTALL”
Code : &H0001 &H0004

A Meaning/Cause

Action
Program execution was terminated by the “HALTALL” command.

−−−
Troubleshooting

1.5 : Program ended by "HALT"

Code : &H0001 &H0005

Meaning/Cause Program execution was terminated by the “HALT” command.

Action −−−

1.6 : Program stopped by "HOLDALL"

Code : &H0001 &H0006

Meaning/Cause Program execution was stopped by the “HOLDALL” command.

Stop is canceled by pressing the RUN key to restart the program execution from the next
Action
command.

1.7 : Program stopped by "HOLD"

Code : &H0001 &H0007

Meaning/Cause Program execution was stopped by the “HOLD” command.

Stop is canceled by pressing the RUN key to restart the program execution from the next
Action
command.

1.8 : Stop executed

Code : &H0001 &H0008

Meaning/Cause External stop command is input during command execution to stop the operation.

Action −−−

1.9 : Arrived at breakpoint

Code : &H0001 &H0009

Meaning/Cause Break point was reached during program execution.

Action −−−

1.10 : Changed control authority

Code : &H0001 &H000A

Meaning/Cause Operation stopped since the control authority was lost.

Action Release the control authority with the programming box.

1.11 : Stop other task alarm

Code : &H0001 &H000B

Meaning/Cause Program execution was stopped since an alarm occurred in other task.

Action Reset the alarm to restart the program operation.

A-6
1.12 : Program stopped by key release
Code : &H0001 &H000C

Meaning/Cause

Action
Run key was released in the “Hold To Run” enable status.

To restart the operation, press the Run key continuously.

A

Troubleshooting
1.200 : CPU normal start
Code : &H0001 &H00C8

Meaning/Cause Start-up checks and initialization ended and controller operation started.

Action −−−

[ 2] Alarm related to the robot movement range

2.300 : Std. coord. doesn't exist

Code : &H0002 &H012C
a. Preset calculation for setting standard coordinates is not functioning.
Meaning/Cause
b. Operating position exceeded the operating area range.
1. Set the standard coordinates correctly.
Action
2. Change operating position to within operating area.

2.301 : Coordinate cal. failed

Code : &H0002 &H012D
a. Preset calculation for setting standard coordinates is not functioning.
Meaning/Cause
b. Operating position exceeded the operating area range.
1. Set the standard coordinates correctly.
Action
2. Change operating position to within operating area.

2.303 : Shift cal. failed

Code : &H0002 &H012F

Meaning/Cause Calculating for setting shift coordinates failed.

Action Set shift coordinates correctly.

2.304 : Hand cal. failed

Code : &H0002 &H0130
a. Design calculation could not be performed during hand definition setting.
Meaning/Cause
b. Multiple axes with the same coordinate attribute were operated when specifying the hand R.
1. Set the hand definitions correctly.
Action
2. Set the specified axis of the movement command correctly when specifying the hand R.

2.305 : Illegal Pallet parameter

Code : &H0002 &H0131

Meaning/Cause Calculation for setting pallet definition failed.

Action Set pallet definition correctly.

2.306 : Movable range cal. failed

Code : &H0002 &H0132
a. Calculation of movement path failed.
Meaning/Cause
b. Current position is not within movement range.
1. Change to a correct movement point.
Action
2. Change current position to within movement range.

A-7
 2.307 : Overlap soft limit
Code : &H0002 &H0133

A Meaning/Cause

Action
In the SCARA robot, the total of the absolute values of the axis 1 or axis 2 plus soft limit and
minus soft limit becomes the value to move the arm one or more rotation.
1. Set the soft limit values correctly.
2. Set the soft limit values so that the arm movement range becomes one rotation or less.
Troubleshooting

2.308 : X exceeded shift coord. range

Code : &H0002 &H0134

Meaning/Cause X-axis exceeded the shift coordinate range.

1. Change the operation position to the inside of the shift coordinate range.
Action
2. Change the shift coordinate range.

2.309 : Y exceeded shift coord. range

Code : &H0002 &H0135

Meaning/Cause Y-axis exceeded the shift coordinate range.

1. Change the operation position to the inside of the shift coordinate range.
Action
2. Change the shift coordinate range.

2.310 : Z exceeded shift coord. range

Code : &H0002 &H0136

Meaning/Cause Z-axis exceeded the shift coordinate range.

1. Change the operation position to the inside of the shift coordinate range.
Action
2. Change the shift coordinate range.

2.311 : R exceeded shift coord. range

Code : &H0002 &H0137

Meaning/Cause R-axis exceeded the shift coordinate range.

1. Change the operation position to the inside of the shift coordinate range.
Action
2. Change the shift coordinate range.

2.314 : Arch condition bad

Code : &H0002 &H013A
When the arch position and the arch distance of the arch option are set in "mm" units in the
Meaning/Cause
SCARA robot, the arch motion cannot be performed for the X/Y-axis.

Action Change to correct arch motion command.

2.318 : Arm length is 0

Code : &H0002 &H013E
When arm length setting is 0 on SCARA type robots, movement on Cartesian coordinates was
Meaning/Cause
attempted.
1. Set standard coordinates.
Action
2. Set the arm length parameter.

2.319 : Cannot move(RIGHTY to LEFTY)

Code : &H0002 &H013F
Interpolation movement shifting from the left-handed system to the right-handed system was
Meaning/Cause
executed with a SCARA robot.

Action Check the current hand system and point data hand system flag.

A-8
2.320 : Cannot move (LEFTY to RIGHTY)
Code : &H0002 &H0140

Meaning/Cause

Action
Interpolation movement shifting from the left-handed system to the right-handed system was
executed with a SCARA robot.

Check the current hand system and point data hand system flag.
A

Troubleshooting
2.321 : Cannot use TOOL coord.
Code : &H0002 &H0141

Meaning/Cause Failed to select tool coordinates could because no hand data has been entered.

Action Set the hand data.

c CAUTION
An R-axis unit must be installed to a SCARA or Cartesian robot. Set the hand data while a hand or gripper is
attached to the tip of the R-axis.

2.326 : Exeeded velocity

Code : &H0002 &H0146

Meaning/Cause Interpolation operation speed exceeded the specified level.

Action Change the specified speed.

2.327 : Circular arc cal. failed

Code : &H0002 &H0147

Meaning/Cause Circular interpolation operation could not be calculated.

1. Specify the circular arc plane option of the circular interpolation correctly.
Action
2. Set the specified axis of the circular interpolation operation correctly.

2.328 : Circular arc restart failed

Code : &H0002 &H0148

Meaning/Cause Stop position of the “MOVE C” command was different from the restart position.

Action Match the stop position to the restart position.

2.329 : Same point exists

Code : &H0002 &H0149
a. Same points exist for 1 of 3 points of an MOVE C command.
Meaning/Cause
b. Same points are consecutively on the path of PATH motion.
1. Change the MOVE C command to 3 different points.
Action
2. Make changes so that the same points are not consecutively on the path of PATH motion.

2.330 : 3 points on line

Code : &H0002 &H014A

Meaning/Cause 3 points of an MOVE C command were placed on a straight line.

Change the 3 different points of the MOVE C command so they are not on the same straight
Action
line.

A-9
 2.331 : Circular arc radius too small
Code : &H0002 &H014B

A Meaning/Cause

Action
MOVE C command radius is less than 0.1mm.

Change MOVE C command to 0.1mm or more for circular arc radius.

Troubleshooting

2.332 : Circular arc radius too large

Code : &H0002 &H014C

Meaning/Cause MOVE C command radius exceeded 5000mm (5 meters).

Action Change MOVE C command to within 5000mm (5 meters) for circular arc radius.

2.333 : Too low speed

Code : &H0002 &H014D
Specified speed was too low so movement time exceeded 60 minutes.
Meaning/Cause
Maximum movement time is 60 minutes.

Action Increase the specified speed.

2.334 : Over soft limit

Code : &H0002 &H014E

Meaning/Cause Soft limit value preset in the parameter for operation position was exceeded.

1. Change the operating position to within the soft limits.

Action
2. Change the soft limit value.

2.335 : Over movable rang

Code : &H0002 &H014F

Meaning/Cause Area is outside the movable range of movement path.

1. Set movement points correctly.

Action
2. Specify movement path to be within the movable range.

2.336 : ZR Torque origin failed

Code : &H0002 &H0150

Meaning/Cause Stroke end return-to-origin of the ZR-axis was failed.

Action Change the dog length of the R-axis.

2.337 : Illegal DRIVE XY axes

Code : &H0002 &H0151
X-axis or Y-axis point was not specified when using the XY designation option of the DRIVE
Meaning/Cause
command.
Specify the X-axis or Y-axis point when using the XY designation option of the DRIVE
Action
command.

[ 3] Alarm related to the program file operation

3.1 : Too many programs

Code : &H0003 &H0001

Meaning/Cause Making of a new program was attempted after number of programs exceeded 100.

Action Make a new program after deleting an unnecessary program. (Make a backup if necessary.)

A-10
3.2 : Program already exists
Code : &H0003 &H0002

Meaning/Cause

Action
It was attempted to newly create, copy, or send (register with the “SEND” command) the same
name as the registered program name.

Create, copy, or send (register with the “SEND” command) an unregistered program name.
A

Troubleshooting
3.3 : Program doesn't exist
Code : &H0003 &H0003

Meaning/Cause A registered program of the specified name does not exist.

Action Correctly enter a registered program name.

3.4 : Writing prohibited

Code : &H0003 &H0004

Meaning/Cause The specified program is write protected.

Action Use a program that is not write protected.

3.6 : Too many breakpoints

Code : &H0003 &H0006

Meaning/Cause Setting of break point exceeding 32 points was attempted.

After deleting unnecessary break points, set the new break point.
Action
(Up to 32 break points can be set in one program.)

3.7 : Breakpoint doesn't exist

Code : &H0003 &H0007

Meaning/Cause Break point was not found during search.

Action Set a break point if needed.

3.18 : Duplicated Breakpoint

Code : &H0003 &H0012

Meaning/Cause Setting of breakpoint was attempted on line already set with breakpoints.

Action To set the breakpoint, specify a line where breakpoints have not yet been set.

3.19 : Illegal program no

Code : &H0003 &H0013

Meaning/Cause Program number beyond program 1 to 100 was specified.

Action Specify a program number ranging from 1 to 100.

3.20 : Program step doesn't exist

Code : &H0003 &H0014
It was attempted to perform the operation by specifying the number of lines exceeding that registered
Meaning/Cause
in the program.

Action Operate the lines registered in the program.

A-11
 3.21 : Reading prohibited
Code : &H0003 &H0015

A Meaning/Cause

Action
It was attempted to browse the program with the hidden attribute.

Make the relevant program readable.

Troubleshooting

3.37 : Program already loaded

Code : &H0003 &H0025

Meaning/Cause It was attempted to load the program that is already in the executable status.

Action −−−

3.38 : Program is running

Code : &H0003 &H0026

Meaning/Cause It was attempted to start the program that is already running.

Action −−−

3.39 : Sequence program is running

Code : &H0003 &H0027

Meaning/Cause It was attempted to revise or delete the sequence program that is running.

Action Stop the sequence program.

3.40 : Can't found sequence object

Code : &H0003 &H0028

Meaning/Cause It was attempted to execute the sequence program that has not been compiled.

Action Compile the sequence program.

[ 4] Alarm related to the data input

4.1 : Point number error

Code : &H0004 &H0001

Meaning/Cause A point number was entered exceeding P29999.

Action Input a correct point number.

4.2 : Input format error

Code : &H0004 &H0002

Meaning/Cause Wrong format was used to enter the data.

Action Use the correct data format.

4.4 : Undefined robot number

Code : &H0004 &H0004

Meaning/Cause Specified robot number does not exist.

Action Enter a correct robot number.

A-12
4.5 : Undefined axis number
Code : &H0004 &H0005

Meaning/Cause

Action
Specified axis number does not exist.

Enter a correct axis number.

A

Troubleshooting
4.6 : Invalid input number
Code : &H0004 &H0006
Invalid data was entered.
Meaning/Cause
a. Invalid data was entered in the area check output port number.

Action 1. Enter a port number that can be used

4.8 : Parameter range error

Code : &H0004 &H0008

Meaning/Cause It was attempted to set a parameter exceeding the range that can be input.

Action Set the parameter within the range that can be input.

4.9 : Point name doesn't exist

Code : &H0004 &H0009

Meaning/Cause

Action

4.10 : Illegal point name

Code : &H0004 &H000A

Meaning/Cause

Action

4.11 : Illegal I/O port

Code : &H0004 &H000B

Meaning/Cause

Action

4.12 : Data not enough

Code : &H0004 &H000C

Meaning/Cause

Action

[ 5] Operation alarm related to the syntax of the robot language (compile)

5.1 : Syntax error

Code : &H0005 &H0001

Meaning/Cause Syntax error found in program.

Action Change to the correct syntax.

A-13
 5.2 : Data error
Code : &H0005 &H0002

A Meaning/Cause

Action
Data entered in wrong format.

Input the data in the correct format.

Troubleshooting

5.3 : Number error

Code : &H0005 &H0003
a. Mistake in the number entry.
Meaning/Cause
b. Expression value is wrong.
1. Change to the correct number.
Action
2. Change to the correct value.

5.4 : Bit number error

Code : &H0005 &H0004

Meaning/Cause Specified bit number is not within 0 to 7.

Action Change to the correct bit number.

5.6 : Digit number error

Code : &H0005 &H0006
a. Binary number has exceeded 8 digits (places).
b. Octal number has exceeded 6 digits (places).
Meaning/Cause c. Decimal number has exceeded the specified range.
d. Hexadecimal number has exceeded 8 digits (places).
e. Cartesian coordinate point data has more than 3 decimal places.
1. Change to the correct number of digits (places).
Action
2. Specify the Cartesian coordinate point data of up to 2 decimal places.

5.7 : Illegal axis name

Code : &H0005 &H0007

Meaning/Cause Robot axis name is wrong.

Action Change to the correct axis name.

5.8 : Illegal order

Code : &H0005 &H0008

Meaning/Cause Wrong bit specified for input/output port.

Action Change to ascending order starting from right.

5.9 : Too many parameters

Code : &H0005 &H0009

Meaning/Cause

Action

5.11 : Overflow
Code : &H0005 &H000B

Meaning/Cause

Action

A-14
5.12 : Stack overflow
Code : &H0005 &H000C

Meaning/Cause
a. Parenthesis was used 6 times or continuously in an expression.
b. Overflow in stack area for compiling/execution.
1. Reduce parentheses in the expression to 5 times or less.
A
2. Reduce program size.
Action
3. Reduce nesting of GOSUB statement, CALL statement and FOR to NEXT statement.
4. Reduce argument of CALL statement. (especially character variables)

Troubleshooting
5.13 : Illegal variable
Code : &H0005 &H000D

Meaning/Cause A variable other than a global variable was used in SEND/@READ/@WRITE commands.

Action Change to a global variable.

5.14 : Type mismatch

Code : &H0005 &H000E
a. Expression does not match on both sides.
Meaning/Cause
b. Prohibited type constant/variable/expression was used.
1. Change so that both sides of expression match.
Action
2. Use a correct type of constant/variable/expression.

5.15 : FOR variable error

Code : &H0005 &H000F

Meaning/Cause Variable names for NEXT statement and corresponding FOR statement do not match.

Action Change so that FOR statement variable names match with NEXT statement variable names.

5.16 : WEND without WHILE

Code : &H0005 &H0010

Meaning/Cause There is no WHILE statement corresponding to the WEND statement.

1. Delete the WEND statement.

Action
2. Add a WHILE statement corresponding to the WEND statement.

5.17 : WHILE without WEND

Code : &H0005 &H0011

Meaning/Cause There is no WEND statement corresponding to WHILE statement.

1. Delete the WHILE statement.

Action
2. Add a WEND statement corresponding to the WHILE statement.

5.18 : NEXT without FOR

Code : &H0005 &H0012
a. There is no FOR statement corresponding to NEXT statement.
Meaning/Cause
b. NEXT command was executed without executing FOR command.
1. Delete the NEXT statement.
Action 2. Add a FOR statement corresponding to the NEXT statement.
3. Confirm execution of FOR command.

A-15
 5.19 : FOR without NEXT
Code : &H0005 &H0013

A Meaning/Cause

Action
There is no NEXT statement corresponding to FOR statement.

1. Delete the FOR statement.

2. Add a NEXT statement corresponding to the FOR statement.
Troubleshooting

5.20 : ENDIF without IF

Code : &H0005 &H0014

Meaning/Cause There is no IF statement corresponding to ENDIF statement.

1. Delete the ENDIF statement.

Action
2. Add an IF statement corresponding to the ENDIF statement.

5.21 : ELSE without IF

Code : &H0005 &H0015

Meaning/Cause There is no IF statement corresponding to ELSE statement.

1. Delete the ELSE statement.

Action
2. Add an IF statement corresponding to the ELSE statement.

5.22 : IF without ENDIF

Code : &H0005 &H0016

Meaning/Cause There is no ENDIF statement corresponding to IF statement.

1. Delete the IF statement.

Action
2. Add an ENDIF statement corresponding to the IF statement.

5.23 : ELSE without ENDIF

Code : &H0005 &H0017

Meaning/Cause There is no ENDIF statement corresponding to ELSE statement.

1. Delete the ELSE statement.

Action
2. Add an ENDIF statement corresponding to the ELSE statement.

5.24 : END SUB without SUB

Code : &H0005 &H0018
a. There is no SUB statement corresponding to END SUB statement.
Meaning/Cause
b. END SUB command was executed without SUB command.
1. Delete the END SUB statement.
Action 2. Add a SUB statement corresponding to the END SUB statement.
3. Confirm execution of SUB command.

5.25 : SUB without END SUB

Code : &H0005 &H0019

Meaning/Cause There is no END SUB statement corresponding to SUB statement.

1. Delete the SUB statement.

Action
2. Add an END SUB statement corresponding to the SUB statement.

5.26 : Duplicated variable

Code : &H0005 &H001A

Meaning/Cause Two or more array variables were defined for the same name.

Action Delete a definition statement for the array variables with the same name.

A-16
5.27 : Duplicated identifier
Code : &H0005 &H001B

Meaning/Cause

Action
Two or more identifiers were defined for the same name.

Define another identifier.

A

Troubleshooting
5.28 : Duplicated label
Code : &H0005 &H001C

Meaning/Cause Two or more of the same labels were defined.

Action Define another label.

5.29 : Undefined array

Code : &H0005 &H001D

Meaning/Cause Assignment/reference was made for undefined array.

Action Define the undefined array.

5.30 : Undefined identifier

Code : &H0005 &H001E

Meaning/Cause An undefined identifier was used.

Action Define an identifier for undefined identifier.

5.31 : Undefined label

Code : &H0005 &H001F

Meaning/Cause Reference made to undefined label.

Action Set definition for undefined label.

5.32 : Undefined user function

Code : &H0005 &H0020

Meaning/Cause Undefined function was called.

Action Set definition for undefined function.

5.33 : Undefined HAND

Code : &H0005 &H0021

Meaning/Cause

Action

5.34 : Too many dimensions

Code : &H0005 &H0022

Meaning/Cause An array exceeding 3 dimensions was defined.

Action Change array to within 3 dimensions.

A-17
 5.35 : Dimension mismatch
Code : &H0005 &H0023

A Meaning/Cause

Action
The number of array dimensions does not match that defined by the DIM statement.

1. Make the number of array dimensions match that defined by the DIM statement.
2. Make the number of array dimensions match the DIM statement.
Troubleshooting

5.36 : Argument mismatch

Code : &H0005 &H0024

Meaning/Cause The number of SUB statement arguments does not correspond to the CALL statement.

Action Make the number of SUB statements correspond to the CALL statement.

5.38 : Illegal option

Code : &H0005 &H0026

Meaning/Cause Error is present in command option.

Action Define another identifier.

5.39 : Illegal identifier

Code : &H0005 &H0027

Meaning/Cause Reserved word was used as an identifier.

Action Change to an identifier not used as a reserved word. Refer to the programming manual.

5.40 : Illegal command in procedure

Code : &H0005 &H0028

Meaning/Cause Cannot execute command within procedure (from SUB to END SUB statements).

Action Delete command that cannot be executed within procedure.

5.41 : Illegal command outside procedure

Code : &H0005 &H0029

Meaning/Cause Command cannot be executed outside of procedure (between SUB to END SUB statements).

Action Delete command that cannot be executed outside of procedure.

5.42 : Illegal command inside IF

Code : &H0005 &H002A
Cannot execute command between IF to ENDIF statements. (Command can be executed for
Meaning/Cause
one IF statement line.)

Action Delete command that cannot be executed between IF to ENDIF statements.

5.43 : Illegal direct

Code : &H0005 &H002B

Meaning/Cause Independent execution of command is impossible.

1. Change execution according to program.

Action
2. Change it to a command that can be executed independently.

A-18
5.44 : Cannot use external label
Code : &H0005 &H002C

Meaning/Cause

Action
Command cannot use an external label.

1. Change to an internal label.

A
2. Change execution command.

Troubleshooting
5.45 : Illegal program name
Code : &H0005 &H002D
a. When transmitting a program file by SEND command, the NAME statement was not defined
on beginning line of the program data.
Meaning/Cause
b. Characters other than alphanumeric and underscore ( _ ) were used in the program name.
c. Program name has exceeded 32 characters.
1. Define NAME statement on beginning line of program data.
Action 2. Use only alphanumeric and underscore ( _ ) characters in the program name.
3. Use 32 characters or less in the program name.

5.46 : Too many identifiers

Code : &H0005 &H002E

Meaning/Cause Number of identifiers exceeded 500.

Action Ensure the number of identifiers is within 500 items.

5.47 : CASE without SELECT

Code : &H0005 &H002F

Meaning/Cause There is no SELECT statement corresponding to CASE statement.

1. Delete the CASE statement.

Action
2. Add a SELECT statement corresponding to the CASE statement.

5.48 : END SELECT without SELECT

Code : &H0005 &H0030

Meaning/Cause There is no SELECT statement corresponding to END SELECT statement.

1. Delete the END SELECT statement.

Action
2. Add a SELECT statement corresponding to the END SELECT statement.

5.49 : SELECT without END SELECT

Code : &H0005 &H0031

Meaning/Cause There is no END SELECT statement corresponding to SELECT statement.

1. Delete the SELECT statement.

Action
2. Add an END SELECT statement corresponding to the SELECT statement.

5.50 : CASE without END SELECT

Code : &H0005 &H0032

Meaning/Cause There is no END SELECT statement corresponding to CASE statement.

1. Delete the CASE statement.

Action
2. Add an END SELECT statement corresponding to the CASE statement.

5.51 : Illegal command line

Code : &H0005 &H0033

Meaning/Cause Cannot execute command statement between SELECT and CASE statements.

Action Delete the command statement between SELECT and CASE statements.

A-19
 5.52 : Command doesn't exist
Code : &H0005 &H0034

A Meaning/Cause

Action
Line does not have a command statement.

1. Add a command statement.

2. Delete the line that does not have a command statement.
Troubleshooting

5.53 : Compile failure

Code : &H0005 &H0035

Meaning/Cause Error occurred in software.

Action Contact your distributor with details of the problem.

5.54 : ELSEIF without IF

Code : &H0005 &H0036

Meaning/Cause There is no IF statement corresponding to ELSEIF statement.

1. Delete the ELSEIF statement.

Action
2. Add an IF statement corresponding to the ELSEIF statement.

5.55 : ELSEIF without ENDIF

Code : &H0005 &H0037

Meaning/Cause There is no ENDIF statement corresponding to ELSEIF statement.

1. Delete the ELSEIF statement.

Action
2. Add an ENDIF statement corresponding to the ELSEIF statement.

5.100 : Identifier already exists

Code : &H0005 &H0064

Meaning/Cause

Action

5.101 : EXIT FOR without FOR

Code : &H0005 &H0065

Meaning/Cause There is no FOR statement corresponding to EXIT FOR statement.

1. Delete the EXIT FOR statement.

Action
2. Add a FOR statement corresponding to the EXIT FOR statement

5.102 : EXIT SUB without SUB

Code : &H0005 &H0066

Meaning/Cause There is no SUB statement corresponding to the EXIT SUB statement.

1. Delete the EXIT SUB statement.

Action
2. Add a SUB statement corresponding to the EXIT SUB statement

5.103 : Can't open communicate file

Code : &H0005 &H0067

Meaning/Cause

Action

A-20
[ 6] Alarm related to the robot language execution

A
6.1 : Illegal command
Code : &H0006 &H0001

Meaning/Cause Execution of a non-supported or non-executable command was attempted.

Action Change to a command that can be executed.

Troubleshooting
6.2 : Illegal function call
Code : &H0006 &H0002
The expression "ON <expression> GOTO" or "ON <expression> GOSUB" command was a
Meaning/Cause
negative value.

Action Change <expression> to a positive value.

6.3 : Division by 0
Code : &H0006 &H0003

Meaning/Cause A command to divide by 0 (÷ 0) was attempted.

Action Change from the divide by 0 command.

6.4 : Point doesn't exist

Code : &H0006 &H0004

Meaning/Cause Assignment, movement or reference to an undefined point was attempted.

Action Define the point.

6.5 : Coordinate type error

Code : &H0006 &H0005
a. Arithmetic operations of joint coordinate point data and Cartesian coordinate point data were
attempted.
Meaning/Cause b. Joint coordinate system and Cartesian coordinate system were mixed together within the
MOVE C, command point data.
c. Point data in PMOVE command was not specified in Cartesian coordinates.
1. Change to same coordinate system.
Action
2. Change to Cartesian coordinate system.

6.6 : Subscript out of range

Code : &H0006 &H0006

Meaning/Cause A subscript of an array variable has exceeded the range defined in DIM statement.

Action Change the subscript of array variable to within the defined range.

6.7 : RETURN without GOSUB

Code : &H0006 &H0007

Meaning/Cause RETURN command was executed without executing the GOSUB command.

Action Confirm execution of GOSUB command.

6.8 : END SUB without CALL

Code : &H0006 &H0008

Meaning/Cause END SUB command was executed without executing CALL command.

Action Confirm execution of SUB command.

A-21
 6.9 : EXIT SUB without CALL
Code : &H0006 &H0009

A Meaning/Cause

Action
EXIT SUB command was executed without executing CALL command.

Confirm execution of SUB command.

Troubleshooting

6.10 : SUSPEND without START

Code : &H0006 &H000A

Meaning/Cause SUSPEND command was executed for a task not executed by START command.

Action Confirm execution of START command.

6.11 : CUT without START

Code : &H0006 &H000B

Meaning/Cause CUT command was executed for a task not executed by START command.

Action Confirm execution of START command.

6.12 : RESTART without START

Code : &H0006 &H000C

Meaning/Cause RESTART command was executed for a task not executed by START command.

Action Confirm execution of START command.

6.13 : RESTART without SUSPEND

Code : &H0006 &H000D

Meaning/Cause RESTART command was executed for a task not executed by SUSPEND command.

Action Confirm execution of SUSPEND command.

6.14 : Task number error

Code : &H0006 &H000E
a. Task number is outside the range 1 to 16.
Meaning/Cause b. START, CUT, SUSPEND or RESTART command was executed for task 1 (main task).
c. START, CUT, SUSPEND or RESTART command was executed for its own task.
1. Change to a correct task number.
Action 2. Delete task command for task 1.
3. Delete command for its own task.

6.15 : Task running

Code : &H0006 &H000F

Meaning/Cause START command was executed for a task currently in operation.

Action Delete START command.

6.16 : Task suspending

Code : &H0006 &H0010

Meaning/Cause START or SUSPEND command was executed for a task in pause (suspend) condition.

Action Delete START or SUSPEND command.

A-22
6.17 : Illegal command in error routine
Code : &H0006 &H0011

Meaning/Cause

Action
Command which could not be executed was attempted within an error processing routine.

Delete the command which could not be executed.

A

Troubleshooting
6.18 : EXIT FOR without FOR
Code : &H0006 &H00012

Meaning/Cause EXIT FOR command was executed without executing FOR command.

Action Confirm execution of FOR command.

6.19 : SUB without CALL

Code : &H0006 &H0013

Meaning/Cause SUB command was executed without executing CALL command.

Action Confirm execution of CALL command.

6.20 : Not execute CALL

Code : &H0006 &H0014

Meaning/Cause CALL command was not executed.

Action Confirm execution of CALL command.

6.25 : No sufficient memor y for OUT

Code : &H0006 &H0019
Failed to run an OUT command due to insufficient memory caused by multiple OUT commands
Meaning/Cause
that were run in succession.
Check the number of OUT commands. The maximum number of OUT commands that can be
Action
run in parallel is 16.

6.26 : PATH without SET

Code : &H0006 &H001A

Meaning/Cause Any of PATH L, PATH C and PATH END was executed without executing PATH SET.

Action First execute PATH SET when setting a path.

6.27 : PATH without END

Code : &H0006 &H001B

Meaning/Cause PATH START was executed without executing PATH END.

Action Execute PATH END to end the path setting and then execute PATH START.

6.28 : No PATH data

Code : &H0006 &H001C

Meaning/Cause No path is set for PATH motion.

Set a path with PATH L and PATH C. The previously set path will be lost in the following cases:
• When PATH SET is executed.
Action • When program is changed.
• When program is reset.
• When controller power is turned off.

A-23
 6.29 : Too many PATH data
Code : &H0006 &H001D

A Meaning/Cause

Action
The number of PATH motion paths has exceeded 300.

Reduce the number of PATH motion paths to 300 or less in total of straight lines and circular
arcs.
Troubleshooting

6.30 : Not PATH start position

Code : &H0006 &H001E

Meaning/Cause Robot's current position is not the start position of PATH motion.

Action Move the robot to the start position specified with PATH SET and then execute PATH START.

6.31 : PATH execute error

Code : &H0006 &H001F
Cannot execute PATH motion.
Meaning/Cause a. Acceleration zone distance is too short.
b. Speed is too high in the position where the direction changes.
1. Reduce the speed setting.
2. Lengthen the straight line or circular arc distance containing acceleration/deceleration.
Action
3. Make setting so that the direction at the connection point of straight lines does not change
greatly.

6.32 : ABS of MARK incomplete

Code : &H0006 &H0020
Absolute reset was attempted with an ORIGIN statement or dedicated input while absolute
Meaning/Cause
reset on an axis whose return-to-origin method is set to "Mark" is incomplete.

Action Perform the absolute reset of the axis with the "mark" method first.

6.33 : MARK method is not allowed

Code : &H0006 &H0021
Return-to-origin was attempted with an ORIGIN statement or dedicated input while the
Meaning/Cause
return-to-origin method for an incremental type axis or semi-absolute type axis is set to "Mark".
Return-to-origin on the incremental type axis or semi-absolute type axis cannot be performed
Action
by the mark method. Change the return-to-origin method.

6.34 : Port number error

Code : &H0006 &H0022
a. Port numbers specified for the DO, DI, MO, SI, and SO ports were not 0 to 7, 10 to 17, and
20 to 27.
Meaning/Cause
b. Port numbers specified for the LO and TO ports were not 0.
c. Output to port 0 or port 1 was specified for the DO, MO, and SO ports.
1. Change to the correct port numbers.
Action 2. Make the change so that the output to a port other than port 0 and port 1 is specified for the
DO, MO, and SO ports.

6.35 : Password mismatch

Code : &H0006 &H0023

Meaning/Cause Password was not correct.

Action Enter a correct password.

A-24
6.36 : Undefined pallet
Code : &H0006 &H0024

Meaning/Cause

Action
Specified pallet definitions were not found.

1. Change the specified pallet.

A
2. Define the pallet.

Troubleshooting
6.37 : Specification mismatch
Code : &H0006 &H0025

Meaning/Cause Command is non-executable in the current robot specifications.

Action Change the execution command.

6.101 : Stack underflow

Code : &H0006 &H0065

Meaning/Cause

Action

6.102 : Data out of range

Code : &H0006 &H0066

Meaning/Cause

Action

6.103 : Illegal point no

Code : &H0006 &H0067

Meaning/Cause

Action

6.104 : Illegal shift no

Code : &H0006 &H0068

Meaning/Cause

Action

6.105 : Illegal hand no

Code : &H0006 &H0069

Meaning/Cause

Action

6.106 : Illegal pallet no

Code : &H0006 &H006A

Meaning/Cause

Action

A-25
 6.107 : Illegal axis no
Code : &H0006 &H006B

A Meaning/Cause

Action
Troubleshooting

6.108 : Illegal robot no

Code : &H0006 &H006C

Meaning/Cause

Action

6.109 : Illegal task no

Code : &H0006 &H006D

Meaning/Cause

Action

6.110 : Too many characters

Code : &H0006 &H006E
a. Character string constant exceeding 75 characters was defined.
Meaning/Cause
b. Character string exceeding 75 characters was added.
1. Change to a character string constant with 75 characters or less.
Action
2. Change to a character string addition with 75 characters or less.

6.111 : Task stopped

Code : &H0006 &H006F

Meaning/Cause

Action

6.112 : Task doesn't exist

Code : &H0006 &H0070

Meaning/Cause

Action

6.113 : Too many Tasks

Code : &H0006 &H0071

Meaning/Cause

Action

6.114 : Type mismatch

Code : &H0006 &H0072

Meaning/Cause

Action

A-26
6.115 : Timeout
Code : &H0006 &H0073

Meaning/Cause

Action
A

Troubleshooting
6.116 : All axes complated
Code : &H0006 &H0074

Meaning/Cause

Action

6.117 : Access level error

Code : &H0006 &H0075

Meaning/Cause

Action

6.300 : Motor power off

Code : &H0006 &H012C

Meaning/Cause

Action

6.301 : Ser vo off

Code : &H0006 &H012D

Meaning/Cause Movement command was executed in the servo off status.

Action Put the robot in the servo on status.

6.302 : Origin incomplete

Code : &H0006 &H012E
a. Operations shown below were performed in the origin incomplete status.
• Program or command execution
• Point teaching
• Cartesian coordinate movement
Return-to-origin operation was not performed.
b. Absolute battery was removed from the controller. Or, retained position became unstable by
Meaning/Cause
absolute battery voltage drop.
c. ROB I/O cable was disconnected.
d. Return-to-origin operation was stopped halfway.
e. System generation was changed or parameters were initialized. Or, parameters to determine
the origin return direction, axis polarity, or origin position were changed.
(Writing ALL and PRM files into the controller is also included.)
Perform the absolute reset or return-to-origin operation to put the robot in the return-to-origin
Action
complete status.

6.309 : INC.motor disconnected

Code : &H0006 &H0135
Return-to-origin command of the incremental type axis was executed in the system setting
Meaning/Cause
without incremental type axis.

Action Check the system generation data.

A-27
 6.310 : ABS.motor disconnected
Code : &H0006 &H0136

A Meaning/Cause

Action
Return-to-origin command of the absolute type axis was executed in the system setting without
absolute type axis.

Check the system generation data.

Troubleshooting

6.312 : ABS.reset position incomplete

Code : &H0006 &H0138

Meaning/Cause

Action

6.313 : MRK.motor disconnected

Code : &H0006 &H0139

Meaning/Cause

Action

6.314 : Can't execute while ser vo on

Code : &H0006 &H013A
It was attempted to write the ALL and PRM files in the servo on status.
Meaning/Cause
ALL and PRM files could not be written in the servo on status.

Action Write the file in the servo off status.

6.315 : ZR torque origin incorrect setting

Code : &H0006 &H013B
a. Return-to-origin was executed at the same time when setting the ZR stroke end method.
b. R-axis stack was not set for the Z-axis.
Meaning/Cause
c. Z-axis or R-axis return-to-origin method was not set to the ZR stroke end method.
d. Multiple Z-axis (or R-axis) return-to-origin methods were set to the ZR stroke end method.
1. Set the return-to-origin order correctly. (Simultaneous return-to-origin is impossible.)
2. Set the R-axis stack correctly.
Action
3. Set the Z-axis and R-axis return-to-origin methods to the ZR stroke end method.
4. Set one Z-axis or R-axis for the ZR stroke end method.

6.316 : Can't execute while ser vo on

Code : &H0006 &H013C

Meaning/Cause

Action

6.317 : Illegal origin method

Code : &H0006 &H013D

Meaning/Cause

Action

6.319 : Can't change hand data

Code : &H0006 &H013F

Meaning/Cause

Action

A-28
6.399 : Can't execute while alarm
Code : &H0006 &H018F

Meaning/Cause

Action
A

Troubleshooting
6.999 : Interpreter runtime system error
Code : &H0006 &H03E7

Meaning/Cause

Action

[ 9] Alarm related to the memor y

9.300 : Memor y full

Code : &H0009 &H012C

Meaning/Cause No available space in the program or point data area.

Action Delete unnecessary programs or points.

9.301 : Program too big

Code : &H0009 &H012D

Meaning/Cause Source program size exceeded the permissible size.

Action Compress the source program size.

9.701 : Program destroyed

Code : &H0009 &H02BD
a. Part or all of the program data has been destroyed.
Meaning/Cause b. This error message is sometimes issued due to a major error or the power being turned off
during rewrite of program data.
1. Delete that program during selection.
Action
2. Initialize the program data.

9.702 : Point data destroyed

Code : &H0009 &H02BE
a. Part or all of the point data has been destroyed.
Meaning/Cause b. This error message is sometimes issued due to a major error or the power being turned off
during rewrite of point data.

Action Initialize the point data.

9.704 : Parameter destroyed

Code : &H0009 &H02C0

Meaning/Cause Part or all of the parameter data has been destroyed.

Action Initialize the parameter data.

A-29
 9.706 : Shift data destroyed
Code : &H0009 &H02C2

A Meaning/Cause

Action
Part or all of the shift data has been destroyed.

Initialize the shift data.

Troubleshooting

9.707 : Hand data destroyed

Code : &H0009 &H02C3

Meaning/Cause Part or all of the hand data has been destroyed.

Action Initialize the hand data.

9.709 : Pallet data destroyed

Code : &H0009 &H02C5

Meaning/Cause Part or all of the pallet definition data was destroyed.

Action Initialize the pallet definition data.

9.710 : Break point data destroyed

Code : &H0009 &H02C6

Meaning/Cause

Action

9.711 : IO name data destroyed

Code : &H0009 &H02C7

Meaning/Cause

Action

9.712 : Area checkout data destroyed

Code : &H0009 &H02C8

Meaning/Cause

Action

9.713 : Calibration data destroyed

Code : &H0009 &H02C9

Meaning/Cause

Action

9.714 : Convair data destroyed

Code : &H0009 &H02CA

Meaning/Cause

Action

A-30
9.715 : Alarm log destroyed
Code : &H0009 &H02CB

Meaning/Cause

Action
A

Troubleshooting
9.716 : Variable data destroyed
Code : &H0009 &H02CC

Meaning/Cause

Action

9.717 : Program register data destroyed

Code : &H0009 &H02CD

Meaning/Cause

Action

9.718 : Communicate setting destroyed

Code : &H0009 &H02CE

Meaning/Cause

Action

9.722 : GEP parameter destroyed

Code : &H0009 &H02D2

Meaning/Cause

Action

9.723 : Controller status data destroyed

Code : &H0009 &H02D3

Meaning/Cause

Action

9.724 : Robot status data destroyed

Code : &H0009 &H02D4

Meaning/Cause

Action

9.725 : Axis status data destroyed

Code : &H0009 &H02D5

Meaning/Cause

Action

A-31
 9.726 : Motor status data destroyed
Code : &H0009 &H02D6

A Meaning/Cause

Action
Troubleshooting

9.727 : Out status data destroyed

Code : &H0009 &H02D7

Meaning/Cause

Action

9.729 : Sequence object destroyed

Code : &H0009 &H02D9

Meaning/Cause Part or all of the sequence object program has been destroyed.

Action Make the sequence object program again.

9.900 : Sys.generation destroyed

Code : &H0009 &H0384

Meaning/Cause A part or all of the system generation data has been destroyed.

Action Re-perform the system generation data.

9.901 : Sys.generation mismatch

Code : &H0009 &H0385

Meaning/Cause Robot type or axis number designation in the system generation data was incorrect.

Action Re-perform the system generation data.

[10] Alarm related to the environment and general hardware

10.1 : Robot disconnected

Code : &H000A &H0001

Meaning/Cause Axis control was attempted with "no axis" specified for all axes of system generation.

Action Re-perform the system generation.

10.4 : D.unit disconnected

Code : &H000A &H0004

Meaning/Cause Manual movement was attempted on the axis that is not specified.

Action Do not perform any axis-related operation.

10.5 : Illegal robot type

Code : &H000A &H0005

Meaning/Cause

Action

A-32
10.6 : DRIVER.unit version mismatch
Code : &H000A &H0006

Meaning/Cause

Action
Driver unit version does not match the CPU unit.

Make sure the CPU unit and driver unit versions match each other.
A

Troubleshooting
10.7 : CPU.unit version mismatch
Code : &H000A &H0007

Meaning/Cause CPU unit version does not match the CPU.

Action Make sure the CPU unit and driver unit versions match each other.

10.8 : Cannot set auxiliar y axis

Code : &H000A &H0008
Setting of axis that cannot be set as an auxiliary axis was attempted.
The following axes cannot be set as an auxiliary axis.
Meaning/Cause
• SCARA type robot axes
• X and Y axes except on MULTI type robots
1. Do not set an auxiliary axis.
Action
2. Change the axis setting.

10.9 : Cannot set no axis

Code : &H000A &H0009
A no-axis setting was attempted on an axis which cannot accept it.
Meaning/Cause The following axes cannot be set to no-axis.
• X and Y axes except on MULTI type robots
1. Do not make a no-axis setting.
Action
2. Change the axis setting.

10.10 : Cannot change axis

Code : &H000A &H000A
Changing of an axis whose setting cannot be changed was attempted.
Meaning/Cause The following axes cannot be changed.
• X and Y axes on SCARA type robots
1. Do not change that axis.
Action
2. Change a different axis.

10.11 : FDD isn't installed

Code : &H000A &H000B

Meaning/Cause

Action

10.12 : EEPROM isn't installed

Code : &H000A &H000C

Meaning/Cause

Action

A-33
 10.13 : Cannot set Dualdrive
Code : &H000A &H000D

A Meaning/Cause

Action
A dual drive setting was attempted on an axis that cannot be set to dual drive.

1. Do not set to dual drive.

2. Change the axis setting.
Troubleshooting

10.14 : Undefined parameter found

Code : &H000A &H000E
a. Undefined, wrong parameter data was written because controller data from different
Meaning/Cause controller version was used
b. Parameter name is wrong.
1. Write the correct parameter data.
Action 2. Enter the parameter name correctly.
3. Set the "Skip undefined parameters" parameter to "VALID".

10.15 : D.unit type mismatch

Code : &H000A &H000F

Meaning/Cause

Action

10.16 : Cannot set YC-Link

Code : &H000A &H0010

Meaning/Cause An attempt was made to set a YC-Link for an axis that is set to dual drive.

1. Do not set the YC-Link.

Action
2. Change the axis setting.

10.17 : Cannot set Gripper

Code : &H000A &H0011
a. It was attempted to set the gripper for the YC-Link set axis.
b. It was attempted to set the gripper for the dual drive set axis.
Meaning/Cause
c. It was attempted to set the gripper for an axis number exceeding the number of boards
installed.
1. Do not set the gripper for such axis.
Action
2. Change the setting axis.

10.18 : Cannot change auxiliar y axis

Code : &H000A &H0012

Meaning/Cause It was attempted to reset the auxiliary axis setting of the gripper set axis.

Action Do not reset the auxiliary axis setting.

10.19 : Illegal axis type

Code : &H000A &H0013

Meaning/Cause

Action

10.21 : Sys. backup batter y low voltage

Code : &H000A &H0015
a. System backup battery voltage is low.
Meaning/Cause
b. System backup battery is disconnected from CPU board.
1. Replace system backup battery.
Action
2. Connect system backup battery securely to CPU board.

A-34
10.23 : Axis disconnected
Code : &H000A &H0017

Meaning/Cause

Action
A

Troubleshooting
10.25 : Controller disconnected
Code : &H000A &H0019

Meaning/Cause

Action

10.26 : Motor disconnected

Code : &H000A &H001A

Meaning/Cause

Action

10.100: Real time clock data faild

Code : &H000A &H0064

Meaning/Cause

Action

10.101: Driver overlap assign

Code : &H000A &H0065

Meaning/Cause

Action

10.700: Illegal safe mode

Code : &H000A &H02BC

Meaning/Cause

Action

10.900: Turn on power again

Code : &H000A &H0384
a. System generation was performed since the robot, etc. was changed.
b. Parameters were changed through the communication.
Meaning/Cause
c. System generation data was destroyed.
d. Error occurred when attempting to turn on the servo.

Action Turn the power off and then on again.

A-35
 [12] Alarm related to the option board

A
12.21 : PROFIBUS link error
Code : &H000C &H0015
a. Error in cable for PROFIBUS system.
b. The PROFIBUS system's station address setting is incorrect.
Meaning/Cause c. The master unit power is turned off, or the PLC has stopped operating or is not operating
Troubleshooting

correctly, or is broken.
d. Breakdown in PROFIBUS compatible unit.
1. Check for a break, misconnection or wiring error in PROFIBUS cable, and check the
specifications (cable length, etc.).
2. Check the station address settings.
Action
3. Check whether the master unit is operating correctly.
4. Check the hardware configuration settings.
5. Replace the PROFIBUS compatible unit.

12.22 : PROFIBUS hardware error

Code : &H000C &H0016

Meaning/Cause Breakdown in PROFIBUS compatible unit.

Action Replace the PROFIBUS compatible unit.

12.31 : DI DC24V disconnected

Code : &H000C &H001F

a. 24V DC not being supplied to DI section of OPT.DIO unit.

Meaning/Cause b. Drop in 24V DC supply voltage to DI section of OPT.DIO unit.
c. OPT.DIO connector is not connected.
1. Supply 24V DC to DI section of OPT.DIO.
Action 2. Check for short, breakage or wiring error in OPT.DIO connector.
3. Check if a sufficient 24V DC is supplied to DI section of OPT.DIO unit.

12.32 : DO1 DC24V disconnected

Code : &H000C &H0020
a. 24V DC not being supplied to DO1 section of OPT.DIO unit.
Meaning/Cause b. Drop in 24V DC supply voltage to DO1 section of OPT.DIO unit.
c. OPT.DIO connector is not connected.
1. Supply 24V DC to DO1section of OPT.DIO unit.
2. Check for short, breakage or wiring error in OPT.DIO connector.
Action
3. Check if load connected to DO1 section of OPT.DIO unit is too large for the 24V DC supply
to handle.

12.33 : DO2 DC24V disconnected

Code : &H000C &H0021
a. 24V DC not being supplied to DO2 section of OPT.DIO unit.
Meaning/Cause b. Drop in 24V DC supply voltage to DO2 section of OPT.DIO unit.
c. OPT.DIO connector is not connected.
1. Supply 24V DC to DO2 section of OPT.DIO unit.
2. Check for short, breakage or wiring error in OPT.DIO connector.
Action
3. Check if load connected to DO2 section of OPT.DIO unit is too large for the 24V DC supply
to handle.

12.34 : POS.OUT Point not exist

Code : &H000C &H0022

Meaning/Cause Comparison point data does not exist.

Action Set comparison point data correctly.

A-36
12.35 : POS.OUT Point unit error
Code : &H000C &H0023

Meaning/Cause

Action
Comparison points 1 and 2 do not use the same unit system.

Change them to the same unit system.

A
12.36 : PIO DC24V option setting error

Troubleshooting
Code : &H000C &H0024

Meaning/Cause

Action

12.41 : EtherNet link error

Code : &H000C &H0029
TELNET is disconnected.
a. The cable is broken or disconnected.
b. Communicating with a client was off for more than the time specified by the "timeout [min]"
Meaning/Cause
parameter for EtherNet.
c. Logout was attempted while the "logout" parameter for EtherNet is set to "STOP".
d. No response for a keep-alive packet from the client.
1. Connect the cable or connector securely.
2. Communicate with a client at least once within the time specified by the "timeout [min]"
parameter, or set the parameter to "0" to disable the timeout function.
Action
3. Set the "logout" parameter to "CONT." to avoid errors during logout.
4. Check whether the client is responding to the keep-alive packet, or set the "keep-alive
[sec]" parameter to "0" to stop the keep-alive packet from being sent out.

12.42 : EtherNet hardware error

Code : &H000C &H002A

Meaning/Cause Breakdown in EtherNet compatible unit.

Action Replace the EtherNet compatible unit.

12.75 : Illegal remote command

Code : &H000C &H004B

Meaning/Cause The remote command or command data is incorrect.

Action Check the remote command or command data.

12.80 : Incorrect Indiv. Origin setting

Code : &H000C &H0050
a. 2 or more axes were specified for the "Axes selection port (DI & SI)" parameter.
Meaning/Cause b. No axis was specified for the "Axes selection port (DI & SI)" parameter.
c. Axis which is not present was specified for the "Axes selection port (DI & SI)" parameter.
1. Specify only 1 axis.
Action 2. Specify an appropriate axis.
3. Specify an axis which is present.

12.85 : Bad Gripper status setting

Code : &H000C &H0055
The same port number was set for the other parameters "G1 status output (DO & SO)" and "G2
Meaning/Cause
status output (DO & SO)".
Set different port numbers for the other parameters "G1 status output (DO & SO)" and "G2
Action
status output (DO & SO)".

A-37
 12.200: EtherNet/IP DHCP enabled
Code : &H000C &H00C8

A Meaning/Cause

Action
Troubleshooting

12.400: Standard in stop on

Code : &H000C &H0190
a. Program execution or axis movement was attempted in the stop status.
b. Robot was put in the stop status during program execution or axis movement.
Meaning/Cause
c. 24V-power for I/O was not supplied to the DIO connector.
d. DIO connector was not connected.
1. Cancel the stop, and then execute the program or move the axis.
2. Supply the 24V-power for I/O.
Action
3. Connect the DIO connector.
4. Make the board status invalid when DIO is not used.

12.401: Arm locked

Code : &H000C &H0191

Meaning/Cause Movement of an arm was attempted while the arm lock variable LO was ON.

Action Clear the arm lock variable LO.

12.500: Changed operation mode input

Code : &H000C &H01F4

Meaning/Cause Changed operation mode

Action

12.520: PIO STD DC24V low voltage

Code : &H000C &H0208

Meaning/Cause

Action

12.521: PIO DC24V over voltage

Code : &H000C &H0209

Meaning/Cause

Action

12.522: PIO STD DC24V low voltage

Code : &H000C &H020A

Meaning/Cause

Action

A-38
12.531: CC-Link communication error
Code : &H000C &H0213

Meaning/Cause
a.
b.
c.
Error in cable for CC-Link system.
Communication setting of the CC-Link system is incorrect.
Master station PLC power is turned off, has stopped operating or is damaged.
A
d. Breakdown in CC-Link compatible unit.
1. Check for a break, misconnection or wiring error in CC-Link cable, and check the
specifications (cable length, etc.).

Troubleshooting
Action 2. Check the station No. and communication baud rate settings.
3. Check that the master station PLC operates correctly.
4. Replace the CC-Link compatible unit.

12.532: CC-Link overtime error

Code : &H000C &H0214
a. Communication error occurred by noise, etc. in the CC-Link system.
Meaning/Cause
b. Master station PLC power is turned off or has stopped operating.
1. Take the noise preventive actions for the cable and controller of the CC-Link system.
Action 2. Check that the master station PLC operates correctly.
3. Check the CC-Link cable connection.

12.533: CC-Link initialize error

Code : &H000C &H0215

Meaning/Cause It was failed to initialize the CC-Link option board.

Action Contact your distributor with details on this problem.

12.541: DeviceNet link error

Code : &H000C &H021D
a. Error in cable for DeviceNet system.
b. The DeviceNet system's MacID or communication speed setting is incorrect.
c. No power supplied for communication.
Meaning/Cause
d. The master unit power is turned off, has stopped operating, is not operating correctly or is
damaged.
e. Breakdown in DeviceNet compatible unit.
1. Check for a break, misconnection or wiring error in DeviceNet cable, and check the
specifications (cable length, etc.).
2. Check the MacID and communication speed settings.
Action
3. Check that the communication power is supplied.
4. Check that the master unit operates correctly.
5. Replace the DeviceNet compatible unit.

12.542: DeviceNet overtime error

Code : &H000C &H021E
a. Communication error occurred by noise, etc. in the DeviceNet system.
Meaning/Cause
b. Master unit power is turned off or has stopped operating.
1. Take the noise preventive actions for the cable and controller of the DeviceNet system.
Action 2. Check that the master unit operates correctly.
3. Check the DeviceNet cable connection.

12.543: DeviceNet initialize error

Code : &H000C &H021F

Meaning/Cause It was failed to initialize the DeviceNet option board.

Action Contact your distributor with details on this problem.

A-39
 12.551: EtherNet/IP link error
Code : &H000C &H0227

A Meaning/Cause
a. Error in cable for EtherNet/IP system.
b. Communication setting of the EtherNet/IP system is incorrect.
c. Master unit power is turned off, has stopped operating or is damaged.
d. Breakdown in EtherNet/IP compatible unit.
1. Check for a break, misconnection or wiring error in EtherNet/IP cable, and check the
specifications (cable length, etc.).
Troubleshooting

Action 2. Check the communication setting.

3. Check that the master unit operates correctly.
4. Replace the EtherNet/IP compatible unit.

12.552: EtherNet/IP overtime error

Code : &H000C &H0228
a. Communication error occurred by noise, etc. in the EtherNet/IP system.
Meaning/Cause
b. Master unit power is turned off or has stopped operating.
1. Take the noise preventive actions for the cable and controller of the EtherNet/IP system.
Action 2. Check that the master unit operates correctly.
3. Check the EtherNet/IP cable connection.

12.553: EtherNet/IP initialize error

Code : &H000C &H0229

Meaning/Cause It was failed to initialize the EtherNet/IP option board.

Action Contact your distributor with details on this problem.

12.554: EtherNet/IP parameter mismatch

Code : &H000C &H022A

Meaning/Cause Parameters set inside the controller did not match to those set in the option board.

Action Initialize the EtherNet/IP option parameters.

12.561: Profibus link error

Code : &H000C &H0231
a. Error in cable for Profibus system.
b. Communication setting of the Profibus system was incorrect.
Meaning/Cause
c. Master unit power is turned off, has stopped operating or is damaged.
d. Breakdown in Profibus compatible unit.
1. Check for a break, misconnection or wiring error in Profibus cable, and check the
specifications (cable length, etc.).
Action 2. Check the communication setting.
3. Check that the master unit operates correctly.
4. Replace the Profibus compatible unit.

12.562: Profibus overtime error

Code : &H000C &H0232
a. Communication error occurred by noise, etc. in the Profibus system.
Meaning/Cause
b. Master unit power is turned off or has stopped operating.
1. Take the noise preventive actions for the cable and controller of the Profibus system.
Action 2. Check that the master unit operates correctly.
3. Check the Profibus cable connection.

A-40
12.563: Profibus initialize error
Code : &H000C &H0233

Meaning/Cause

Action
It was failed to initialize the Profibus option board.

Contact your distributor with details on this problem.

A

Troubleshooting
12.600: Emergency stop on
Code : &H000C &H0258
a. Programming box emergency stop button was pressed.
b. Emergency stop terminals on SAFETY connector are open (emergency stop status).
Meaning/Cause
c. Programming box or terminator are not connected to PB connector.
d. SAFETY connector is not connected.
1. Release the emergency stop button on the programming box.
2. Close the emergency stop terminals on SAFETY connector.
Action
3. Connect programming box or terminator to PB connector.
4. Attach the SAFETY connector.

12.601: Illegal operation mode input

Code : &H000C &H0259

Meaning/Cause

Action

12.700: Option board changed

Code : &H000C &H02BC

Meaning/Cause Option board configuration was changed.

Action Initialize the option board setting.

12.705: Parallel I/O board assign changed

Code : &H000C &H02C1

Meaning/Cause

Action

12.706: PIO DC24V I/O stop

Code : &H000C &H02C2

Meaning/Cause

Action

12.709: SIO option board initialize error

Code : &H000C &H02C5

Meaning/Cause It was failed to initialize the SIO option board.

Action Contact your distributor with details on this problem.

A-41
 12.900: Incorrect option setting
Code : &H000C &H0384

A Meaning/Cause
a. Error in ID setting on option unit.
b. Option units that cannot be mixed were installed.
c. Cannot identify the installed option unit.
1. Check the ID setting of the option unit.
2. Install the correct option unit.
Action
3. Replace the option unit.
Troubleshooting

4. Replace the controller.

12.901: PIO DC24V internal error

Code : &H000C &H0385

Meaning/Cause

Action

12.902: PIO DC24V CPU error

Code : &H000C &H0386

Meaning/Cause

Action

[14] Alarm related to the communication

14.1 : Communication error

Code : &H000E &H0001
a. Error occurred in the external communication.
b. Overrun error or framing error occurred.
Meaning/Cause
c. External device was turned on or off with the communication cable connected to the external
device.
1. Do not put noise generation source close to the robot so as to improve the communication
environment.
Action
2. Replace the communication cable.
3. Check the communication parameter setting.

14.2 : Parity error

Code : &H000E &H0002

Meaning/Cause During external communication via the RS-232C, an error occurred.

Action Check the communication parameter settings.

14.11 : Receive buffer overflow

Code : &H000E &H000B

Meaning/Cause Communication receive buffer exceeded permissible capacity.

1. Delay the communication parameter speed (baud rate).

Action
2. Change communication parameter so that flow control is enabled.

14.12 : CMU is not ready

Code : &H000E &H000C
Could not sent data from controller because receive prohibit status of other party continued for
Meaning/Cause
more than 10 seconds.
1. Replace the communications cable.
Action
2. Check that flow control is normal in software processing for other party.

A-42
14.20 : Too many Command characters
Code : &H000E &H0014

Meaning/Cause

Action
a. Online command character string in 1 line exceeded 80 letters.
b. Command statement created with a remote command exceeded 80 letters.
1. Limit number of characters in 1 line for an online command to 80 letters or less.
A
2. Check the command data of the remote command.

Troubleshooting
14.21 : No return code(C/R)
Code : &H000E &H0015
a. Character string in 1 line exceeded 75 letters.
Meaning/Cause
b. C/R code (0Dh) was not added at end of line.
1. Limit number of characters in 1 line to 75 letters.
Action
2. Add a C/R code at the end of a single line.

14.22 : No start code(@)

Code : &H000E &H0016

Meaning/Cause Starting code "@" was not added at beginning of single line in an online command.

Action Add starting code "@" at the beginning of online command.

14.23 : Illegal command Operating

Code : &H000E &H0017

Meaning/Cause During data editing, an online command was executed.

Action After completing data edit, execute an online command.

14.24 : Illegal command Running

Code : &H000E &H0018

Meaning/Cause During program run, a non-executable online command was attempted.

After stopping the program, execute the online system command which could not previously be
Action
executed.

14.27 : Illegal command in this mode

Code : &H000E &H001B

Meaning/Cause

Action

14.28 : Illegal port type

Code : &H000E &H001C

Meaning/Cause Communication port not specified.

Action Contact your distributor with details on this problem.

A-43
 14.29 : Command stop timeout
Code : &H000E &H001D

A Meaning/Cause

Action
Troubleshooting

14.30 : Port is already open

Code : &H000E &H001E

Meaning/Cause

Action

14.31 : Port open failed

Code : &H000E &H001F

Meaning/Cause

Action

14.32 : Data receive error

Code : &H000E &H0020

Meaning/Cause

Action

14.33 : Parameter error

Code : &H000E &H0021

Meaning/Cause

Action

14.400: Communicate disconnected

Code : &H000E &H0190

Meaning/Cause

Action

14.700: can not be initialized

Code : &H000E &H02BC

Meaning/Cause

Action

[17] Alarm related to the motor control

17.400: PZ failure
Code : &H0011 &H0190
a. Motor is defective.
Meaning/Cause
b. Resolver signal wire is broken.
1. Replace the motor.
Action
2. Replace the ROB I/O cable.

A-44
17.401: Pole search error
Code : &H0011 &H0191

Meaning/Cause
Failed to detect the motor magnetic pole when the servo was turned on.
a. Servo wire is broken or misconnected.
b. Position sensor cable is miswired.
A
c. Axis parameter setting related to motor control is wrong.
1. Correct the motor wiring.
Action 2. Check the position sensor cable wiring.

Troubleshooting
3. Correct the parameter setting.

17.402: ABS. data error

Code : &H0011 &H0192
a. Linear scale length setting was incorrect.
Meaning/Cause
b. Z-phase was detected incorrectly.
1. Set the correct value for the linear scale length.
Action 2. Replace the ROB/IO cable.
3. Replace the robot.

17.403: Position reset malposition

Code : &H0011 &H0193
a. ABSINIT statement was executed at a position where the current position cannot be reset.
Meaning/Cause
b. Absolute reset was executed at a position where the absolute reset cannot be executed.
1. Move to a position where the current position can be reset, and then execute the ABSINIT
statement.
Action
2. Move the axis to a position (machine reference is 44 to 56%) where the absolute reset can
be executed.

17.404: Moving distance error

Code : &H0011 &H0194

Meaning/Cause Movement distance exceeded the specified value during return-to-origin.

Action Re-perform the system generation.

17.410: ABS. batter y error

Code : &H0011 &H019A
a. Absolute battery cable is broken.
Meaning/Cause b. Absolute battery cable is not connected.
c. Drop in absolute battery voltage.
1. Replace the absolute battery.
Action 2. Connect the absolute battery.
3. Enable the "Incremental mode control" parameter for use in incremental mode.

17.411: ABS. encoder error

Code : &H0011 &H019B
a. Resolver signal line was disconnected or broken while power to the controller was cut off.
(Same as when ROB I/O connector is removed.)
b. The controller was restarted, after resolver signal line was disconnected while the power
Meaning/Cause
was on. (Same as when ROB I/O connector is removed.) (Even after turning off the power,
the controller still knows that resolver signal line was disconnected while the power was on.
This is displayed as an error when the controller is restarted.)

Action Perform absolute reset.

17.412: ABS. count error

Code : &H0011 &H019C

Meaning/Cause Movement speed is too high during power-off of the controller.

Action Perform absolute reset.

A-45
 17.413: ABS. overflow error
Code : &H0011 &H019D

A Meaning/Cause

Action
Position information lost when motor speed (rotation) exceeded 4096 when controller power
was cut off.
1. Do not rotate motor more than necessary when the controller power is being cut off.
2. Perform absolute reset.
Troubleshooting

17.414: ABS. mixing error 1

Code : &H0011 &H019E

Meaning/Cause Mismatch occurred in the position data count while the controller power is off.

Action Execute the absolute reset operation.

17.500: Bad origin sensor

Code : &H0011 &H01F4
a. Origin sensor is defective.
Meaning/Cause
b. Origin sensor wiring is broken.
1. Replace the origin sensor.
Action
2. Replace the ROB I/O cable.

17.800: Motor overload

Code : &H0011 &H0320
a. Robot drive section mechanically locked.
b. Motor current exceeded its rated value due to a motor overload.
c. Motor acceleration is excessive.
d. System generation setting is wrong.
Meaning/Cause
e. Motor cable wiring is broken or wiring is incorrect.
f. Electromagnetic brake for holding vertical axis is defective.
g. Wiring is incorrect or disconnected on electromagnetic brake for holding the vertical axis.
h. SAFETY connector is not used correctly.
1. Perform robot service and maintenance.
2. Decrease load on motor.
3. Lower the motor acceleration.
4. Redo the system generation.
Action 5. Wire the motor cable correctly.
6. Replace the motor cable.
7. Replace the magnetic brake for holding the vertical axis.
8. Replace the ROB I/O cable.
9. Do not use 24V DC from SAFETY connector as power source for external loads.

17.801: Driver overload

Code : &H0011 &H0321
a. Robot drive section mechanically locked.
b. Motor current exceeded its rated value due to a motor overload.
c. Motor acceleration is excessive.
d. System generation setting is wrong.
Meaning/Cause
e. Motor cable wiring is broken or wiring is incorrect.
f. Electromagnetic brake for holding vertical axis is defective.
g. Wiring is incorrect or disconnected on electromagnetic brake for holding the vertical axis.
h. SAFETY connector is not used correctly.
1. Perform robot service and maintenance.
2. Decrease load on motor.
3. Lower the motor acceleration.
4. Redo the system generation.
Action 5. Wire the motor cable correctly.
6. Replace the motor cable.
7. Replace the magnetic brake for holding the vertical axis.
8. Replace the ROB I/O cable.
9. Do not use 24V DC from SAFETY connector as power source for external loads.

A-46
17.802: Current limit error
Code : &H0011 &H0322

Meaning/Cause
a. Robot drive section mechanically locked.
b. System generation setting is wrong.
c. Motor cable wiring is broken or wiring is incorrect.
A
d. Electromagnetic brake for holding vertical axis is defective.
e. Wiring is incorrect or disconnected on electromagnetic brake for holding the vertical axis.
f. SAFETY connector is not used correctly.

Troubleshooting
1. Perform robot service and maintenance.
2. Redo the system generation.
3. Wire the motor cable correctly.
Action 4. Replace the motor cable.
5. Replace the magnetic brake for holding the vertical axis.
6. Replace the ROB I/O cable.
7. Do not use 24V DC from SAFETY connector as power source for external loads.

17.900: AC power down

Code : &H0011 &H0384
a. AC supply voltage of control power supply dropped below 85% of rated voltage.
Meaning/Cause
b. Power source has insufficient capacity.
1. Check the AC supply voltage.
Action 2. Check if supply voltage drops during robot operation.
3. Lower the robot duty cycle.

17.901: Over voltage

Code : &H0011 &H0385
a. Output voltage for motor power supply exceeded 420 volts.
b. Regenerative unit safety device triggered due to temperature rise (120°C or more) in
Meaning/Cause regeneration damping resistor.
c. Regenerative unit is defective.
d. Safety connector is used incorrectly.
1. Check the power supply voltage.
Action 2. Lower the robot operating duty.
3. Do not supply 24V DC to SAFETY connector from external source.

17.902: IPM error

Code : &H0011 &H0386
a. Power module overheated.
Meaning/Cause
b. Power module or motor drew excessive current.

Action Lighten the load on the robot.

17.905: Resolver wire breakage

Code : &H0011 &H0389
a. Resolver signal wire is broken.
Meaning/Cause b. Motor malfunction occurred.
c. Controller malfunction occurred.
1. Replace the ROB I/O cable.
Action 2. Replace the motor.
3. Replace the controller.

17.906: ABS. mixing error 2

Code : &H0011 &H038A

Meaning/Cause Mismatch occurred in the position data count while the controller power is on.

1. Replace the ROB/IO cable.

Action
2. Replace the controller.

A-47
 17.910: Position deviation error
Code : &H0011 &H038E

A a.
b.
c.
Robot drive section mechanically locked.
Motor acceleration is excessive.
System generation setting is wrong.
Meaning/Cause d. Motor cable wiring is broken or wiring is incorrect.
e. Electromagnetic brake for holding vertical axis is defective.
f. Wiring is incorrect or disconnected on electromagnetic brake for holding the vertical axis.
Troubleshooting

g. SAFETY connector is not used correctly.

1. Perform robot service and maintenance.
2. Lower the motor acceleration.
3. Redo the system generation.
4. Wire the motor cable correctly.
Action
5. Replace the motor cable.
6. Replace the magnetic brake for holding the vertical axis.
7. Replace the ROB I/O cable.
8. Do not use 24V DC from SAFETY connector as power source for external loads.

17.911: Velocity deviation error

Code : &H0011 &H038F
a. Robot drive section mechanically locked.
b. Motor acceleration is excessive.
c. System generation setting is wrong.
Meaning/Cause
d. Motor cable wiring is broken or wiring is incorrect.
e. Electromagnetic brake for holding vertical axis is defective.
f. Wiring is incorrect or disconnected on electromagnetic brake for holding the vertical axis.
1. Perform robot service and maintenance.
2. Lower the motor acceleration.
3. Redo the system generation.
Action 4. Wire the motor cable correctly.
5. Replace the motor cable.
6. Replace the magnetic brake for holding the vertical axis.
7. Replace the ROB I/O cable.

17.912: Current deviation error

Code : &H0011 &H0390
a. Motor cable wiring was broken.
Meaning/Cause
b. Controller was faulty.
1. Replace the motor cable.
Action
2. Replace the controller.

17.913: Dual position deviation error

Code : &H0011 &H0391
On a dual-axis drive, the position differential between the main axis and sub axis is too large.
Meaning/Cause a. Friction in the robot drive section is too large.
b. Motor brake wiring is broken.
1. Check the drive sections for assembled condition and lubrication to ensure smooth
Action movement.
2. Check that the motor brake works properly.

17.914: Overspeed
Code : &H0011 &H0392
a. Robot drive unit was pushed by external force and its speed exceeded the specified speed.
Meaning/Cause
b. System generation setting was incorrect.
1. Remove the external force.
Action
2. Re-perform the system generation.

A-48
17.915: Motor over current
Code : &H0011 &H0393
a.
b.
c.
Robot drive section mechanically locked.
Motor current exceeded its rated value due to a motor overload.
Motor acceleration is excessive.
A
d. System generation setting is wrong.
Meaning/Cause
e. Motor cable wiring is broken or wiring is incorrect.
f. Electromagnetic brake for holding vertical axis is defective.

Troubleshooting
g. Wiring is incorrect or disconnected on electromagnetic brake for holding the vertical axis.
h. SAFETY connector is not used correctly.
1. Perform robot service and maintenance.
2. Decrease load on motor.
3. Lower the motor acceleration.
4. Redo the system generation.
Action 5. Wire the motor cable correctly.
6. Replace the motor cable.
7. Replace the magnetic brake for holding the vertical axis.
8. Replace the ROB I/O cable.
9. Do not use 24V DC from SAFETY connector as power source for external loads.

17.916: Feedback error1

Code : &H0011 &H0394

Meaning/Cause Wiring of motor cable or ROB I/O cable is incorrect.

1. Rewire the motor cable or ROB I/O cable correctly.

Action
2. Replace the motor cable or ROB I/O cable.

17.920: EMG. stop Input error

Code : &H0011 &H0398
a. Driver unit malfunctioned by external noise.
Meaning/Cause
b. Controller was defective.
1. Turn the power off and then on again.
Action
2. Contact your distributor with details on this problem.

17.921: Reference velocity error

Code : &H0011 &H0399
a. Driver unit malfunctioned by external noise.
Meaning/Cause
b. Controller was defective.
1. Turn the power off and then on again.
Action
2. Contact your distributor with details on this problem.

17.922: Command error

Code : &H0011 &H039A
a. Driver unit malfunctioned by external noise.
Meaning/Cause
b. Controller was defective.
1. Turn the power off and then on again.
Action
2. Contact your distributor with details on this problem.

17.923: Parameter data error

Code : &H0011 &H039B
a. Driver unit malfunctioned by external noise.
Meaning/Cause
b. Controller was defective.
1. Turn the power off and then on again.
Action
2. Contact your distributor with details on this problem.

A-49
 17.990: Watchdog error 1
Code : &H0011 &H03DE

A Meaning/Cause

Action
a. Driver unit malfunctioned by external noise.
b. Controller is defective.
1. Turn the power off and then on again.
2. Replace the controller.
Troubleshooting

17.991: Watchdog error 2

Code : &H0011 &H03DF
a. Driver unit malfunctioned by external noise.
Meaning/Cause
b. Controller is defective.
1. Turn the power off and then on again.
Action
2. Replace the controller.

17.992: System error 1

Code : &H0011 &H03E0

Meaning/Cause Error occurred in software for driver unit.

Action Contact your distributor with details of the problem.

17.993: System error 2

Code : &H0011 &H03E1

Meaning/Cause Error occurred in software for driver unit.

Action Contact your distributor with details of the problem.

17.994: System error 3

Code : &H0011 &H03E2

Meaning/Cause Error occurred in software for driver unit.

Action Contact your distributor with details of the problem.

17.995: System error 4

Code : &H0011 &H03E3

Meaning/Cause Error occurred in software for driver unit.

Action Contact your distributor with details of the problem.

17.996: Mode error 1

Code : &H0011 &H03E4

Meaning/Cause Error occurred in software for driver unit.

Action Contact your distributor with details of the problem.

17.997: Mode error 2

Code : &H0011 &H03E5

Meaning/Cause Error occurred in software for driver unit.

Action Contact your distributor with details of the problem.

A-50
17.999: Undefine
Code : &H0011 &H03E7

Meaning/Cause

Action
Undefined system error.

Contact your distributor with details of the problem.

A

Troubleshooting
[21] Serious software alarm

21.700: System error (EXCEPTION)

Code : &H0015 &H02BC

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.701: System error (Motion Robot Type)

Code : &H0015 &H02BD

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.702: System error (Motion Robot)

Code : &H0015 &H02BE

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.703: System error (Motion Axis)

Code : &H0015 &H02BF

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.704: System error (Motion Arm Type)

Code : &H0015 &H02C0

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.705: System error (Motion Option)

Code : &H0015 &H02C1

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.901: System error (JOG)

Code : &H0015 &H0385

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

A-51
 21.902: System error (sr vmod)
Code : &H0015 &H0386

A Meaning/Cause

Action
Software error occurred.

Contact your distributor with details of this problem.

Troubleshooting

21.903: System error (TaskID)

Code : &H0015 &H0387

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.904: System error (drcom)

Code : &H0015 &H0388

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.905: System error (drmod))

Code : &H0015 &H0389

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.906: System error (Gen.Data)

Code : &H0015 &H038A

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.907: System error 70

Code : &H0015 &H038B

Meaning/Cause

Action

21.908: System error 80

Code : &H0015 &H038C

Meaning/Cause

Action

21.909: System error 90

Code : &H0015 &H038D

Meaning/Cause

Action

A-52
21.910: Watchdog error (CPU)
Code : &H0015 &H038E

Meaning/Cause

Action
a. CPU malfunctioned due to external noise.
b. Controller is defective.
1. Turn the power off and then on again.
A
2. Replace the controller.

Troubleshooting
21.911: System error (EmgHalt)
Code : &H0015 &H038F

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.912: System error (RTOS)

Code : &H0015 &H0390

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.913: System error (CRFPOS)

Code : &H0015 &H0391

Meaning/Cause Current position of driver does not match the instructed position.

1. Replace the driver.

Action
2. Replace the controller.

21.914: DPRAM error (PTP data)

Code : &H0015 &H0392

Meaning/Cause PTP command data could not be written to the driver.

1. Replace the driver.

Action
2. Replace the controller.

21.915: System error (Gripper)

Code : &H0015 &H0393

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.916: System error (EtherNet/IP)

Code : &H0015 &H0394

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

21.999: System error (UNDEFINED)

Code : &H0015 &H03E7

Meaning/Cause

Action

A-53
 [22] Serious hardware alarm

A
22.504: Abnormal drop in voltage
Code : &H0016 &H01F8
a. Output voltage for motor power supply dropped below 140V.
b. Power supply has insufficient capacity.
Meaning/Cause
c. Vertical axis electromagnetic brake is defective.
Troubleshooting

d. SAFETY connector is used incorrectly.

1. Check the power supply voltage.
2. Check if supply voltage drops during robot operation.
3. Lower the robot duty cycle.
Action
4. Replace the vertical axis electromagnetic brake.
5. Do not supply 24V DC to SAFETY connector from external source.
6. Do not use 24V DC from SAFETY connector as power source for driving external loads.

22.507: Driver over heat

Code : &H0016 &H01FB

Meaning/Cause Driver unit temperature increased to approximately 60°C or more.

1. Improve the installation environment.

2. Check that the cooling fan operates correctly.
Action 3. Replace or clean the cooling fan filter.
4. Decrease the robot operating duty to reduce the amount of heat generated.
5. Replace the controller.

22.508: Regen. over heat

Code : &H0016 &H01FC

Meaning/Cause Regenerative unit heated up abnormally.

1. Improve the installation environment.

2. Check that the cooling fan operates correctly.
Action 3. Replace or clean the cooling fan filter.
4. Decrease the robot operating duty to reduce the amount of heat generated.
5. Replace the controller.

22.509: Internal 24V power abnormal

Code : &H0016 &H01FD
Internal 24V-power voltage dropped.
a. SAFETY connector wiring was incorrect.
Meaning/Cause
b. Brake cable was short-circuited.
c. Controller malfunctioned.
1. Perform the wiring of the SAFETY connector correctly.
Action 2. Replace the robot cable.
3. Replace the controller.

22.511: Fan stop error

Code : &H0016 &H01FF
Power was not supplied to the controller cooling fan.
a. Controller cooling fan cable wiring was broken.
b. ROB I/O cable was short-circuited.
Meaning/Cause c. Controller malfunctioned.
d. Error occurred in the controller cooling fan.
e. Controller cooling fan malfunctioned.
f. Controller malfunctioned.
1. Replace the controller cooling fan cable.
2. Replace the ROB/IO cable.
Action 3. Replace the controller.
4. Replace the controller cooling fan.
5. Replace the controller.

A-54
22.516: Controller over heat
Code : &H0016 &H0204

Meaning/Cause Environmental temperature inside the controller increased to approximately 60°C or more.

1. Improve the installation environment.

A
Action 2. Check that the cooling fan operates correctly.
3. Replace the controller.

Troubleshooting
22.600: Motor power off
Code : &H0016 &H0258

Meaning/Cause Main power voltage dropped in the servo on or servo off status.

Action Check that the main power is input.

22.800: Control power off

Code : &H0016 &H0320
a. AC supply voltage of control power supply dropped below 85% of rated voltage.
Meaning/Cause
b. Power source has insufficient capacity.
1. Check the AC supply voltage.
Action 2. Check if supply voltage drops during robot operation.
3. Lower the robot duty cycle.

c CAUTION
This error always occurs when the power is cut off.

22.901: CT type mismatch

Code : &H0016 &H0385

Meaning/Cause Correct current sensor controller was not used for the set robot.

Action Replace the current sensor controller with a correct one.

22.902: Position sensor type mismatch

Code : &H0016 &H0386

Meaning/Cause Correct position sensor was not set for the set robot correctly.

Action Contact your distributor with details on this problem.

22.903: Driver unit disconnected

Code : &H0016 &H0387

Meaning/Cause CPU unit did not recognize the driver unit.

Action Replace the controller.

22.904: Driver2 board disconnected

Code : &H0016 &H0388

Meaning/Cause CPU unit did not recognize the driver 2 board.

Action Replace the controller.

A-55
 22.905: Abnormal over voltage
Code : &H0016 &H0389

A Meaning/Cause
a.
b.

Output voltage for motor power supply exceeded 420 V.
Regenerative unit safety device triggered due to temperature rise in regeneration damping
resistor.
c. Regenerative unit is defective.
d. Safety connector is used incorrectly.
1. Check the power supply voltage.
Troubleshooting

Action 2. Lower the robot operating duty.

3. Do not supply 24V DC to SAFETY connector from external source.

22.906: Break 24V power abnormal

Code : &H0016 &H038A
Brake power voltage dropped.
a. Power was not supplied to BK24V.
Meaning/Cause
b. Brake cable was short-circuited.
c. Controller malfunctioned.
1. Supply the brake power.
Action 2. Replace the robot cable.
3. Replace the controller.

[28] Alarm related to the driver I/F

28.900: Driver version mismatch

Code : &H001C &H0384

Meaning/Cause Software version of the driver unit was not appropriate.

Action Update the software version of the driver unit.

28.902: DMA transfer timeout

Code : &H001C &H0386

Meaning/Cause Time-out occurred in the communication process between the CPU unit and driver unit.

Action Contact your distributor with details on this problem.

28.903: Driver interrupt timeout

Code : &H001C &H0387

Meaning/Cause Time-out occurred in the communication process between the CPU unit and driver unit.

Action Contact your distributor with details on this problem.

28.904: RTOS fail

Code : &H001C &H0388

Meaning/Cause Software error occurred.

Action Contact your distributor with details of this problem.

28.905: Send checksum fail

Code : &H001C &H0389

Meaning/Cause Driver unit received abnormal data.

Action Contact your distributor with details of this problem.

A-56
28.906: Receive checksum fail
Code : &H001C &H038A

Meaning/Cause

Action
CPU unit received abnormal data.

Contact your distributor with details on this problem.

A

Troubleshooting
[C] Warning

C50 : Memor y backup batter y low

Meaning/Cause Memory storage battery voltage dropped.

Action Replace the memory storage battery.

C70 : Motor overload

Meaning/Cause Motor was overloaded. Alarm might occur.

Action Reduce the load to the motor.

C71 : Driver overload

Meaning/Cause Driver was overloaded. Alarm might occur.

Action Reduce the load to the driver.

C72 : Motor over current

Meaning/Cause Motor drew excessive current. Alarm might occur.

Action Reduce the load to the motor.

C73 : Absolute batter y low voltage

Meaning/Cause ABS battery voltage was 3.1V or less.

Action Replace the ABS battery.

A-57
 1111 Programming box related alarm messages
If a hardware or software error occurs in the programming box, relevant message appears on the screen.

A NO PANEL DATA
Meaning/Cause : Screen data could not be downloaded during upgrading.
Action : Perform the upgrading again.
Troubleshooting

Receiving Error.
Meaning/Cause : Error occurred during data receiving.
Specified communication was not performed within the specified period of time.
Action : Check the communication cable for abnormality.
Check that the connector is inserted correctly.

Sending Error.
Meaning/Cause : Error occurred during data sending.
CTS signal did not turn on for 5 sec. during data sending.
Action : Check the communication cable for abnormality.
Check that the connector is inserted correctly.

Receiving timeout.
Meaning/Cause : Error occurred during data receiving.
Specified communication was not performed within the specified period of time.
Action : Check the communication cable for abnormality.
Check that the connector is inserted correctly.

NG=xx.xxx
Meaning/Cause : Alarm occurred in the controller.
Action : Check the alarm contents and perform the alarm reset.

No breakpoint set.
Meaning/Cause : Break point was not set in the program debug.
Action : Set a break point.

USB IO ERROR
Meaning/Cause : USB memory device was not supported.
Action : Replace the USB memory device with a correct one.

USB Not Connect

Meaning/Cause : USB memory device was not connected. Or, a device other than the USB memory device was
connected.
Action : Connect the USB memory device correctly.

Bad Format
Meaning/Cause : Format of the USB memory device was illegal.
Action : Change the format of the USB memory device to FAT16 or FAT32.

Not FAT16 Format

Meaning/Cause : Format of the USB memory device was NTFS.
Action : Change the format of the USB memory device to FAT16 or FAT32.

A-58
222 Troubleshooting
2222 When trouble occurs
Please contact your distributor with details of the problem that occurs. Report the following items in as much
A
detail as possible.

Troubleshooting
Item Description

• Controller model name and serial No.

example:RCX340
• Robot model name and serial No.
What happened
example:YK400XR
• Controller version No.
example:V1.05 R0018
• Date of purchase
example:June 2014
When
• How long used
example: Since delivery, about 1 year
• Usage conditions
example: w hen power is turned on
Under what conditions when creating program
during manual movement
when robot is moved to particular location during program operation.
• Status on programming box screen
example: N othing is displayed on screen
Error message appears on screen
• Robot servo status
example: S ervo won't turn on
Abnormal sound when robot is moved
Current status is
Sets to origin incomplete.
• Programming box operating status
example: K eys won't function
Response after pressing key is slow
Only the emergency stop button functions
etc.
• How often above problem occurs
example: A lways occurs when power is turned on.
How often it happens
Occurs at particular line during program operation.
Only occurs once, then does not occur again.

n NOTE
When the programming box is connected, the error message appearing on the screen is a valuable source of
information for troubleshooting.

A-59
 2222 Acquiring the alarm information
The controller stores the alarm information in its inside. You can check the current controller error status and

A
past alarm history data.

222222 Checking the alarm occurrence status

■ ■ Checking the alarm with the programming box

Troubleshooting

Select [System] - [Check] from the initial screen. Checking the alarm occurrence status
If an alarm occurs, relevant alarm code will appear.

■ ■ Checking the alarm from the RS-232C or Ethernet

1 Connect the controller and personal

computer.
Connect the controller and personal
computer with the RS-232C cable or Ethernet
cable (category 5 or higher) and set the
communication conditions so that the online
command can be set.

2 Check the alarm status.

Send the command “@READ SCK” from the
personal computer.
The alarm code is received when an alarm
occurs.
The alarm code is not received when no
alarm occurs.

222222 Checking the alarm histor y

■ ■ Checking the alarm histor y with the programming box

Select [System] - [History] from the initial screen. Checking the alarm history

The alarms that occurred past will appear.

You can check up to 500 alarm records.

■ ■ Checking the alarm from the RS-232C or Ethernet

1 Connect the controller and personal

computer.
Connect the controller and personal
computer with the RS-232C cable or Ethernet
cable (category 5 or higher) and set the
communication conditions so that the online
command can be set.

2 Check the alarm status.

Send the command “@READ LOG” from the
personal computer.
The alarm code is received when an alarm
occurs.
You can check up to 500 alarm records.

A-60
2222 Troubleshooting checkpoints

222222 Installation and power supply

Symptom Possible cause Check items Corrective action A
1 Controller won't turn on • Power not supplied. • Check power input terminal • Connect the power input
even with power • Problem in controller internal connection (L/N/L1/N1). terminal correctly.
supplied. power. • Check power input terminal • Supply the specified power

Troubleshooting
voltage (L/N/L1/N1). voltage.
• Check if "PWR" LED on front • Replace the controller.
panel is lit.
2 Controller turns on but • Programming box not • Check PB connector. • Plug in PB connector
no programming box connected. • Check how PB connector is correctly.
display. • Wrong programming box inserted. • Replace the programming
connection. • Replace programming box box.
• Programming box and check operation. • Replace the controller.
malfunctioning.
• Problem in controller internal
power supply.
3 Controller turns on, but • Now in emergency stop. • Connect the programming box • Release the emergency stop
the alarm number is and check the alarm by using button on the programming
displayed on the self-diagnosis. box.
• Connect the PB connector.
7-segment LED on the ([System] - [Check])
• Connect the emergency stop
front. • Check the DO00 (Output of
terminal of SAFETY
emergency stop input status)
connector.
on the "MONITOR" screen
displayed on the programming
box.
• Alarm with alarm group • Connect the programming box • Check the axis from the
number 17 occurred. and check the alarm by using alarm information.
self-diagnosis. • Check the cause of the
([System] - [Check]) alarm from the alarm
information.
• Take the corrective action.
• Error of error group No. 21, • Connect the programming • Check the cause of the
22 occurred. box and check the alarm by alarm from the alarm
using self-diagnosis. information.
([System] - [Check]) • Take the corrective action.

A-61
 222222 Robot operation
Symptom Possible cause Check items Corrective action

A
1 Controller turns on but • Stop signal is in the open • Check the input/output • Connect the power input
can't execute program status. interface connector stop terminal correctly.
and manual movement.
signal and 24V-power supply • Supply the specified power
connections. voltage.
• Check DI06 (stop) on the • Replace the controller.
Troubleshooting

"MONITOR" screen displayed

on the programming box.
• Now in emergency stop. • Connect the programming box • Release the emergency stop
and check the alarm by using button on the programming
box.
self-diagnosis.
• Connect the PB connector.
([System] - [Check])
• Connect the emergency stop
• Check DO00 (Output of terminal of SAFETY
emergency stop input status) connector.
on the "MONITOR" screen
displayed on the programming
box.
• Alarm occurred. • Connect the programming box • Check the cause of the
and check the alarm by using alarm from the alarm
self-diagnosis. information.
([System] - [Check]) • Take the corrective action.
• Check the 7-segment LED display
on the front of the controller.
2 Abnormal sound or • Wrong robot or axis type • Connect programming box • Change to correct robot or
vibration. setting. and check robot settings in axis type setting.
SYSTEM mode.
• Check if robot and controller • Make sure robot and
are compatible. controller are compatible.
• Tip weight or acceleration • Check tip weight parameter • Set a correct tip weight
settings are incorrect. setting in EDIT. parameter.
• Check acceleration parameter • Set a correct acceleration
setting in SYSTEM. parameter.
• Check command setting of
changing tip weight or • Make a correct setting in the
changing acceleration. program language.
In program language.
• Mechanical problem occurred. • Check for resonance in robot • Reinforce the robot frame.
frame. • Tighten the robot cover
• Check for loose screws on screws.
robot cover. • Remove foreign matter if
found.
• Check for warping or damage • Replace guides or ball
on guides or ball screws. screws if warping or damage
is found.
• Controller is defective. • Replace with another controller • Replace the controller if
and check operation. operation is normal.
3 Position deviation • Position sensor device is • Move axis in emergency stop • Replace motor if count is
occurred.* defective. and check the pulse count. incorrect.
• Cable is defective. • Replace cable if found to be
defective.
• Position detection error due to • Check grounding of robot • Ground the robot and
noise. and controller. controller.
• Check robot periphery for • Isolate from noise sources
noise. around robot.
• Check for noise sources • Isolate from noise sources
around ROB I/O cable. around ROB I/O cable.
• Mechanical error occurred. • Check the belt tension • Adjust to correct tension if
necessary.
• Remove foreign matter if found.
• Check for warping or damage • Replace guides or ball screws
on guides or ball screws. if warping or damage is found.
• Controller is defective. • Replace with another controller • Replace the controller if
and check operation. operation is normal.
* There are 2 main types of position deviation.
1.Electrical position deviation
2.Mechanical position deviation
In case 1, if position deviation occurs, you can perform return-to-origin. In case 2, you cannot return to original position.

A-62
222222 I/O operation
Symptom Possible cause Check items Corrective action

A
1 Won't operate even when • No 24V DC supply. • Check the input/output • Supply 24V DC.
dedicated input signal is interface connector stop
supplied. signal and 24V-power supply
connections.
• Check DI06 (stop) on the

Troubleshooting
"MONITOR" screen displayed
on the programming box.
• Problem in signal connection. • Check the input/output • Correct the input/output
interface connector wiring. interface connector wiring.

• Alarm occurred. • Connect the programming box • Check the cause of the
and check the alarm by using alarm from the alarm
self-diagnosis. information.
([System] - [Check]) • Take the corrective action.
• Check the 7-segment LED
display on the front of the
controller.
2 No output of dedicated • No 24V DC supply. • Check the input/output • Supply 24V DC.
output signal. interface connector
24V-power supply
connections.
• Check DI04 on the
"MONITOR" screen displayed
on the programming box.
• Problem in signal connection. • Check the input/output • Correct the input/output
interface connector wiring. interface connector wiring.

• Alarm occurred. • Connect the programming box • Check the cause of the
and check the alarm by using alarm from the alarm
self-diagnosis. information.
([System] - [Check]) • Take the corrective action.
• Check the 7-segment LED
display on the front of the
controller.
3 No output of general- • No 24V DC supply. • Check the input/output • Supply 24V DC.
purpose I/O signal. interface connector
24V-power supply
connections.
• Check DI04 on the
"MONITOR" screen displayed
on the programming box.
• Check the input/output
interface 24V-power supply
connection.
• Problem in signal connection. • Check the input/output • Correct the input/output
interface connector wiring. interface connector wiring.
• Problem in input/output • Check the ID setting of the • Correct the ID setting of the
interface setting. input/output interface. input/output interface.
• Alarm occurred. • Connect the programming box • Check the cause of the
and check the alarm by using alarm from the alarm
self-diagnosis. information.
([System] - [Check]) • Take the corrective action.
• Check the 7-segment LED
display on the front of the
controller.

A-63
Revision record

Manual version Issue date Description

Ver. 1.01 Sep. 2014 First edition

User’s Manual
4-axis Robot Controller

RCX340
Sep. 2014
Ver. 1.01
This manual is based on Ver. 1.00 of Japanese manual.

YAMAHA MOTOR CO., LTD. IM Operations

All rights reserved. No part of this publication may be reproduced in
any form without the permission of YAMAHA MOTOR CO., LTD.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible
inaccuracies or omissions. If you find any part unclear in this manual,
please contact your distributor.
IM Operations
882 Soude, Nakaku, Hamamatsu, Shizuoka, 435-0054, Japan
Tel. 81-53-460-6103 Fax. 81-53-460-6811

Robot manuals can be downloaded from our company website.

Please use the following for more detailed information.
http://global.yamaha-motor.com/business/robot/
YAMAHA MOTOR CO., LTD.