Omron SCARA YRC Series, Supporting Supplement Manual

Page 1: ...ZX T Series Cat No I154E EN 02 CE marking SUPPORTING SUPPLEMENT MANUAL SCARA Robots YRC Series...

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Page 3: ...utions 5 5 Warning labels and marks 5 5 1 Warning labels 5 5 2 Warning marks 6 6 Industrial robot operating and maintenance personnel 6 7 Make daily and periodic inspections 6 Chapter 1 CE MARKING 1 C...

Page 4: ...6 1 4 2 Flow for enabling the SERVICE mode functions 2 7 1 4 3 SERVICE mode parameter settings 2 7 2 EMC countermeasure examples 2 9 2 1 YRC robot controller 2 9 2 1 1 Configuration 2 9 2 1 2 Counter...

Page 5: ...end this manual to the new user along with the robot and controller Be sure to explain to the new user the need to read through this manual Specifications of the robot and controller models other than...

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Page 7: ...ance safety points 3 2 5 Safety precautions during robot operation 4 2 6 Precautions for disposal 4 3 Safety measures for robots 5 3 1 Safety measures for SCARA type robots 5 4 Motor overload precauti...

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Page 9: ...l words DANGER DANGER INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH IF NOT AVOIDED WILL RESULT IN DEATH OR SERIOUS INJURY WARNING WARNING INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH IF NOT A...

Page 10: ...E CONNECTORS MAKE THE CRIMP PRESS CONTACT OR SOLDER CONNECTIONS CORRECTLY USING THE TOOL SPECIFIED BY THE MANUFACTURER ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALL...

Page 11: ...E 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 ABNO...

Page 12: ...mming box The surface sheet may be damaged or printed letters or marks might be erased Use a soft dry cloth and gently wipe the surface Do not use a hard or pointed object to operate the keys on the p...

Page 13: ...ller parameters are preset to match the robot model to be used However please check the robot model again when connecting it to the controller 5 Warning labels and marks 5 1 Warning labels The warning...

Page 14: ...around this mark may become very hot Heatsinks and regenerative unit become hot during and shortly after operation Do not touch them to avoid burns 6 Industrial robot operating and maintenance personn...

Page 15: ...standards 1 1 2 1 Cautions regarding compliance with EC Directives 1 1 2 2 Applicable EC Directives and their related standards 1 2 2 3 Robots subject to CE Marking 1 2 2 4 Cautions regarding the offi...

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Page 17: ...n equipment and we declare that OMRON robots conform to the EC Directives only within the scope of built in equipment This does not therefore guarantee that OMRON robots conform to EC Directives in ca...

Page 18: ...l equipment Radio frequency disturbance characteristics Limits and methods of measurement EN 61000 6 2 Electromagnetic compatibility EMC Part6 2 Generic standards Immunity for industrial environments...

Page 19: ...t and controller must therefore be grounded properly to prevent possible electrical shock For details refer to the controller user s manual and the robot user s manual Enclosure The robot controller c...

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Page 21: ...4 1 3 2 PB connector 2 5 1 4 SERVICE mode 2 6 1 4 1 What is SERVICE mode 2 6 1 4 2 Flow for enabling the SERVICE mode functions 2 7 1 4 3 SERVICE mode parameter settings 2 7 2 EMC countermeasure examp...

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Page 23: ...em configuration YRC robot controller Example R6YXG500 All the axes on the robot controller are used as the main robot axes PB MOTOR XM YM ZM RM PWR S R V SAFET Y COM STD DIO ROB I O ZR OP 1 OP 3 OP 2...

Page 24: ...ATT ZR ROB I O ZR BATT XY ROB I O XY RM ZM YM XM MOTOR TB2 TB1 N1 N L1 L ACIN DRIVER POWER RGEN CN5 CN11 CN9 CN9 CN8 CN6 CN1 CN4 CN2 CN7 CN10 CN3 HEATSINK TH1 FG CN3 CN4 CN6 CN7 CN1 CN2 CN12 DRIVER 2...

Page 25: ...IRCUIT CONTROL POWER CIRCUIT DC5V DC12V DC24V 2 1 POWER CIRCUIT BLOCK 2 3 User equipment External emergency stop circuit SAFETY MAIN L N CONTROL L1 N1 AC200 to 230V IN FUSE FUSE YRC robot controller P...

Page 26: ...ness is adjustable 2 Sheet keys These keys are used to operate a robot or input programs The sheet keys are classified into 3 main types function keys control keys and data keys 3 Emergency stop butto...

Page 27: ...an emergency stop button and an enable switch they do not function independently because the controller is designed on the assumption that an external safety circuit is configured YRC robot controller...

Page 28: ...SERVICE mode parameters The following functions can be selected in SERVICE mode 1 Robot is controlled only by PB operation 2 Automatic operation is prohibited 3 Robot operating speed is set to below...

Page 29: ...SERVICE mode 1 SERVICE mode level 2 Operating speed limit during SERVICE mode 3 Operation device control during SERVICE mode These parameter settings determine the operation level operating speed limi...

Page 30: ...Level 3 Enabled Prohibited Default setting 2 Limitations on operating speed during SERVICE mode The maximum robot operating speed can be specified Setting Description 3 Robot operating speed is limit...

Page 31: ...are used while installed in the customer s system the actual test results may differ depending on installation conditions 2 1 YRC robot controller 2 1 1 Configuration CAUTION As shown in the following...

Page 32: ...e install a surge absorber on the AC power line A recommended surge absorber is shown below Recommended surge absorber Manufacturer SOSHIN ELECTRIC CO LTD Type No LT C12G801WS Dimensional outline unit...

Page 33: ...er is shown below Recommended noise filter Manufacturer SOSHIN ELECTRIC CO LTD Type No NF2020A UP unit mm 1 5 2 3 4 5 Dimensional outline 85 1 71 6 70 0 5 4 5 18 34 0 5 40 0 5 50 1 40 1 28 8 10 R2 25...

Page 34: ...nded ferrite core 1 Manufacturer TDK Type No ZCAT3035 1330 unit mm Dimensional outline 39 0 1 34 0 1 30 0 1 13 0 1 Recommended ferrite core 2 Manufacturer TDK Type No ZCAT2132 1130 Dimensional outline...

Page 35: ...T 274015S Dimensional outline unit mm 40 0 43 8 90 1 27 4 43 8 20 7 Ferrite Plastic case Clamped state Recommended ferrite core 5 Manufacturer Takeuchi Kogyo Co Ltd Type No SFT 72SNB 026K unit mm Dime...

Page 36: ...ing flow Flow for determining performance levels 1 Determine the performance level PLr required of the safety circuit by means of risk assessment 2 Configure the safety circuit that satisfies the requ...

Page 37: ...and serial I O such as alarm signals should be monitored by the host device Overall connection diagram with enable switch Controller PNP specifications Safety circuit PB AC OUT Emergency stop 17 18 19...

Page 38: ...Internal 24V PB SAFETY MPRDY Status N1 L1 N L 4 2 11 13 14 MPRDY E STOP24V E STOPRDY 5V P COM P COMDI N COMDI 12 E STOP Status GND 24V_GND 47 48 49 50 27 29 STD DIO COMMON CPU_OK contact A normally op...

Page 39: ...A B M1 M2 ON OFF OFF OUT B A Y1 Enable 11 Enable 12 Enable 21 Enable 22 Enable 11 Enable 12 Enable 21 Enable 22 Service 1 Service 2 Input 3 Service 1 Service 2 33 34 43 44 T23 GND GND T33 24V Y1 S24...

Page 40: ...11 Enable 12 Enable 21 Enable 22 Enable 11 Enable 12 Enable 21 Enable 22 Service 1 Service 2 33 34 43 44 T23 GND GND 24V Y1 T42 T41 L1 L2 Y2 1 KA2 KA3 KA4 KA5 KA1 Maintenance switch Input 2 Input 1 S2...

Page 41: ...ervice 2 GND T42 T41 L1 L2 Y2 1 24V 24V T11 T12 T21 T22 S24 S14 T33 24V Y1 24V 24V KA2 KA1 SRL2 Maintenance switch Input 2 Input 1 S2 AUTO SERVICE Input 3 Service 1 Service 2 24V 24V GND 24V GND ON ON...

Page 42: ...cy stop button s NC contact is closed CAUTION Connect the PB terminator or PB to the PB connector on the controller front panel If the PB connector on the controller front panel is open an emergency s...

Page 43: ...to the catalog number on the front cover manual Cat No I156E EN 01 Revision code The following table outlines the changes made to the manual during each revision Revision code Date Description 01 Aug...

Page 44: ...Cat No I154E EN 02 Note Specifications subject to change without notice Authorized Distributor Printed in Europe...