Robot Controller 1 To 4 Axis RCX3 Series - Yamaha Robotics
Articulated robotsYARobot controller1 to 4 axisRCX3 seriesLCM100Linear conveyormodulesRCX340Compactsingle-axis robotsTRANSERVO Robot controller with advanced functionsFLIP-XSingle-axis robotsNext generation controller, all functions of whichwere reviewed to further improve the functions ofconventional controllers.This controller provides the features to achieve the highfunctionalities that can construct the equipment at highlevel.PHASERLinear motorsingle-axis robotsXY-XCartesianrobotsMain functions P.67Programming boxPBX/PBX-ESCARArobotsYK-XP.563Support software for PCRCX-Studio ProRCX340P.559ItemCLEANBasic specificationsYP-XPick & placerobots Basic specificationsApplicable robotsCONTROLLER INFORMATIONConnected motor capacityPower capacityDimensionsWeightPower supply voltageAxis controlNo. of controllable axesDrive methodPosition detection methodControl methodCoordinate systemsPosition display unitsSpeed settingAcceleration/deceleration settingPulse stringdriverProgrammingRobotpositionerProgram languageMulti-taskSequence programMemory capacityProgramRobotcontrollerPointPoint teaching methodSystem backup(Internal memory backup)Internal flash memoryInputOptionExternal I/OiVY/iVY2ElectricgripperSAFETYOutputBrake outputOrigin sensor inputExternal communications542RCX340YAMAHA single-axis robots, linear single-axis robots, Cartesian robots, SCARA robots (except for YK120X andYK150X), P&P robots1600W or less (in total for 4 axes)2500VAW355 H195 D130mm (main unit only)6.2kg (main unit only)Single-phase 200 to 230V AC /-10% maximum, 50/60HzMax. 4 axes (simultaneous control: 6 axes)Expandable to a maximum of 16 axes (four robots) via controller linkAC full digital servoResolver or magnetic linear scalePTP motion (point to point), ARCH motion, linear interpolation, circular interpolationJoint coordinates, Cartesian coordinatesPulses, mm (1/1000 steps), degree (1/1000 steps)0.01 to 100% (below 1% can be changed by programming)Optimized by robot model and tip weight parameterSetting by acceleration coefficient and deceleration rate parameters (1% steps)* Can be changed by programming.Zone control (For SCARA robots only, optimized according to arm posture)YAMAHA BASIC II conforming to JIS B8439 (SLIM language)Max. 16 tasks1 program2.1MB (Total of program and point data)(Available capacity for program when the maximum number of points is used: 300KB)100 programs (maximum number of programs)9999 lines (maximum number of lines per program)30000 points (maximum number of points)MDI (coordinate data input), direct teaching, teaching playback, offline teaching (data input from external unit)Lithium battery (service life about 4 years at 0 to 40 C)512 KBEmergency stop ready input, 2 systemsAuto mode input, 2 systems (Enabled only when the global specifications are used.)Emergency stop contact output, 2 systemsEnable contact output, 2 systems (Enabled only when the PBX-E is used.)Motor power ready output, 2 systemsTransistor output (PNP open collector)Connectable to 24V DC B-contact (normally closed) sensorRS-232C: 1CH (D-SUB 9-pin (female))Ethernet: 1CH (In conformity with IEEE802.3u/IEEE802.3)100Mbps/10Mbps (100BASE-TX/10BASE-T)Applicable to Auto NegotiationRS-422: 1CH (Dedicated to PBX)
YAArticulated robotsRCX340Instruction manuals can be downloaded from our company website. Please use the following for more detailed s/robot/Controllable 00CE markingYK-XLinear conveyormodulesXY-XEthernetField networksOrdering methodTRANSERVOControllerNo. ofcontrollable axesController option C(OP.C)Controller option D(OP.D)Controller option E(OP.E)AbsolutebatteryNo entry: Non-selection--- Note 3NE : EXP.DIO(NPN) Note 2 Note 4--- Note 3PE : EXP.DIO(PNP) Note 2 Note 4GR : GripperTR : Tracking Note 5YM1 : YC-Link/E master Note 6YS2 to 4:YC-Link/E slave Note 6EP : EtherNet/IPTM Note 7PB : PROFIBUS Note 7CC : CC-Link Note 7DN : DeviceNetTM Note 7PT: PROFINET Note 7No entry: Non-selection--- Note 3NE : EXP.DIO(NPN) Note 2 Note 4--- Note 3PE : EXP.DIO(PNP) Note 2 Note 4GR : GripperTR : Tracking Note 5YM1 : YC-Link/E master Note 6YS2 to 4:YC-Link/E slave Note 6EP : EtherNet/IPTM Note 7PB : PROFIBUS Note 7CC : CC-Link Note 7DN : DeviceNetTM Note 7PT: PROFINET Note 7No entry: Non-selectionVY: iVY2 without lightVL: iVY2 with light4: 4 pcs.3: 3 pcs.2: 2 pcs.1: 1 pc.0: 0 pc.PHASERLinear motorsingle-axis robotsController option B(OP.B)No entry: Non-selection--- Note 3NE : EXP.DIO(NPN) Note 2 Note 4--- Note 3PE : EXP.DIO(PNP) Note 2 Note 4GR : GripperTR : Tracking Note 5YM1 : YC-Link/E master Note 6YS2 to 4:YC-Link/E slave Note 6EP : EtherNet/IPTM Note 7PB : PROFIBUS Note 7CC : CC-Link Note 7DN : DeviceNetTM Note 7PT: PROFINET Note 7FLIP-XController option A(OP.A)No entry: Non-selectionNS : STD.DIO(NPN) Note 1 Note 4NE : EXP.DIO(NPN) Note 2 Note 4PS : STD.DIO(PNP) Note 1 Note 4PE : EXP.DIO(PNP) Note 2 Note 4GR : GripperTR : Tracking Note 5YM1 : YC-Link/E master Note 6YS2 to 4:YC-Link/E slave Note 6EP : EtherNet/IPTM Note 7PB : PROFIBUS Note 7CC : CC-Link Note 7DN : DeviceNetTM Note 7PT: PROFINET Note 7Single-axis robots4: 4 axes3: 3 axes2: 2 axesSafetystandardsN: NormalE: CECompactsingle-axis robotsRCX340Please select desired selection items from the upper portion of the controller option A in order.Controller option board botsYK-XNote 1. [STD.DIO] Parallel I/O board standard specificationsDedicated input 8 points, dedicated output 9 points, general-purpose input 16 points, general-purpose output 8 pointsDo not mix with field bus (CC/DN/PB/EP/PT).Note 2. [EXP.DIO] Parallel I/O board expansion specificationsGeneral-purpose input 24 points, general-purpose output 16 pointsNote 3. Only one DIO STD specification board can be selected. Therefore, this board cannot be selected in OP.B to OP.D.Note 4. Be careful not to mix NPN and PNP of DIO.Note 5. Only one tracking board can be selected.Note 6. Select only one master or slave board for YC-Link/E.For details, refer to “YC-Link/E ordering explanation” below.Additionally, when ordering YC-Link/E, please specify what robot is connected to what number controller.Note 7. Be careful not to mix field networks (CC/DN/PB/EP/PT).Pick & placerobotsOption board NoteStandardspecificationsParallelI/O boardExpansionspecificationsCC-Link board Ver1.1/2.0DeviceNetTM boardEtherNet/IP TM boardPROFIBUS boardPROFINET boardRemote I/ODedicated input/output: 16 points eachGeneral-purpose input/output: 96 points eachRemote registerInput/output: 16 words eachCommunication cycle: 1 ms, control cycle: minimum 1 ms / maximum 8 ms, maximum number of robot units: four unitsYC-Link/E board (master/slave) Maximum number of control axes: total 16 axes (including four master controller axes), maximum 12 axes for slaves onlyPulse stringdriverNote. There are four slots in which option boards can be installed.RobotpositionerPosition detection method: optical rotary encoder, minimum setting distance: 0.01 mmSpeed setting: 20 to 100% relative to the maximum parameter speed, number of connected gripper units: maximum four unitsDrive power: DC 24V /-10%, 1.0A MaxNumber of connected encoders: maximum two units, supported encoders: 26LS31/26C31 equivalent line driver (RS422 compliant)Tracking boardEncoder power supply: DC5V (2 counter (ch) total 500 mA or less) (supplied from controller)Camera pixels: maximum 2 million pixels, number of registered models: 254 models, number of connected cameras:iVY2 unitmaximum two unitsPower supply: DC24V /-10% 1.5A MaxProgramming boxPBX, PBX-EAbsolute battery3.6V 2750mAH / axis Backup retention time: About 1 yearSupport software for personal computer RCX-Studio ProYRG (gripper) boardCONTROLLER INFORMATIONOptionsRCX3400 to 40 C-10 to 65 C35 to 85% RH (no condensation)Conforms to IEC61000-4-4 Level 3IP20Class IDedicated input 8 points, dedicated output 9 pointsGeneral-purpose input 16 points, general-purpose output 8 pointsNPN/PNP specifications are selected. (maximum 1 board)General-purpose input 24 points, general-purpose output 16 pointsNPN/PNP specifications are selected. (maximum 4 boards)CLEANGeneral specificationsYP-XItemOperating temperatureStorage temperatureOperating humidityNoise immunityProtective structureAppliance classesRobotcontroller YC-Link/E ordering explanationMaster unitSlave unitSlave unitSlave unitiVY/iVY2ElectricgripperController 2YS2SlaveController 3YS3SlaveController 4YS4SlaveOptionController 1 MasterYM1543
YAArticulated robotsRCX340 DimensionsLCM100Linear conveyormodulesCompactsingle-axis robotsTRANSERVO355Single-axis robotsFLIP-X1953- ф5.522521310.5PHASERLinear motorsingle-axis robots15522.51301555.5XY-XCartesianrobots Power supply capacity and heat emissionSCARArobotsYK-XThe required power supply capacity and heat emission will vary depending on the robot type and number of axes.Using the following table as a general guide consider the required power supply preparation and control panel size, controller installation, and cooling method.(1) When connected to SCARA robotRobot typeStandard typeYP-XPick & placerobotsDust-proof & drip-proof 250XGP, YK350XGPYK400XGP,YK500XGLPYK600XGLP–YK300XGS, YK400XGS100075–––150088YK500XGS, YK600XGS170093–2000100YK700XGS, YK800XGSYK900XGS,YK1000XGS2500113YK180XG, YK180XYK220XYK180XC, YK220XCCLEANYK250XG, YK350XGYK400XG, YK500XGLYK600XGL, YK400XRYK250XCH, YK350XCHYK400XCH, YK250XGCYK350XGC, YK400XGCYK500XGLC,YK600XGLCCONTROLLER INFORMATIONYK500XG, YK600XGYK700XGL–YK500XC, YK600XC–YK500XGP, YK600XGPYK700XC, YK800XCYK1000XCYK600XGH, YK700XGYK800XG, YK900XGYK1000XG, YK1200X–YK600XGHP,YK700XGPYK800XGP, YK900XGPYK1000XGP–(2) When connected to 2 axis (Cartesian robot and/or multi-axis robot)RobotpositionerAxial current sensor value NoteX axisY axis050510052005101020102020Pulse stringdriverPower capacity(VA)6008001100100013001700Generated heatamount (W)657078758393Robotcontroller(3) When connected to 3 axis (Cartesian robot and/or multi-axis t amount(W)Clean typeYK120XG, YK150XG–Powercapacity(VA)Wall-mount /Inverse typeAxial current sensor value NoteX axisY axisZ 10202010202020Power Generated heatamount (W)687380758390808895100–YK350TWYK500TW(4) When connected to 4 axis (Cartesian robot and/or multi-axis robot)Axial current sensor value NoteX axisY axisZ axisR 202010102020201020202020Power capacity Generated heat(VA)amount . Even if axial current sensor values for each axis are interchanged no problem willoccur.
YAArticulated robotsRCX340Instruction manuals can be downloaded from our company website. Please use the following for more detailed s/robot/ Installation conditions Use the screws to secure the controller to the installationplate inside the control panel so that it is in a horizontalposition. Be sure to use the metallic installation plate.50mmor moreCompactsingle-axis robots: 35 to 85% RH (no condensation)50mmor moreTRANSERVO: 0 to 40 C Ambient humidityLinear conveyormodules Ambient temperatureLCM100 Install the RCX340 in a well ventilated location, with spaceon all sides of the RCX340 (See fig. at right.).50mm or more50mm or more (A clearance of 100 mm or more is recommended.)FLIP-XSingle-axis robotsPin I/O No.No.Pin I/O(ID 1)1--2 DI 103--4DI 115--6--7--8 DI 209 DI 2110 DI 2211 DI 2312 DI 2413 DI 2514 DI 2615 DI 2716--17--18 DO 1019 DO 1120 DO 1221 DO 1322 DO 1423 DO 1524 DO 1625 DO 1726 DI 1227 DI 1328 DI 1429 DI 1530 DI 1631 DI 1732 DI 3033 DI 3134 DI 3235 DI 3336 DI 3437 DI 3538 DI 3639 DI 3740--41--42--43 DO 2044 DO 2145 DO 2246 DO 2347 DO 2448 DO 2549 DO 2650 DO 27Signal nameShort-circuitwith tputoutputoutputoutputRobotcontrollerDedicated output: Servo ON outputDedicated output: Alarm outputGeneral-purpose output 20General-purpose output 21General-purpose output 22General-purpose output 23General-purpose output 24General-purpose output 25General-purpose output 26General-purpose output 27Do not use.output 10,30,50,70output 11,31,51,71output 12,32,52,72output 13,33,53,73output 14,34,54,74output 15,35,55,75output 16,36,56,76output 17,37,57,77input 12,42,72,122input 13,43,73,123input 14,44,74,124input 15,45,75,125input 16,46,76,126input 17,47,77,127input 30,60,110,140input 31,61,111,141input 32,62,112,142input 33,63,113,143input 34,64,114,144input 35,65,115,145input 36,66,116,146input 37,67,117,147Pulse stringdriverDODODODODODODODODODODo not use.Do not ,107,137Robotpositioner41424344454647484950Do not LLER INFORMATIONCHK 2 Check signal 2Do not use.input 11,41,71,121CLEAN40SpareDedicated input: StopSpareGeneral-purpose input 20General-purpose input 21General-purpose input 22General-purpose input 23General-purpose input 24General-purpose input 25General-purpose input 26General-purpose input 27SpareDedicated output CPU OKDedicated output AUTO mode outputDedicated output Return-to-origin completeDedicated output Sequence program-in-progressDedicated output Robot program-in-progressDedicated output Program reset status outputDedicated output Warning outputSpareSpareDedicated input: Automatic operation startSpareDedicated input: Return-to-origin (for INC axis)Dedicated input: Program reset inputDedicated input: Alarm reset inputDedicated input: Return-to-origin (for ABS axis)General-purpose input 30General-purpose input 31General-purpose input 32General-purpose input 33General-purpose input 34General-purpose input 35General-purpose input 36General-purpose input 37input 10,40,70,120Pick & placerobotsDI 05DI 06DI 07DI 20DI 21DI 22DI 23DI 24DI 25DI 26DI 27DO 00DO 01DO 10DO 11DO 12DO 13DO 14DO 15DO 16DO 17DI 12DI 13DI 14DI 15DI 16DI 17DI 30DI 31DI 32DI 33DI 34DI 35DI 36DI 9Signal nameSCARArobotsCHK 1 Check signal 1Do not use.Short-circuitwith CHK2.Do not use.I/O No.(ID 4)--DI 120--DI 121------DI 130DI 131DI 132DI 133DI 134DI 135DI 136DI 137----DO 70DO 71DO 72DO 73DO 74DO 75DO 76DO 77DI 122DI 123DI 124DI 125DI 126DI 127DI 140DI 141DI 142DI 143DI 144DI 145DI 146DI 147------DO 100DO 101DO 102DO 103DO 104DO 105DO 106DO 107YK-X402032021222324252627Dedicated input: Servo ON inputDedicated input: Sequence controlSpareI/O No.(ID 3)--DI 70--DI 71------DI 100DI 101DI 102DI 103DI 104DI 105DI 106DI 107----DO 50DO 51DO 52DO 53DO 54DO 55DO 56DO 57DI 72DI 73DI 74DI 75DI 76DI 77DI 110DI 111DI 112DI 113DI 114DI 115DI 116DI 117------DO 60DO 61DO 62DO 63DO 64DO 65DO 66DO 67CartesianrobotsDI 01DI 10DI 03I/O No.(ID 2)--DI 40--DI 41------DI 50DI 51DI 52DI 53DI 54DI 55DI 56DI 57----DO 30DO 31DO 32DO 33DO 34DO 35DO 36DO 37DI 42DI 43DI 44DI 45DI 46DI 47DI 60DI 61DI 62DI 63DI 64DI 65DI 66DI 67------DO 40DO 41DO 42DO 43DO 44DO 45DO 46DO 47XY-X123RemarksPHASER Expanded specification I/O connector signal listLinear motorsingle-axis robots Standard specification I/O connector signal listNote. The IDs are set using the parameter.Option545
YAArticulated robotsRCX340 Standard specification I/O connector pin assignment listsLCM100Linear 647484950Compactsingle-axis robotsTRANSERVOFLIP-XSingle-axis robotsPHASERLinear motorsingle-axis robotsXY-XCartesianrobotsSCARArobotsYK-XYP-XPick & placerobotsCLEANCONTROLLER INFORMATIONI/O O27NameServo ONSEQ enable(Spare)Check input 1(Spare)STOP(Spare)General-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose are)(Spare)RUN(Spare)ORIGIN (for INC axis)RESETALMRSTORIGIN(for ABS axis)General-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputGeneral-purpose inputCheck input 2SERVOALARMGeneral-purpose outputGeneral-purpose outputGeneral-purpose outputGeneral-purpose outputGeneral-purpose outputGeneral-purpose outputGeneral-purpose outputGeneral-purpose output Typical input signal connectionNPN DIDILogiccircuitInternalcircuitDICHK1CHK2GNDPNP InternalcircuitCHK1ExternalpowersupplyDC24VCHK2GND Typical output signal connectionNPN DOGNDLoadLoadLoadExternalpowersupplyDC24VPNP nalcircuitLogiccircuitDODOLoadLoadLoadGND Basic functionsRobotpositionerFunctionOperation modesPulse lesiVY/iVY2ElectricgripperArithmetic operationMonitorOptionOnline commandsData filesInternal timerProgram break points546DescriptionAUTO mode (Major functions: program creation, program execution, step execution, etc.)MANUAL mode (Major functions: jog movement, point data teaching, parameter editing, etc.)Array declaration commands (DIM statement)Assignment commands (Numeric assignment, character string assignment, point definition statements, etc.)Movement commands (MOVE, DRIVE, PMOVE statements, etc.)Conditional branching commands (IF, FOR, WHILE statements, etc.)External output commands (DO, MO, LO, TO, SO statements)Parameter commands (ACCEL, OUTPOS, TOLE statements, etc.)Condition wait command (WAIT statement)Task related commands (START, SUSPEND, CUT statements, etc.)etc.Arithmetic functions (SIN, COS, TAN functions, etc.)Character string functions (STR , LEFT , MID , RIGHT functions, etc.)Point functions (WHERE, JTOXY, XYTOJ functions, etc.)Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.)etc.Simple variables (integer variables, real variables, character variables)Array variables (integer variables, real variables, character variables)Point variablesShift variablesI/O variables etc.Arithmetic operators ( , -, *, /, MOD)Logic operators (AND, OR, XOR)Relational operators ( , , , , , )I/O status monitor (200 ms intervals)Program operation commands (RUN, STOP, RESET, STEP, etc.)Utility commands (COPY, ERA, INIT, etc.)Data handling commands (READ, WRITE, etc.)Robot language commands (independent-executable commands)Program, point, parameter, shift, hand, all, error historyetc.Timer count variable (TCOUNTER), 1 ms intervalMax. 32 points
YAArticulated robotsRCX340Instruction manuals can be downloaded from our company website. Please use the following for more detailed s/robot/ Emergency input signal connectionsLinear conveyormodulesLCM100Connection example of controller with normal specifications and PBXACINLNTo main power circuitControllerPBXManual lockOFFE-STOP COM2E-STOP1E-STOP2-A7A8B7B8ENABLE1 ENABLE1ENABLE2 ENABLE2-A9AUTO1 gency stopstatus detectionInternal power 24VInternal power GNDNot TOP12E-STOP21E-STOP22Linear motorsingle-axis robotsE-STOP COM1E-STOP RDY213141516FLIP-XA5B4ONPBSingle-axis robotsE-STOP1 E-STOP2 E-STOP11E-STOP12E-STOP21E-STOP22E-STOP RDY1Compactsingle-axis robotsEmergency stop 24VA1B1A2A3B2B3A4TRANSERVOMain power on/off controlInternal powerEXTERNALE-STOPManual lock switchstatus detectionAUTO modechange detectionA10 AUTO COM1B9 AUTO2 B10 AUTO COM2XY-XA12 MP RDY1B11 MP RDY2 CartesianrobotsInternal power GNDA11 MP RDY1 Connected toexternal deviceMotor power ready outputB12 MP RDY2SAFETYSCARArobotsYK-XConnection example of controller with CE specifications and PBX-EACINLNLNTo mainpower circuitAUTO MODESWITCHIN12External power 24A7A8B7B8IN7ENABLE1 ENABLE1ENABLE2 ENABLE2-O4A9 AUTO1 O5A10 AUTO COM1B9 AUTO2 B10 AUTO COM2IN13A11VGInternal power 24VInternal power GNDA12B11 MP RDY2 IN9B12 MP RDY2-SAFETYAUTO modechange detectionInternal power otor power ready outputRobotpositionerIN8Manual lock switchstatus detection17181920212223CONTROLLER INFORMATIONIN3Emergency stopstatus detectionB5 E-STOP COM2A6 E-STOP1B6 TOP12E-STOP21E-STOP22Pick & placerobotsDOORE-STOP1 E-STOP2 E-STOP11E-STOP12E-STOP21E-STOP22E-STOP RDY1A5 E-STOP COM1B4 E-STOP RDY2O3SAFETYCONTROLLERT2IN0T3IN1EnableManual rgencystopMain power on/off controlInternal power 24VT0IN10O0O1PBX-EControllerCE specificationsYP-X100mA*2Pulse Option547
YAArticulated robotsRCX340 Robot Language TableLCM100Linear conveyormodulesCompactsingle-axis robotsTRANSERVO General commands Branching commandsCommandCommandEXIT FORFOR toNEXTGOSUB toRETURNGOTOIFDIMLETREMDescriptionDeclares the array variable name and the number ofelements.Executes a specified assignment statement.Expresses a comment statement. Arithmetic commandsFLIP-XSingle-axis robotsCommandABSATNATN2COSDEGRADDISTPHASERLinear motorsingle-axis QRTANDescriptionAcquires the absolute value of a specified value.Acquires the arctangent of the specified value.Acquires the arctangent of the specified X-Y coordinates.Acquires the cosine value of a specified value.Converts a specified value to radians ( RADDEG).Acquires the distance between 2 specified points.Acquires an integer for a specified value by truncating alldecimal fractions.Shifts a value to the left by the specified bit count.( RSHIFT)Converts a specified value to degrees. ( DEGRAD)Shifts a value to the right by the specified bit count.( LSHIFT)Acquires the sine value for a specified value.Acquires the square root of a specified value.Acquires the tangent value for a specified value. Date / timeSCARArobotsYK-XYP-XPick & placerobotsDescriptionAcquires the date as a "yy/mm/dd" format character string.Outputs count-up values at 1ms intervals starting from theTCOUNTERpoint when the TCOUNTER variable is reset.Acquires the current time as an "hh:mm:ss" format characterTIME string.TIMERAcquires the current time in seconds, counting from midnight.ON toGOSUBDescriptionTerminates the FOR to NEXT statement loop.Executes the FOR to NEXT statement repeatedly until aspecified value is exceeded.Jumps to a subroutine with the label specified by GOSUBstatement, and executes that subroutine.Unconditionally jumps to the line specified by a label.Allows control flow to branch according to conditions.Jumps to a subroutine with labels specified by a GOSUBstatement in accordance with the conditions, and executesthat subroutine.Jumps to label-specified lines in accordance with theconditions.ON toGOTOSELECTCASE to END Allows control flow to branch according to conditions.SELECTWHILE toControls repeated operations.WEND Error controlCommandDescriptionAcquires the error code number of an error which hasoccurred / the line number where an error occurred.This command allows the program to jump to the errorON ERROR processing routine specified by the label without stoppingGOTOthe program, or it stops the program and displays the errormessage.Resumes program execution after error recovery processing.RESUMEERR / ERLCommandDATE Program control Character string HR CLEANLEFT LENCONTROLLER INFORMATIONMID ORDRIGHT STR VALDescriptionAcquires a character with the specified character code.Extracts a character string comprising a specified number ofdigits from the left end of a specified character string.Acquires the length (byte count) of a specified characterstring.Extracts a character string of a desired length from aspecified character string.Acquires the character code of the first character in aspecified character string.Extracts a character string comprising a specified number ofdigits from the right end of a specified character string.Converts a specified value to a character string ( VAL).Converts the numeric value of a specified character string toan actual numeric value. ( STR ) Point, coordinates, shift FTYPulse s the hand of a specified robot.Defines the hand of a specified robot.Converts joint coordinate data to Cartesian coordinate data ofa specified robot. ( XYTOJ)Sets the hand system of a specified robot to the left-handedsystem.Specifies/acquires point data for a specified axis or shift datafor a specified element.Sets the movement path.Defines points within a program.Creates point data specified by a pallet definition number andpallet position number.Sets the hand system of a specified robot to the right- handedsystem.Defines the shift coordinates within the program.Sets the shift coordinate for a specified robot by using theshift data specified by a shift variable.Converts the point variable Cartesian coordinate data to thejoint coordinate data of a specified robot. ( JTOXY).PGMTSKPGNSGISGRSWITSKPGM Task controlCommandCHGPRIDescriptionChanges the priority ranking of a specified task.Terminates another task currently being executed orCUTtemporarily stopped.EXIT TASK Terminates its own task which is in progress.RESTART Restarts another task during a temporary stop.Specifies the task number and priority ranking of a specifiedSTARTprogram, and starts that program.SUSPEND Temporarily stops another task which is being executed. Robot GINPMOVEPUSHOptionSERVO548DescriptionCalls a sub-procedure.Stops the program and performs a reset.Stops and resets all programs.Temporarily stops the program.Temporarily stops all programs.Acquires the task number in which a specified program isregistered.Acquires the program number from a specified programname.Assigns/acquires the value to a specified integer type staticvariable.Assigns/acquires the value to a specified real type staticvariable.Switches the program being executed, then begins executionfrom the first line.Acquires the program number which is registered in aspecified task.DescriptionMoves a specified axis of a specified robot to an absolute position.Moves a specified axis of a specified robot to a relative position.Controls the motor power status.Performs absolute movement of all axes of a specified robot.Performs relative movement of all axes of a specified robot.Performs relative movement of all axes of a specified robotwhen the tool coordinate is selected.Performs return-to-origin.Executes the pallet movement command of a specified robot.Executes a pushing operation in the axis unit.Controls the servo ON/OFF of a specified axis or all axes of aspecified robot.
YAArticulated robotsRCX340Instruction manuals can be downloaded from our company website. Please use the following for more detailed s/robot/CommandCURTQSTCURTRQTORQUE Input/output EFPSHFRCPSHJGSPPSHMTDRIGHTYTOLE PATH controlDescriptionSpecifies the PATH motion path.Ends the path setting for PATH motion.Starts the path setting for PATH motion.iVY/iVY2ElectricgripperStarts the PATH motion.RobotcontrollerCommandPATHPATH ENDPATH SETPATHSTARTDescriptionClose the specified General Ethernet Port.Acquires the Ethernet port status.Acquires the General Ethernet Port status.Sets a specified communication port to the "offline" mode.Sets the specified communication port to the "online" mode.Opens the specified General Ethernet Port.Sends a file.Pulse NLINEOPENSENDRobotpositionerSETGEPSPEED Communication controlCONTROLLER INFORMATIONORGORDWAITCLEANDECELTOPick & Linear motorsingle-axis robotsMOFLIP-XDODescriptionWaits for the specified period (units: ms).Outputs a specified value to the DO port or acquires the DOstatus.Outputs a specified value to the LO port to enable/disableaxis movement or acquires the LO status.Outputs a specified value to the MO port or acquires the MOstatus.Turns ON the bits of the specified output ports and terminatesthe command statement.Turns the bit of a specified output port OFF.Turns the bit at the specified output port ON.Acquires a specified SI status.Acquires a specified serial input's double-word informationstatus.Acquires a specified serial input's word information status.Outputs a specified value to
Cartesian robots Note 3. XY-X SCARA robots YK-X Pick & place robots YP-X CLEAN CONTROLLER INFORMATION Linear convey or module s LCM100 543 Robot positioner Pulse string driver Robot controller iVY/iVY2 Electric gripper Option RCX340 Controllable robot XY-X P.239 YK-X P.367 FLIP-X P.169 PHASE
An industrial robot arm includes these main parts: Controller, Arm, End Effector, Drive and Sensor. A. Robot Controller: Fig. 2.1: Robot Controller The controller is the "brain" of the industrial robotic arm and allows the parts of the robot to operate together. It works as a computer and allows the robot to also be connected to other systems.
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steered robot without explicit model of the robot dynamics. In this paper first, a detailed nonlinear dynamics model of the omni-directional robot is presented, in which both the motor dynamics and robot nonlinear motion dynamics are considered. Instead of combining the robot kinematics and dynamics together as in [6-8,14], the robot model is
3D printing and a 6 degree of freedom robot arm. Here, a Mo-toman SV3X is used as the platform for the robot arm. A higher level controller is used to control the robot and the extruder. To communicate with the robot, MotoCom SDK libraries is used to develop the interfacing software between the higher level con-troller and the robot arm controller.
1. The robot waits five seconds before starting the program. 2. The robot barks like a dog. 3. The robot moves forward for 3 seconds at 80% power. 4. The robot stops and waits for you to press the touch sensor. 5. The robot moves backwards four tire rotations. 6. The robot moves forward and uses the touch sensor to hit an obstacle (youth can .
In order to explore the effect of robot types and task types on people s perception of a robot, we executed a 3 (robot types: autonomous robot vs. telepresence robot vs. human) x 2 (task types: objective task vs. subjective task) mixed-participants experiment. Human condition in the robot types was the control variable in this experiment.
the real-time monitor function [17] of the industrial robot to get the information about the force sensor from the robot controller every 3.5 milliseconds. The two types of information are transmitted as different packets between the robot con-troller and PC for industrial robot/PC for industrial robot and video by UDP. At
ALBERT WOODFOX CIVIL ACTION VERSUS NO. 06-789-JJB BURL CAIN, WARDEN, LOUISIANA STATE PENITENTIARY, ET AL RULING This matter is before the Court on Petitioner Albert Woodfox’s (“Woodfox”) petition for habeas relief on the claim that Woodfox’s March 1993 indictment by a West Feliciana Parish grand jury was tainted by grand jury foreperson discrimination. An evidentiary hearing was held .
