YAMAHA SUPPORT SOFTWARE

RCX-Studio 2020 User s Manual

EUWA206101

Ver. 1.01 E492

CONTENTS RCX-Studio 2020
User’s Manual

Before getting started 1

Safety Precautions (Always read before starting use) 2

1. About RCX-Studio 2020 3

2. Installing and uninstalling RCX-Studio 2020 4

2.1 To install RCX-Studio 2020 4
2.2 To upgrade RCX-Studio 2020 6
2.3 To uninstall RCX-Studio 2020 7

3. RCX-Studio 2020 window 8

3.1 RCX-Studio 2020 window 8
3.2 Target window 10

4. Control operation 15
4.1 Overview of operation 15
4.2 Adding a controller 16
4.3 Servo on 18
4.4 Return-to-origin 19
4.5 Moving the robot in inching or jog mode 20
4.6 Moving the robot to a specified point (Point Trace) 21
4.7 Monitor function 22
4.7.1 IO name function 23

5. File operation 24
5.1 Creating a new data file 24
5.2 Opening a data file 25
5.3 Deleting a file from the Target Tree 26

6. Data transfer 27
6.1 Transferring data from controller to PC 27
6.2 Transferring data from PC to controller 30

7. Editing controller data and operating 34

7.1 Creating a new program 34
7.2 Editing an existing program 35
7.3 Copying or deleting a program 36
7.4 Executing a program 36
7.5 Editing point data 38
7.6 Editing parameters 38
7.7 Editing shift data 39
7.8 Editing hand data 39

T-1
 CONTENTS RCX-Studio 2020
User’s Manual

7.9 Editing work data 40

7.10 Editing pallet data 40
7.11 Editing area check output data 41
7.12 Editing general Ethernet port data 41
7.13 Editing camera calibration data 42
7.14 Editing conveyor calibration data 42

T-2
Before getting star ted

Before getting started

■ ■ About this manual
This manual describes how to install RCX-Studio 2020 support software for YAMAHA RCX series robot controllers (simply
called "RCX-Studio 2020" or "this software" from now on) as well as major functions you can run with this software.
Before installing RCX-Studio 2020 be sure to read this manual and follow the instructions.

■ ■ Software license agreement

This software may be used only when you agree to the terms stipulated below.
By using this software or installing it in a personal computer (PC), you are consenting to the terms stipulated below.
Please read the following terms carefully.
1. The copyrights to this software are owned by YAMAHA MOTOR CO., LTD., IM Operations (hereafter "our company").
2. One software package is licensed for use only on a single PC and cannot be used on two or more PCs at the same time.
3. This software or this manual may not be copied in part or in whole without permission from our company. However,
you may make a copy of this software only for use as a backup.
4. Reverse engineering, decompiling, altering or modifying this software is prohibited.
5. Transfer, rental or leasing of this software to a third party, whether for profit or not, is prohibited without permission
from our company.
6. Our company takes no responsibility for any consequences arising from the use of this software or this manual.
7. Although our company has taken every reasonable effort with this software and this manual, we cannot guarantee that
they are completely free from errors.
8. The specifications of this software and the content of this manual are subject to change without notice in the future.

■ ■ CAUTION
• For information on how to operate the robot controller and the robot, carefully read the manuals for the controller and
robot that you are using, and follow the instructions given in those manuals.

■ ■ RCX-Studio 2020 package contents

• License agreement … 1
A document proving that you have received a software license. Be sure to store this document with great care.
• USB key … 1
A blue USB key is supplied with the Basic package while a purple USB key is supplied with the Pro package. Available
functions may vary depending on the USB key you are using. For details about the USB key, refer to “1. About RCX-
Studio 2020”.

■ ■ System requirements
The following hardware and software are required to install and use RCX-Studio 2020.

Operating system (OS) Microsoft Windows 7 SP1 (32/64bit) / 8.1 (32/64bit) / 10 (32/64bit)
Execution environment .NET Framework 4.5 or more
CPU Recommended: Intel Core i5 2 GHz or more, Minimum: Intel Celeron 2 GHz or more,
3D-SIM is invalid.: Intel Core 2 Duo 2 GHz or more
Operating RAM memory Recommended: 8 GB or more, Minimum: 4 GB or more, 3D-SIM is invalid: 1 GB or more
environment Available hard disk space 1GB of available space required on installation drive
Communication port Communication cable: Serial communication port, Ethernet port, or USB port
Others Dedicated commutation cable (For D-Sub or USB)
Ethernet cable (category 5 or better)
USB port: 1 port (For USB key)
Applicable controller RCX340 / RCX320
Applicable robot YAMAHA robot that can be connected to the RCX340, RCX320.

Microsoft, Windows, Windows 7, Windows 8.1, and Windows 10 are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
Other company names and product names listed in this manual may be the trademarks or registered trademarks of their
respective companies.

1
 Safety Precautions (Always read before starting use)
Safety Precautions (Always read before starting use)

Before using this product, be sure to read this manual carefully as well as the robot controller user's manual
and programming manual. Take sufficient precautions to ensure safety and handle the product correctly.
The cautions given in this manual are related to this product. Refer to the robot controller user's manual for
details on the cautions to be taken with the robot controller system using this product.
The safety precautions are ranked as "WARNING" and "CAUTION" in this manual.

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.

Note that some items described as "CAUTION" may lead to serious results depending on the situation. In any
case, important information that must be observed is explained.
Store this manual where it can be easily referred to, and make sure that it is delivered to the end user.

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 viewing the manual on your computer
screen.
2. Install, operate or adjust the robot and controller while referring to a printout of the necessary
pages from the manual.
3. Install, operate or adjust the robot and controller while referring to the printed version of the
manual (available for an additional fee).

Manuals are available by downloading from our website (Member Site). Registering is required for
accessing the member site:
https://www2.yamaha-motor.co.jp/Robot/Member/loginagain/lang_div/en

2
1. About RCX-Studio 2020
■ ■ What is RCX-Studio 2020?
RCX-Studio 2020 is operation support software for RCX3-series robot controllers. In addition to the functionality of
1
previous software, it provides a user interface that is easier to use as well as being more powerful. In order to take full
advantage of RCX-Studio 2020 functionality, be sure to read the contents of this manual.

About RCX-Studio 2020

w WARNING
When operating a robot using RCX-Studio 2020, make sure that all workers are outside the safety fence, and then
the emergency stop is ready to input at any time.

■ ■ Compatible robot controllers

RCX-Studio 2020 supports the following YAMAHA multi-axis robot controllers.
• RCX340 • RCX320

■ ■ USB key
A USB key is supplied to the RCX-Studio 2020 to prevent robot operation mistakes.
The functions are restricted as described in the list shown below when the USB key is not connected to the PC or in
accordance with the type of the USB key.

Functions When the USB key is not connected. Basic (blue) Pro (purple)

Backup/restore via data transfer

Valid Valid Valid
to Controller
Controller operation in online
Invalid Valid Valid
mode

File save Invalid Valid Valid

Real Time Trace Only data save is invalid. Valid Valid

Cycletime Calculator Starting only (No calculating) Valid Valid

iVY2 editor Starting only (No connecting) Valid Valid

Data Difference Except data saving Valid Valid

3D simulator function Only capturing is invalid. Valid Valid

Custom window Valid Valid Valid

Program template Only file output is invalid. Valid Valid

STL, OBJ, VRML Valid Valid Valid

CAD data read
STEP Invalid Invalid Valid

CAD to point conversion Invalid Invalid Valid

n NOTE
• For details about the 3D simulator function, refer to the Help screen provided on the RCX-Studio 2020 functions.
• For details about the online and inline modes, refer to “4. Controller operation”.

3
 2. Installing and uninstalling RCX-Studio 2020
In order to use RCX-Studio 2020, you must install RCX-Studio 2020 on the PC. If an earlier version of RCX-
Studio 2020 is already installed, you can upgrade to the new version without uninstalling the previous
version.

The latest installer for RCX-Studio 2020 can be obtained from the member site in Yamaha Robot Website:

2 http://global.yamaha-motor.com/business/robot/

n NOTE
It is required to register as a member to download RCX-Studio 2020 from the member site.
Installing and uninstalling RCX-Studio 2020

2.1 To install RCX-Studio 2020

The following Steps describe how to install RCX-Studio 2020 in a PC running on Windows 7.

1 Exit all the currently-running programs on the PC.

2 Start the setup program.
Double-click [RCX-Studio 2020] you have downloaded. The setup program starts automatically.
Depending on the PC settings, the icon name might be [RCX-Studio 2020.exe].

n NOTE
There is only one type of RCX-Studio 2020 installer. Regardless of the type of the USB key (“purple” for Pro and
“blue” for Basic), use the same installer.

3 Install RCX-Studio 2020.

The installer wizard shows a screen that lets
you choose the display language. Choose
the language to display on the wizard and
then click [OK].Either [Japanese] or [English]
can be chosen as the language.

n NOTE
• If you choose [English], all subsequent screens of the wizard are displayed in English.
• The language setting is also applied to updates and to the uninstall wizard screens.

4 Click [Next] at the [Welcome to the

InstallShield Wizard for RCX-Studio
2020] screen.

4
5 The [Customer Information] screen.
Enter your user name and organization, and
click [Next].

2
6 At the [Destination Folder] screen,
specify the folder in which you
want to install RCX-Studio 2020.

Installing and uninstalling RCX-Studio 2020

By default, [C:\Program Files\Yamaha
Motor\RCX-Studio 2020\] is selected.
To change the installation destination, click
[Change] and specify the installation
destination. When you have finished
specifying the installation destination, click
[Next].

7 At the [Language selection for RCX-

Studio 2020] screen, choose the
language that you want RCX-Studio
2020 to display, and click [Next].
Language options are [Japanese], [English],
and [Chinese]. The language displayed by
RCX-Studio 2020 can be changed even after
installation.

8 Installing begins by clicking

[Install] on the screen.

9 On the screen appears when

installation is completed, click
[Finish] to exit the wizard.

TIP
Depending on the PC settings, restarting is
necessary.

5
 2.2 To upgrade RCX-Studio 2020
If an earlier version of RCX-Studio 2020 has been installed on the PC, you can upgrade to the new version. The following
Steps describe how to upgrade in a PC running on Windows 7.

1 Exit all currently-running programs.

2 Start the setup program.

2
Double-click [RCX-Studio 2020] you have downloaded. The setup program starts automatically.
Depending on the PC settings, the icon name might be [RCX-Studio 2020.exe].

3 Upgrade RCX-Studio 2020.

A message asks you whether to upgrade.
To execute the upgrade, click [Yes]. If not,
Installing and uninstalling RCX-Studio 2020

click [No] to exit the upgrade.

n NOTE
• If the version of RCX-Studio 2020 installed on the
PC is later than that on the setup program, you
can't perform the upgrade. In this case, uninstall
RCX-Studio 2020 from the PC and then install it.
• If the version of RCX-Studio 2020 installed on the
PC is the same as that on the setup program, the
program maintenance screen appears. In the
screen, you can modify, repair, or remove
RCX-Studio 2020.

4 At the screen shown at right, click

[Next] to start the RCX-Studio 2020
upgrade.

5 When the upgrade is completed,

the screen shown at right appears.
Click [Finish] to exit the wizard.

6
 2.3 To uninstall RCX-Studio 2020
You can uninstall RCX-Studio 2020 from your PC in either of the following two ways.
The following Steps describe how to uninstall in a PC running on Windows 7.

1. Using [Uninstall RCX-Studio 2020]

1 Select [Uninstall RCX-Studio 2020].

2
From the [Start] menu, click [All Programs]-[RCX-Studio 2020]-[Uninstall RCX-Studio 2020].

2 Uninstall RCX-Studio 2020.

At the uninstall confirmation message, click
[Yes].

Installing and uninstalling RCX-Studio 2020

2. Using [Programs and Features]

1 Open the [Programs and Features] window.

From the [Start] menu, click [Control Panel] and then click [Uninstall a Program].

TIP
If you've selected [Large Icons] or [Small Icons] as the view in Control Panel, click [Programs and Features].

2 Select the RCX-Studio 2020.

3 Uninstall RCX-Studio 2020.
Follow the on-screen instructions to uninstall the RCX-Studio 2020.

7
 3. RCX-Studio 2020 window
RCX-Studio 2020 has the following two types of window. The following section describes each type.

3.1 RCX-Studio 2020 window

When starting RCX-Studio 2020, the window shown
at right appears. Connecting to the controller and Title bar
administrating files are mainly performed on this Main menu
window. Toolbar
Target Tree

3
RCX-Studio 2020 window

Properties
pane

Status bar

■ ■ Description of the RCX-Studio 2020 window

Main menu
■ ■ File

New File Creates a new file.

Open File Opens a file.

Open Alarm History File Opens an alarm history file.

Open Warning History File Opens a warning history file.

Open Project Opens a project.

Save Project As Name Saves the added controller and file settings as a project with the name that you specify.

Exit Exits RCX-Studio 2020.

* For details on files, refer to "5. File operation "

■ ■ View

Toolbar Toolbar Shows/hides the toolbar.

Small Size Icons Shows small icons on the toolbar.

Large Size Icons Shows large icons on the toolbar.

Show Text Labels Shows/hides text on the toolbar.

Properties Shows/hides the property pane.

Status Bar Shows/hides the status bar.

n NOTE
When you change the [Icon Size] or [Show Text Labels] setting for the toolbar, the setting also applies to the
toolbar of the target window described later.

8
■ ■ Controller

New Controller Creates a new controller.

Starts the controller selected in the target tree in the online mode (actual machine connection).
Online This menu item is valid when a controller that is not started or a controller that is started in
the offline mode is selected.
Starts the controller selected in the target tree in the offline mode (emulator connection).
Offline This menu item is valid when a controller that is not started or a controller that is started in
the online mode is selected.

■ ■ Tool
Opens the Data Transfer dialog box, allowing you to transfer data from the controller to the
Data Transfer
PC or vice versa.

3
Save Alarm History Saves the alarm history file.

Save Warning History Saves the warning history file.

Opens the Data Difference dialog box, allowing you to compare data between the
Data difference
controllers and files.

RCX-Studio 2020 window

Cycletime Calculator Opens the Cycletime Calculator dialog box, allowing you to calculate the robot cycle time.

Program Converter Converts a program for the RCX2xx controller into that for the RCX3xx controller.

Option Opens the Options dialog box, allowing you to specify options.

■ ■ Language

English Sets the display language to English.

Sets the display language to Japanese.

Sets the display language to Chinese.

n NOTE
If you change the language setting, restart RCX-Studio 2020.

■ ■ Window

Tile Windows Displays the currently-shown target windows without overlapping.

Cascade Windows Displays the currently-shown target windows overlapping.

■ ■ Help
Help Displays the Help window.

About RCX-Studio 2020 Shows the software version of RCX-Studio 2020.

Toolbar
The toolbar contains [New Controller], [Online], [Offline], [New File], and [Open File] buttons. These buttons execute
the operations, "new controller”, “start a controller in online mode”, “start a controller in offline mode”, "create a new
file," and "open a file", respectively.
Target Tree
You can make a new connection to a controller,
create a new file, or open a file from the target tree.
The target tree shows controllers you added as new An added controller
connections and files that you opened. By double-
clicking a controller or file that is shown in the
target tree, you can start the selected controller or
open the file.
An added file
Properties
In Properties pane you can view detailed information
about the controller or file that is selected in the target tree, and edit some of its settings.
*Properties cannot be edited while connecting to the controller selected on the target tree or opening the selected files.
Status bar
The status bar shows explanation of the functions that the mouse is pointing and the status of special keys.

9
 3.2 Target window
The target window appears when you connect to a robot controller (controller operation), create a new file, or
open an existing file (file operation). During controller operation, the robot status such as each axis jog
movement, robot operation, or I/O monitoring can be referred to or controlled. During file operation, each
data is edited.
Target window (controller operation)
Connect to the controller to display the target window.

Main menu Title bar

Toolbar

Jog pane

3
Window Tree
Editing area

Controller
Monitor Pane Current
Position pane
RCX-Studio 2020 window

Status bar

TIP
For details on how to connect to a controller, refer to "4.2 Adding a controller"

Target window (file operation)

Create a new file or open an existing file to display the target window.

Main menu Title bar

Toolbar

Window Tree

Editing area

Status bar

TIP
For details on how to create a new file or open a file, refer to "5.1 Creating a new data file" and "5.2 Opening a
data file".

10
■ ■ Description of the target window
Title bar
The title bar shows the controller name that was specified at the time of connection.
Main menu
The target window (controller) provides the following menus. Some are limited during offline, shown in each table
below as "✔" and "−".

✔ : Selectable and editable during file operation

■ ■ File − : Not selectable nor editable or hidden during file operation
Prints the editor items that support printing. Printing is supported for the [Program],
Print ✔
[Point], [Shift], [Hand], [Work], [Pallet], and parameter editors.

Print Preview Shows a print preview. ✔

Print Setup

Import
Shows the print setup screen.

Imports various data from the file.

✔

✔
3
Exports the current controller and data being edited to a file. (Even when connecting
Export ✔
multiple robots, data is exported as one file.)

RCX-Studio 2020 window

Exit Exits the target window. ✔

n NOTE
If you execute the File Export command while communication with the controller is disconnected, the data that
is exported to the file will be the data that was obtained from the controller before disconnection.

✔ : Selectable and editable during file operation

■ ■ Edit − : Not selectable nor editable or hidden during file operation
Reload Reloads data from the controller, and updates the editor. ✔

Save Saves the edited content to the controller. ✔

Cut Cuts the data currently selected in the editor. ✔

Copy Copies the data currently selected in the editor. ✔

Paste Pastes the copied data to the editor. ✔

Undo Returns the edited data to its previous state with canceling the operation executed just before. ✔

Redo Re-executes the operation that was executed just before. ✔

11
 ✔ : Selectable and editable during file operation
■ ■ View − : Not selectable nor editable or hidden during file operation
Toolbar Controller Toolbar Shows/hides the controller toolbar. −

Connection Toolbar Shows/hides the connection toolbar. −

Operation Toolbar Shows/hides the operation toolbar. −

Program Toolbar Shows/hides the program toolbar. −

Coordinate System Toolbar Shows/hides the coordinate system toolbar. −

Parameter Toolbar Shows/hides the parameter toolbar. −

System Toolbar Shows/hides the system toolbar. −

3
Data Transfer Toolbar Shows/hides the data transfer toolbar. −

Monitor Toolbar Shows/hides the monitor toolbar. −

Edit Toolbar Shows/hides the edit toolbar. ✔

Emulator Toolbar Shows/hides the emulator toolbar. −

RCX-Studio 2020 window

Small Size Icons Shows small icons on the toolbar. ✔

Large Size Icons Shows large icons on the toolbar. ✔

Show Text Labels Shows/hides text on the toolbar. ✔

Window Tree Shows/hides the Window Tree. ✔

Status Bar Shows/hides the status bar. ✔

Controller Monitor Shows/hides the Controller Monitor pane. −

Current Position Shows/hides the Current Position pane. −

DI Shows/hides the DI pane. −

DO Shows/hides the DO pane. −

MO Shows/hides the MO pane. −

LO Shows/hides the LO pane. −

TO Shows/hides the TO pane. −

SI Shows/hides the SI pane. −

SO Shows/hides the SO pane. −

SIW Shows/hides the SIW pane. −

SOW Shows/hides the SOW pane. −

Variable Shows/hides the variable pane. −

n NOTE
When you change the toolbar [Icon Size] or [Show Text] setting, the setting also applies to the toolbars of the
RCX-Studio 2020 window and of other target windows.

✔ : Selectable and editable during file operation

■ ■ Operation − : Not selectable nor editable or hidden during file operation
Servo Opens the Servo dialog box, allowing you to turn the motor power and servos on/off. −

Opens the Origin (All) dialog box, allowing you to perform return-to-origin of all the
Origin (All) −
robots when several robots are controlled.
Opens the Origin (Selected Robot) dialog box, allowing you to perform return-to-origin
Origin (Selected Robot) −
of robot by robot.

Jog Shows/hides the Jog pane. −

Point Trace Opens the Point Trace dialog box, allowing you to perform point trace. −

12
 ✔ : Selectable and editable during file operation
■ ■ Program − : Not selectable nor editable or hidden during file operation
New Program Opens a new program editor. ✔

Syntax Check Shows/hides the Syntax Check pane. ✔

Directory Shows the program directory dialog box, allowing you to edit the program's attributes. −

Task Shows/hides the Task pane. −

Break Point Shows/hides the Break Point pane. −

Input/Output Shows/hides the Input/Output pane. −

Find Result Shows/hides the Find Result pane. ✔

3
Sequence Execution Flag Shows the Sequence Execution Flag dialog box. −

✔ : Selectable and editable during file operation

■ ■ Coordinate System − : Not selectable nor editable or hidden during file operation
Point Opens the Point editor. ✔

RCX-Studio 2020 window

Standard Coordinate Opens the Standard Coordinate setup wizard. −

Shift Opens the Shift editor. ✔

Hand Opens the Hand editor. ✔

Work Opens the Work editor. ✔

Pallet Opens the Pallet editor. ✔

Area Check Output Opens the Area Check Output editor. ✔

Camera Calibration * Opens the Camera Calibration editor. ✔

Conveyor Calibration * Opens the Conveyor Calibration editor. ✔

*M
 enu items are displayed during controller operation when a controller is connected actually. Menu items are displayed during file
operation when there is data.

✔ : Selectable and editable during file operation

■ ■ Parameter − : Not selectable nor editable or hidden during file operation
Controller Opens the Controller Parameter editor. −

Robot Opens the Robot Parameter editor. −

Axis Opens the Axis Parameter editor. −

Driver Opens the Driver Parameter editor. −

IO Opens the IO Parameter editor. −

Option Board Enable Opens the Option Board Enable Parameter editor. −

Option Board Parameter Opens the Option Board Parameter editor. −

General Ethernet Port Opens the General Ethernet Port editor. ✔

Camera * Opens the Camera Parameter editor. ✔

Light * Opens the Light Parameter editor ✔

Tracking Opens the Tracking Parameter editor ✔

*M
 enu items are displayed during controller operation when a controller is connected actually. Menu items are displayed during file
operation when there is data.

13
 ✔ : Selectable and editable during file operation
■ ■ System − : Not selectable nor editable or hidden during file operation
Properties Shows the controller version and other information. −

Check Displays any alarms that have occurred. −

Alarm History Shows the history of any alarms that have occurred. −

Generation Assigns drivers and specifies the generation of robots and axes. −

Initialize Executes initialization. −

Communication Setting Edits the settings. −

Access Level Changes the access level. −

3 ■ ■ Tool
✔ : Selectable and editable during file operation
− : Not selectable nor editable or hidden during file operation
Controller Backup Transfers data from the controller to the PC. −

−
RCX-Studio 2020 window

Controller Restore Transfers data from the PC to the controller.

Data Difference Compares data between the controllers and files. ✔

Cycletime Calculator Calculates the cycletime. ✔

Option Specifies options. ✔

✔ : Selectable and editable during file operation

■ ■ Window − : Not selectable nor editable or hidden during file operation
Cascade Displays the currently-running editors overlapping in the edit area. ✔

Tile Horizontally Displays the currently-running editors tiled horizontally in the edit area. ✔

Tile Vertically Displays the currently-running editors tiled vertically in the edit area. ✔

Dock All Panes Docks all panes that are currently floating. ✔

✔ : Selectable and editable during file operation

■ ■ Help − : Not selectable nor editable or hidden during file operationS
Help Displays the Help screen. ✔

About RCX-Studio 2020 Displays the software version of RCX-Studio 2020. ✔

Toolbar
The toolbar contains buttons for executing frequently-used menu commands. You can use a command in the main
menu to switch the toolbar between visible and hidden.
Window Tree
The Window Tree shows the functions organized in a tree structure.
Controller monitor pane
The status of the controller is shown here in real time.
Jog pane
Here you can move the axes that are connected to the robot.
Current position pane
The current position of the axes connected to the robot are shown here.
Editing area
This area shows the editor and allows you to edit.
Status bar
The status bar shows explanation of the functions that the mouse is pointing and the status of special keys

14
4. Control operation
RCX-Studio 2020 allows you to remotely control robots connected to the controller and monitor their
operating status from the PC. The following sections describe how to connect controllers to RCX-Studio 2020
as well as how to control the robot operation.

4.1 Over view of operation

RCX-Studio 2020 performs a connection to an actual controller in the online mode and a connection to an
emulator (virtual controller) in the offline mode. By changing two modes, the operation or data edit is
performed.
The data change that is performed for each target can be applied to other unit as a difference. A safe and
efficient program can be created or the layout can be investigated.

Actual controller

Online mode
4

Control operation
Data difference Data difference
Mode change
of emulator of controller

Offline mode

Emulator

● Online mode
When an actual controller is connected, the data inside the controller can edited directly or the controller status can be
monitored. In addition, the robot can also be operated by performing the manual operation or executing the program.

● Offline mode
A program can be created or executed for an emulator (virtual controller). In addition, use of the 3D emulator makes it
possible to verify the program or investigate the layout.

w WARNING
When operating a robot, make sure that all workers are outside the safety fence, and then the emergency stop is
ready to input at any time.

15
 4.2 Adding a controller
To perform the operation or edit with an actual controller or emulator connected, a controller needs to be
added. This section describes how to connect an actual controller and add a controller.

1 Connect the PC to the robot controller.

Using a dedicated communication cable (RS-232C) or an Ethernet cable (category 5 or higher), connect
the PC to the robot controller. For details on how to make connections, refer to the manual of the robot
controller.

2 Start RCX-Studio 2020.

The RCX-Studio 2020 window opens.

3 Select [New Controller] from the Step 4

[Controller] menu. Step 5
The [New Controller] dialog box appears.

TIP

4 You can get the same result by clicking [New

Controller] on the toolbar, or by double-clicking
[Target Tree]-[Controller]-[New Controller].
Step 6

4 Enter the display name.

Control operation

Enter the name to display in the target tree and in the title bar of the target window.

TIP
The name you specify here is not registered to the robot controller. It is used only to identify that controller within
RCX-Studio 2020.

5 Select [Get Information From Controller] from the Data Creation Method.
For the communication method to connect to a controller, select Ethernet or RS232C.

6 Select [Connect On Add], and then click [Next].

If the [Connect On Add] check box is selected, the controller will be connected after it is added to the
target tree.
If this is not selected, the controller will only be added to the target tree, and will not be connected.
This is selected by default.

7 Make the communication settings,

and then click [Next].
To connect to the controller via RS-232C or
Ethernet, select the targeting tab and the
communication settings from the list boxes.
Make sure that the communication settings
are the same as that of the controller.
For details on how to verify the
communication settings and IP address of
the robot controller, refer to the manual of Step 7
the robot controller.

16
8 Connect to the controller. Target window
Click [OK]. The [Finish] dialog box appears.
Click [Finish] to add the controller to the
target tree.
If the [Connect On Add] setting is selected,
the PC connects to the controller. If the
connection is successful, the target window
appears.
If the connection is unsuccessful, an error
message "Connection error" or "Failed to
connect" appears. Check the
communication settings and the state of the
communication cable.

■ ■ To change the controller mode

4
To change the controller mode, there are two
procedures as described below.
• From [Mode Select] on the main menu in the Target
window, select [Offline], [Online], or [Online After
Transfer].

Control operation
• Click [Offline], [Online], or [Online After Transfer]
on the toolbar in the Target window.

TIP
Select the controller whose mode you want to change in the target tree in the Target window of the RCX-Studio
2020 window, and then change the controller mode using the operation shown below.
• Select [Controller] - [Online] or [Offline] on the main menu.
• Click [Online] or [Offline] on the toolbar.
• Press the right mouse button, and then select [Online] or [Offline] from the context menu.

■ ■ If a connection error occurs in the online mode

If due to a broken cable or other reason, a connection error occurs while communicating with the robot controller, the
reconnection confirmation message will appear. Select [Yes] to perform the reconnection. When [No] is selected, the file
save confirmation message appears. Save the file as required. After that, the mode is changed to the offline mode.
If a connection error occurs continuously, check the connection status of the communication cable, and then check the
communication settings of the PC and robot controller.

17
 4.3 Ser vo on
In order to return the robot to origin position or operate it, the power and servo must be turned on.

1 Open the [Servo] dialog box. [Servo] dialog box

Use any of the following methods to open

the dialog box.
• On the main menu, click [Operation]-
[Servo].
• Double-click [Servo] in the Window Tree.

2 Turn on the motor power.

Click Motor Power [ON] or [PWR]. The motor
power turns on, and the motor power lamp
is lit.

■ ■ T he difference between Motor Power [ON] and [PWR]

4 When clicking [ON], the execution confirmation message will appear. By executing, the motor power turns on and
simultaneously all axes of the robot will be in the servo-on status. When clicking [PWR], although the motor power
turns on, the robot's axes will not be in the servo-on status.

3 Turn the servo of each axis on.

Control operation

c CAUTION
When clicking servo [FREE], the servo turns free, and the axis mechanical brake and the dynamic brake are
released. As the mechanical brake is released, the robot that operates vertically may drop. Ensure safety before
executing this operation.

Servo [ON], [OFF], and [FREE] buttons are provided for All axes and for individual axis A1 to A6. These
buttons are enabled for each axis that is connected to the robot.

■ ■ About Ser vo [ON]

When clicking Servo [ON] of each axis, the corresponding axis changes to servo-on status. When clicking Servo
[ON] of [All] axes, all the axes connecting to the robot change to servo-on status.

■ ■ About Ser vo [OFF]

When clicking Servo [OFF], the corresponding axis changes to the servo-off status.

■ ■ About Ser vo [FREE] Servo free confirmation message

When clicking Servo [FREE], a conforming message window
appears. To put the servo-free status, click [OK].

n NOTE
To change the servo status of a different robot, change the robot selection in the controller toolbar.

18
 4.4 Return-to-origin
Return-to-origin of the robot must be performed for acquiring and using the robot position. The following
section describes how to return the robot to origin position.

1 Open the [Origin] dialog box. [Origin] dialog box

Use either of the following methods to open
the dialog box.
• On the main menu, click [Operation]-
[Origin].
• In the Window Tree, double-click [Origin].

2 Press [Perform] for the axis to

perform return-to-origin.
When clicking [Perform] for the axis, it will
begin the return-to-origin operation. During
return-to-origin execution, [Perform] button
changes to [Stop] button. To interrupt the
return-to-origin operation, press [Stop].When
return-to-origin is completed, the status
lamp is lit.
4
■ ■ In the case of Mark method

Control operation
The Position Adjust buttons are valid. Press the Position Adjust [-] or [+] buttons to move to a position where
absolute reset is possible, and then press [Perform].

■ ■ Performing return-to-origin for all axes

To perform return-to-origin for all axes, press [Perform] for All axes.
Use the following three check boxes to select the motor type(s).
• Incremental
Perform return-to-origin for all the incremental axes.
• Absolute
Perform return-to-origin for all the absolute axes.
• Select axis of return to origin is incomplete
Perform return-to-origin only for the axes that are origin incomplete.
If [Select axis of return to origin is incomplete] is selected, the [Incremental] and [Absolute] settings are invalid.

■ ■ About the Status lamps

These are unlit if return-to-origin is incomplete for the corresponding axis, and are lit if return-to-origin is complete.
For "All axes," the Status lamp is lit when return-to-origin is complete for all axes connected to the robot; it is unlit if
there is even one axis for which return-to-origin is incomplete.

n NOTE
• To perform return-to-origin for another robot, change the robot selection in the controller toolbar.
• The return-to-origin order can be changed by editing the robot parameter settings.
• The return-to-origin method can be changed by editing the axis parameters. For details, refer to "7.6 Editing
parameters."

19
 4.5 Moving the robot in inching or jog mode
This section describes how to move the robot in inching or jog mode.

1 Open the Jog pane. Jog pane

If the Jog pane is not shown in the target
window, use any of the following methods to
display it.
• On the main menu, click [Operation]-[Jog].
Jog button
• On the operation toolbar, press [Jog].
• In the Window Tree, double-click [Jog].
TIP
If the Jog pane is not seen, it might be displayed
outside the screen. In the main menu, try
executing [Window]-[Dock All Panes].

2 Choose the unit from the list box.

One of three units; [pulse], [mm]* , or [tool]* , can be chosen for your situation.

4 * "Std. coord. doesn't exist" massage will be shown when connecting to the emulator and selecting
SCARA robot. On the main menu, click [Coordinate System] - [Standard Coordinate] and set the
standard coordinate on the displayed wizard.

3 Set the speed of inching movement or jog movement.

Control operation

Speed can be set by either choosing 1, 2, 5, 10, 20, 50, or 100 from the list or manually entering a value
between 1 and 100 into the box.
If the value differs from the controller's setting, the list box’s background color turns red.
Click the [Set] button located at the right of the [Speed] list box to apply the setting to the controller.

4 Set the inching movement distance (Inch Dist.).

Inching distance can be set by entering directly into the box either number between 1 and 10000 in
"pulse" unit or between 0.001 and 10.000 in "mm" or "tool" unit. If the value differs from the controller's
setting, the edit box's background color turns red.
Click the [Set] button located at the right of the [Inch Dist.] edit box to apply the setting to the controller.

TIP
If you click the [Reload] button, the speed and inching movement distance values are returned to the values of
the controller.

5 Operate the robot.

w WARNING
The robot will operate by pressing the jog buttons. Do not enter the robot movement range; doing so is hazardous.

Each time clicking the jog button, the robot moves a distance set as the inching moving distance in the
respective direction.
If you hold down a jog button, the robot keeps moving as long as you continue holding down it. When
releasing the button, the robot slows down and stops. The robot also slows down and stops when it
reaches the soft limit in the respective directions.

20
 4.6 Moving the robot to a specified point (Point Trace)
This section explains how to move the robot to a point that is set beforehand.
[Point Trace] dialog box
1 Open the Point Trace dialog box.
Use any of the following methods to open
the dialog box.
• On the main menu, click [Operation]-[Point
Trace].
• In the [Operation Toolbar], click [Point
Trace].
• In the Window Tree, double-click [Point
Trace].
• In the Point editor, click [Trace].

2 Select the trace type and the motion type.

The trace type can be specified as [Absolute], [Incremental], or [Tool Coordinate]. The motion type can
be specified as [Point To Point], [Linear Interpolation], or [Circular Interpolation]. (Circular Interpolation
can be selected only if the trace type is "Absolute.")

3 Set the trace option speed.

The trace operation speed is the product of the movement speed and the option speed.
4
If the option speed is not selected, the robot moves at the movement speed.

TIP

Control operation
The movement speed setting can be viewed and edited in [Auto Speed (%)] of the control toolbar.

4 Select a point, or select position data entry.

If you selected [Select Point] in the point trace settings, select the point number to execute point trace.
When selecting [Enter Position], you can directly input a movement destination for the robot into the
point data.

5 Click [Trace] button to begin trace movement.

w WARNING
The robot will operate by pressing the jog buttons. Do not enter the robot movement range; doing so is hazardous.

During trace movement [Trace] button changes to [Stop] button. To stop the movement while it is in
progress, click [Stop] button.

■ ■ Selecting multiple points and executing trace

Select the [Multiple Select] check box, add points to the multiple select list, and click [Multiple Trace)]; trace
movement occurs through the selected points.
If [CONT] check box is selected, the option is enabled. For details on CONT, refer to the programming manual of
the robot controller.

■ ■ Arch option
If the trace type is [Absolute] and the motion type is [Point To Point], the arch option can be specified.
For details on the arch option, refer to the programming manual of the robot controller.

21
 4.7 Monitor function
Follow the procedures below to specify / refer to the current conditions of the internal controller.

1 Select the item to monitor.

4
Control operation

2 The pane to monitor will be shown.

3 Each output signal is turned ON/OFF by clicking each item on the [DO/MO/LO/
TO/SO] screen.

n NOTE
It is not applicable to operate dedicated outputs (such as return-to-origin).

4 IO (Input/Output) name can be switched by clicking "ION ON/OFF" button for I/O with the
function. (Refer to 4.6.1 "IO name function".)

22
 4.7.1 IO name function
Each signal for DI/DO and SI/SO can be named. (IO name function)
This name can be used in a program or referred to with the programming box.
Procedures of editing and saving the name are described in this section.

n NOTE
Refer to RCX3 series Operator's Manual Chapter 6 "3.I/O status display" for referring to names with programming box.

1 Enter a name in any empty box of DI/DO and SI/SO.

The box will be changed to red.

4
c CAUTION
The IO names have not been transferred to the controller yet in this state.

Control operation
n NOTE
For IO names;
• Available characters: Alphanumeric and _ (under bar)
• Number of characters: Maximum 16

2 Confirm that no error is occurring in the pane by "Syntax Check" of "Name

Check".
If an error occurs, re-enter the name while referring to the NOTE of1 .

3 Click "Save ION" button.

The box will return to white once the IO name is transferred to the controller.

n NOTE
Click "Reload ION" button to read out the IO name saved in the controller.

The massage window on the right will be

shown if "Save ION" is clicked without
executing "Syntax Check". Select Yes/No.

23
 5. File operation
While you can edit a controller data file obtained via data transfer or edit a newly created data file.
Data edited during can be sent to the controller.

5.1 Creating a new data file

This section explains how to create a new data file.

1 On the [File] menu, click [New File]. [New File] dialog box
The [New File] dialog box appears.

TIP
The same result is gotten by clicking [New File] on
the toolbar, or by double-clicking [Target Tree]-
[File]-[New File].

2 Enter a name.
Enter the name to be saved.

5 3 Select the file type.

The editable content differs according to the file type that you select. In the "All File", any type of files
can be edited.

Target window during file operation

4 Open the target window.
File operation

When clicking [OK], the file is added to the

Target Tree, and the target window appears.

n NOTE
The file is not created at opening the target window. After editing the data, the file is actually created by saving
from the [Save As] dialog box. The edited content is saved in the file that is created. If closing the target window
without creating the file, the corresponding file is deleted from the Target Tree of the RCX-Studio 2020 window.

24
 5.2 Opening a data file
This section explains how to open a data file that was saved by transferring controller data or by saving a newly
created data file.
[Open File] dialog box
1 On the [File] menu, click [Open
File].
The [Open File] dialog box appears.

TIP
The same result is gotten by clicking [Open File] on the toolbar, or by double-clicking [Target Tree]-[File]-[Open File].

2 Select the controller type.

Select the robot controller from the list box.

3 Select the file that you want to open.

Click [Browse] and select the file to open.
The following table shows the file extensions that you can open and the content that you can edit.

Editable items for each file type ✔: Editable −: Non-editable

5
Area Check General
Extension Program Point Shift Hand Work Pallet Parameter
Output Ethernet Port

.all *1 ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔

.all *2 ✔ ✔ ✔ ✔ ✔ ✔ ✔ − ✔

File operation
.pgm ✔ − − − − − − − −

.pst − ✔ − − − − − − −

.pnt − ✔ − − − − − − −

.pnm − ✔ − − − − − − −

.pcm − ✔ − − − − − − −

.prm − − − − − − − ✔ −

.sft − − ✔ − − − − − −

.hnd − − − ✔ − − − − −

.plt − − − − − ✔ − − −
*1: An .all file obtained by transferring controller data
*2: An .all file created as a new file and saved

4 Open the target window. Target window during file operation

When clicking [OK] in the [Open File] dialog
box, the file is added to the Target Tree and
the target window opens. Edit the data in
the target window and save it into the file.

25
 5.3 Deleting a file from the Target Tree
This section describes how to delete a file from the Target Tree of the RCX-Studio 2020 window.

1 In the Target Tree, select the file to

delete.
In the RCX-Studio 2020 window, select the
file to delete.

2 Select "delete".
Select the file and right-click to delete.

3 Confirmation message appears.

A message confirming that you want to
delete the data file will appear.

5 c CAUTION
When you select [Delete] in the delete confirmation message, the original data file is also deleted. The deleted
data file is moved to Recycle Bin.
File operation

The following actions are in response to the delete confirmation message.

Clear The selected file registration is cancelled from the Target Tree.(The original data file is not deleted.)

Delete Deletes the selected file from the target tree and moves the original data file to Recycle Bin.

Cancel No action.

26
 6. Data transfer
RCX-Studio 2020 includes function for transferring data to any desired location.
Controller data can be saved into PC and the saved data can then be restored to the controller.

6.1 Transferring data from controller to PC

This section explains how to transfer controller data to the PC and save it as a file in the location you specify.
To transfer data from a currently-connected controller to the PC, execute this procedure from the target
window of the corresponding controller. To transfer data from an unconnected controller to the PC, execute
this procedure from the RCX-Studio 2020 window.

■ ■ Transferring data from a connected controller to the PC

[Controller Backup] dialog box
1 Open the [Controller Backup]
dialog box.
Use any of the following methods to open
the [Controller Backup] dialog box.
• On the main menu of the target window,
click [Tool]- [Controller Backup].
• In the data transfer toolbar of the target
window, click [Backup].

2 Select the data that you want to

6
transfer to the PC.
In the [Transfer Data] list, select the check

Data transfer
box for each type of data to transfer to the
PC. (All items are selected by default.)
When undefined parameters are not loaded,
check [Skip undefined parameters]. When
model specific parameters (generation data
and offset pulse, etc.) are not loaded,
check [Skip robot specific parameters].
When program numbers are loaded, check
[Transfer program numbers].
TIP
The transfer data list shows only the items for which
data is saved in the controller. Items for which no
data is saved are not shown in the transfer data list.

27
 3 Specify the transfer destination.
Specify the destination to which the controller data will be transferred.
As the transfer destination you can choose either [Controller] or [File].

■ ■ Transfer destination: Controller Unconnected controller (data transfer is possible)

Choose this if you want to transfer data to another

controller. Data can be transferred only to an
Connected controller (data transfer is not possible)
unconnected controller. For a currently-connected
controller, [OK] is unavailable and the data cannot be
transferred.
[Save as] dialog box
■ ■ Transfer destination: File
Choose this for transferring.
When you click [Browse], the [Save As]
dialog box appears. Select the transfer-
destination folder, and enter a file name for
the destination file in the [File name] box.

n NOTE
The file name extension [*.all] is automatically
added to the file that is transferred from the
controller. There is no need to select the file name
extension from the [Save as type] dropdown list in
the [Save As] dialog box.

4 Start transferring the controller data.

In the [Controller Backup] dialog box, click [OK]. Data transfer begins.
When transfer is complete, a transfer completion message appears. Click [OK].

■ ■ Transferring data from an unconnected controller to the PC

6 1 Open the [Data Transfer] dialog

box.
[Data Transfer] dialog box

On the main menu of the RCX-Studio 2020

window, click [Tool]-[Data Transfer] to open
Data transfer

the [Data Transfer] dialog box.

2 Select the transfer-source controller.

In [Controller] of [Source File], select the
controller from which you want to transfer Unconnected controller (data transfer is possible)
data to the PC.
Only unconnected controllers can be
selected as the transfer source. The Connected controller (data transfer is not possible)
[Connect] button is invalid
for controllers that are currently connected.

3 Get a list of the transfer data.

Click the [Connect] button located beside
the transfer-source controller. A list of the
transfer data is obtained from the controller
and displayed in the [Transfer Data] area.
If connection with the controller was
unsuccessful, the error message "Error:
Timeout" or "Failed to connect" appears. If
one of these appears, check the
communication settings and the connection
state of the cable.

28
4 Select the data to transfer to the PC.
In the [Transfer Data] list, select the check box for each type of data to transfer to the PC.
When undefined parameters are not loaded, check [Skip undefined parameters]. When model specific
parameters (generation data and offset pulse, etc.) are not loaded, check [Skip robot specific
parameters]. When program numbers are loaded, check [Transfer program numbers].

TIP
The transfer data list shows only the items for which data is saved in the controller. Items for which no data is
saved are not shown in the transfer data list.

5 Specify the transfer destination for the controller data.

As the transfer destination, you can choose [Controller] or [File].
When [Controller] is chosen, [online mode] (actual machine) or [offline mode] (emulator) can be
selected.

■ ■ Transfer destination: Controller Unconnected controller (data transfer is possible)

Choose this to transfer data to another controller.

Data can be transferred only to an unconnected Connected controller (data transfer is not possible)
controller. For a currently-connected controller,
[OK] is invalid and the data cannot be transferred.

■ ■ Transfer destination: File [Save as] dialog box

Choose this to transfer data to a file.

When you click [Browse], the [Save As]
dialog box appears. Select the transfer-
destination folder, and enter a file name for
the destination file in the [File name] box.

n NOTE
The file name extension [*.all] is automatically
added to the file that is transferred from the
controller. There is no need to select the file name
6
extension from the [Save as type] dropdown list in
the [Save As] dialog box.

Data transfer
6 Start transferring the controller data.
In the [Controller Backup] dialog box, click [OK]. Data transfer begins, and the following message
appears.
When transfer is complete, a transfer completion message appears. Click [OK].

29
 6.2 Transferring data from PC to controller
This section explains how to transfer data from another controller or from a file on the PC to a controller. To
transfer data to a currently-connected controller, execute this procedure from the target window of that
controller. To transfer data to an unconnected controller, execute this procedure from the RCX-Studio 2020
window.

c CAUTION
If you transferred data that requires the power to
be cycled, the transfer completion message
shown at right appears. Click [OK], and turn the
controller's power off and then on again.

■ ■ Transferring data to a connected controller

[Controller Restore] dialog box
1 Open the [Controller Restore]
dialog box.
Use any of the following methods to open
the [Controller Restore] dialog box.
• On the main menu of the target window,
click [Tool]-[Controller Restore].
• In the data transfer toolbar of the target
window, click [Restore].

6 2 Specify the transfer source.

Specify the source from which the data is transferred.
As the transfer source you can choose either [Controller] or [File].
Data transfer

When [Controller] is chosen, [online mode] (actual machine) or [offline mode] (emulator) can be
selected.

■ ■ Transfer source: Controller Unconnected controller (data transfer is possible)

Choose this to transfer data from another controller.
Only an unconnected controller can transfer data.
A currently-connected controller cannot transfer data. Connected controller (data transfer is not possible)
Select an unconnected controller, and press [Connect]
to obtain a list of the transfer data.

■ ■ Transfer source: File [Open] dialog box

Choose this to transfer data from a file on the PC.

When you click [Browse], the [Open] dialog box
appears. Select the transfer-source file.

n NOTE
Select the file name extension of the transfer-
source file from the dropdown list located beside
the file name.
The following file name extensions can be
selected: [*.all], [*.pgm], [*.pst], [*.pnt], [*.pnm],
[*.pcm], [*.prm], [*.sft], [*.hnd], [*.wrk], [*.plt],
[*.clb], [*.clbadv], and [*.cnv].

30
3 Select the data to transfer to the
controller.
If the transfer-source is a controller, a list
appears in [Transfer Data] at pressing
[Connect]. If the transfer-source is a file, the
list appears when opening the file. In the
[Transfer Data] list, select the check box for
each type of data to transfer to the
controller.
When undefined parameters are not loaded,
check [Skip undefined parameters]. When
model specific parameters (generation data
and offset pulse, etc.) are not loaded,
check [Skip robot specific parameters].
When program numbers are loaded, check
[Transfer program numbers].

TIP
The transfer data list shows only the items for which data is saved in the controller. Items for which no data is
saved are not shown in the transfer data list.

4 Start transferring the data to the

controller.
In the [Controller Restore] dialog box, click
[OK]. The message "Do overwrite?" appears.
Click [Yes] to start transferring. If you decide
not to transfer, click [No].

During data transfer, the message shown at

right appears.
6
n

Data transfer
NOTE
To cancel the transfer, click [Cancel].

c CAUTION
Even if you cancel the transfer, the data that had been transferred to the controller up to the moment you clicked
[Cancel] will not return to the state prior to transfer.

When transfer is complete, a transfer completion message appears. Click [OK].

31
 ■ ■ Transferring data to an unconnected controller

[Data Transfer] dialog box

1 Open the [Data Transfer] dialog
box.
On the main menu of the RCX-Studio 2020
window, click [Tool]-[Data Transfer] to open
the [Data Transfer] dialog box.

2 Specify the source from which the data is transferred.

As the transfer source you can choose either [Controller] or [File].
When [Controller] is chosen, [online mode] (actual machine) or [offline mode] (emulator) can be
selected.

■ ■ Transfer source: Controller

Unconnected controller (data transfer is possible)
Choose this to transfer data from another controller.
Only an unconnected controller can transfer data.
Data of a currently-connected controller cannot be Connected controller (data transfer is not possible)

transferred. Select an unconnected controller, and

press [Connect] to obtain a list of the transfer data.

6 ■ ■ Transfer source: File

Choose this to transfer data from a file on the PC.
[Open] dialog box

When you click [Browse], the [Open] dialog box

appears. Select the transfer-source file.
Data transfer

n NOTE
Select the file name extension of the transfer-
source file from the dropdown list located beside
the file name.
The following file name extensions can be
selected: [*.all], [*.pgm], [*.pst], [*.pnt], [*.pnm],
[*.pcm], [*.prm], [*.sft], [*.hnd], [*.wrk], [*.plt],
[*.clb], [*.clbadv], and [*.cnv].

3 Select the data to transfer to the

controller.
If the transfer-source is a controller, a list
appears in [Transfer Data] when you press
[Connect]. If the transfer-source is a file, the
list appears when you open the file. In the
[Transfer Data] list, select the check box for
each type of data to transfer to the
controller.
When undefined parameters are not loaded,
check [Skip undefined parameters]. When
model specific parameters (generation data
and offset pulse, etc.) are not loaded,
check [Skip robot specific parameters].
When program numbers are loaded, check
[Transfer program numbers].

TIP
The transfer data list shows only the items for which data is saved in the controller. Items for which no data is
saved are not shown in the transfer data list.

32
4 Specify the transfer destination. Unconnected controller (data transfer is possible)
In the controller dropdown list, choose an
unconnected controller. If you choose a
currently-connected controller, the [OK] Connected controller (data transfer is not possible)
button of the [Controller Restore] dialog box
is unavailable, and data transfer is not
possible.

5 Start transferring the data to the

controller.
In the [Controller Restore] dialog box, click
[OK]. When connection to the controller
succeeds, the message "Do overwrite?"
appears. Click [Yes] to start transferring. If
you decide not to transfer, click [No].

During data transfer, the message shown at

right appears.

n NOTE
If connection to the controller fails, the error message [Failed to connect] appears. If this appears, check the
communication settings and the connection state of the cable.

c CAUTION
Even if you cancel the transfer, the data that had been transferred to the controller up to the moment you clicked
[Cancel] will not return to the state prior to transfer.
6

Data transfer
When transfer is completed, a message indicates completion. Click [OK].

33
 7. Editing controller data and operating
The robot controller's various data (such as program, point, parameter, shift, hand, work, pallet, area output
check, camera calibration, conveyor calibration, and general Ethernet port data) can be edited directly on
RCX-Studio 2020.

7.1 Creating a new program

1 Open the [Robot application select]

dialog box.
Use any of the following methods to display
the [Robot application select] dialog box.
• On the main menu of the target window,
click [Program]-[New Program].
• On the [Program Toolbar] of the target
window, click [New PGM.].
• In the Window Tree of the target window,
double-click [Program]-[New Program].

Program editor
2 Open a program editor.
Select the [Empty program] from the [Robot
application selection] dialog box, and then
click [OK] to open a program editor.

7
n NOTE
If a program other than [Empty program] is selected in the [Robot application selection] dialog box, the wizard
Editing controller data and operating

to create a program template can be started. Select the application and follow the messages that appear on
the wizard screen to automatically create a program. Use the wizard in accordance with the application.

3 Enter a program into the program editor.

Create a program using the YAMAHA robot language. For details on the YAMAHA robot language, refer
to the programming manual of the controller you're using.

34
4 Save the program.
Save the program into the controller directly by either way of the following; click [Edit]-[Save] on the
main menu of the target window, or click [Save] in the edit toolbar.

n NOTE
If the edit toolbar is not shown in the target window, check whether the main menu [View]-[Toolbar]-[Edit
Toolbar] option has a check mark. If not, click [Edit Toolbar].
If it already has a check mark, click [Window]-[Dock All Panes].

The [Save Program] dialog box appears

when creating a new program or saving a
program. Enter a name for the program. The
program name can contain single-byte
alphanumeric characters and the _
(underscore) character.

If [Auto No. Set] is on, the lowest unused

program is automatically assigned. To set a Programs in the Window Tree
specific program number, clear the [Auto
No. Set] check box and click [Select] to
select the desired program number.
When clicking [OK], the program is saved,
and the saved program is added to [Open
Program] in the Window Tree.

n NOTE
Up to 100 programs can be saved in the controller. If you attempt to save when there are already 100 programs
saved in the controller, a "program number over" error appears.

7.2 Editing an existing program

7
This section explains how to edit a program that was previously saved in the controller.

1 Open the desired program.

In the target window, select a program located under [Window Tree]-[Program]-[Open Program], and
double-click it.

Editing controller data and operating

2 Enter a program into the program editor.
Create a program using the YAMAHA robot language. For details on the YAMAHA robot language, refer
to the programming manual of the controller you're using.

3 Save the program.

Save the program edited using the program editor. Click [Edit]-[Save] in the main menu of the target
window, or click [Save] in the edit toolbar. When saving is complete, the "*" at the end of the program
editor's title bar disappears.

Unsaved Saved

"*" disappears

35
 7.3 Copying or deleting a program
This section explains how to copy or delete a program existing in the controller.

1 Select the program to copy or delete.

In the target window, select the program in [Window Tree]-[Program]-[Open Program].

2 Choose [Delete] or [Copy].

Select a program, right-click to open menu.
Click [Copy] to show the [Save Program]
dialog box. Enter a program name and click
[OK] to copy the program.
Click [Delete] to delete the selected
program.
* Click [Rename] to rename the selected
program, or click [Setting Main Program] to
specify the selected program as the main
program.

7.4 Executing a program

This section explains how to execute a program existing in the controller.

1 Make sure that the robot has returned to origin position.

In the controller monitor, verify that return-to-origin is complete (the lamp lit).
For details on return-to-origin, refer to "4.3 Return-to-origin."

n NOTE
All axes connected to the robot must have completed return-to-origin.

2 In the program editor, click [Syntax Result of syntax check (no error is found)
Check].

7 In the program editor, click [Syntax Check]

to verify that there are no syntax errors.
If there are any syntax errors, the syntax
check pane shows the name of the program
and the line number in which the syntax
error was found, and the content of the
Editing controller data and operating

Result of syntax check (error is found)

error. Note the error content and correct the
program.
For details on the YAMAHA robot language,
refer to the programming manual of the
controller you're using. For details on errors,
refer to the user's manual of the controller.

[Syntax Check]

n NOTE
• By selecting an error and double-clicking, you can jump to the location of that error.
• If the syntax check pane is not shown, click [Window]-[Dock All Panes].

36
 Program editor
3 Execute the program.
In the program editor, click [Start] to execute
the program.
To stop the program, click [Stop].

[Start] [Stop]

■ ■ Other buttons
• [Find]
Opens the [Find and Replace] window. A search string and find or replace the corresponding string can be set.

• [FUNC SEL]
Opens the [Function Selector] window. In the function selector, you can select a function from the list and click
[Insert] to insert the selected function at the cursor location of the program editor.

• [Step]
Each time you click this, the command statement at the highlighted line number is executed. If the command
statement is a subroutine or a sub-procedure, the first line of that subroutine or sub-procedure is executed.

• [Next]
Each time you click this, the command statement at the highlighted line number is executed. If the command
statement is a subroutine or a sub-procedure, the entire subroutine or sub-procedure is executed.

• [Skip]
Each time you click this, you will advance to the next line without executing the highlighted line number.

• [Run To]
Executes up to the cursor location in the program editor.

• [Skip To]
Skips to the cursor position of the program editor without executing the command statements.
7
• [Reset]

Editing controller data and operating

Resets the program. The execution line is returned to the top of the program.

• [Breakpoint]
Sets a break point at the line where the cursor is located in the program editor. If a break point is already
specified there, the break point is cleared.

• [Bookmark]
Sets a bookmark at the line where the cursor is located in the program editor. If a bookmark is already specified,
the bookmark is cleared.
You can set multiple bookmarks and press the [F2] key to move to the next bookmark or the [Shift+F2] key to
move to the previous bookmark.

• [Exec Line]
Enables/disables the line display that is executed.
If the execution line is enabled, the line is highlighted when the program runs.

• [Common]
Switches the display to the common program. When the common program is displayed, pressing [Common]
switches the display to the original program.
[Common] is available if [Exec Line] is unavailable and a program named [COMMON] is also saved.
For details about the common program, refer to the programming manual of the controller you're using.

c CAUTION
The highlighted execution line display might be later than actual. Consider it an approximate indication of which
command statement within the program is currently being executed.

37
 7.5 Editing point data
Use the Point editor to view and edit the controller's point data, point names, and point comments.
Point editor
1 Open the Point editor.
Use any of the following methods to open
the Point editor.
• On the main menu of the target window,
click [Coordinate System]-[Point].
• In the Window Tree, double-click
[Coordinate System]-[Point].
• In the [Coordinate System Toolbar], click
[Point].

2 Edit the point data, point names, and point comments.

In the Point editor you can enter point data, point names, and point comments for points between P0
and P29999.
[Arm Type] can be specified only for a SCARA robot.
By clicking [Teach (mm)] or [Teach (pls)] you can also register (teach) the current position of the robot
to the selecting point.
Enter the point name in the [Name] column. You can enter up to 16 characters, using single-byte
alphanumeric characters and the _ (underscore) character.
Point names must be unique. You can press [Name Check] to check whether any point names are
duplicates.
Enter the point comment in the [Comment] column. You can enter up to 16 bytes, and there is no
limitation on the types of characters that can be input. For details on points, refer to the manual of the
robot controller. When you edit a point, the edited items turn red.

n NOTE

7
Execute return-to-origin of the robot before performing teaching input with [Teach (mm)] or [Teach (pls)].

3 Save the edited data.

When you have finished editing the point data, point names, and point comments, click [Edit]-[Save] on
the main menu of the target window, or click [Save] in the edit toolbar. When saving is complete, the
Editing controller data and operating

edited item color returns.

7.6 Editing parameters

Use the Parameter editor to view and edit parameters.

1 Open the Parameter editor. Parameter [Controller] editor

Use any of the following methods to open
the Parameter editor.
• On the main menu of the target window,
click [Parameter] and choose the
parameter to edit.
• In the Window Tree under [Parameter],
double-click the parameter to edit.
• In the [Parameter Toolbar], click the button
of the parameter to edit.

38
2 Edit the parameters.
Edit the parameters in the parameter editor.
For items that require to enter a specific
setting, a drop-down list appears. For details,
refer to the manual of the robot controller.
When editing a parameter, the edited items
turn red.

3 Save the edited parameters.

When you have finished editing the parameters, click [Edit]-[Save] on the main menu of the target
window, or click [Save] in the edit toolbar. When saving is complete, the edited item color returns.

7.7 Editing shift data

Use the Shift editor to view and edit the shift data within the controller.
Shift editor
1 Open the Shift editor.
Use any of the following methods to open
the Shift editor.
• On the main menu of the target window,
click [Coordinate System]-[Shift].
• In the Window Tree, double-click
[Coordinate System]-[Shift].
• In the [Coordinate System Toolbar], click
[Shift].

2 Edit the shift data.

Use the Shift editor to edit the shift data. In
addition to the shift coordinates (between S0
and S39), you can also specify a shift
coordinate range for each shift coordinate to
restrict the robot operating area to a desired
range. The [SPx] value limits the operating

7
range in the plus (+) direction for each axis,
and the [SMx] value limits it in the minus (-)
direction. For details on shift data, refer to the
manual of the robot controller. When editing
shift data, the edited items turn red.

Editing controller data and operating

3 Save the edited data.
When you have finished editing the shift data, click [Edit]-[Save] on the main menu of the target
window, or click [Save] on the Edit toolbar. When saving is complete, the edited item color returns.

7.8 Editing hand data

Use the Hand editor to view and edit the hand data in the controller.

1 Open the Hand editor. Hand editor

Use any of the following methods to open
the Hand editor.
• On the main menu of the target window,
click [Coordinate System]-[Hand].
• In the Window Tree, double-click
[Coordinate System]-[Hand].
• In the [Coordinate System Toolbar], click
[Hand].

2 Edit the hand data.

Use the Hand editor to edit the hand data.
Hand data can be edited between H0 and
H31. For details on hand data, refer to the
manual of the robot controller. When editing
hand data, the edited items turn red.

3 Save the edited data.

When you have finished editing the hand data, click [Edit]-[Save] on the main menu of the target
window, or click [Save] on the Edit toolbar. When saving is complete, the edited item color returns.

39
 7.9 Editing work data
Use the Work editor to view and edit the area check output data.

1 Open the Work editor. Work editor

Use any of the following methods to open
the Work editor.
• On the main menu of the target window,
click [Coordinate System]-[Work].
• In the Window Tree, double-click
[Coordinate System]-[Work].
• In the [Coordinate System Toolbar], click
[Work].

2 Edit the work data.

Use the Work editor to edit the work data.
Set the [X, Y, Z, and R-axis (rotation)] offset
from the robot tip or hand tip.
When editing work data, the edited items
turn red.

3 Save the edited data.

When you have finished editing the work data, click [Edit]-[Save] on the main menu of the target window,
or click [Save] on the Edit toolbar. When saving is complete, the edited item color returns.

7.10 Editing pallet data

Use the Pallet editor to view and edit the pallet data in the controller.

1 Open the Pallet editor. Pallet editor

Use any of the following methods to open
the Pallet editor.

7
• On the main menu of the target window,
click [Coordinate System]-[Pallet].
• In the Window Tree, double-click
[Coordinate System]-[Pallet].
• In the [Coordinate System Toolbar], click
[Pallet].
Editing controller data and operating

2 Edit the pallet data.

Use the Pallet editor to edit the pallet data.
Pallet data can be edited between PL0 and
PL39. For details on pallet data, refer to the
manual of the robot controller.
When you click [Edit Point], the Point editor
opens with the point number specified by
PLP selected.
If the Point editor is already open, you will
move to the point with the point number
specified by PLP.
When editing pallet data, the edited items
turn red.

3 Save the edited data.

When you have finished editing the pallet data, click [Edit]-[Save] on the main menu of the target
window, or click [Save] on the Edit toolbar. When saving is complete, the edited item color returns.

40
 7.11 Editing area check output data
Use the Area Check Output editor to view and edit the area check output data.

1 Open the Area Check Output Area Check Output editor

editor.
Use any of the following methods to open
the Area Check Output editor.
• On the main menu of the target window,
click [Coordinate System]-[Area Check
Output].
• In the Window Tree, double-click
[Coordinate System]-[Area Check Output].
• In the [Coordinate System Toolbar], click
[Area Check Output].

2 Edit the area check output data.

Use the Area Check Output editor to edit
the area check output data which can be
edited between AC0 and AC31. For details
on area check output data, refer to the
manual of the robot controller.
When editing area check output data, the
edited items turn red.

3 Save the edited data.

When you have finished editing the area check output data, click [Edit]-[Save] on the main menu of the
target window, or click [Save] on the Edit toolbar. When saving is complete, the edited item color returns.

7.12 Editing general Ethernet port data

Use the General Ethernet Port editor to view and edit general Ethernet port data.

7
TIP
For details on general Ethernet ports, refer to the manual of the robot controller.

1 Open the General Ethernet Port General Ethernet Port editor

editor.

Editing controller data and operating

Use any of the following methods to open
the General Ethernet Port editor.
• On the main menu of the target window,
click [Parameter]-[General Ethernet Port].
• In the Window Tree, double-click
[Parameter]-[General Ethernet Port].
• In the [Parameter Toolbar], click [General
Ethernet Port].

2 Edit the general Ethernet port data.

Use the General Ethernet Port editor to edit
the general Ethernet port data which can
be edited between GP0 and GP7. When
editing general Ethernet port data, the
edited items turn red.

3 Save the edited data.

When you have finished editing the general Ethernet port data, click [Edit]-[Save] on the main menu of the
target window, or click [Save] on the Edit toolbar. When saving is complete, the item color returns.

41
 7.13 Editing camera calibration data
Use the Camera Calibration editor to view and edit Camera Calibration data.

1 Open the Camera Calibration Camera Calibration editor

editor.
Use any of the following methods to open
the Camera Calibration editor.
• On the main menu of the target window,
click [Coordinate System]-[Camera
Calibration].
• In the Window Tree, double-click
[Coordinate System]-[Camera Calibration].
• In the [Coordinate System Toolbar], click
[Camera Calibration].

2 Edit the camera calibration data.

Use the Camera Calibration editor to edit
the camera calibration data. For details,
refer to the iVY2 System manual. When
editing camera calibration data, the edited
items turn red.

3 Save the edited data.

When you have finished editing the camera calibration data, click [Edit]-[Save] on the main menu of the
target window, or click [Save] on the Edit toolbar. When saving is complete, the item color returns.

7.14 Editing conveyor calibration data

Use the Conveyor Calibration editor to view and edit Conveyor Calibration data.
Conveyor Calibration editor
1 Open the Conveyor Calibration
7
editor.
Use any of the following methods to open
the Conveyor Calibration editor.
• On the main menu of the target window,
click [Coordinate System]-[Conveyor
Calibration].
Editing controller data and operating

• In the Window Tree, double-click

[Coordinate System]-[Conveyor
Calibration].
• In the [Coordinate System Toolbar], click
[Conveyor Calibration].

2 Edit the conveyor calibration data.

Use the Conveyor Calibration editor to edit
the conveyor calibration data. For details,
refer to the Tracking System manual. When
editing conveyor calibration data, the
edited items turn red.

3 Save the edited data.

When you have finished editing the conveyor calibration data, click [Edit]-[Save] on the main menu of the
target window, or click [Save] on the Edit toolbar. When saving is complete, the item color returns.

42
Revision record

Manual version Issue date Description

Ver. 1.00 Apr. 2020 First edition
Ver. 1.01 June.2020 Some of the contents related to the USB key have been changed.

User’s Manual

RCX-Studio 2020
Support Software

June. 2020
Ver. 1.01
YAMAHA MOTOR CO., LTD. Robotics Operations
All rights reserved. No part of this publication may be reproduced in any
form without the permission of YAMAHA MOTOR CO., LTD.
The contents of this manual are subject to change without prior notice.
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.
Robotics Operations
127 Toyooka, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan
Tel. 81-53-525-8250 Fax. 81-53-525-8378

Robot manuals can be downloaded from our company website.

Please use the following for more detailed information.
https://global.yamaha-motor.com/business/robot/
YAMAHA MOTOR CO., LTD.