Omron YRCX Series Operation Manual Download

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Edit

4-4

Data entry format is shown below.
When registering new point data, input the point data for all axes, axis 1 to axis 6. When the registration
is completed even if there is an axis without inputting data, "4.202: input format error" occurs.
If the data format is incorrect, the alarm message, such as "5.206 Digit number error", etc. appears.
Input the data in the correct format.

• To input the data in joint coordinates ("pulse" units)

Input an integer of up to 8 digits.

: ±######

When the number of display digits is set to 8 in SYSTEM>PARAM mode, data is displayed in 8 digits as in
± ########.

• To input the data in Cartesian coordinates ("mm" units)

Input a number consisting of an integer portion of up to 5 digits and having 3 or less places below
the decimal point.

: ±###.##,±####.#,±#####.

When the number of display digits is set to 8 in SYSTEM>PARAM mode, data is displayed in 8 digits as in
± #####.##, ± ######.#, and ± ########.

• Setting the hand system flag in SCARA type robots

Set "1" or "2" for FLG. When a numeric value other than "1" and "2" is specified or when no numeric
value is specified, "0" is set as non-hand system flag setting.

: Shows that the point is set in the right-handed system.

: Shows that the point is set in the left-handed system.

: The range of the angle data x (*1) after converted from "mm" to "pulse" is -180.00 degrees

< x <= 180.00 degrees.

: The range of the angle data x (*1) after converted from "mm" to "pulse" is 180.00 degrees

< x <= 540.00 degrees.

-1 : The range of the angle data x (*1) after converted from "mm" to "pulse" is -540.00 degrees

< x <= -180.00 degrees.

(*1) This angle data is that the pulse data after converted into the joint coordinates is converted into
the angle from the mechanical origin of each arm.

• Setting the point name

Characters used for the name data are only alphanumeric characters and "_" (underscore). Up to 16
characters are used.
If characters exceeding 16 characters are input, characters after the 17th character are deleted.
Only alphabetic character or underscore is used for the first character of the point name.

NOTE
The maximum point data capacity is approximately 2100 KB.

Since the point data area is shared with the program, the capacity may decrease depends on the amount of
program.
Example: In the case of 6 100-KB programs, the capacity decrease 1500 KB and approximately 250000 points

can be used.

Step 3

Set the point data registration.

To complete the point data registration, press the ENTER key or right cursor key until the cursor moves to
the point name area.
To cancel the point data registration, press the ESC key.

■

Restoring the point data

When pressing the ESC key while the point data is being edited, the data you have input is canceled and it returns to the
data before inputting. This function is valid only for the point data before the registration is completed.

1.2 Point data input by teaching

The current position of the robot can be registered as point data by teaching.
To directly load the current position of the point data, use the "JOG" screen.

WARNING

The robot moves during teaching. To avoid danger, do not enter the robot movement range.