RCX3 e V3.00

Original instructions
YAMAHA 4-AXIS/2-AXIS ROBOT CONTROLLER
RCX 3 Series User s Manual
RCX340/RCX320
EUR8221300
Ver. 3.00 E133

CONTENTS RCX 3 Series
User’s Manual
Warranty
Important information before reading this manual

Introduction i
Available manuals i
Safety precautions ii
Signal words used in this manual ii
Overview of the RCX 3 series iii
Before using the robot controller (Be sure to read the following notes) iv
Chapter 1 Using the robot safely

1. Emergency action when a person is caught by robot 1-1
2. Emergency stop 1-3

2.1 Emergency stop release and alarm reset 1-3
3. Power-ON procedures 1-5
4. Usage environments 1-6
Chapter 2 System overview

1. I/O interface overview 2-1
1.1 Main system configuration 2-1
1.1.1 RCX340 2-1
1.1.2 RCX320 2-2
1.2 Axis configuration 2-3
2. Name of each part and control system 2-4

2.1 External view 2-4
2.1.1 RCX340 2-4
2.1.2 RCX320 2-5
2.1.3 Regenerative unit RCX320 2-6
2.2 Controller system 2-7
2.2.1 RCX340 Basic block diagram 2-7
3. Optional devices 2-8

3.1 Programming box 2-8
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User’s Manual
3.2 Basic key operation 2-8

3.3 Expansion I/O board 2-8
4. Basic sequence from installation to operation 2-9
Chapter 3 Installation
1. Transport, unpacking 3-1
2. Installing the robot controller 3-2

2.1 Installation conditions 3-2
2.2 Installation methods 3-3
3. Connecting to the power 3-4

3.1 Power supply and ground terminals 3-4
3.2 AC power connector wiring 3-5
3.3 Considering power capacity and generated heat amount 3-6
3.3.1 RCX340 3-6
3.3.2 RCX320 3-7
3.4 Installing an external leakage breaker 3-8
3.5 Installing a circuit protector 3-8
3.6 Installing an electromagnetic contactor 3-8
3.7 Installing a noise filter 3-9
3.8 Installing a surge absorber 3-9
3.9 SCCR (Short-Circuit Current Rating) 3-9
3.10 Maximum supply source impedance 3-9
4. Connecting the absolute battery 3-10
5. Robot connections 3-11

5.1 Connecting the robot cables 3-11
5.2 Noise countermeasures 3-12
6. Connecting the programming box 3-12
7. I/O connections 3-13
8. Connecting the regenerative apparatus 3-14

8.1 Connecting the regenerative shorting connector RCX340 3-14
8.2 Connecting the regenerative unit RCX320 3-14
9. Connecting brake power supply RCX340 3-15

9.1 Power connector 3-15
9.2 Power connector wiring work 3-15
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User’s Manual
10. Precautions for cable routing and installation 3-16

10.1 Wiring methods 3-16
10.2 Methods of preventing malfunctions 3-17
11. Checking the robot controller operation 3-18

11.1 Controller wiring 3-18
11.2 Wiring example of emergency stop circuit for operation check 3-19
11.3 Operation check 3-19
Chapter 4 Operation
1. Operation overview 4-1
2. The RCX robot controller 4-2

2.1 External device connectors 4-2
2.2 7-segment LED display function 4-3
3. Programming box 4-4

3.1 Part names and functions 4-4
3.2 Connection to the robot controller 4-5
3.3 Programming box screen 4-5
4. Operation key 4-6

4.1 Operation key layout 4-6
4.3 Function keys 4-7
4.4 Control keys 4-8
4.5 Data keys 4-9
4.6 Other keys 4-9
5. Hierarchy structure 4-10

5.1 Basic hierarchies 4-10
5.2 Quick menu 4-10
5.3 Selecting hierarchy and menu 4-14
6. Servo operation 4-19

6.2 Motor power and servo on/off 4-19
6.2.1 Servo operation (all axes) 4-20
6.2.2 Servo operation (each axis) 4-20
7. Jog 4-21
7.1 Jog movement 4-22
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7.1.1 Jog movement in return-to-origin complete status 4-23

7.1.2 Jog movement in return-to-origin complete status
(When hand definition is set) 4-24
7.1.3 Jog movement in return-to-origin incomplete status 4-24
7.2 Changing the display units 4-25
7.3 Changing the Jog movement speed 4-25
7.4 Changing the inch distance 4-26
7.5 Inputting point data by teaching 4-26
7.6 Jumping the point display 4-27
8. Point trace 4-27

8.1 PTP motion 4-28
8.2 Linear interpolation motion 4-29
8.3 Arch motion 4-31
8.4 Setting the speed 4-32
8.5 Changing the display unit 4-33
9. Automatic operation 4-34

9.1 Executing automatic operation 4-36
9.2 Stopping a program 4-37
9.3 Resetting a program 4-37
9.3.1 Resetting a program 4-37
9.3.2 Resetting all programs 4-38
9.4 Registering and releasing task 4-38
9.5 Task priority 4-39
9.6 Switching task display 4-39
9.7 Changing the automatic movement speed 4-39
9.8 Sequence program execution flag 4-40
9.9 Restarting the program 4-40
9.10 Input function 4-41
9.10.1 Inputting message 4-41
9.10.2 Canceling INPUT command 4-41
9.11 Debug function 4-42
9.11.1 Executing a step 4-43
9.11.2 Skipping a step 4-43
9.11.3 Executing the next step 4-43
9.11.4 Break points 4-43
9.11.5 RUNTO 4-44
10. Origin return 4-45

10.1 Return-to-origin operation 4-46
10.2 Semi-absolute 4-47
10.2.1 Example of absolute search operation 4-48
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10.3 Return-to-origin procedure 4-49

10.4 Absolute reset (mark method) procedure 4-50
10.5 Return-to-origin for all robots 4-53
11. Dual offset 4-54

11.1 Dual offset settings 4-54
11.1.1 Automatic dual offset setting 4-55
11.1.2 Adjusting dual offset 4-56
Chapter 5 Edit
1. Point editing 5-1
1.1 Inputting/editing point data 5-4
1.2 Point data input by teaching 5-5
1.3 Point data input by direct teaching 5-6
1.4 Jumping point display 5-6
1.5 Copying point data 5-7
1.6 Deleting point data 5-7
1.7 Executing point trace 5-7
1.8 Deleting point name 5-8
2. Program editing 5-9

2.1 Selecting the program 5-10
2.2 Creating a new program 5-11
2.3 Editing the program 5-11
2.3.1 Cursor movement 5-12
2.3.2 Quitting program editing 5-12
2.3.3 Switching between the "insert" and "overwrite" modes 5-12
2.3.4 Inserting a line 5-13
2.3.5 Deleting one character 5-13
2.3.6 Backspace 5-13
2.3.7 Copying/cutting a program 5-13
2.3.8 Searching a character string 5-14
2.3.9 Jumping step 5-14
2.3.10 Checking entry data 5-14
2.4 Compiling sequence program 5-15
2.5 Setting a main program 5-15
2.6 Changing a program attribute 5-16
2.7 Deleting a program 5-16
2.8 Changing a program name 5-17
2.9 Copying a program 5-17
2.10 Resetting an alarm 5-18
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3. Shift coordinates 5-19

3.1 Creating new shift coordinates 5-22
3.2 Editing shift coordinates 5-23
3.3 Setting shift coordinate 1 5-23
3.5 Selecting shift coordinates 5-26
4. Hand definitions 5-28

4.1 Data format of hand definition 5-29
4.1.1 SCARA type robots 5-29
4.1.2 Cartesian type robots 5-30
4.2 "HAND EDIT"/"CREATING NEW HAND" screen 5-32
4.3 Creating new hand definitions 5-34
4.4 Editing hand definitions 5-35
4.5 Setting hand definitions 5-35
4.6 Selecting hand definitions 5-36
5. Work definitions 5-37

5.1 Data format of work definition 5-38
5.2 Creating new work definitions 5-38
5.3 Editing work definitions 5-39
5.4 Selecting work definitions 5-40
6. Pallet definitions 5-41

6.1 Creating new pallet definitions 5-43
6.2 Editing pallet definitions 5-44
6.3 Setting pallet definitions 5-45
6.4 Setting point of pallet definitions 5-46
7. Parameters 5-47
7.1 Parameter setting conditions 5-47
7.2 Setting the parameters 5-47
7.3 Parameter list 5-49
7.4 Parameter descriptions 5-53
7.4.1 Controller parameters 5-53
7.4.2 Robot parameters 5-56
7.4.3 Axis parameters 5-59
7.4.4 I/O parameters 5-67
7.4.5 Option board related parameters 5-70
7.5 PRM skip 5-74
8. Area check output 5-75
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8.1 Setting area check output 5-75

8.2 Initializing area check output 5-76
9. Standard coordinates 5-78

9.1 Setting the standard coordinates by simple teaching 5-80
9.2 Setting the standard coordinate by 3-point teaching 5-82
9.4 Setting the standard coordinates by both handed system teaching 5-85
10. General Ethernet port (GEP) setting 5-87
11. Calibration 5-87
12. Collision prevention for double-carriage 5-88

12.1 Overview 5-88
12.1.1 <WAIT> status 5-88
12.1.2 Simultaneous movement 5-89
12.1.3 Deadlock 5-89
12.2 Before using collision prevention function 5-90
12.2.1 Conditions to use/preparation 5-90
12.2.2 Precautions 5-91
12.3 W.carrier parameter 5-92
12.4 Setting method of Double-carriage collision prevention function 5-93
Chapter 6 Controller system settings

1. Overview 6-1
2. History 6-2
3. Check 6-2
4. Property 6-3
4.1 Robot information 6-3
4.2 Option information 6-3
4.3 Clock 6-4
4.4 Version 6-4
4.5 Configuration 6-4
5. USB memory operation 6-5

5.1 Saving the data 6-5
5.2 Loading the data 6-6
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6. Execution level 6-7

6.1 Changing the access level 6-7
7. Safety setting 6-8
8. Initialize 6-9
8.1 Initializing the data 6-10
8.2 Setting the clock 6-11
9. Generation 6-11
Chapter 7 Monitor
1. Overview of function 7-1
2. Current position display 7-1
3. I/O status display 7-2

3.1 I/O monitor list 7-3
3.2 I/O monitor detail 7-4
3.3 Changing output status 7-4
4. Task driving state 7-5
5. Current monitor 7-6
Chapter 8 I/O interface

1.1 ID settings 8-2
1.2 Power supply 8-2
1.4 Connector I/O signals 8-4
1.4.1 Standard specification I/O connector signal list 8-4
1.4.2 Expanded specification I/O connector signal list 8-5
1.5 Connector pin assignment lists 8-6
1.5.1 Standard specification I/O connector 8-6
1.5.2 Expanded specification I/O connector 8-6
1.6 Connector pin numbers 8-7
1.7 Typical input signal connection 8-8
1.8 Typical output signal connection 8-9
1.9 Dedicated input signal description 8-10
1.10 Dedicated output signal description 8-12
1.11 Dedicated I/O signal timing chart 8-13
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User’s Manual
1.11.1 From the controller power on to servo on 8-13

1.11.2 Controller emergency stop and servo on reset 8-14
1.11.3 Return-to-origin 8-15
1.11.4 Program reset and program execution 8-16
1.11.5 Stopping by program stop 8-17
1.12 General-purpose I/O signals 8-18
1.12.1 General-purpose input signals 8-18
1.12.2 General-purpose output signals 8-18
1.12.3 General-purpose output signal reset (off) 8-18
2. Ratings 8-19
2.1 Input 8-19
2.2 Output 8-19
3. Caution items 8-19
Chapter 9 SAFETY I/O interface

1. SAFETY I/O interface overview 9-1
1.1 Power 9-1
1.3 Connection example combining the programming box
with external emergency stop circuit 9-2
1.3.1 Connection example of controller with normal specifications and PBX 9-2
1.3.2 Connection example of controller with CE specifications and PBX-E 9-3
1.4 Connections example of dedicated input signal 9-4
1.4.1 Emergency stop inputs (E-STOP RDY*, E-STOP COM*) 9-4
1.4.2 AUTO mode inputs (AUTO*+, AUTO COM*) 9-4
1.5 Connection example of dedicated output signal 9-5
1.5.1 Emergency stop contact outputs (E-STOP*1, E-STOP*2) 9-5
1.5.2 Enable switch contact outputs (ENABLE*1, ENABLE*2) 9-5
1.5.3 Motor power ready outputs (MP RDY*+, MP RDY*-) 9-6
Chapter 10 External communication interface

1. Overview 10-1
1.1 Communication overview 10-1
1.2 ONLINE and OFFLINE modes 10-2
1.3 Character code 10-3
2. RS-232C 10-4
2.1 Connectors and cables 10-4
2.2 Communication specifications 10-5
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2.3 Connections 10-5

2.4 Communication parameter setting 10-6
2.5 Communication flow control 10-7
2.5.1 Flow control during transmit 10-7
2.5.2 Flow control during receive 10-7
2.6 Other caution items 10-8
3. Ethernet 10-9
3.4 Parameter setting on controller (server) 10-13
3.4.1 Setting the communication mode and parameters 10-14
3.4.2 Initializing communication parameters 10-14
3.5 System setting on personal computer (client) 10-15
3.5.1 Setting the TCP/IP protocol 10-15
3.6 Connection check using "Ping" 10-16
3.7 Communication example using "TELNET.EXE" 10-17
3.8 Appendix 10-18
3.8.1 Example of network system configuration 10-18
3.8.2 Glossary 10-21
4. General Ethernet port (GEP) 10-23

4.1 GEP parameter setting 10-23
4.2 GEP parameter setting method 10-24
4.3 Initializing communication parameters 10-25
Chapter 11 Periodic inspection

1. Before carrying out work 11-1
2. Maintenance parts 11-1
3. Periodic inspections 11-2

3.1 Daily inspections 11-2
3.2 Three-month inspections 11-3
4. Replacing the absolute battery 11-3
5. Replacing the memory battery 11-4
Chapter 12 Specifications
1. Controller 12-1
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1.1 Specifications 12-1

1.2 Basic functions 12-3
1.3.1 RCX340 12-4
1.3.2 RCX320 12-4

2.1 Basic specifications 12-5
3. Regenerative unit 12-6

Troubleshooting
1. When trouble occurs A-1
2. Acquiring the alarm information A-2

2.1 Checking the alarm occurrence status A-2
2.2 Checking the alarm history A-2
3. Troubleshooting checkpoints A-3

3.1 Installation and power supply A-3
3.2 Robot operation A-4
3.3 I/O A-5
4. Alarm messages A-6

[ 0] Operation messages A-9
[ 1] System events A-10
[ 2] Alarm related to the robot operation A-12
[ 3] Alarm related to the program file operation A-20
[ 4] Alarm related to the data input A-21
[ 5] Alarm related to the syntax of the robot language (compile) A-23
[ 6] Alarm related to the robot language execution A-30
[ 9] Alarm related to the memory A-40
[10] Alarm related to the environment and general hardware A-44
[12] Alarm related to the option board A-47
[14] Alarm related to the communication A-55
[17] Alarm related to the motor control A-58
[19] Alarm related to the YC-Link/E A-64
[20] Alarm related to the iVY2 system A-67
[21] Serious alarm related to software A-75
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User’s Manual
[22] Serious alarm related to hardware A-76

[26] Alarm related to the gripper A-79
[28] Alarm related to the driver I/F A-83
5. Warning number A-84

[ c] Warning A-84
6. Alarm messages related to the programming box A-86
Declaration
Declaration of Conformity 1
RCX340 1
RCX320 3
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Warranty
Warranty
Warranty
For information on the warranty period and terms, please contact our distributor where you purchased the
product.
■ This warranty does not cover any failure caused by:

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

1. Products whose serial number or production date (month & year) cannot be verified.
2. Changes in software or internal data such as programs, points, calibration, or registered models that were created or
changed by the customer.
3. Products whose trouble cannot be reproduced or identified by YAMAHA.
4. Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes
whose warranty repairs are judged as hazardous by YAMAHA.
THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS
AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY AND ALL OTHER
WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY
DISCLAIMED BY YAMAHA. MOREOVER, YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT
OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT.
This manual does not serve as a guarantee of any industrial property rights or any other rights and
does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for
any problems involving industrial property rights which may arise from the contents of this manual.
Ver.1.03_201802
Introduction i
Available manuals i
Safety precautions ii
Signal words used in this manual ii
Overview of the RCX 3 series iii
Before using the robot controller (Be sure to read the following notes) iv
Notice)
• The RCX3 series operation manual has been integrated into this manual from January 2022.
• The RCX340 controller will no longer have a regenerative connector from February 2021 and will
not come with a regenerative short connector.
Please skip the description about the regenerative connector in this manual.
Introduction

Our sincere thanks for your purchase of this YAMAHA robot controller.
Be sure to read this manual carefully as well as related manuals and comply with their instructions for using
the YAMAHA robot controller safely and correctly.
Available manuals
Safety Countermeasures
Safety instructions
Describes the method of safe and correct operation for controller and robot.
Controller
User’s manual; this manual
Describes how to install, connect, set and operate the controller.
* The contents of the old operation manual are described in this manual.
Programming manual
Describes the robot program language.
Robot
Installation manual
Describes how to install and connect the robot.
Maintenance manual
Describes the maintenance procedures for the robot.
User’s manual
Describes how to install, connect, and maintenance procedures for the robot.
Network
User’s manual
Describes how to install, connect, and set the network.
Support software
User’s manual
Describes the operation for the support software.
Use any of the following approaches to this manual when installing, operating and adjusting the YAMAHA
robot and/or controller so that you can quickly refer to this manual when needed.
1. 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).
TIP
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
i
Safety precautions
Warnings and cautions listed in this manual relate to YAMAHA robot controllers. To ensure safety of the
user's final system that includes YAMAHA robots and controllers, please take appropriate safety measures as
required by the user's individual system.
Industrial robots are highly programmable machines that provide a large degree of freedom in movement.
To use YAMAHA robots and controllers safely and correctly, be sure to comply with the safety instructions and
precautions described in this manual.
Failure to take necessary safety measures or incorrect handling may result not only in trouble or damage to
the robot and controller, but also in serious accidents involving injury or death to personnel (robot installer,
operator, or service personnel). Observe the precautions given in each Chapter.
To use YAMAHA robots and controllers safely and correctly, first read the separate "Safety Instructions" and
always comply with the safety rules and instructions.
Please note, however, this manual cannot cover all items regarding safety.
So it is extremely important that the operator or user have knowledge of safety and make correct decisions
regarding safety.
Signal words used in this manual

This manual uses the following safety alert symbols and signal words to provide safety instructions that must
be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure
you understand the meaning of each symbol and signal word and then read this manual.
w DANGER
This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.
w WARNING
This indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
c CAUTION
This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or
damage to the equipment.
n NOTE
Explains the key point in the operation in a simple and clear manner.
ii
Over view of the RCX 3 series

The YAMAHA RCX 3 series (340/RCX320) robot controllers were developed based on years of YAMAHA
experience and proven achievements in robotics and electronics. These controllers are specifically designed
to operate YAMAHA industrial robots efficiently and accurately.
Despite their compact size, the RCX 3 series controllers operate efficiently as multi-axis controllers with a
variety of functions.
RCX340: 4-axis robot controller RCX320: 2-axis robot controller
Major features and functions are:
1. Multi-task function
Up to 16 tasks* can be executed simultaneously by specifying the priority. However, low priority tasks are halted while
high priority tasks are running.
Programs are processed in parallel to efficiently perform various operations. Additionally, the operation efficiency of
the total robot system including peripheral units is greatly improved.
*Refer to "Multi-tasking" in the RCX 3 series programming manual for more details on tasks.
2. Robot language
The RCX 3 series controller comes with a BASIC-like high-level robot language that conforms to the industrial robot
programming language SLIM*. This robot language allows easy programming even of complex movements such as
multi-task operations.
*Standard Language for Industrial Manipulators
3. Robot control
Up to four robots can be controlled.
Versatile motion functions are incorporated and these functions can be executed by multiple robots.
4. Applicable robots
Software servo control provides unit standardization.
The RCX 3 series controller can be connected to almost all YAMAHA robots.
5. CE marking/ UKCA marking

The RCX 3 series robot controller is designed to conform to machinery directives and EMC (Electromagnetic
compatibility) directives as a YAMAHA robot series product.
For details about CE marking/ UKCA marking compliance, refer to the "Safety standards application guide".
Additionally, to make the system applicable to the CE marking/ UKCA marking, select The CE specifications. (Refer to
Chapter 12 'Specifications' in this manual).
*The CE specifications are conformed with both CE / UKCA.
This manual explains how to handle and operate the YAMAHA robot controllers correctly and effectively, as
well as I/O interface connections.
Read this manual carefully before installing and using the robot controller.
Also refer to the separate RCX 3 series programming manual and robot user’s manual as needed.
iii
Before using the robot controller (Be sure to read the following notes)
Please be sure to perform the following tasks before using the robot controller.
Failing to perform these tasks will require the return-to-origin for setting the origin position each time
the power is turned on or may cause abnormal operation (vibration, noise).
[1] When connecting the power supply to the robot controller

Always make a secure connection to the ground terminal on the robot controller to ensure safety and prevent
malfunctions due to noise.
TIP
Refer to "3.1. Power supply and ground terminals" in Chapter 3 for detailed information.
[2] When connecting the battery cable to the robot controller

The absolute battery connector has not been connected to the controller at shipment to prevent discharge. After installing
the controller, be sure to connect the absolute battery connector while referring to "4. Connecting the absolute battery"
in Chapter 3 before connecting the robot connection cables.
An error is always issued and the origin position cannot be detected if the robot controller power is turned on without
connecting the absolute batteries. This means the robot connected to this controller cannot be used with absolute
specifications.
[3] When connecting robot cables to the robot controller

Be sure to keep robot cables separate from the robot controller power connection lines and other equipment power lines.
Using in close contact with lines carrying power may cause malfunctions or abnormal operation.
TIP
Performing return-to-origin is always required when the robot controller power is first turned on after connecting
the robot cable to the robot controller. Refer to Chapter 4 "10. Origin return".
Additionally, when the robot connection cable is disconnected form the controller and connected again, it is
also required to perform return-to-origin.
[4] Setting the maximum speed

When operating a ball screw driven robot, the ball screw’s free length will increase as the movement stroke increases,
and the resonant frequency will drop. This may cause the ball screw to resonate and vibrate severely depending on
the motor rotation speed. (The speed at which resonance occurs is called the critical speed.)
To prevent this resonance, the maximum speed must be reduced depending on the robot model when the movement
stroke increases. Refer to our robot catalog for the maximum speed settings.
c CAUTION
Continuous operation while the ball screw is resonating may cause the ball screw to wear out prematurely.
[5] Duty
To lengthen the service life of robots, the robots must be operated within the allowable duty (50%).
The duty is calculated as follows:
Operation time
Duty (%) = ×100
Operation time+ Non-operation time
If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case, increase the non-operation
time to reduce the duty.
iv
Chapter 1 Using the robot safely
1. Emergency action when a person is caught by robot 1-1
2. Emergency stop 1-3

3. Power-ON procedures 1-5
4. Usage environments 1-6

1. Emergency action when a person is caught by robot
1
If a person should get caught between the robot and mechanical part such as the installation base, or get
captured by the robot, free the person by following the instructions below.
1. For axis not equipped with a brake

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

with hands.
2. For axis equipped with a brake

Although the power to the robot can be shut off by putting the controller into the emergency stop status, the axis cannot
be moved due to the action of the brake. Release the brake by following the procedure below, then move the axis by
pushing it with hands.
w WARNING
The vertical axis of the vertical specification robot will slide down when the brake is released, causing a
hazardous situation.
• Prop up the vertical axis with a support stand before releasing the brake.
• Be careful not to let your body get caught between the vertical axis and the support stand when releasing
the brake.
1 Press on the programming box Step 1 "QUICK MENU" screen

to display the "QUICK MENU"
screen.
2 Use the cursor keys ( / ) to

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

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

screen, select the axis to release
the brake or select [FREE] for all
axes with the cursor keys ( / /
/ ), and then press .
The brake release confirmation screen will
appear.
Step 4 "SERVO OPERATION (SEP)" screen
1-1
5 Use the cursor keys ( / ) to select
Step 5 Brake release confirmation screen
[OK] and press to release the
1 brake.
For the vertical specification robot, when
the brake is released, the vertical axis may
drop. Therefore, check that the vertical axis
is supported by the table, etc., and then
release the brake.

To apply the brake again, select [OFF] on
the "SERVO OPERATION" screen.
1-2
2. Emergency stop
1
To stop the robot immediately in case of emergency during operation, press the emergency stop button on the
programming box.
Pressing the emergency stop button cuts off power to the robot.
c CAUTION
In addition to the emergency stop button on the programming box, the SAFETY connector has terminals for

external dedicated input (emergency stop). Refer to Chapter 9, "SAFETY I/O interface" for details.
Programming box
Emergency stop button
2.1 Emergency stop release and alarm reset

To return to normal status after emergency stop, release the emergency stop button and reset the alarm.
n NOTE
• Emergency stop can also be triggered by an emergency stop input from the SAFETY I/O interface. To release
the emergency stop status, refer to Chapter 9, "SAFETY I/O interface".
• Origin positions are retained even when emergency stop is triggered, therefore the robot can be restarted by
releasing emergency stop without absolute reset or return-to-origin operation.
1-3
1 Turn the emergency stop button clockwise to release the emergency stop status.
2 Reset the alarm. Step 2 "QUICK MENU" screen
1
Press on the programming box. The
"QUICK MENU" screen will appear.
Use the cursor keys ( / ) to select [Alarm
Reset], and then press . The confirmation
pop-up screen will appear.
Use the cursor keys ( / ) to select [YES],

and then press .
The alarm status is then reset.
n NOTE
The serious alarm cannot be reset. In this case, it is
necessary to turn off the controller power, and
then turn it on again. Step 2 Alarm reset confirmation screen
To turn on the motor power, follow the Steps below.
3 Display the "SERVO OPERATION

(ALL)" screen.
Press on the programming box. The
"QUICK MENU" screen will appear.
Use the cursor keys ( / ) to select [Servo
Operation], and then press .
Step 3 "QUICK MENU" screen

4 Turn on the motor power and servo.
Use the cursor keys ( / ) to select [ON],
and then press to turn on the servo.
n NOTE
Select [ON] on the “SERVO OPERATION (ALL)”
screen using the cursor keys and press the ENTER
key to turn on the servo of all the robot axes
connected to the controller. To avoid turning the
servo on of all axes, select “POWER” using the
cursor keys and press the ENTER key to turn on the
motor. Press the F1 key (SEP) to display “SERVO
OPERATION (SEP)” screen. Select [ON] of the axis
to turn the servo on or all axes and press the ENTER
key to turn the servo on. Step 4 "SERVO OPERATION (ALL)" screen
Refer to Chapter 4 "6. Servo operation" for details
about servo on operation.
5 Press to return to the initial

screen.
1-4
3. Power-ON procedures
1
This section describes the procedures from turning on the controller power to performing return-to-origin of
the robot.
c CAUTION
To connect the programming box to the controller, always use the dedicated cable and connector that come

supplied with the programming box. Do not modify the cable and do not connect a relay to the cable.
n NOTE
• After turning off the robot controller, wait at least 5 seconds until turning the power back on again. If power is
turned on again too quickly after the power was turned off, the controller might not start up correctly.
• Do not turn off the robot controller during program execution. Doing so may cause errors in the internal system
data and the program may not restart correctly when the power is again turned on. Always quit or stop the
program before turning off the robot controller.
• When the "Servo on when power on" parameter is set to "INVALID", the controller always starts with the robot
servo turned off when power is turned on, regardless of serial I/O settings. Refer to "1.11.1 From the controller
power on to servo on" in Chapter 8 for details.
1 Check the setup and connections.

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

Press the emergency stop button on the programming box to activate emergency stop.
3 Turn on the power.

The power is supplied to the power terminal on the front panel of the controller. The "PWR" LED and
7-segment LED are lit and the initial screen appears on the programming box. (It takes maximum 7
seconds to start the controller correctly after the "PWR" LED has been lit.)
4 Release emergency stop status.

Turn the emergency stop button on the programming box clockwise to release emergency stop status.
5 Turn on the servo.

Refer to Chapter 4 "6. Servo operation" for details about servo on operation.
6 Perform return-to-origin.
Refer to Chapter 4 "10. Origin return" for details on return-to-origin.
n NOTE
If the warning message "c50: Memory backup battery low" appears when turning on the power, replace the
lithium battery (service life is about 4 years) inside the controller. Refer to "5. Replacing the memory battery" in
Chapter 11 for details.
1-5
4. Usage environments
1
Operating temperature
Operating
0°C to 40°C
temperature
The ambient temperature should be maintained within a range of 0 to 40°C during operation.
This is the range in which continuous operation of the robot controller is guaranteed according to the initial
specifications. If the robot controller is installed in a narrow space, then heat generated from the controller itself and
from peripheral equipment may drive the temperature above the allowable operating temperature range.
This may result in thermal runaway or malfunctions and may lower component performance along with shortening their
useful service life. So be sure to install the controller in locations with a vent having a natural air flow. If this proves
insufficient, provide forced air-cooling.
Storage temperature
Storage temperature -10°C to 65°C
The controller should be stored in a location at an ambient temperature between -10 and +65°C when not being used.
If the robot controller is stored in a location at high temperatures for extended periods, deterioration of the electronic
components may occur and the memory backup time may decrease.
Operating humidity
Operating humidity 35% to 85% RH (no condensation)
The ambient humidity of the robot controller should be 35% to 85% RH (no condensation) in order to guarantee
continuous operation within the initial specifications. Installing the robot controller inside an air-conditioned or cooling
unit is recommended when the ambient humidity is higher than 85% or when condensation occurs.
Storage humidity
Storage humidity Below 95% RH (no condensation)
The controller should be stored in a location at an ambient humidity below 95% RH (no condensation) when not being
used. If the robot controller is stored in a location at high humidity for an extended period of time, rust may form on the
electronic components.
Vibration and shock

Do not apply strong shocks to the controller. Do not install the controller in locations subject to large vibrations or
shocks. The controller may malfunction or break down if subjected to large vibrations or shocks.
Environments
The controller is not designed to meet explosion-proof, dust-proof, and drip-proof specifications, and so do not use it in
the following locations. If used in these locations, component corrosion, improper installation, or fire may result.
1) Environments containing combustible gases or dust particles, or flammable liquids, etc.
2) Environments where conductive substances such as metal cutting chips are present.
3) Environments where water, cutting water, oils, dust, metal particles, or organic solvents are present.
4) Environments containing corrosive gases or substances such as acid or alkali.
5) Environments containing mist such as cutting fluids or grinding fluids.
6) Environment containing silicon gas that leads to contact failure of the electrical contact point.
If using the controller in locations where dust particles of gases may generate, it is recommended to install the controller
in a box with a cooling unit.
Installation location
Always install the robot controller indoors, at a height of less than 2000 meters above sea level.
Install the controller in a control panel with a structure that does not allow water, oil, carbon or dust particles to
penetrate it. Do not install the controller in the following locations:
1) Near devices which may be a source of electrical noise, such as large inverters, high output high-frequency
generators, large contactors, and welding machines.
2) Locations where electrostatic noise is generated.
3) Locations subject to radio frequency interference.
4) Locations where there is a possibility of exposure to radioactivity.
5) Locations where dangerous items such as ignitable, flammable or explosive materials are present.
6) Near combustible materials.
7) Environments exposed to direct sunlight.
8) Narrow space where tasks (teaching, inspections, etc.) cannot be performed safely.
1-6
Chapter 2 System overview

1.1 Main system configuration 2-1
1.1.1 RCX340 2-1
1.1.2 RCX320 2-2
1.2 Axis configuration 2-3
2. Name of each part and control system 2-4

2.1.1 RCX340 2-4
2.1.2 RCX320 2-5
2.1.3 Regenerative unit RCX320 2-6
2.2 Controller system 2-7
3. Optional devices 2-8

3.1 Programming box 2-8
3.3 Expansion I/O board 2-8
4. Basic sequence from installation to operation 2-9

1. I/O interface over view
1.1 Main system configuration
1.1.1 RCX340
■ Configuration 1: System for controlling one robot

Example: YK500XG
2
All the axes on the robot controller are used as axes of the robot 1.
System overview
Programming box
Personal computer
External device
(PLC etc.)
Regenerative
shorting connector
YAMAHA robot
■ Configuration 2: System for controlling multiple robots

Example: Robot 1 : MXYx
Robot 2 : MF30 double-carrier type
Axes 1 and 2 of the robot controller are used as axes of the robot 1 while axes 3 and 4 are used as axes of
the robot 2.
Programming box
Personal computer
External device
(PLC etc.)
Regenerative
shorting connector
(Double-carrier type)
YAMAHA robot
2-1
1.1.2 RCX320
Example: MXYx
All the axes on the robot controller are used as axes of the robot 1.
2
Programming box
System overview
Personal computer
Regenerative
shorting connector
External device
(PLC etc.)
YAMAHA robot
2-2
1.2 Axis configuration
The axis configuration for the YAMAHA RCX340 robot controller is shown below.
For using RCX320, halve axes to configure the system.
Controller Robot [1] Normal axis
Auxiliary axis
Robot [4] Normal axis
Auxiliary axis
2
System overview
Robot [1 to 4] An aggregate of axes making up one robot. Up to four robots can be controlled.
Normal axis An axis making up one robot. This axis is moved by the "MOVE" command of the robot language.
Auxiliary axis This axis is not moved by the "MOVE" command of the robot language, but is moved by the “DRIVE” command.
Example 1: 4-axis SCARA robot, 1 unit
Robot number Robot type M1 M2 M3 M4

1 SCARA robot X Y Z R
Example 2: XY-robot, 2 units
Robot number Robot type M1 M2 S1 S2

1 XY-robot 1 X Y
2 XY-robot 2 X Y
2-3
2. Name of each par t and control system
The external view and the control system basic diagram are shown below.
2.1 External view

2 2.1.1 RCX340
14 2 13 2 4 12 8 8
System overview
16 11 10 9 1 9 1 9 1 9 15 1 3 8 8
Panel display (name) Function
1 M1/M2/M3/M4 These connectors are used to drive the servo motor.
2 ROB I/O [1-2/3-4] These connectors are used for the servo motor position signal, origin sensor signal and brake control.
3 SAFETY This safety I/O connector is used for emergency stop and so on.
4 PB This connector is used for the programming box.
5 COM This connector is used for the RS-232C.
6 EN This connector is used for the Ethernet.
7 USB This connector is used for the USB.
8 (OP.) 1/2/3/4 These are option ports. Up to four option boards can be installed on them.
9 BAT [1/2/3/4] These connectors are used for the absolute backup batteries.
10 AC IN [L/N/L1/N1] These I/O connectors are used for the control power or main power supply (motor drive power supply).
11 (PE) This is the ground terminal. Class D grounding is required.
12 "PWR" LED This lights up when the power is turned ON.
13 7SEG LED This indicates the controller or robot status.
This fan ensures that the temperature inside the controller is kept at a fixed level.
14 FAN
When installing the controller, keep a clearance of 50 mm or more not to close the fan opening.
15 BK24V This is an external 24 V input power connector for the brake when using two or more axes as brakes.
This is a regenerative unit connector for the expansion.

16 RGEN
For the standard specifications, connect the thermal sensor shorting connector.
2-4
2.1.2 RCX320
14 2 13 4 12
2
8
System overview
6
7
15 10 11 9 1 9 1 3
1 M1 / M2 These connectors are used to drive the servo motor.
2 ROB I/O [1-2] These connectors are used for the servo motor position signal, origin sensor signal and brake control.
3 SAFETY This safety I/O connector is used for emergency stop and so on.
4 PB This connector is used for the programming box.
5 COM This connector is used for the RS-232C.
6 EN This connector is used for the Ethernet.
7 USB This connector is used for the USB.
8 (OP.) [1 / 2] These are option ports. Up to two option boards can be installed on them.
9 BAT [1 / 2] These connectors are used for the absolute backup batteries.
10 AC IN [L / N / L1 / N1] These I/O connectors are used for the control power or main power supply (motor drive power supply).
11 (PE) This is the ground terminal. Class D grounding is required.
12 “PWR” LED This lights up when the power is turned ON.
13 7SEG LED This indicates the controller or robot status.
This fan ensures that the temperature inside the controller is kept at a fixed level.
14 FAN
When installing the controller, keep a clearance of 50 mm or more not to close the fan opening.
This is a regenerative unit connector for the expansion.

15 R.UNIT
For the standard specifications, connect the thermal sensor shorting connector.
2-5
2.1.3 Regenerative unit RCX320
Top view
2
1
System overview
Bottom view 5
3
4
2
1 Exhaust Fan
2 Ground terminal
3 CHARGE Orange: high-voltage power for motor drive charged
4 ACTIVE Blue: regenerative absorbing operation
5 External Connector For connecting / expanding the regenerative unit.
c CAUTION
"CHARGE" lamp keeps lit while charge remains internal capacitor even though the main power is turned OFF.
To avoid electrical shock, do not touch the main circuit and motor terminal while the lamp is lit.
2-6
2.2
2.2.2
2.2.1
L
L
N
N
L1
L1
N1
N1
AC IN
AC IN
RGEN
RGEN
FAN FAN
DRIVER POWER REGISTOR

SUB
M1
ROBO I/O
DRIVER2 1-2
AXIS1
ROB I/O BAT1
M1
DRIVER2 BAT2
AXIS1
M2
BAT1
DRIVER2
Controller system
AXIS2
MAIN
BAT2
DRIVER POWER
DRIVER1
M2
DRIVER2
M3
DRIVER POWER
DRIVER1
AXIS2 DRIVER2 ROBO I/O

AXIS3 3-4
PB
RCX320 Basic block diagram

RCX340 Basic block diagram
BAT3
SAFETY
BAT4
M4
DRIVER2 PB
AXIS4
SAFETY
COM
CPU BOARD EN BK24V
USB
COM
CPU BOARD EN
OP.2 OP.1 USB
OP.2 OP.1
OP.4 OP.3
2-7
2
System overview
3. Optional devices
3.1 Programming box
Use of this programming box makes it possible to perform the robot manual operation, program input and
editing, teaching, and parameter settings.
2
Emergency stop button
System overview
Manual lock switch
USB connector
Enable switch
(PBX-E only)
PB connector
3.2 Basic key operation

Keys with three lines allow three kinds of entries.
Alpha Alpha Alpha: Alphabet entry

Num Num Num: Number entry
Sym Sym
Sym: Symbol entry
When pressing this key, the character type to be input will change. Additionally, the LED
indication showing the key status will also change.
LED indication (when "Alpha" is selected)
For details about key operation, refer to Chapter 4 "4. Operation key".
3.3 Expansion I/O board

The expansion I/O board used in the robot controller has 24 general-purpose input points and 16 general-
purpose output points.
n NOTE
Refer to Chapter 8, "I/O interface" for details on expansion I/O boards.
2-8
4. Basic sequence from installation to operation
Basic procedure Refer to:

Installation, connection and wiring
Install the controller. Chapter 3 1. Transport, unpacking
~
2
10. Precautions for cable routing
and installation
• Ground the controller.
• Make cable and connector connections.
• Configure an emergency stop circuit. Chapter 8 I/O interface
Refer to each serial I/O user's manuals
When a serial I/O board is installed: for details.
System overview
Set the station number, communication speed, etc.
(Setup depends on the serial I/O type.)
Power ON
Check that the wiring and supply voltage are correct and then turn power on. Chapter 1 3. Power-ON procedures
Check that no alarm is issued after turning power on.
Chapter 3 11. Checking the robot controller operation
Check that the safety devices such as an emergency stop circuit function correctly.
Check that the robot type setting in the controller matches Chapter 6 Controller system settings
Robot type check
the robot that is actually connected. Chapter 5 7.4.2 Robot parameters
•Tip weight (kg) <WEIGHT>
Set the following parameters to optimize the robot operation.
•Tip weight (g) <WEIGHTG>
• Tip weight (workpiece weight + tool weight)
Set the "Axis tip weight" parameter if the robot is set to •R axis inertia for SCARA <SCRINR>
"MULTI" or has an auxiliary axis. •R axis inertia offset for SCARA <INROFST>
• R axis inertia for SCARA
Set the moment of inertia for the R-axis of the SCARA robot. 7.4.3 Axis parameters
• R axis inertia offset for SCARA (Valid only for YK-XE) •Plus (+) soft limit <PLMT+>
Set the distance that is offset from the rotation center of •Minus (-) soft limit <PLMT->
R-axis to the gravity center of the tip weight.
Parameter initial •Axis tip weight <AXSTIP>
Initial setting
setting • Soft limits (movement range)

Before determining soft limit positions by jog movement,
return-to-origin must first be complete.
* Always set these parameters when using the robot for the
first time. After that, change them as needed.
Perform return-to-origin to teach the origin position to

the controller. Chapter 4 10. Origin return
* When using the robot for the first time, be sure to perform
the return-to-origin.
After that, perform return-to-origin in the following cases.
Return-to-origin • Incremental axis:
Before starting the robot operation and after turning on the
power or when the origin position is infinite (return-to-origin
incomplete status).
• Absolute axis:
When the origin position is infinite (return-to-origin incomplete
status).
Parameter setting Set parameters according to the operation conditions. Chapter 6 Controller system settings
Data setting
Point data editing Create or edit point data according to the robot operation. Chapter 5 1. Point editing
Create programs according to the robot operation. 2. Program editing

Programming * Programming is not necessary when the program such as Refer to programming manual
operation with the online commands is not used. for programming language.
Trial operation
Make a trial run using step operation and make adjustment as needed.
Chapter 4 9. Automatic operation

Operation
Start operation. Chapter 4 9. Automatic operation
2-9
Chapter 3 Installation
1. Transport, unpacking 3-1
2. Installing the robot controller 3-2

2.1 Installation conditions 3-2
2.2 Installation methods 3-3
3. Connecting to the power 3-4

3.1 Power supply and ground terminals 3-4
3.2 AC power connector wiring 3-5
3.3 Considering power capacity and generated heat amount 3-6
3.3.1 RCX340 3-6
3.3.2 RCX320 3-7
3.4 Installing an external leakage breaker 3-8
3.5 Installing a circuit protector 3-8
3.6 Installing an electromagnetic contactor 3-8
3.7 Installing a noise filter 3-9
3.8 Installing a surge absorber 3-9
3.9 SCCR (Short-Circuit Current Rating) 3-9
3.10 Maximum supply source impedance 3-9
4. Connecting the absolute battery 3-10
5. Robot connections 3-11

5.1 Connecting the robot cables 3-11
5.2 Noise countermeasures 3-12
6. Connecting the programming box 3-12
7. I/O connections 3-13
8. Connecting the regenerative apparatus 3-14

8.1 Connecting the regenerative shorting connector RCX340 3-14
8.2 Connecting the regenerative unit RCX320 3-14
9. Connecting brake power supply RCX340 3-15

9.1 Power connector 3-15
10. Precautions for cable routing and installation 3-16

10.1 Wiring methods 3-16
10.2 Methods of preventing malfunctions 3-17
11. Checking the robot controller operation 3-18
11.1 Controller wiring 3-18
11.2 Wiring example of emergency stop circuit for operation check 3-19
11.3 Operation check 3-19
1. Transpor t, unpacking
The robot controller is high precision equipment and is carefully packed in a cardboard box to avoid shocks
and vibrations.
If the packing box is seriously damaged or dented, please notify your distributor before unpacking.
Transport the robot controller carefully with a trolley to prevent damage caused by dropping.
Take sufficient care not to apply shocks to the equipment when unpacking. After unpacking, check the
accessories to make sure that nothing is missing.
c CAUTION
The robot and controller are very heavy. Take sufficient care not to drop them during unpacking as this may
damage the equipment or cause bodily injury. 3
Installation
Accessories
Power supply connector 1
SAFETY connector 1
PB terminator 1
RCX340 Regenerative shorting connector

Standard 1
RCX320 Regenerative unit shorting connector
Connector guard for COM connector 1
Connector guard for Ethernet connector 1
USB Connector guard 1
Disc manual 1
Programming box 1
Absolute battery 1 to 4
I/O connector (A dedicated connector for the selected I/O option is provided.) 1 set
Option Support software installation CD-ROM 1
Communication cable 1
RCX340 External 24V power connector for brake 1
RCX320 Regenerative unit 1
RCX320 Regenerative unit connecting cable (0.5 m) 1
* Accessories other than those listed above may be provided depending on the selected options.
3-1
2. Installing the robot controller
2.1 Installation conditions
Take note of the following points when installing the robot controller.
■ Installation location
Use the screws to secure the controller to the installation plate inside the control panel so that it is in a horizontal
position. Be sure to use the metallic installation plate.
■ Operating temperature and humidity
3
Always use the controller under the following temperature and humidity conditions.
• Ambient temperature: 0 to 40 ºC
• Ambient humidity: 35 to 85% RH (there should be no condensation)
■ Operating environments to be avoided

Installation
The controller should never be used in the following environments in order to ensure normal status.
• Atmosphere with flammable gas, inflammable liquids, etc.
• Atmosphere with flying conductive material such as shavings generated during metal machining
• Atmosphere with corrosive acid or alkaline gases
• Mist atmosphere containing cutting fluid, grinding fluid
• Near electrical noise sources such as large inverters, high-output high-frequency transmitters, large contactors, welding
machines
• Environments exposed to oil or water
If the controller is to be used under such adverse conditions, place it in a watertight box equipped with a cooling unit.
• Locations subject to excessive vibrations
• Environment with controller installed on its side or end, or in an inverted position
• Environment in which controller connector cables are subject to impact or loads
■ Surrounding clearance
Install the controller in a well ventilated area, and ensure sufficient clearance on all sides. (See the figure below.)
Front Side
100 mm
50 mm or more or more
Parallel DIO cable
Robot cable
50 mm
50 mm
or more
or more
50 mm or more
(A clearance of 100 mm or more is recommended.)
c CAUTION
• To prevent degradation or breakdowns, never use the controller in other than the specified installation conditions.
• For the bottom clearance, take the battery replacement workability into consideration. (A clearance of 100 mm or
more is recommended.)
• Make a space at least 100 mm on the front side in consideration of cable routing.
For details, see "10. Precautions for cable routing and installation" in this chapter.
• Make a space at least 50 mm on the side where the fan is attached in consideration of cooling.
3-2
2.2 Installation methods
Use the screws to secure the controller to the installation plate inside the control panel so that it is in a
horizontal position.
To secure the controller, use the M5 screws. (See the figure below.)
Be sure to use the metallic installation plate.
Installation
3-3
3. Connecting to the power
Attach the power connector to the power cable and insert it into the "AC IN" connector on the front panel of
the controller.
Wiring lengh should be within 30 m or less.
3.1 Power supply and ground terminals
c CAUTION
Before connecting the power cable, be sure to check that the power supply voltage matches the power
specifications of your controller.
3
■ Power supply terminals
Installation
Input terminal Wiring Name Remarks
L Live 200 to 230 V

Main power supply (for motor power) Wire cross-section 2.0 sq* or more
N Neutral 200 to 230 V
L1 Live 200 to 230 V

Control power supply Wire cross-section 1.25 sq* or more
N1 Neutral 200 to 230 V
■ Ground terminal
Terminal symbol Name Remarks
Wiring material: 2.0 sq* or more, Tightening torque: 1.4 N•m

(PE) Ground (Class D grounding)
Ground resistance: 100 ohms or less
*sq (square) is a unit used to indicate the cross-sectional area of stranded wires, with 1sq indicating 1 square millimeter.
w WARNING
• To prevent electrical shocks or faulty operation caused by noise, the earth terminal (protective conductor) must
be grounded properly.
• Class D grounding is required.
• To prevent electrical shocks, never touch the AC IN terminals when power is supplied to the robot controller.
■ Connection example
Refer to 3.4 Refer to 3.7 Refer to 3.5 Refer to 3.6

Controller
Single phase
200V AC
L
Leakage Noise Circuit Electro-
breaker filter protector magnetic
contactor N
Surge L1
Circuit
absorber protector
N1
Refer to 3.8
c CAUTION
To prevent break downs, do not mistake the terminal connection locations.
3-4
■ AC IN and ground terminals
RCX340 RCX320
3
c CAUTION
Connecting orientation of the power connctor is inverse between RCX340 and RCX320.
Installation
Be careful to the distribution of terminals.
3.2 AC power connector wiring
■ Requirements
Prepare the following to wire power connectors.
Name Type number
Connection lever +
KAS-M5382-00
Connector
For information on Wire, refer to "3.1 Power supply and
Connection lever (provided) Connector (provided) Wire
ground terminals" in this chapter.
or flat-blade screwdriver.
■ Wiring methods
Strip the wire sheath to expose 8 to 9 mm of bare lead.
Use either of the methods shown below to insert the wire core into the opening in the power connector, and then ensure
that the wire does not come out.
Strip 8 to 9 mm of sheath. If using connection lever provided. If using flat-blade screwdriver.
8 – 9 mm
Connection lever
The wire can be inserted while using

the flat-blade screwdriver to press
down the spring from the opening on
the top of the connector.
c CAUTION
As a rule, only connect a single wire to each wire opening.
3-5
3.3 Considering power capacity and generated heat amount
The required power capacity and generated heat amount depend on the robot model and the number of axes to
be controlled.
Use the following tables as a guide to prepare a power supply and to determine the control panel size,
controller installation method, and cooling means.
c CAUTION
The power supply voltage for the robot controller must always be regulated within ±10%.
If the voltage drops, the controller detects the voltage drop error to trigger the robot emergency stop.
In contrast, operation at a voltage higher than specified may damage the robot controller or trigger emergency
stop due to detecting an excessive motor power supply voltage.
3 3.3.1 RCX340
1. When connected to SCARA robot
Installation
Robot model Power Generated

heat
capacity
Dust-proof & Wall-mount & amount
Standard type Clean type Orbit type (VA)
drip-proof type inverse type (W)
YK120XG, YK150XG 300 58
YK180XG, YK180X
YK180XC, YK220XC 500 63
YK220X
YK250XGP
YK250XG, YK350XG YK250XCH, YK350XCH
YK350XGP
YK400XG, YK500XGL YK400XCH, YK250XGC YK300XGS
YK400XGP 1000 75
YK600XGL, YK400XR YK350XGC, YK400XGC YK400XGS
YK500XGLP
YK400XE YK500XGLC, YK600XGLC
YK600XGLP
YK500XC, YK600XC 1500 88
YK500XG, YK600XG YK500XGP YK500XGS

1700 93
YK700XGL YK600XGP YK600XGS
YK700XC, YK800XC
2000 100
YK1000XC
YK600XGHP
YK700XGS
YK600XGH, YK700XG YK700XGP
YK350TW YK800XGS
YK800XG, YK900XG YK800XGP 2500 113
YK500TW YK900XGS
YK1000XG, YK1200X YK900XGP
YK1000XGS
YK1000XGP
2. When connected to 2 axes (Cartesian robot or multi-axis robot)
Axis current sensor value Generated

Power capacity (VA) heat amount
M1 M2 (W)
05 05 600 65
10 05 800 70
20 05 1100 78
10 10 1000 75
20 10 1300 83
20 20 1700 93
3-6

M1 M2 M3 (W)
05 05 05 700 68
10 05 05 900 73
20 05 05 1200 80
10 10 05 1000 75
20 10 05 1300 83
20 20 05 1600 90
10
20
10
10
10
10
1200
1500
80
88
3
20 20 10 1800 95
20 20 20 2000 100
Installation

M1 M2 M3 M4 (W)
05 05 05 05 800 70
10 05 05 05 1000 75
20 05 05 05 1200 80
10 10 05 05 1100 78
20 10 05 05 1400 85
20 20 05 05 1600 90
10 10 10 05 1300 83
20 10 10 05 1500 88
20 20 10 05 1800 95
20 20 20 05 2100 103
10 10 10 10 1400 85
20 10 10 10 1700 93
20 20 10 10 2000 100
20 20 20 10 2200 105
20 20 20 20 2500 113
* Axis current sensor values can be substituted for each other.
3.3.2 RCX320
When connected to 2 axes (Cartesian robot or multi-axis robot)

M1 M2 (W)
05 05 500 53
10 05 700 58
20 05 1500 78
10 10 900 63
20 10 1700 83
20 20 2400 100
3-7
3.4 Installing an external leakage breaker
Since leakage current flows at high frequencies in the robot controller, always equip the robot controller power
connection with an earth leakage current breaker for safety. It is important to choose the optimum sensitivity
current rating (IΔn).
(Check the leakage breaker manufacturer's data sheets to select the optimum product compatible with
inverters.)
Recommended model: NV32-SV series (Mitsubishi Electric)
■ Selecting condition
3
•The leakage current value is 2.7 mA (MAX.) in total of the control power and main power supply.
•The value was measured with a leak tester (Hioki Electric 3283) with a low-pass filter turned on (100Hz).
c CAUTION
1. When using two or more controllers, sum the leakage current of each controller.
2. Make sure that the controller is securely grounded.
Installation
3. Stray capacitance between the cable and FG may vary depending on the cable installation condition, causing
the leakage current to fluctuate.
3.5 Installing a circuit protector

Always equip the robot controller power connection with an earth leakage current breaker for safety.
An inrush current, which might be from several to nearly 20 times higher than the rated current, flows at the
instant that the controller is turned on or the robot motors start to operate. Therefore, select a medium to slow
response circuit protector with an inertial delay function.
Example Rated current Operating characteristics
Control power supply (L1, N1) 5A

Slow response type with inertia delay
Main power supply (L, N) 15 A
Recommended model: Acti9 iC60N series (Schneider Electric)
3.6 Installing an electromagnetic contactor

In controlling the power on/off operation of the controller using an external device, such as PLC, an electro-
magnetic contactor should be installed on the AC power supply line for the controller. Select one that falls
under the required safety category and control the open/close operation using a circuit that meets the category.
In this case, separate the control power supply line from the main, and install the electromagnetic contactor on
the main power supply side. To control the operation using emergency stop, turn the main power on and off.
Recommended model: LC1D series (Schneider Electric)
3-8
3.7 Installing a noise filter
Installation of a noise filter is recommended in order to suppress power line noise.
■ Dimensional outlines of recommended noise filter
127±1
Manufacturer 115±0.5
TDK-Lambda Corporation
10±1
13±1 13±1
Type number
RSHN-2016
43±0.5
52±1
6-M4
2-φ4.5
3
35±1
3.8 Installing a surge absorber
Installation
It is recommended to install a surge absorber so as to increase the resistance against the surge noise generated
by lightning.
■ Dimensional outlines of recommended surge absorber
28 ±1.0 250 +25

Manufacturer -0
SOSHIN ELECTRIC CO., LTD. Status indicator

Type number Green : Normal
25 ±1.0
LT-C12G801WS
22.5 ±1.0
Red : Abnormal
33.5 ±1.0
4
-0 .3
.1
4 ±0.5
.3 +0
19 ±1.0
φ4
3.9 SCCR (Short-Circuit Current Rating)

The estimated SCCR is 5 kA*
* W hen using the recommended models mentioned in the previous page; leakage breaker, circuit protector and
electromagnetic contactor.
3.10 Maximum supply source impedance

It is "0.27 Ω" at the time of our assumed wiring.
Be sure to perform confirmation calculation or measurement on the customer's final product (entire
equipment).
3-9
4. Connecting the absolute batter y
The absolute battery has not been connected to the controller at shipment to prevent discharge.
After the controller has been installed, be sure to connect the absolute battery before connecting the robot
connection cables.
Connect the absolute battery to the BAT connector corresponding to the axis used as an absolute type axis.
■ Installing the absolute batter y
1 Loosen the knob on the bottom and remove the bottom cover.
3 2 Fit each absolute battery to the battery case on the bottom to install it.
3 Connect each absolute battery to the BAT connector.
Installation
* Replace the absolute battery in the same manner.
Absolute battery
c CAUTION
Do not process or extend the cable, or abnormal operation or malfunction may occur.
n NOTE
• If the absolute battery is disconnected from the BAT connector with the power turned off, the robot enters
the return-to-origin incomplete status.
Since the absolute battery connector has not been connected to the controller at shipment to prevent
discharge, the alarm message showing the return-to-origin incomplete status is always displayed when turning
on the power for the first time. This alarm message does not show the controller or robot failure.
• When the controller power is turned off for a period of time exceeding the backup retention time, the battery
needs to be replaced.
• When storing the controller for an extended period of time, disconnect the absolute battery from the BAT
connector to suppress the consumption of the absolute battery.
• For the absolute battery part number, refer to Chapter 11 “2. Maintenance parts”
3-10
5. Robot connections
5.1 Connecting the robot cables
Connect the cables to the "M1", "M2", "M3", "M4", "ROB I/O 1-2", and "ROB I/O 3-4" connectors on the front
of the controller.
RCX340 RCX320
The "M1" and "M2" connectors and the "ROB I/O 1-2" connector are intended for axis 1 and 2. Additionally,
RCX340
3
The "M3" and "M4" connectors and the "ROB I/O 3-4" connector are intended for axis 3 and 4.
Installation
For axes 1 and 2 For axes 3 and 4
The robot connection cable specification may vary depending on the robot. For details, refer to the robot
manual.
w WARNING
The power to the controller must be off when connecting the robot cables.
The "M1", "M2", "M3", and "M4" connectors and the ROB I/O connector (1-2/3-4) have the same shape. Be careful
not to make incorrect connections. Otherwise, the robot may malfunction.
Keep the robot cables separate from the power cables and other equipment power lines. Failure to follow this
instruction may cause malfunctions.
c CAUTION
Always securely connect the robot cables. If they are not securely connected and fail to make good contact,
the robot may malfunction. Before turning on the controller, make sure again that the cables are securely
connected.
Additionally, ground the robot securely. For details about grounding, refer to the robot manual.
n NOTE
Make sure there are no bent or broken connector pins and no cable damage before connecting.
3-11
5.2 Noise countermeasures
Cables to be connected to the "M1", "M2", "M3", and "M4" connectors are motor cables for the motor drive.
Since the motor cable produces switching noise by motor control, do not install the sensor, etc. close to it.
Otherwise, the robot may malfunction. In this case, take noise preventive measures described below.
1. Install the sensor, etc., further away from the motor cable.
2. Use a shielded cable for the sensor, etc., and ground the shield.
3. Install a noise filter in the cable which connects the controller to the robot.
■ Noise filter
Model KBG-M6563-00 (for M1, M3)
3
Model KBG-M6563-10 (for M2, M4)
Installation
Connected to the YAMAHA robot
Noise filter
6. Connecting the programming box

Connect the programming box to the PB connector
on the front of the robot controller.
c CAUTION
The PB connector must be connected in the right
direction, and therefore caution is required. The
programming box may break down if connected
incorrectly.
Programming box
If not connecting the programming box, plug the terminator provided into the PB connector.
Name Type number
PBX terminator (Dummy connector plug) KFR-M5163-00
c CAUTION
Since the programming box is equipped with a B-contact (normally closed) type emergency stop button, the
emergency stop function is triggered when the programming box is disconnected from the robot controller. Plug
the terminator into the PB connector to avoid such emergency stop conditions.
3-12
7. I/O connections
The various input/output (I/O) signals from peripheral equipment can be connected to the robot controller.
Each I/O is set with a number, and the I/O connector to be used depends on that number.
For more detailed information on inputs and outputs, refer to Chapter 8, "I/O interface" or Chapter 9,
"SAFETY I/O interface". The terms used in the manual are described as follows.
■ NPN specifications
NPN specifications indicate that a DO (digital output) type NPN open-collector transistor is used for the I/O port having
3
a transistor and photo-coupler, and a corresponding DI (digital input) is also used. NPN specifications therefore make use
of a sink output and a source input (see the figure below).
DO output (sink type)

Current
Installation
NPN
N.COM
DI input (source type)

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

P.COM
Current
PNP
DI input (sink type)
Current
N.COM
3-13
8. Connecting the regenerative apparatus
8.1 Connecting the regenerative shorting connector RCX340
A regenerative unit is incorporated.

To disable the temperature error monitor of expanded
regenerative unit, connect the shorting connector.
3
Installation
8.2 Connecting the regenerative unit RCX320

Connect the regenerative unit to "R.UNIT" connector on the side of RCX320.
Regenerative unit
Regenerative unit
Connecting cable (0.5 m)
Regenerative unit
shorting connector
When you don't use the regenerative unit,

connect the regenerative unit shorting connector.
c CAUTION
If you connect neither regenerative unit nor regenerative shorting connector, An error will occur.
3-14
9. Connecting brake power supply RCX340
When there are two or more brake axes, brake power supply is required from the outside.
Connect to the brake power supply connector and prepare a separate 24V 10W power supply per axis.
RCX320 As the power supply for brake axes is available up to 2 axes, the power connector is not equipped.
9.1 Power connector
c CAUTION
• Make sure the direction to insert the power connector.
3
• When the controller main body is turned off, do not supply an external 24 V DC power to the brake power
supply connector. Otherwise, the controller may malfunction.
Electric wire
Terminal Input Type number
to be used
Installation
1 24 V DC AWG22~18
KCX-M657L-00
Terminal 1 2 GND AWG22~18
Terminal 2
9.2 Power connector wiring work
■ Stripping the electric wire

7 mm
Strip the electric wire sheath 7 mm.
Perform the work while referring to the figures shown below.

■ When using the finger operation lever
1. Push the finger operation lever 2. Insert the electric wire all the way 3. Release the operation lever.
installed on the top by finger to from the insertion port while To check the connection, lightly
push down the spring. pushing the operation lever. pull the electric wire.
■ When using a screwdriver (front entr y)
1. Insert a screwdriver into the 2. Insert the electric wire that has 3. Remove the screwdriver.
operation slot (square hole). been stripped correctly all the way To check the connection, lightly
When the screwdriver is inserted to the wire hole (round hole). pull the electric wire.
correctly, it is then held.
3-15
10. Precautions for cable routing and installation
10.1 Wiring methods
When performing the cable wiring to the controller, strictly observe the following cautions to prevent
malfunction due to noise.
c CAUTION
As a general guide keep the specified cables separated at least 100 mm from each other.
See "2.1 Installation conditions" in this chapter.
1. Keep the external device cable, robot cables, power cable and other equipment power lines away from each
3
other. Never bundle them together.
2. The wiring of electromagnetic contactors, induction motors, solenoid valves or brake solenoids should be
separate from the external device cable and robot cable. Never pass them through the same conduit or
bundle them together.
3. The ground wire should be short.
Installation
For each cable name, see the figure below.
OPTION 1 3
1 3
2 4
PWR
External device connection*

PB
ROB I/O
COM
2 4
ROB I/O SAFETY
1-2 3-4
AC IN
Power
L1
N1
M1 BAT2 M2 BAT3 M3 BAT4 M4

EN
USB
Robot connection
* External devices: DIO, SAFFTY, COM, Ethernet, and USB, etc.
3-16
10.2 Methods of preventing malfunctions
To prevent malfunctions due to noise, take into account the following points.
1. Place a noise filter and ferrite core at a point near the robot controller.
Do not bundle the primary wiring and secondary wiring of the noise filter together.
■ Noise filter installation

Bad example:
Primary and secondary sides for the noise filter are bundled together.
3
L
Secondary N
Robot
Primary wiring wiring L1 controller
Noise
filter N1
Installation
Ground wire
Ground wire is bundled with primary wire.
2. Always attach a surge absorber to the coil of inductive loads (induction motor, solenoid valve, brake
solenoid, relay and so on) located near the robot controller.
■ Example of surge absorber circuit

For induction motor
Single-phase 3-phase
A motor
motor
A
A: Surge killer
For solenoid valve, solenoid
B C
DC type AC type
B: Diode, varistor, CR elements C: Varistor, CR elements
3-17
11. Checking the robot controller operation
This section explains how to check the controller operation using a special connector that comes with the
controller and an applicable robot.
11.1 Controller wiring

Make the connections to the controller as described below.
• Power supply (Do not supply power until you actually begin the operation check.)
• Absolute battery (absolute type only)
• Robot cable
3
• Programming box
• Regenerative shorting connector (supplied)
• SAFETY connector (supplied)
Short-circuit the following pins of the SAFETY connector supplied with the controller.
SAFETY connector
Installation
A1 – A2
A3 – A4
A5 – A6
B1 – B2
B3 – B4
B5 – B6
Programming box
SAFETY connector
(supplied)
Regenerative
Connected to YAMAHA robot
shorting connector (supplied)
3-18
11.2 Wiring example of emergency stop circuit for operation check
ACIN
L
N To main power circuit
Controller PB
Main power on/off control

Emergency stop
Internal power +24V
A1 E-STOP1+
B1 E-STOP2+ PB
3
A2 E-STOP11 13 E-STOP11 13
B2 E-STOP21 15 E-STOP21 15
A4 E-STOP RDY1 3.3kΩ
A5 E-STOP COM1 Emergency stop

B4 E-STOP RDY2 3.3kΩ
Installation
status detection
B5 E-STOP COM2
A6 E-STOP1-
B6 E-STOP2-
SAFETY Internal power GND
The emergency stop button contacts of the programming box are output from the A2, A3, B2, and B3 pins of
the SAFETY connector through the PB connector.
11.3 Operation check

Supply the power to the controller after connecting the controller, robot, and supplied connector.
n NOTE
When the option boards are installed without wiring, it goes in abnormal status, such as error occurring and
emergency stop. To check the operation, set the option boards “Valid" temporarily. Refer to "7.4.5 Option board
related parameters" in Chapter 5 for details.
■ Normal status
· The "PWR" LED on the front of the controller is lit and the 7-segment LED displays as follows.
(Servo off, return-to-origin incomplete, emergency stop released)
S O E
■ Abnormal status
· The "PWR" LED on the front of the controller is lit and the 7-segment LED displays the alarm code.
· Check the alarm message shown on the programming box and take corrective actions while referring to the
troubleshooting.
(Example) Display if an alarm occurs.
"E + alarm group number" and "alarm classification number" are displayed alternately.
* For details about alarm contents shown by each alarm code, refer to "Troubleshooting".
3-19
Chapter 4 Operation
1. Operation overview 4-1
2. The RCX robot controller 4-2

2.1 External device connectors 4-2
2.2 7-segment LED display function 4-3

3.1 Part names and functions 4-4
3.2 Connection to the robot controller 4-5
3.3 Programming box screen 4-5
4. Operation key 4-6

4.1 Operation key layout 4-6
4.3 Function keys 4-7
4.4 Control keys 4-8
4.5 Data keys 4-9
4.6 Other keys 4-9
5. Hierarchy structure 4-10

5.1 Basic hierarchies 4-10
5.2 Quick menu 4-10
5.3 Selecting hierarchy and menu 4-14
6. Servo operation 4-19

6.2 Motor power and servo on/off 4-19
6.2.1 Servo operation (all axes) 4-20
6.2.2 Servo operation (each axis) 4-20
7. Jog 4-21
7.1 Jog movement 4-22
7.1.1 Jog movement in return-to-origin complete status 4-23
7.1.2 Jog movement in return-to-origin complete status (When hand definition is set) 4-24
7.1.3 Jog movement in return-to-origin incomplete status 4-24
7.2 Changing the display units 4-25
7.3 Changing the Jog movement speed 4-25
7.4 Changing the inch distance 4-26
Chapter 4 Operation
7.5 Inputting point data by teaching 4-26

8. Point trace 4-27

8.1 PTP motion 4-28
8.2 Linear interpolation motion 4-29
8.3 Arch motion 4-31
8.4 Setting the speed 4-32
8.5 Changing the display unit 4-33
9. Automatic operation 4-34

9.1 Executing automatic operation 4-36
9.2 Stopping a program 4-37
9.3 Resetting a program 4-37
9.3.1 Resetting a program 4-37
9.3.2 Resetting all programs 4-38
9.4 Registering and releasing task 4-38
9.5 Task priority 4-39
9.6 Switching task display 4-39
9.7 Changing the automatic movement speed 4-39
9.8 Sequence program execution flag 4-40
9.9 Restarting the program 4-40
9.10 Input function 4-41
9.10.1 Inputting message 4-41
9.10.2 Canceling INPUT command 4-41
9.11 Debug function 4-42
9.11.1 Executing a step 4-43
9.11.2 Skipping a step 4-43
9.11.3 Executing the next step 4-43
9.11.4 Break points 4-43
9.11.5 RUNTO 4-44
10. Origin return 4-45

10.1 Return-to-origin operation 4-46
10.2 Semi-absolute 4-47
10.2.1 Example of absolute search operation 4-48
10.3 Return-to-origin procedure 4-49
Chapter 4 Operation
10.4 Absolute reset (mark method) procedure 4-50

10.5 Return-to-origin for all robots 4-53
11. Dual offset 4-54

11.1 Dual offset settings 4-54
11.1.1 Automatic dual offset setting 4-55
11.1.2 Adjusting dual offset 4-56
1. Operation over view
The controller configuration and main functions are shown below.
Set up the equipment as needed according to the operation to be performed.
n NOTE
The external circuit connected to the robot controller should be prepared by the user.
■ Operation over view
Controller
SAFETY I/O interface Programming box is used for

External Used for I/O of emergency stop signal, • Robot operation
circuit enable switch signal, etc.
• Programming
I/O interface
Used for basic I/O operations.
*The parallel I/O is an optional function.
• Teaching
• Parameter input, etc. 4
Power input AC power input terminal
Used to supply power to the controller.
Operation
RS-232C interface
Used for communication through
RS-232C.
Ethernet interface
Personal Used for communication through
computer Robot
Ethernet.
USB interface
Used for controller maintenance.
This interface cannot be used for
the general communication interface.
This chapter mainly explains how to operate the programming box.

For other functions such as Chapter 9 "SAFETY I/O interface", refer to the related chapters.
4-1
2. The RCX robot controller
The illustration below shows the controller’s main display functions and connectors to external devices.
■ Controller front panel (RCX340)
2. "PWR" LED
1. 7-segment LED display
4
4. PB connector
5. RS-232C connector
3. AC IN
6. Ethernet connector
7. USB connector
Operation
■ Controller front panel (RCX320)
2. “PWR”LED
1. 7-segment LED display
4. PB connector
5. RS-232C connector
3. AC IN
6. Ethernet connector
7. USB connector
2.1 External device connectors

Name Function
Displays the controller status.

1 7-segment LED display
For details, refer to "2.2 7-segment LED display function" in this Chapter.
2 "PWR" LED Lights up when the power is turned on.
3 AC IN Supplies the AC power to the controller.
4 PB connector Connects the programming box.
Connects an external device through the RS-232C interface.

5 RS-232C connector
The terminal is D-SUB 9P (female).
6 Ethernet connector Connects an external device through the Ethernet interface.
Used for controller maintenance.

7 USB connector for maintenance
*This interface cannot be used for the general communication interface.
4-2
2.2 7-segment LED display function
• In normal status • When alarm/warning occurs.
0 8
1 9
ON/Complete 2 A
OFF/Incomplete 3 b
4 C
5 d
Servo status Return-to-origin Emergency Message header Group number/Warning number
6 E
status stop status
7 F
Alarm
Warning
Normally, the servo status, return-to-origin status, and emergency stop status are displayed. If an alarm or
warning occurs, the alarm number or warning number is displayed.
• Ser vo on, return-to-origin complete, emergency stop released
4
SRV|ORG|E-STOP
• Ser vo off, return-to-origin incomplete, emergency stop
Operation
SRV|ORG|E-STOP
• Ser vo off, return-to-origin incomplete, emergency stop released
SRV|ORG|E-STOP
• Ser vo off, return-to-origin complete, emergency stop
SRV|ORG|E-STOP
• Alarm occurs.
" + alarm group number" and "alarm classification number" are
displayed alternately.
• Warning occurs.
If a warning occurs, " + warning number" is displayed for 2 seconds.
After that, the warning number and normal status are displayed SRV|ORG|E-STOP
alternately at intervals of 1 second.
• Display during program operation
• display scrolls at startup.
• is displayed at power shutdown.
4-3
3. Programming box
The programming box connects to the controller and is used to edit and execute robot programs.
3.1 Part names and functions
■ Programming box
3. Emergency
stop button
1. Display (liquid crystal display)
4. Manual lock switch
4 5. 3-position enable switch

(PBX-E only)
2. Operation keys
Operation
7. USB connector
6. PB connector
Name Function
1 Display This is a liquid crystal display (LCD), showing various types of information.
Use these keys to operate the robot or edit any data.

2 Operation keys
These are grouped into three types: function/ control/ data
Pressing this button during operation immediately stops robot operation.
This is a normally closed, self-lock switch.
3 Emergency stop button
• PB emergency stop button
Manufacturer: IDEC Corporation Type number: XA 1E-BV302R
Switches the controller operation mode between AUTO and MANUAL.
To execute the automatic operation (AUTO), it is necessary to set the manual lock switch
at "OFF". To operate the robot manually during teaching work, it is necessary to set the
4 Manual lock switch
manual lock switch at "ON".
(For details about executable operations in each mode, refer to "5.2 Quick menu" in this
Chapter.)
This switch is provided for safety. Pressing it to mid-position only allows robot operation.
To use this switch function, the safety circuit must be connected to the SAFETY
connector. For the connection to the safety circuit, refer to Chapter 3 "Installation".
3-position enable switch
5 Switch is released : Emergency stop
(PBX-E only)
Switch is pressed to mid position : Operation possible
Switch is fully pressed : Emergency stop
Manufacturer: OMRON Type number: A4E-B200HS
6 PB connector Use this connector to connect the programming box to the robot controller.
Connects the USB memory and programming box.

7 USB connector This connector is used for saving of various controller data and the maintenance of the
programming box.
4-4
3.2 Connection to the robot controller
Connect the programming box to the PB connector on the front panel of the controller.
Make sure that the cable is securely connected since poor connections may cause malfunction or breakdown.
c CAUTION
Emergency stop is triggered and the servo turns off when the programming box is disconnected from the
controller while the controller power is on.
Programming box
PB connector
Operation
3.3 Programming box screen
The screen of the programming box is composed of three areas as shown below.
1. System line
2.Data area
3.Guide line
1. System line (top line)

The current hierarchy is displayed on the left. The figure above shows the "SERVO OPERATION" screen.
Additionally, the set robot or hand, and controller status are displayed on the right.
S1 Specified "shift coordinate" number
H1 Specified "hand definition" number
RB1 Specified "robot number"
SP30 Specified speed

ALM Displayed when any alarm occurs.
SRV Displayed when the servo is on.
AUTO Displayed when the control setting is "RELEASE".
(This is not displayed when the setting is "GET" or the operation is in MANUAL mode.)
SEQ Displayed when the s equence program is executed.
2. Data area
This area shows various data or edit contents. Scrolling the area left or right will display up to 255 characters/line.
3. Guide line (bottom line)

The bottom line mainly shows the contents assigned to the programming box function keys.
4-5
4. Operation key
4.1 Operation key layout
The operation keys are covered with a plastic sheet to prevent dust. There are 3 types of keys: function keys,
control keys, and data keys. LED displays show selected key types.
■ Operation key layout
4 1. Function keys
4 . Key type display LED

2. Control keys
Operation
3. Data keys
4.2 Basic key operation

Each key can perform three different inputs according to the key type setting as shown in the figure below.
■ Key type configuration
Alpha Alpha
Num Num
Sym Sym
How to select the key type

When pressing this key, key types switch over in turn.
(Number) (Alphabet) (Symbol)
Additionally, the LED for the selected key type is lit.
■ Example of key input
Input key Character type Description Input data
Shift 1: When pressing the key in the key type Alpha

(Alphabet) "A", "B", "C" *1
status, the display at the upper portion of the key is input.
Shift 2: When pressing the key in the key type Num status,
(Number) "2"
the display at the middle portion of the key is input.
Shift 3: When pressing the key in the key type Sym status,
(Symbol) " ", "to" *2
the display at the lower portion of the key is input.
*1 Every time the input key is pressed, the data changes like "A" "B" "C".
*2 Every time the input key is pressed, the data changes like " " "to".
4-6
4.3 Function keys
To operate the programming box, select the submenus by pressing the function keys. If there are five or more
submenus, change the key type. When changing the key type, the submenu display will change.
For example, the relationship between the key type and submenus display on the "DI MONITOR 1" screen is as
follows.
■ Example of key type and submenu correspondence

• Key type is "Num".
Operation
• Key type is "Alpha".
• Key type is "Sym".
n NOTE
In the subsequent descriptions;
Describing " to " means that the key type is set at "Alpha" and " to " is pressed.
Describing " to " means that the key type is set at "Sym" and " to " is pressed.
4-7
4.4 Control keys
There are four kinds of control keys; Hierarchy move keys, Cursor keys, Edit keys, and Jog keys.
The functions of each key are explained below.
1. Hierarchy move keys

Displays the "QUICK MENU" screen.
Displays the next port while the "MONITOR" screen is displayed.
Returns to the previous screen or initial screen.
2. Cursor keys
Switches the scroll function between valid and invalid.
Moves up the cursor.

Moves up the white frame when the cursor is not displayed.
Data area display scrolls one screen up when the scroll function is on.
4 Moves down the cursor.

Moves down the white frame when the cursor is not displayed.
Data area display scrolls one screen down when the scroll function is on.
Moves the cursor left.

Operation
Moves the white frame left when the cursor is not displayed.
Data area display scrolls one screen left when the scroll function is on.
Moves the cursor right.

Moves the white frame right when the cursor is not displayed.
Data area display scrolls one screen right when the scroll function is on.
3. Edit keys
Toggles between "Insert" and "Overwrite" modes.
The cursor appears in "Overwrite" mode and appears in "Insert" mode.
Deletes one character left of the cursor position.
Deletes one character at the cursor position or clears the numeric value before setting.
4. Jog keys
Starts automatic operation.
This key is valid only during AUTO mode, point trace or performing return-to-origin.
Stops automatic operation.

This key is valid during program execution, point trace execution, or return-to-origin operation.
/ Moves axis 1 in the +/- direction or the SCARA type robot in the +/- X direction on the XY coordinates.
/ Moves axis 2 in the +/- direction or the SCARA type robot in the +/- Y direction on the XY coordinates.
/ Moves axis 3 in the +/- direction.
/ Moves axis 5 in the +/- direction
n NOTE
The to keys are hereafter called the "Jog keys". They are enabled when Jog movement can be operated.
c CAUTION
Axis 1 of the robot may not match to the X-axis on the XY coordinates depending on the robot setting.
4-8
4.5 Data keys
The data keys are used for input data, creating programs, and editing data.
They can input numbers, alphabetic characters, and symbols according to the key type setting.
4.6 Other keys

4
ENTER key
: When the cursor is displayed, pressing this key completes the data input on the cursor line.
Operation
When the item is selected on the screen, pressing this key will make the setting.
4-9
5. Hierarchy structure
5.1 Basic hierarchies
The hierarchy structure is shown below.
Basic hierarchies
Operation System
Quick menu
Edit Monitor
4
1. Operation
The robot operations, such as program operation execution, Jog operation, and return-to-origin can be operated.
2. Edit
Various data, such as point data, program, and parameter can be edited.
Operation
3. System
The robot setting or data can be initialized or data can be saved into an external memory. Additionally, the robot system
information or alarm log can also be checked in this hierarchy.
4. Monitor
The current position information or I/O status is displayed.
In addition to the four hierarchies shown above, you can directly move to a specific screen from the "QUICK
MENU" screen.
5.2 Quick menu

When pressing , the "QUICK MENU" screen
will appear.
The "QUICK MENU" screen is shown below. Use the
cursor keys to select a menu, and then press the
ENTER key. The screen for the selected menu will
appear.
1. Control
When the manual lock switch is set at OFF, the control
setting is changed to the programming box or external
device.
To give the control authority to the programming box,
select [GET] and press the ENTER key. To give the
control authority to an external device, select
[RELEASE] and press the ENTER key.
4-10
The following shows the operations that can be performed according to the manual lock switch and control
setting status.
CE Specifications Normal specifications
SAFETY connector AUTO mode input OFF ON -
Manual lock switch ON OFF ON OFF ON OFF

External External
PBX PBX
Control setting - - - device - device
(GET) (GET)
(RELEASE) (RELEASE)
Mode Manual - Automatic Manual Automatic
Jog ✔ - - ✔ - -
Point Trace ✔ - - ✔ - -
Automatic Operation ✔ ✔ - ✔ ✔ -
Operation WARNING
Origin Return ✔ ✔ - ✔ ✔ -
Robot Change ✔ ✔ ✔ ✔ ✔ ✔
Servo Operation ✔ ✔ - ✔ ✔ -
Point Edit ✔ * - ✔ * -
Program Edit ✔ ✔ - ✔ ✔ -
Shift Coordinate
4
✔ ✔ - ✔ ✔ -
Hand Definition ✔ ✔ - ✔ ✔ -
Work Definition ✔ ✔ - ✔ ✔ -
Edit Pallet Definition ✔ WARNING ✔ - ✔ ✔ -

Parameter ✔ ✔ - ✔ ✔ -
Area Check Output ✔ ✔ - ✔ ✔ -
Operation
Standard
✔ ✔ - ✔ ✔ -
Coordinate
PBX GEP Setting ✔ ✔ - ✔ ✔ -
Operation Calibration ✔ ✔ - ✔ ✔ -
History ✔ ✔ ✔ ✔ ✔ ✔
Check ✔ ✔ ✔ ✔ ✔ ✔
Property ✔ ✔ ✔ ✔ ✔ ✔
USB Memory
Operation
✔ ✔ * ✔ ✔ *
System Execution Level ✔ WARNING ✔ - ✔ ✔ -
Safety Setting ✔ ✔ - ✔ ✔ -
Communication
✔ ✔ - ✔ ✔ -
Setting
Initialize ✔ ✔ - ✔ ✔ -
Generation ✔ ✔ - ✔ ✔ -
IO ✔ ✔ ✔ ✔ ✔ ✔
Task Driving State ✔ ✔ ✔ ✔ ✔ ✔
Current Monitor ✔ ✔ ✔ ✔ ✔ ✔
Monitor WARNING
Current Position ✔ ✔ ✔ ✔ ✔ ✔
Gripper State ✔ ✔ ✔ ✔ ✔ ✔
Tracking Monitor ✔ ✔ ✔ ✔ ✔ ✔
Jog - - ✔ - - ✔
Point Trace - - ✔ - - ✔
Automatic Operation - - ✔ - - ✔
Operation WARNING
Origin Return - - ✔ - - ✔
Robot Change ✔ ✔ ✔ ✔ ✔ ✔
Servo Operation - - ✔ - - ✔
Point Edit - - ✔ - - ✔
External Program Edit - - ✔ - - ✔
Device Shift Coordinate - - ✔ - - ✔
Operation Hand Definition - - ✔ - - ✔
Work Definition - - ✔ - - ✔
Edit Pallet Definition - WARNING - ✔ - - ✔
Parameter - - ✔ - ✔ ✔
Area Check Output - - ✔ - - ✔
Standard
Coordinate - - ✔ - - ✔
GEP Setting - - ✔ - - ✔
Calibration - - ✔ - - ✔
4-11
CE Specifications Normal specifications
SAFETY connector AUTO mode input OFF ON -
Manual lock switch ON OFF ON OFF ON OFF

External External
PBX PBX
Control setting - - - device - device
(GET) (GET)
(RELEASE) (RELEASE)
Mode Manual - Automatic Manual Automatic
History ✔ ✔ ✔ ✔ ✔ ✔
Check ✔ ✔ ✔ ✔ ✔ ✔
Property ✔ ✔ ✔ ✔ ✔ ✔
Execution Level - - ✔ - - ✔
System WARNING
Safety Setting - - ✔ - - ✔
Communication
Setting - - ✔ - - ✔
External
Device Initialize - - ✔ - - ✔
Operation Generation - - ✔ - - ✔
IO ✔ ✔ ✔ ✔ ✔ ✔
Task driving state ✔ ✔ ✔ ✔ ✔ ✔
4
Current Monitor ✔ ✔ ✔ ✔ ✔ ✔
Monitor WARNING
Current Position ✔ ✔ ✔ ✔ ✔ ✔
Gripper State ✔ ✔ ✔ ✔ ✔ ✔
Tracking Monitor ✔ ✔ ✔ ✔ ✔ ✔
(NOTE) Each notation in the tables means;

Operation
✔ : The operation can be performed. * : The function is partly limited.

-: The operation cannot be performed. In this case, even though the parameters or points can be checked, the parameter
editing or setting change cannot be made when the access level is set at "1: Operator level".
2. Check "Check" screen

The controller is diagnosed and if an error is detected,
the alarm number and occurrence location will appear.
For details, refer to "3. Check" in Chapter 6.
3. Alarm Reset Confirming the alarm reset execution

Select [YES] and press the ENTER key to execute alarm
reset.
4-12
4. Ser vo Operation "SERVO OPERATION (ALL)" screen
Operates the servo status.
For details, refer to "6. Servo operation" in Chapter 4.
5. Robot Change "ROBOT CHANGE" screen
Input the robot number to select and press the ENTER

key.
Press the F1 key (ARM TYPE) to change the hand
system. 4
Operation
"SHIFT COORDINATE" screen
6. Shift Coordinate
Sets the shift coordinates.
For details, refer to "3. Shift coordinates" in Chapter 5.
"HAND DEFINITION" screen

7. Hand Definition
Sets the hand definitions.
For details, refer to "4. Hand definitions" in Chapter 5.
4-13
8. PRM SKIP "PRM SKIP" screen
Input "0: INVALID" or "1: VALID" and press the ENTER
key.
5.3 Selecting hierarchy and menu

The robot operation is mainly performed by selecting an objective hierarchy from the hierarchy menu. (Refer to
4
the "Hierarchy diagram" described later.) To select the menu, use the cursor keys.
When turning on the controller power, the initial screen (menu screen) will appear.
The menu screen located at the uppermost position of the hierarchy menu.
■ Initial screen (MENU)

Operation
Use the cursor keys to select a hierarchy and press the ENTER key. Relevant hierarchy menu will appear.
For example, when selecting [Edit] on the initial screen, the Edit menu will appear.
To move to the lower hierarchy, select the menu with the cursor keys in the same manner as described above.
Press the ESC key to return to the initial screen.
n NOTE
In the subsequent descriptions, the hierarchy status is expressed as follows.
First (top) hierarchy Second hierarchy Third hierarchy Fourth hierarchy
Example): Edit Point Edit
The example above means that [Edit] is selected on the first hierarchy (initial menu) screen and [Point Edit] is
selected on the second hierarchy screen.
For details about overall hierarchy, refer to the "Hierarchy diagram" on the next page.
4-14
■ Hierarchy diagram
Operation JOG F1 SPEED

F2 INCH
F3 TEACH
F4 UNIT
F5 EDIT
F6 TRACE
F7 JUMP
F8 GRIPPER F1 SPEED
F2 INCH
F3 TEACH
F4 UNIT
F5 EDIT
F6 TRACE
F7 JUMP
F8 AXIS
Point Trace F1 SPEED
F2 ARCH F1 SPEED
F2 PTP
4
F3 LINEAR
F4 UNIT
F5 JOG
F6 EDIT
F7 JUMP
F8 OPTION
F9 GRIPPER
Operation
F3 LINEAR F1 SPEED
F2 PTP
F3 ARCH
F4 UNIT
F5 JOG
F6 EDIT
F7 JUMP
F8 AXIS F1 SPEED
F9 GRIPPER F3 LINEAR
F4 UNIT F4 UNIT
F5 JOG F5 JOG
F6 EDIT F6 EDIT
F7 JUMP F7 JUMP
F8 ALL
F9 GRIPPER
F8 AXIS F1 SPEED
F3 LINEAR
F4 UNIT
F5 JOG
F6 EDIT
F7 JUMP
F8 ALL
F9 GRIPPER
F9 GRIPPER F1 SPEED
F2 HOLD F1 SPEED
F4 UNIT F3 PTP
F5 JOG F4 UNIT
F6 EDIT F5 JOG
F7 JUMP F6 EDIT
F8 ROBOT F7 JUMP
F8 ROBOT
Automatic Operation F1 SPEED

F2 STOP
F3 ALL TASK F1 SPEED
F2 ALL RESET
F3 SEP
F4 JUMP F4 SEQ
F5 PROGRAM F5 INPUT
F6 DEBUG F1 RESET
F7 REGISTER F2 STEP
F8 RELEASE F3 SKIP
F9 PRIORITY F4 NEXT
F10 RESET F5 RUNTO
F11 ALL RESET1 F6 BP SET
F12 RESTART F7 BP DEL
F8 BP CLR
F9 SEARCH
4-15
Origin Return F1 MARK F1 TRQ/SENS
F2 GRIPPER
F3 ALL ROBOTS
F4 DUAL
F2 GRIPPER F1 TRQ/SENS
F2 MARK
F3 ALL ROBOTS
F4 DUAL
F3 ALL ROBOT F1 TRQ/SENS
F2 MARK
F3 GRIPPER
F4 DUAL
F4 DUAL F1 TRQ/SENS
F2 MARK
F3 GRIPPER
F4 ALL ROBOTS
Robot Change F1 ARM TYPE F1 ROBOT
4
Servo Operation F1 SEP F1 ALL
F2 GRIPPER
F2 GRIPPER F1 ALL
Edit Point Edit F1 JUMP F2 SEP
F2 COPY
F3 DEL
Operation
F4 UNIT
F5 TRACE
F6 JOG
F7 NAME DEL
Program Edit F1 NEW
F2 EDIT F1 RANGE
F3 SEQ CMP F2 COPY
F4 MAIN F3 CUT
F5 AUTO OPE F4 PASTE
F6 ATRIB F5 FIND
F7 DEL F6 JUMP
F8 RENAME F7 CHECK
F9 COPY
Shift Coordinate F1 SPEED F1 UNIT

F2 NEW
F2 SELECT
F3 SETTING 1 F4 NEXT F1 SPEED
F2 INCH
F4 NEXT F1 SPEED
F4 SETTING 2 F4 NEXT F1 SPEED F2 INCH
F2 INCH F4 NEXT F4 NEXT F4 FINISH
Hand Definition F1 EDIT F1 UNIT F4 NEXT F4 NEXT F1 SPEED

F2 NEW F2 INCH
F2 SELECT F4 NEXT F4 NEXT F4 FINISH
F3 SETTING F1 CARTESIAN F4 NEXT F1 SPEED
F2 INCH
F4 NEXT F1 SPEED
F2 SCARA F4 NEXT F1 SPEED F2 INCH
F2 INCH F4 NEXT F4 FINISH
F4 NEXT F1 SPEED
F3 R AXIS F4 NEXT F1 SPEED F2 INCH
Work Definition F1 EDIT F1 NEW F2 INCH F4 NEXT F4 FINISH
F2 SELECT F4 NEXT F1 SPEED
F2 INCH
Pallet Definition F1 EDIT F1 POINT F4 FINISH
F4 NEXT
F2 UNIT
F3 NEW
F2 SETTING F1 2D F4 NEXT F1 TEACH F1 SPEED
F2 INCH
F4 NEXT F1 SPEED
F2 INCH
F4 NEXT F1 SPEED
F2 INCH
F4 NEXT F1 SPEED
F2 INCH
F4 NEXT F4 FINISH
F2 INPUT F4 NEXT F4 NEXT F4 NEXT F4 NEXT F4 FINISH
4-16
F2 3D F4 NEXT F1 TEACH F1 SPEED
F2 INCH
Parameter F1 CONT F1 EDIT F1 SPEED
F4 NEXT
F2 JUMP F2 INCH
F3 PRM SKIP F4 NEXT F1 SPEED
F2 ROBOT F1 EDIT F2 INCH
F2 JUMP F4 NEXT F1 SPEED
F3 AXIS F1 EDIT F2 INCH
F2 JUMP F4 NEXT F4 FINISH
F4 DRIVER F1 EDIT
F2 JUMP
F2 INPUT F4 NEXT F4 NEXT F4 NEXT F4 NEXT F4 NEXT
F5 IO F1 EDIT
F2 JUMP
F6 OPTION F1 EDIT
F2 JUMP
F7 GRIPPER F1 EDIT
F2 JUMP
F8 CAMERA F1 EDIT
F2 JUMP
4
F9 LIGHT F1 EDIT
F2 JUMP
F10 TRACKING F1 EDIT
F2 JUMP
Area Check Output F1 EDIT F1 NEW

F2 INIT
Operation
Standard Coordinate F1 SIMPLE F1 SPEED
F2 INCH
F4 NEXT F1 SPEED
F2 INCH
F2 3POINT F1 SPEED F4 NEXT F1 SPEED
F2 INCH F2 INCH
F4 NEXT F1 SPEED F4 FINISH
F4 NEXT
F2 INCH
F3 4POINT F1 SPEED F4 NEXT F1 SPEED
F2 INCH F2 INCH
F1 SPEED
F4 NEXT F4 NEXT
F2 INCH
F4 NEXT
F1 SPEED
F4 BOTH HND F4 NEXT F2 INCH
F4 NEXT F1 SPEED
F4 NEXT F1 SPEED F2 INCH
F2 INCH F4 NEXT F4 NEXT F4 NEXT F4 NEXT F4 FINISH
F4 NEXT F1 SPEED
F2 INCH
F1 X+ F4 FINISH
F4 NEXT F1 SPEED
F2 X- F4 FINISH
GEP Setting F1 EDIT F1 NEW F2 INCH F4 FINISH
F3 Y+
F2 INIT F4 NEXT
F4 Y- F4 FINISH
Calibration F1 CAMWIZ F4 NEXT F4 NEXT F4 NEXT F4 NEXT F4 NEXT F1 START F1 SPEED

F2 INCH
F2 CAMEDT F1 EDIT F1 NEW F4 NEXT F1 SPEED
F2 INCH
F3 CNVWIZ F1 INSTALLED F4 NEXT F4 NEXT F4 NEXT F4 NEXT F4 NEXT F4 NEXT F1 SPEED
F1 START F1 SPEED F2 INCH
F2 INCH F4 NEXT F4 FINISH
F4 NEXT F4 NEXT F1 SPEED
F2 INCH
F4 NEXT F1 SPEED
F2 RESET F2 INCH
F4 NEXT F4 NEXT F1 SPEED
F2 INCH
F4 NEXT F1 CALCULATE F1 ROBOT1
F2 ROBOT2
F2 NONE F4 NEXT F1 START F1 SPEED F4 CONTINUE F3 ROBOT3
F2 INCH F4 ROBOT4
F4 CNVEDT F1 CV1 F1 ROBOT1 F4 NEXT F4 NEXT F1 SPEED F5 CAMERA
F2 ROBOT2 F2 INCH F8 FINISH
F3 ROBOT3 F4 NEXT F1 CALCULATE F1 ROBOT1
F4 ROBOT4 F2 RESET F2 ROBOT2
F5 INIT F4 CONTINUE F3 ROBOT3
F4 CV2 F1 ROBOT1
F4 ROBOT4
F2 ROBOT2
F5 CAMERA
F3 ROBOT3
F8 FINISH
F4 ROBOT4
F5 INIT
4-17
System History F1 RELOAD
Check F1 RELOAD
F1 ROBOT
Property
F2 OPTION
F3 CLOCK
F4 VERSION
F5 CONFIG
F6 GRIPPER
USB Memory
Operation F1 SAVE F1 CHOOSE F1 CHOOSE
F2 NEXT
F2 LOAD F1 CHOOSE F1 CHOOSE
Execution Level F1 CHANGE PW F2 NEXT
Safety Setting F1 SAVE

Communication F1 Ethernet F1 RS232C
Setting
F2 ONLINE
F3 OFFLINE
F2 ONLINE F4 INIT
F3 OFFLINE F5 iVY2
4
F4 INIT
F5 iVY2 F1 RS232C
F2 Ethernet
Initialize F1 ALL
F3 INIT
F2 PGM
F3 PNT
F4 PNM
Operation
F5 SFT
F6 HND
F7 PRM
F8 PLT
F9 ION
F10 LOG
F11 CLOCK
F12 WRK
Generation F1 CONF F1 CONF
F2 CLEAR
F2 DRIVER F1 ROBOT1
F2 ROBOT2
F3 ROBOT3
F4 ROBOT4
F3 RBT/AXIS F1 ROBOT1
F2 ROBOT2
F3 ROBOT3
F4 ROBOT4
F4 AXIS ATRB F1 ROBOT1
F2 ROBOT2
F3 ROBOT3
F4 ROBOT4
F5 GRIPPER F1 ASSIGN
F2 MODEL
F3 ROBOT
F4 CLEAR
Monitor IO F1 DETAIL
F2 DI
F3 DO
F4 MO
F5 LO
F6 TO
F7 SI
F8 SO
F9 SIW
Task Driving State F10 SOW
Current Monitor
Current Position F1 UNIT
Gripper Status F1 GRIPPER1

F2 GRIPPER2
F3 GRIPPER3
F4 GRIPPER4
Tracking Monitor F1 COORD

F2 ROBOT
4-18
6. Ser vo operation
6.1 Emergency stop release and alarm reset
1 Turn the emergency stop button Step 2 "QUICK MENU" screen

clockwise to release the emergency
stop.
2 Reset the alarm.

Press the [QUICK MENU] key on the
programming box. The "QUICK MENU" screen
will appear. Use the cursor keys to select
[Alarm Reset], and then press the ENTER key.
The confirmation screen will appear.
Use the cursor keys to select [YES], and then
press the ENTER key.
The alarm status is then reset.
4
n NOTE
The serious alarm cannot be reset.
Step 2 Confirming the alarm reset execution
In this case, it is necessary to turn off the controller
Operation
power, and then turn it on again.
6.2 Motor power and ser vo on/off

This is usually used with the motor power turned on.
This operation is performed to temporarily turn on or off the servo so as to perform the direct teaching.
w WARNING
• When the brake is provided, selecting [FREE] will release the brake. However, when releasing the brake of the
robot with the vertical specifications, the vertical axis may drop, causing a serious accident.
• After pressing the emergency stop button, prop up the vertical axis with a support stand before releasing the brake.
• Be careful not to let your body get caught between the vertical axis and installation base when releasing the
brake to perform direct teaching.
n NOTE
In PHASER series robot operation, when the servo is first turned on after power-on, the robot slightly moves while
emitting a noise (sound) for 0.5 to 2 seconds. This is normal operation for obtaining the information necessary for
robot control and is not an abnormal condition of the robot.
4-19
6.2.1 Ser vo operation (all axes)
The operations on the "SERVO OPERATION (ALL)" screen apply to all axes.
1 Display the "SERVO OPERATION (ALL)" screen.

Press the [QUICK MENU] key on the programming box.
Use the cursor keys to select [Servo Operation], and then press the ENTER key.
*The "SERVO OPERATION (ALL)" screen can also be displayed by selecting [Operation] - [Servo
Operation] from the initial screen.
2 Turn on/off the motor power and Step 2 "SERVO OPERATION (ALL)" screen
servo.
Use the cursor keys to any of the following
items, and then press the ENTER key.
ON: Turn on the servo.
OFF: Turn off the servo.
POWER: Turn on only the motor power.
n NOTE
4
• Select [ON] of motor power and press the ENTER
key, then all the axes specified to the controller will
become servo on status.
• Select [OFF] of motor power and press the ENTER
key, then all the axes specified to the controller
will become servo off status.
Operation
6.2.2 Ser vo operation (each axis)

The servo status can be set in "robot" units or "axis" units on the "SERVO OPERATION (SEP) screen.
1 Display the "SERVO OPERATION Step 4 "SERVO OPERATION (SEP)" screen

(SEP)" screen.
Press the [QUICK MENU] key on the
programming box.
Use the cursor keys to select [Servo
Operation], and then press the ENTER key.
2 Turn on the motor power.

Use the cursor keys to select [POWER], and
then press the ENTER key.
3 Press the F1 key (SEP) to display

the "SERVO OPERATION (SEP)"
screen.
4 Select each axis or all axes to set.
Use the cursor keys to select [ON], [OFF], or
Confirming the servo free change
[FREE] of each axis or all axes, and then
press the ENTER key to set the servo status.
*When selecting [FREE], the confirmation
screen will appear. Use the cursor keys to
select [OK], and then press the ENTER key.
4-20
7. Jog
The "JOG" screen is shown below.
2. Robot setting status

1. Hierarchy
4. Coordinate unit system

3. Current position
5. Hand system
6. First arm and second arm
7. Point information rotation information
4
8. Guide line
1. Hierarchy
Operation
Displays the current hierarchy.

Displays the currently selected robot, shift and so on.
S1 • • • Specified "shift coordinate" number

H1 • • • Specified "hand definition" number
RB1 • • • Specified "robot number"
SP30 • • • Specified speed
When using multiple robots, the robot number display is changed by changing the target robot on the "QUICK MENU".
3. Current position
Displays the current position of the robot. The current position is displayed by an integer when using "pulse" units. When
using "mm" units, the position is displayed by a value with the decimal point.

Displays the coordinate unit system. The unit shows [pulse], [mm], or [mm] (tool).
5. Hand system
Displays the hand system of the current robot. This information is displayed only when the unit system of the hand system
is "mm" units.
0: No hand system setting (Standard coordinates are not set.)
1: Right-handed system
2: Left-handed system
6. First arm and second arm rotation information

Displays the rotation information; FLG1: First arm, FLG2: Second arm
This information is used only when the robot is YK-TW series.
This information is displayed only when the standard coordinates are set in the return-to-origin complete status.
For details, refer to "1. Point editing" in Chapter 5.
* The first arm and second arm of the robot described in this manual are equivalent to the X-arm and Y-arm of
the conventional RCX series (RCX240, RCX142, and RCX40).
4-21
7. Point information
Displays the point name when the number and point name of the displayed point data are registered.
8. Guide line
Displays the contents assigned to the function keys.
Valid keys and submenu descriptions in the Jog operation are shown below.
Valid keys Menu Function
to Moves the robot manually (Jog movement).
SPEED Sets the manual movement speed.
INCH Sets the inching movement amount.
TEACH Performs the teaching of the point currently displayed.
Changes the display unit of the current position to [pulse], [mm], and [mm]
UNIT
4
(tool) in order.
EDIT Moves to the "POINT EDIT" screen.
TRACE Moves to the "PTP (ALL)" screen.
JUMP Displays the point data of the specified point number.

Operation
7.1 Jog movement

The robot can be moved with the Jog keys.
w WARNING
The robot starts to move when a Jog key is pressed. To avoid danger, do not enter the robot movement range.
n NOTE
• When using multiple robots, check the name of the robot to be operated, and then perform the Jog movement.
If the robot to be operated is different, change to the target robot. To change the robot, use the "QUICK MENU".
For details, refer to "5.2 Quick menu" in this Chapter.
• For details on the soft limits, refer to Chapter 5 "7.4.3 Axis parameters".
• When the current position is displayed in "pulse" units, the robot can be moved manually along the axes whose
servos are on, even if the servos of the other axes are off.
• When the current position is displayed in "mm" units, the robot can be moved manually only when the servos of
all axes are on.
• The maximum Jog movement time for one movement command is 300 seconds. Therefore, if the movement
time exceeds 300 seconds at the specified speed, the robot movement will stop in 300 seconds. To move the
robot further, use Jog movement once again.
4-22
1. When the current position is displayed in "pulse" units.

"[pulse]" is displayed on the right of "CURRENT" on the programming box screen.
Each time a Jog key is pressed, the robot moves a
■ Display shown in "pulse" units
specified distance (inching distance) along the
corresponding axis. When the Jog key is held down,
the robot keeps moving towards the soft limit of the
axis. The robot stops when the Jog key is released or it
reaches the soft limit.
The distance to be moved using the inching operation
equals the number of pulses that are set using "INCH".
Example)
W hen INCH movement amount: "1000",
The inching distance in "pulse" units: 1000 pulses.
When it is attempted to move to a position exceeding

+/- soft limit of each axis by pressing the Jog key, the
message "2.334: Over soft limit" appears and the robot
does not move.
4
Operation
2. When the current position is displayed in "mm" units.
"[mm]" is displayed on the right of "CURRENT" on the programming box screen. When the tool coordinate is selected,
"[mm] (tool)" is displayed.
1) Tool coordinate is not selected ([mm]) ■ Display shown in "mm" units
When pressing the Jog key, the robot arm tip moves
on the Cartesian coordinates in the direction
corresponding to this key.
For the axis with the auxiliary axis setting, only the
corresponding axis moves.
2) Tool coordinate is selected ([mm] (tool))
The tool coordinates can be used when selecting the
hand data fixed to the R-axis of the Cartesian or
SCARA type robots (hand definitions are set).
When pressing the Jog key on the programming box, the hand will move.
Pressing the or key moves the hand forwards or backwards.
Pressing the or key moves the hand to the left or right.
Pressing the or key rotates the end of the hand around its center.
When the other Jog keys are pressed, the robot moves the same way as when tool coordinates are not selected.
4-23
(When hand definition is set)
■ Robot movement in "Tool coordinate" mode (example)
■ Hand definition
X
-90.00 degrees
100.00mm
HAND 1
■ Jog key operation
4 Robot movement with
Y
to keys Robot movement with
Y
to and keys
Operation
X X
Each time a Jog key is pressed, the robot moves a specified distance (inching movement). When the Jog key is
held down, the robot keeps moving. The robot stops when the Jog key is released or either of the soft limit or
shift coordinate range is reached. The robot stops when the Jog key is released or the soft limit is reached.
The distance to be moved using the inching operation equals the number of millimeters set using "INCH".
* When using "mm" units, the inch amount is set in "μm" units.
Example): When the INCH movement amount is 5000,
the inching distance in "mm" units is 5mm.
If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error message
"2.334: Over soft limit" appears and the robot does not move. If robot movement beyond the shift coordinate
range is attempted, the error message "2.308 to 2.311: Exceeded shift coord. range" appears and the robot does
not move.
If the current position is outside the soft limits, the error message "2.334: Over soft limit" also appears and
the robot does not move.
7.1.3 Jog movement in return-to-origin incomplete status

When the display unit of the current position is ■ "JOG" screen (return-to-origin incomplete status)
"[pulse]", it is possible to operate the robot by the
Jog key so as to be in the return-to-origin completed
status. "6.302: Origin incomplete" alarm occurs by
pressing the Jog key when the display unit of the
current position is "[mm]" or "[mm] (tool)".
"Org. Incomplete", which means origin incomplete
status, is displayed on the "JOG" screen.
c CAUTION
When return-to-origin is incomplete, the robot
does not stop even if soft limits are exceeded.
4-24
7.2 Changing the display units
The current position on the programming box screen can be changed in "pulse" units, "mm" units, or "tool
coordinate ("mm" units)".
The tool coordinates are used when the hand data fixed to the R-axis is selected (hand definitions are set).
• When pressing the F4 (UNIT) on the "JOG" screen, the display unit of the current position is changed.
• Every time the key is pressed, the display unit is changed.
"[pulse]", "[mm]", or "[mm] (tool)" corresponding to the selected display unit is displayed on the right of
"CURRENT" on the programming box screen.
■ Switching the display units
"pulse" units
"mm" units
"mm (tool)" units
Tool coordinate mode
4
• "pulse" units (joint coordinates)
Operation
Displays the current position with an integer.
• "mm" units (Cartesian coordinates, tool coordinates *1)
Displays the current position with a number consisting of an integer and a decimal fraction.
*1 This is used only when the hand data fixed to the R-axis is selected.
Robot Jog movement with Jog keys varies depending on the currently selected display units. For more details,
refer to "7.1 Jog movement" in this Chapter.
7.3 Changing the Jog movement speed

The Jog movement speed of the target robot can be set in a range of 1 to 100%.
The movement speed in the MANUAL mode differs from that in the AUTO mode.
Additionally, the maximum movement speed is 3% in the MANUAL mode.
The following describes how to change the speed.
1 Press the F1 key (SPEED) on the ■ "SPEED" setting screen

"JOG" screen.
The "SPEED" setting screen will appear.
2 Input a numeric value and press the

ENTER key.
3 Set the value you have input.
Use the cursor keys to select [OK], and then
4-25
7.4 Changing the inch distance
When the inching movement amount of the target robot uses "pulse" units, you can set 1 to 10000 [pulse].
When using "mm" units, you can set the inching movement amount in a range of 0.001 to 10 [mm].
The following describes how to set the inching movement amount.
1 Press the F2 key (INCH) on the ■ Inputting the inch distance

"JOG" screen.
The "INCH" setting screen will appear.
2 Input a numeric value and press the

ENTER key.
n NOTE
When using "pulse" units, the inching movement
amount is set in "pulse" units.
When using "mm" units, the inching movement
4
amount is set in "μm" units.
Example)
When the "INCH DISTANCE" is 1000, the inching
movement amount is;
1000 [pulse] in "pulse" units
1.000 [mm] in "mm" units
Operation

Use the cursor keys to select [OK], and then press the ENTER key.
7.5 Inputting point data by teaching

The current position of the robot can be obtained as point data by teaching.
w WARNING
The robot moves during teaching. To avoid danger, do not enter the robot movement range.
c CAUTION
• When using multiple robots, be sure to check the current robot number.
• The robot is changed by selecting "Robot Change" on the "QUICK MENU" screen.
n NOTE
• In the return-to-origin incomplete status, the teaching of the point data cannot be performed. Be sure to
perform the teaching after absolute reset or return-to-origin has been performed.
• When performing the teaching of the point data in "mm" units, the hand system data during teaching is input to
the hand system information of the point data.
For YK-TW series, the arm rotation information corresponding to the joint coordinates (data in "pulse" units) of the
point, for which the teaching is performed, is set to the first arm rotation information and second arm rotation
information.
For robots other than YK-TW series, "0" is set to the first and second arm rotation information.
1 Select the point.

Input a numeric value on the "JOG" screen ■ "JOG" screen
or use the cursor keys to select [ ] or [ ],
then press the ENTER key to select the point.
Select the point using the jump function
otherwise.
* F or details on the jump function,
refer to "7.6 Jumping the point display"
in this Chapter.
4-26
2 Move the robot axis.
Move the axis with the Jog keys. ■ Confirming the teaching execution
The current position display will change as
the axis moves.
3 Perform teaching.
When the axis reaches the target position,
press the F3 key (TEACH).
The confirmation screen appears. Select
[OK] and press the ENTER key.
When selecting [CANCEL], the teaching is
canceled.
The input format of the point data to be

taught is the same as that of the current
position display.
c CAUTION
The robot will not move to the same position if moving with a hand system different from that used for teaching.
When changing the hand system that was used for registering the point data, re-teach the position using the
hand system that you have changed to. 4
7.6 Jumping the point display
Operation
The point data of the specified point number is displayed.
■ Inputting the point number
1 Press the F7 key (JUMP) on the
"JOG" screen.
The point number entry screen will appear.
2 Input the point number.

Input a numeric value and press the ENTER
key.

n NOTE
Valid point numbers are from 0 to 29999.
8. Point trace
Point data positions can be checked by actually ■ "PTP (ALL)" screen
moving the robot.
The robot can be moved by PTP motion,
linear interpolation motion and arch motion.
To display the "PTP (ALL)" screen where the point
trace is executed, select [Operation] - [Point Trace]
from the initial screen.
The "PTP (ALL)" screen will appear as shown below.
c CAUTION
• When using multiple robots, be sure to check the
current robot number.
To change the robot, use the "QUICK MENU". For
details, refer to "5.2 Quick menu" in Chapter 2.
• Point trace cannot be performed unless return-
to-origin is complete.
The contents displayed on the screen are the same as the "JOG" screen. For descriptions about display contents,
refer to "7. Jog operation" in this Chapter.
4-27
8.1 PTP motion
Valid keys and submenu descriptions on the "PTP (ALL)" and "PTP (SEP)" screens are shown below.
/ / / Moves the cursor.
Executes the point trace.
Stops the point trace.
SPEED Sets the movement speed for the point trace.
ARCH Changes the trace type to arch motion.
LINEAR Changes the trace type to the linear interpolation motion.
Changes the display units of the current position to [pulse], [mm], and [mm] (tool) in this
UNIT
4
order.
JOG Moves to the "JOG" screen.

Operation
SEP / ALL Changes the point trace target axis to individual axis or all axes.
Returns to the previous screen.
w WARNING
The robot moves when point trace starts. To avoid danger, do not enter the robot movement range.
■ All axes point trace
1 Display the "PTP (ALL)" screen.

To display the screen, select [Operation] from the initial screen and then [Point Trace], or press the F2
key (PTP) on the [LINEAR] or [ARCH] screen.
2 Select the point number to check. Step 2 "PTP (ALL)" screen

Use the cursor keys to select [ ] or [ ] on
the screen and press the ENTER key to
change the point number.
Or, select [P00000] to input the point number
directly, and then press the ENTER key.
The point number can also be selected with
the F7 key (JUMP).
For details, refer to "7.6 Jumping the point
display" in this Chapter.
n NOTE
When a SCARA type robot is used and a hand
system flag is set for the point data, the hand
system will have priority over the current arm type.
3 Execute point trace.

Press the RUN key and the robot moves by PTP motion to the position of the selected point. The trace
speed is 1/10 of the AUTO movement speed.
To stop point trace, press the STOP key.
*For details about how to set the speed, refer to "8.4 Setting the speed" in this Chapter.
4-28
■ Each axis point trace
1 Display the "PTP (SEP)" screen.

Press the F8 key (SEP) on the "PTP (ALL)" screen (Operation Point Trace).
2 Select the point number to check. Step 2,3 "PTP (SEP)" screen
the F7 key (JUMP).
3 Select the axis number to check.

4
change the axis number.
Select [Axis1] to input the axis number
directly, and then press the ENTER key
otherwise.
Operation
NOTE
When a SCARA type robot is used and a hand system flag is set for the point data, the hand system will have
priority over the current arm type.

To stop point trace, press the STOP key
* For details about how to set the speed, refer to "8.6 Setting the speed" in this Chapter.
8.2 Linear interpolation motion

Valid keys and submenu descriptions on the "LINEAR (ALL)" and "LINEAR (SEP)" screen are shown below.
PTP Changes the trace type to PTP motion.
ARCH Changes the trace type to the arch motion.
UNIT Changes the display units of the current position to [pulse], [mm], and [mm] (tool) in this order.
w WARNING
4-29
■ All axes point trace
1 Display the "LINEAR (ALL)" screen.

Press the F3 key (LINEAR) on the "PTP (ALL)" or "Arch motion" screen.
2 Select the point number to check. Step 2 "LINEAR (ALL)" screen

the F7 key (JUMP).
n NOTE
4 system will have priority over the current arm type.

Press the RUN key and the robot moves by linear interpolation motion to the position of the selected
Operation
point. The trace speed is 1/10 of the AUTO movement speed.

■ Each axis point trace
1 Display the "LINEAR (SEP)" screen.

Press the F3 key (LINEAR) on the "PTP (ALL)" screen (Operation Point Trace), and then press the F8 key
(EACH).
2 Select the point number to check. Step 2 "LINEAR (SEP)" screen

the F7 key (JUMP).
3 Select the axis number to check.

change the axis number.
Or, select [Axis1] to input the axis number
n NOTE
When a SCARA type robot is used and a hand system flag is set for the point data, the hand system will have
priority over the current arm type.

To stop point trace, press STOP key.
4-30
8.3 Arch motion
Valid keys and submenu descriptions on the "ARCH (ALL)" and "ARCH (SEP)" screens are shown below.
PTP Changes the trace type to PTP motion.
LINEAR Changes the trace type to the linear interpolation motion.
Changes the display units of the current position to [pulse], [mm], and [mm] (tool) in this
UNIT
4
order.
Operation
Input Function
AXIS Sets the axis number to perform arch motion.
POS Sets the arch movement distance.
Dist 1 Sets the arch distance 1.*
Dist 2 Sets the arch distance 2.*
* Dist 1 (arch distance 1) and Dist 2 (arch distance 2) are arch options.
w WARNING
1 Display the "ARCH (ALL)" screen.

Press the F2 key (ARCH) on the "PTP" screen or F3 key (ARCH) on the "LINEAR" screen.
2 Select the point number to check. Step 2 "ARCH (ALL)" screen

Select [P00000] to input the point number
otherwise.
the F7 key (JUMP).
n NOTE
system will have priority over the current arm type.
4-31
3 Set the axis number and arch motion position to perform arch motion.
For details about the arch motion position, refer to "Arch pulse 1/2" parameter of "7.4.3 Axis parameters" in
Chapter 5.
4 Input the arch option as necessary. Step 4 Arch option

Press the F8 key (OPTION) to display the pop-
up screen of arch option.
Use the cursor keys to select [ON] and then
press the ENTER key to display "Dist 1" and
"Dist 2" of the arch option. Refer to the figure
below for inputting in [mm] units.
Dist 1 (Arch distance 1)
Dist 2 (Arch distance 2)
4 Current position Target position Arch option is ON

Press the RUN key and the robot moves by
Operation
arch motion to the position of the selected

point. The trace speed is 1/10 of the AUTO
movement speed.
* For details about how to set the speed,
refer to "8.4 Setting the speed" in this
Chapter.
8.4 Setting the speed

The trace speed is changed on the point trace screen.
The speed setting procedure is common to the PTP motion, linear interpolation motion and arch motion.
1 Input the set speed.

Press the F1 key (SPEED) on the PTP screen to
Step 1,2 Setting the speed
display the "SPEED" setting screen.
Input a numeric value and press the ENTER
key.

n NOTE
The operation speed is a product of the trace
speed and automatic movement speed.
For example; Point trace speed is 100%, automatic
movement speed is 2%
Operation speed = 100% × 2% = 2%
4-32
8.5 Changing the display unit
Press the F4 key (UNIT) on the "JOG" screen to change the unit of the current position to be displayed on the
programming box is changed to "pulses", "mm", or "tool coordinate (mm)".
For details, refer to "7.2 Changing the display units" in this Chapter.
8.6 Jumping the point display

Point data can be displayed from the specified point number.
1 Display the jump destination point Step 2,3 Inputting the point number
number entry screen.
Press the F7 key (JUMP) on the PTP screen.
The number designation screen will appear.
4
2 Input the point number and press
the ENTER key.
3 Use the cursor keys to select [OK],
and then press the ENTER key.
Operation
n NOTE
4-33
9. Automatic operation
Operations related to the robot language program execution are performed during automatic operation.
The automatic operation provides the "AUTO OPE (SEP)" screen where only one task is displayed and
operated and the "AUTO OPE (ALL TASK)" screen where the execution status of multiple tasks is checked.
The following shows the "AUTO OPE" screens.
■ "AUTO OPE" screen

"AUTO OPE (SEP)" screen
1. Hierarchy
3. Program number
6. Program name
4 4. Task number
5. Program status
7. Priority
8. Step
Operation
9. Guide line
6. Program name
"AUTO OPE (ALL TASK)" screen
1. Hierarchy
3. Program number 5. Program status
4. Task number
8. Step
7. Priority
10. Message
9. Guide line
1. Hierarchy

S1 Specified "shift coordinate" number
H1 Specified "hand definition" number
RB1 Specified "robot number"
SP30 Specified speed

4-34
3. Program number
Displays the selected program number.
4. Task number
Displays the selected program task number.
5. Program status
Displays the selected program status.
STOP Stop status
RUNNING Execution status
WAIT Wait status
SUSPENDED Forced suspended status
NON-EX Unregistered status
For details about each task status, refer to the programming manual.
6. Program name
Displays the selected program name.
7. Priority
Displays the priority of the selected program.
8. Step
Displays the line number at which the program stops. 4
9. Guide line
Operation
10. Message (on "AUTO OPE (ALL TASK)" screen only)
Displays the output of the PRINT command in the program.
n NOTE
When executing the automatic operation, it is necessary to put in the return-to-origin complete status
beforehand. The automatic operation cannot be executed when the return-to-origin is not completed.
In this case, refer to "10. Origin return" in this Chapter.
Valid keys and submenu descriptions on the "AUTO OPE (SEP)" screen are shown below.
/ Moves the cursor.
Executes the automatic operation.
Stops the automatic operation.
SPEED Sets the automatic movement speed.
STOP Stops the automatic operation.
ALL TASK Changes to the all task display.
JUMP Specifies the program number.
PROGRAM Moves to the "PROGRAM SELECTION" screen. Used to edit the program.
DEBUG Changes to the "DEBUG" screen.
REGISTER Registers the program to the task.
RELEASE Cancels the task registration of the task.
PRIORITY Sets the priority of the program.
RESET Resets the program currently selected.
ALL RESET Resets all programs registered as task.
RESTART Restarts the program that is being paused.
4-35
9.1 Executing automatic operation
Program commands are executed continuously. Before starting the automatic operation, make sure that the
return-to-origin, program debug, I/O signal connection, and point data teaching have already been completed.
The robot program is executed in the format called "task". Therefore, the program needs to be registered as task
before starting the execution. The following shows how to execute the program.
1 Display the "AUTO OPE (SEP)" Step 1 "AUTO OPE (SEP)" screen
screen.
Use the cursor keys to select [Operation]
from the initial screen, and then press the
ENTER key. Next, select [Automatic
Operation], and then press the ENTER key.
The "AUTO OPE (SEP)" screen will appear.
2 Select the program.

change the program number.
4
Select [001] to input the program number
otherwise.
The program number can also be selected
with the F4 key (JUMP). Step 3 Registering the task
Operation
3 Register the program as task.

Press the F7 key (REGISTER) on the "AUTO
OPE (SEP)" screen to display the task
registration screen.
Input the task number and press the ENTER key.
4 Execute the program.

When pressing the RUN key, the program is
executed from the line number displayed in
the "Step" area.
w WARNING
• The robot moves when automatic operation starts. To avoid danger, do not enter the robot movement range.
• When changing the automatic movement speed during automatic operation, check safety for surrounding areas.
The programming box can be operated even during automatic operation.
n NOTE
Auto movement speed change during robot operation will be reflected at the next movement.
4-36
9.2 Stopping a program
■ Stopping a program ■ Confirming the program stop
The program execution is interrupted or stopped.

When pressing the F2 key (STOP), the program stop
confirmation screen will appear.
Use the cursor keys to select [OK], and then press
the ENTER key.
The program currently executed will stop.
The command is not canceled. After the command
is completed, the program stops.
Press the RUN key to restart the program execution.
■ Interrupting the command and stopping the program
Press the STOP key to cancel the command being executed and stop the program execution.
4
Press the RUN key to restart the program execution.
c CAUTION
Do not turn off the robot controller during program execution.
If turned off, the internal system data may be corrupted and the program may not restart when the power is
Operation
again turned on.
Always be sure to terminate or stop the program before turning the power off.
9.3 Resetting a program

The program being selected is reset and all programs that are registered as task are reset.
9.3.1 Resetting a program

When restarting the program that is paused from the first line, the program must be reset.
n NOTE
When resetting the program, the output is also reset. However, the output is not reset in the following case.
The DO output of the parameter is set at "HOLD" when performing the program reset. (For details, refer to
Chapter 5 "7.4.4 I/O parameters".)
To reset the program selected on the "AUTO OPE ■ Confirming the program reset
(SEP)" screen, press the F10 key (RESET) to display
the program reset confirmation screen.
the ENTER key.
4-37
9.3.2 Resetting all programs
All programs registered as task are reset, and then
the program set in the main program or current ■ Confirming the program reset
program is registered as task.
Press the F11 key (ALL RESET) on the "AUTO OPE

(SEP)" to display the program all reset pop-up screen.
the ENTER key.
■ Program to be selected after program reset
4 The main program is selected when it is set. When the main program is not set, the current program is selected.
When both programs are not set, the program registration is not performed at program reset.
The following describes the main program and current program.
• Main program
This program can be specified freely by the parameter. When there is the main program at program reset, it
Operation
is selected automatically.
• Current program
The program that is executed last in the task 1 or the program that is assigned last to the task 1 is selected.
9.4 Registering and releasing task

The program needs to be registered as a task in order to execute it.
When registering other program into the task, into which the program has already been registered, the program
registered as task needs to be released.
The following shows how to register or release the program task.
■ Registering program as task ■ Registering the task
Press the F7 key (REGISTER) on the "AUTO OPE

(SEP)" screen to display the task registration pop-up
screen.
the ENTER key.
■ Releasing program task ■ Releasing the task
Press the F8 key (RELEASE) on the "AUTO OPE (SEP)"

screen to display the task release pop-up screen.
the ENTER key.
4-38
9.5 Task priority
The priority of each task can be specified in a rage of 1 to 64. The smaller priority value, the higher priority.
The larger priority value, the lower priority. (High: 1 64: Low)
When the program is registered as task, "32" is set as initial value.
* For details about priority, refer to "Multi-task" in the programming manual.
The following shows how to set the task priority. ■ Setting the task priority
Press the F9 key (PRIORITY) on the "AUTO OPE

(SEP)" screen to display the priority setting pop-up
screen.
Input the priority and press the ENTER key.
the ENTER key.
n NOTE
The priority setting range is 1 to 64.
(High: 1 64: Low)
4
9.6 Switching task display
Operation
Multiple-task execution status can be checked by
■ "AUTO OPE (ALL TASK)" screen
changing the "AUTO OPE" screen.
Press the F3 key (ALL TASK) on the "AUTO OPE
(SEP)" screen. The "AUTO OPE (ALL TASK)" screen
will appear.
When pressing the F3 key (SEP), the "AUTO OPE
(SEP)" screen will appear.
9.7 Changing the automatic movement speed

The automatic movement speed is be set in a range of 1 to 100%.
■ Setting the automatic movement speed

Press the F1 key (SPEED) on the "AUTO OPE (SEP)"
screen or "AUTO OPE (ALL TASK)" screen to display
the speed setting pop-up screen.
Input a numeric value and press the ENTER key.
the ENTER key.
n NOTE
Since the AUTO movement speed you have set here is saved into the internal memory, the set value is retained
even when the power is turned off. Additionally, when the speed is specified by the command (SPEED statement)
of the program, the operation speed is a product of this speed and AUTO movement speed.
For example; Automatic movement speed is 50%, Speed by the SPEED statement is 2%
Operation speed = 80% × 50% = 40%
4-39
9.8 Sequence program execution flag
The sequence program execution is switched between "disable" and "enable".
For details about sequence program, refer to the programing manual.
Press the F4 key (SEQ) on the "AUTO OPE (ALL ■ Sequence program run/stop confirmation screen
TASK)" screen to display the confirmation screen.
To enable the sequence program, use the cursor
keys to select [RUN], and then press the ENTER key.
To disable the sequence program, use the cursor
keys to select [STOP], and then press the ENTER
key.
4 9.9 Restarting the program

The program in the "SUSPENDED" status is restarted.
To restart the program in the "STOP" status, press the RUN key.
Operation
Select the program in the "SUSPENDED" status on ■ Task restart confirmation screen
the "AUTO OPE (SEP)" screen and press the F12 key
(RESTART) to display the execution confirmation
screen.
the ENTER key.
The program in the "SUSPENDED" status is then
restarted.
* For details about "SUSPENDED" status, refer to

the programming manual.
4-40
9.10 Input function
It is possible to input some data into "INPUT" command in the program using the input function. Press the F5
key (INPUT) on the "AUTO OPE (ALL)", and then "AUTO OPE (INPUT)" screen will appear.
1. Hierarchy 2. Robot setting status
3. Message
4. Input message
5. Entry field
4
1. Hierarchy
Operation

3. Message
Displays the output of the PRINT command in the program.
4. Input message
Displays the output of the INPUT command in the program.
5. Entr y field
Displays values or character string to the INPUT command in the program.
Valid keys and sub-menu descriptions in the MANUAL mode are shown below.
Executes automatic operation.
Stops automatic operation.
9.10.1 Inputting message

Input the data into INPUT command in the program.
Input the data into the entry field using the operation keys and press the ENTER key to define.
Select "INPUT" using the cursor keys and press the ENTER key to send the data.
9.10.2 Canceling INPUT command

Select "CANCEL" using the cursor keys and press the ENTER key to cancel "INPUT" command in execution.
The program execution line will move to the next line after canceling the command.
4-41
9.11 Debug function
The program step execution or break point setting is performed with the debug function.
Select the program to debug on the "AUTO OPE (SEP)" screen and press the F6 key (DEBUG). The "DEBUG"
screen will appear.
■ "DEBUG" screen
1. Hierarchy
4. Execution line
4
3. Program
Operation
5. Guide line
1. Hierarchy


3. Program
Displays the program.
4. Execution line
Displays the line on which the program stops.
When performing the step execution, the step displayed on the execution line is executed.
5. Guide line
4-42
Valid keys and submenu descriptions on the "DEBUG" screen are shown below.
/ Moves the cursor.
Executes the automatic operation.
Stops the automatic operation.
RESET Resets the program currently selected.
Executes one line displayed in the execution line display and moves the
STEP
execution line display to the next line.
Skips to the next line without executing one line displayed in the execution
SKIP
line display.
Executes one line displayed in the execution line display and moves the
NEXT
execution line display to the next line.
RUNTO Executes from the line on the execution line to the line at the cursor position.
4
BP SET Sets the break points.
BP DEL Deletes the break points.
BP CLR Deletes all set break points.
Operation
SEARCH Searches for the break point.
9.11.1 Executing a step
w WARNING
The robot may begin to move when step is executed. To avoid danger, do not enter the robot movement range.
Press the F2 key (STEP) to execute the command at the line number displayed in the execution line display and
move the execution line display to the next line. When the command is a sub-routine or sub-procedure, its first
line is executed.
9.11.2 Skipping a step

When pressing the F3 key (SKIP), the program operation skips to the next line without executing the command
at the line number displayed in the execution line display.
9.11.3 Executing the next step
w WARNING
The robot may begin to move when step is executed. To avoid danger, do not enter the robot movement range.
When pressing the F4 key (NEXT), the command at the line number displayed in the execution line display is
executed and the execution line display moves to the next line. When the command is a sub-routine or sub-
procedure, it is executed in the batch mode.
9.11.4 Break points

An ongoing program can be stopped if a break point is set in the program.
The program execution pauses on the line just prior to a break point.
The program execution will restart from the break point when the RUN key is pressed.
n NOTE
• Up to 32 break points can be set for one program.
• Break points are omitted during step execution or next execution.
However, when performing the next execution of the sub-routine with break points set, the break points are
valid.
4-43
■ Setting break points
Step 1 "DEBUG" screen

1 Select the line where to set a break
point.
Move the cursor to a line to set the break
point on the "DEBUG" screen (Operation
Automatic Operation Debug).
2 Set the break point. Step 2 "DEBUG" screen (break point)
4 When pressing the F6 key (BP SET), the break

point is set on the selected line and "*" is
shown on the right of the line number.
Operation
■ Searching break points

To search the line number where a break point is set.
When pressing the F9 key (SEARCH) on the "DEBUG" screen (Operation Automatic Operation Debug),
the operation jumps to the line number with the break point set.
■ Canceling break points
1 Select the break point to cancel.

Move the cursor to a line to cancel the break point on the "DEBUG" screen (Operation Automatic
Operation Debug).
2 Cancel the break point.

When pressing the F7 key (BP DEL), the break point of the selected line is canceled and "*" shown on
the right of the line number disappears. To cancel all the set break points, press the F8 key (BP CLR).
TIP
To find the line number on which another break point was set, press F9 key (SEARCH).
This function makes it easier to find a break point that you want to cancel.
9.11.5 RUNTO
The program can be executed from the line displayed in the execution line to the line at the cursor position.
1 Select the execution line area.

Use the cursor keys to move the cursor to a line to stop the program execution on the "DEBUG" screen
(Operation Automatic Operation Debug).
2 Execute the program until the line at the cursor position.

When pressing the F5 key (RUNTO), the program is executed from the line displayed in the execution line
display to the line at the cursor position.
n NOTE
To return the execution line display to its top, press the F1 key (RESET).
4-44
10. Origin return
Before turning on the power to start the robot operation, it is necessary to set the origin point that becomes
the reference for the robot operation.
For absolute type axes, it is necessary to set the origin position only when the robot is put in the return-to-
origin incomplete status.
The origin position setting procedure is classified as follows according to the return-to-origin methods and
robot axis specifications.
Return-to-origin Return-to-origin when the power

Axis specifications Return-to-origin type
method is turned on again.
Absolute specifications Unnecessary

Return-to-origin
Torque (stroke end) /
Incremental specifications Necessary
sensor
Semi-absolute specifications Absolute search Necessary
4
Absolute specifications Unnecessary
Mark Absolute Reset
Incremental specifications Necessary
*For semi-absolute type axes, the absolute search is performed as the return-to-origin is operated.
*Regardless of the return-to-origin method, the status, in which the origin point that becomes the reference
Operation
for the robot operation is set, is called "return-to-origin complete status". The status, in which the origin point
is not set, is called "return-to-origin incomplete status".
Parameters related to the return-to-origin are available as shown below.

For details about each parameter, refer to Chapter 5 "7. Parameters".
Category Parameter name Description
Robot parameter Origin sequence Sets the order in which to perform return-to-origin or absolute search on each axis.
Origin speed Sets the speed at which to perform return-to-origin or absolute search.
Origin shift Sets the offset of origin position data.

Axis parameter
Origin method Sets the method for performing return-to-origin or absolute search.
Origin direction Sets the direction for performing return-to-origin or absolute search.
The return-to-origin incomplete status occurs in the following cases.

a. An absolute related alarm occurs in the axis.
17.403 Position reset malposition
17.905 Resolver wire breakage
b. The controller detects the faulty wiring or voltage drop of the absolute battery.
c. The cable that connects the controller and robot main unit is disconnected.
(The robot is in this status at controller shipment.)
d. The robot generation is changed.
e. The parameters are initialized.
f. The origin shift of the axis parameter, return-to-origin method, return-to-origin direction, and axis polarity are changed.
(The robot enters this status when a part of the parameters are changed.)
g. The motor is replaced.
h. All data file (extension is ALL data) or parameter file (extension is PRM data) is written into the controller.
The return-to-origin incomplete status occurs if any of the following alarms occurs. These alarms occur when turning on the
controller.
17.410 ABS. battery error during power off
17.411 Resolver disconnected during power off
17.413 ABS. overflow error
etc.
■ Checking the return-to-origin complete status
4-45
To check the return-to-origin complete status of each controller axis, select [Operation] - [Origin Return] from
the initial screen.
The "ORIGIN RTN (TRQ/SENS)" screen will appear. Check the return-to-origin status.
■ "ORIGIN RTN (TRQ/SENS)" screen
4
Operation
Return-to-origin Return-to-origin
Axis Sensor Machine reference
complete status method
Axis 1 Complete Sensor method ON 0
Torque (stroke end)

Axis 3 Complete ON 0
method
Subsequently, there are no axes.
10.1 Return-to-origin operation

Return-to-origin methods include the sensor method and torque (stroke end) detection method.
Each return-to-origin method is described below.
Refer to "10.3 Return-to-origin procedure" in this Chapter for instructions on how to perform return-to-origin.
1. Return-to-origin operation using the sensor method

Return-to-origin direction
2
3 1 Return-to-origin start position
Origin sensor
1. Before performing return-to-origin, check that all axes are in positions that allow return-to-origin.
Return-to-origin direction Position allowing return-to-origin
Minus (-) direction Plus (+) side from origin sensor position
Plus (+) direction Minus (-) side from origin sensor position
2. When a return-to-origin operation is started, each axis of the robot moves in the return-to-origin direction.
However, if the origin sensor was on when return-to-origin was started, then the robot first moves in a direction
4-46
opposite the return-to-origin direction. Then, when the origin sensor turns off, the robot stops and restarts return-to-
origin from that position.
3. After the origin sensor turns on, the robot stops and the origin position is then found. At this point, the current position
of each axis is set as an origin shift parameter value.
n NOTE
• For the sensor method, the return-to-origin starts in the origin sensor on status. When the return-to-origin operation
continues without turning off the origin sensor, "17.500: Origin sensor failure" alarm occurs.
• For settable origin position of SCARA robot, refer to each robot manual.
2. Return-to-origin operation using the torque (stroke end) detection method
2
1
3 Return-to-origin start position
4
Stroke end
Operation
1. In the stroke end detection method, return-to-origin can start from any position.
2. Upon starting return-to-origin, the robot starts moving in the return-to-origin direction.
3. When the robot axis strikes and detects the stroke end, it moves back slightly and stops, and the origin position is then
determined. At this point, the current position of the axis is set as an origin shift parameter value.
c CAUTION
For the stroke end method, if the robot arm interferes with an obstacle or a load is applied to the motor during
return-to-origin, the return-to-origin may complete at an incorrect position. Additionally, if the return-to-origin is
stopped during contacting the stroke end, "17.800: Motor overload" alarm may occur.
n NOTE
When using "ZR stroke-end method" for return-to-origin, stroke-end method will be performed on both Z and R-axis
at the same time.
10.2 Semi-absolute
"Semi-absolute" is the name for a simple absolute scale used in the YAMAHA linear single-axis robot PHASER
series. Robots with this simple absolute scale have a quick absolute search function that utilizes our unique
method to automatically perform an absolute search on the position detection scale when return-to-origin
starts. This function allows detecting the absolute position with just a minimal movement.
Using this function drastically reduces the time needed for return-to-origin operation by the PHASER series
robots, especially those with long-stroke movements.
■ Absolute search operation

Absolute search includes the sensor method and stroke end detection method. Absolute search movement differs
depending on the robot position from which absolute search starts. (In the sensor method, absolute search movement
depends on whether the origin sensor turns on during absolute search. In the stroke end detection method, absolute
search movement depends on whether or not the stroke end is detected during absolute search.)
After the absolute search is complete, the origin position is set to zero position on the simple absolute scale.
n NOTE
Zero position can be shifted by using the "Origin shift" parameter of the axis parameters.
Refer to "10.3 Return-to-origin procedure" in this Chapter for instructions on how to perform return-to-origin.
4-47
10.2.1 Example of absolute search operation
1. When the origin sensor does not turn on during sensor-method absolute search or the stroke end
is not detected during stroke-end absolute search.
Absolute search
start position
A
Max. 76 mm
1
2
1. Upon starting return-to-origin, the robot moves in the return-to-origin direction to start an absolute search.
The maximum distance from the absolute search start position to position A is 76 mm.
4 2. The robot moves back from position A, determines the current position, and then stops. The stop position does not
exceed the absolute search start position.
2. When the origin sensor turns on during sensor-method absolute search

Operation
or the stroke end is detected during stroke-end absolute search.

Origin sensor turns on or stroke end is detected.
A B
Max. 76 mm
1
2
3
Stop position
Absolute search start position
1. Upon starting return-to-origin, the robot moves in the return-to-origin direction to start an absolute search.
n NOTE
If the origin sensor was on when the robot was at the absolute search start position, the robot moves in a
direction opposite the return-to-origin direction to perform an absolute search. (The robot moves from 2.)
2. In the sensor method, when the origin sensor turns on (position A), the robot moves back toward position B. In the
stroke end detection method, when stroke end is detected (position A), the robot moves back toward position B. At this
point, the maximum distance that the robot moves from position A to position B is 76 mm.
c CAUTION
For the stroke end method, if the absolute search operation is stopped while the robot arm is in contact with the
stroke end, "17.800: Motor overload" alarm may occur.
3. The robot again moves in the return-to-origin direction, determines the current position, and then stops. The stop
position will be between position A and position B.
4-48
10.3 Return-to-origin procedure
The robot must be at servo-on status to perform return-to-origin operation.
The return-to-origin procedure is shown below. The absolute search procedure is the same as the return-to-
origin procedure.
w WARNING
The robot starts moving as soon as return-to-origin is performed. To avoid hazardous situations, do not enter the
robot movement range.
c CAUTION
Before performing return-to-origin, check that axes are in positions that allow return-to-origin operation.
Emergency stop might be triggered if return-to-origin or absolute search is simultaneously performed on three or
more axes whose return-to-origin method is the stroke end detection method. In this case, change the setting so
that stroke end return-to-origin or absolute search is simultaneously performed on two axes or is performed
separately on each axis.
n NOTE
When using multiple robots, the return-to-origin is performed one robot by one robot. 4
1 Move to the "ORIGIN RTN (TRQ/ Step 1
Operation
SENS)" screen. "ORIGIN RTN (TRQ/SENS)" screen
ENTER key. Next, use the cursor keys to select
[Origin Return], and then press the ENTER
key.
2 Perform the return-to-origin.

Use the cursor keys to select the axis number
for the return-to-origin or [ALL] (all axes),
The return-to-origin execution confirmation
screen will appear.
n NOTE
If there are mark method axes when performing
Step 2 Confirming the return-to-origin execution
the return-to-origin of all axes, absolute reset of all

mark method axes is performed, and then the
return-to-origin of the axes other than the mark
method axes is performed.
When pressing the RUN key on the

confirmation screen, the return-to-origin is
then started. After the return-to-origin has
been completed, press the ENTER key to
return to the "ORIGIN RTN (TRQ/SENS)"
screen.
To stop the return-to-origin, press the STOP
key. At this time, after the return-to-origin
has been completed, press the ENTER key to
return to the "ORIGIN RTN (TRQ/SENS)"
screen.
The message, "1.8 Stop executed", will
appear.
4-49
3 Check the machine reference. Step 3 "ORIGIN RTN (TRQ/SENS)" screen
After the return-to-origin operation (absolute
search operation for semi-absolute type
axes) has been completed, "Ref." (machine
reference) and "Status" are displayed on the
"ORIGIN RTN (TRQ/SENS)" screen.
Check that the machine reference is within
the tolerable value and that the status is
"OK".
Press the ESC key to return to the initial
screen.
n NOTE
• Refer to "10.1 Return-to-origin operation" in this Chapter for details on return-to-origin operation and "10.2
Semi-absolute" in this Chapter for details on absolute search operation.
• The machine reference is expressed as a percentage of the number of position detection pulses showing the
4
difference between the origin sensor signal and position detector reference signal (encoder zero signal, etc.).
This is also called the "grid position" or "grid pulse".
• When the return-to-origin has been completed, the return-to-origin does not need to be performed again even
when pressing the emergency stop button.
For increment type axes, the return-to-origin needs to be performed again when turning off the controller.
Operation
10.4 Absolute reset (mark method) procedure

For axes with mark method, the return-to-origin is not performed.
For the mark method, absolute reset is performed from the programming box. Therefore, when the robot is in
the servo on status, use the Jog keys to move the robot to a position where absolute reset is possible. When the
robot is in the servo off status, use the direct movement to do so.
For absolute reset, the robot origin position can be set at a desired position.
w WARNING
During absolute reset in the servo on status, pressing the Jog keys will operate the robot. Therefore, do not enter
the robot movement range to prevent any hazard.
■ Key operation to move the robot to a position where absolute reset is possible.
The current position of axis 1 is "1" (machine reference: 82%).
When pressing , the axis moves to "2", and then it moves to a position where the machine reference is about 50%.
When pressing , the axis moves to "3", and then it moves to a position where the machine reference is about 50%.
Minus (−) direction Plus (+) direction

3 1 2
0 25 50 75 0 25 50 75 0
Machine reference (%)
: Range in which absolute reset can be made (44 to 56%).
4-50
■ Position where absolute reset can be performed and "0" pulse position
When performing absolute reset at position A, position B (machine reference 38%) is reset as "0" pulse position. The axis
moves to the "0" pulse position after resetting when performing absolute reset in the servo on status.
w WARNING
When performing absolute reset in the servo on status, the robot operates slightly. Therefore, do not enter the
robot movement range to prevent any hazard.
Minus (−) direction Plus (+) direction

B A
0 25 50 75 0
Machine reference (%)
: Range in which absolute reset can be made (44 to 56%).
4
■ Absolute reset procedure in ser vo on status
Step 1 "ORIGIN RTN (MARK)" screen
Operation
1 Move to the "ORIGIN RTN
(MARK)" screen.
Select [Operation] - [Origin Return] from the
initial screen.
The "ORIGIN RTN (TRQ/SENS)" screen will
appear. Press the F1 key (MARK) on it.
Step 2 Confirming the absolute reset execution

2 Select the axis to perform absolute
reset.
for absolute reset, and then press the ENTER
key. Absolute reset execution confirmation
screen will appear.
3 Move the axis to a position where

absolute reset is possible.
Press the Jog key to move the specified axis
to a position where absolute reset is possible.
w WARNING
The robot starts to move when a Jog key or movement key is pressed. To avoid danger, do not enter the robot
movement range.
n NOTE
If the robot controller is in origin incomplete due to some kind of problem, perform absolute reset on the axis
which was unable to return-to-origin. After absolute reset, always check if the axis can move to the same position
as before origin incomplete.
4-51
4 Perform absolute reset.
w WARNING
The robot starts to move slightly when absolute reset is performed while the servo is on. To avoid danger, do not
enter the robot movement range.
Press the ENTER key on the "ORIGIN RTN (MARK)" screen to complete absolute reset.
After absolute reset has been completed, the axis moves to the "0" pulse position.
When absolute reset is not executed, press the ESC key.
5 Check the status. Step 5 Checking the status

"Status" is displayed on the "ORIGIN RTN
(MARK)" screen.
"OK". Press the ESC key to return to the initial
screen.
4
Operation
■ Absolute reset procedure in ser vo off status
1 Move to the "ORIGIN RTN Step 1 "ORIGIN RTN (MARK)" screen

(MARK)" screen.
ENTER key.
Next, select [Origin Return], and then press
the ENTER key.
2 Move the axis to a position where

absolute reset is possible.
Press the emergency stop button on the
programming box to put the robot in the
emergency stop status. Move the target axis
by hand to a position where absolute reset is
performed. At this time, take appropriate
measures so that the "Ref." (machine
reference) display is within a range of 44 to
56.
n NOTE
When the machine reference display is not within a range of 44 to 56, "17.403: Position rest malposition" alarm
appears and absolute reset ends abnormally.
If a failure occurs and the controller enters the return-to-origin incomplete status, perform absolute reset for the
axis in the return-to-origin incomplete status. After absolute reset has been completed, be sure to check that the
axis moves to the same position as the position before the axis enters the return-to-origin incomplete status.
w WARNING
Be sure to press the emergency stop button and move the robot in the status where the servo on cannot be
operated from the outside.
4-52
3 Select the axis to perform absolute Step 3 Confirming the absolute reset execution
reset.
for absolute reset, and then press the ENTER
key.
Absolute reset execution confirmation screen
will appear.
4 Perform absolute reset.

Press the ENTER key on the confirmation
screen to complete absolute reset.
When absolute reset is not executed, press
the ESC key.
5 Check the status. Step 5 "ORIGIN RTN (MARK)" screen

"Status" is displayed on the "ORIGIN RTN
(MARK)" screen.
4
"OK". Press the ESC key to return to the initial
screen.
Operation
10.5 Return-to-origin for all robots
Step 1 "ORIGIN RTN (ALL ROBOT)" screen
1 Move to the "ORIGIN RTN
(ALL ROBOT)" screen.
Use the cursor keys to select [Operation] from
the initial screen, and then press the ENTER key.
Next, press the F3 key [ALL ROBOT], and then
2 Select [ALL ROBOT & GRIPPER] Step 2 Confirming the return-to-origin execution
and press the ENTER key.
Confirmation massage will appear.
Press the RUN key to start return-to-origin and
then the ENTER key to return to the "ORIGIN
RTN (TRQ/SENS)" screen.
To halt the operation, press the STOP key.
4-53
3 Check the display turns "OK". Step 3 "ORIGIN RTN (ALL ROBOT)" screen
As the return-to-origin conditions of each axis
and gripper are displayed, confirm now they
are "OK".
Press the ESC key to return to the initial
screen.
Check
11. Dual offset

4 When two drive axes are the completely same, they can be controlled as one drive axis, which is called
"Dual axis". The first one is "main axis" and the second one is "sub axis".
"Dual offset" function is adjusting of the sub axis origin position for that of the main axis, and used mainly in
Operation
the following cases:
1. On the dual axis with Rigid dual setting;

Lack of connective rigidity between the main and sub axes makes the origin position of sub axis
uneven.
2. On the dual axis with Flexible dual setting; How to adjust the sub-axis origin position.
Origin complete position
Main axis
Dual offset adjusts the sub-axis
origin position so that the origin
positions of both axes are same
(on the red line).
Sub axis Origin position range without

setting dual offset
Origin positions are different.
(The range colored in light blue)
n NOTE
Dual offset is a function that can be used in the following versions.
•Host controller (indispensable) : Ver.1.30, R0255 or later
•Programming box (required for the standard coordinates setting with operating the pendant; PBX) : Ver.1.10 or later
•PBX (Programming box) main software: Ver.1.11, R0017 or later or later
11.1 Dual offset settings

Set the dual offset with the programming box. Follow the procedure below.
c CAUTION
• By changing positions influencing dual offset, such as changing installation position of the main and sub axes,
changing connection assembly and changing origin sensor position for each axis, dual offset function that has
already been set may malfunction. Therefore, make sure to dual offset automatic setting after changing such
positions.
• It is required to set dual offset even if the same model is purchased.
4-54
11.1.1 Automatic dual offset setting
Step 3 "ORIGIN RTN (DUAL)" screen
1 Turn the servo on of the axis to set
dual offset.
2 Select [Operation] from the initial

screen and then [Origin Return] to
display the "ORIGIN RTN" screen.
3 Press the F3 key (DUAL) to display
the "ORIGIN RTN (DUAL)" screen.
4 Select the axis to set dual offset Step 4 Execution pop-up screen
and display the execution pop-up
4
screen.
Operation
5 Input "2" to set "Mode" and press Step 5 Changing the setting
the ENTER key.
6 Press the RUN key to perform dual Step 7 "ORIGIN RTN (DUAL)" screen
return-to-origin.
When it is complete, the "Status" turns green.
7 Press [OK]. Confirm the "Mode" on

the screen is now "Valid" and the
"DualOfst" value is set.
If the sub-axis origin position is acceptable, automatic setting of the dual offset is complete. Follow the next
procedure when adjusting the sub-axis origin position furthermore.
4-55
11.1.2 Adjusting dual offset
Step 1,2 Execution screen
1 Display the pop-up screen for
executing in the same procedure of
"6.1.1 Automatic dual offset
setting".
2 Confirm the "Mode" value is set

to"1".
3 The setting value of "DualOfst" is
the value set by automatic setting.
Input value that is added to/reduced from
the distance [pulse] to offset the sub-axis
origin position, and then press the ENTER key.
Refer to the illustrations below.
4
■ Make dual offset the plus (+) direction
(+) direction
Main axis
Operation
Sub axis
DualOfst=800[pulse] Origin position

The origin position is offset by 200 [pulse] to by automatic setting
(+) direction. DualOfst=1000[pulse]
■ Make dual offset the minus (-) direction
(+) direction
Main axis
Sub axis
Origin position DualOfst=1200[pulse]

by automatic setting The origin position is offset by 200 [pulse] to
DualOfst=1000[pulse] (-) direction.
n NOTE
• For ball screw type robots;
Slider movement distance [mm/pulse] = Ball screw lead*1 [mm] / 16384*2 [pulse]
• For Linear type robots;
Slider movement distance [mm/pulse] = 0.001 mm/pulse
*1 Refer to the robot specification for ball screw lead.
*2 Pulse number per motor rotation (depends on the model)
4 Perform dual return-to-origin with pressing the RUN key.

When return-to-origin is complete, the "Status" turns green.
5 Confirm the sub-axis origin position.

When the adjusting is not enough with the sub-axis origin position, repeat Step 3 to 5.
4-56
Chapter 5 Edit
1. Point editing 5-1

1.1 Inputting/editing point data 5-4
1.2 Point data input by teaching 5-5
1.3 Point data input by direct teaching 5-6
1.4 Jumping point display 5-6
1.5 Copying point data 5-7
1.6 Deleting point data 5-7
1.7 Executing point trace 5-7
1.8 Deleting point name 5-8
2. Program editing 5-9

2.1 Selecting the program 5-10
2.2 Creating a new program 5-11
2.3 Editing the program 5-11
2.3.1 Cursor movement 5-12
2.3.2 Quitting program editing 5-12
2.3.3 Switching between the "insert" and "overwrite" modes 5-12
2.3.4 Inserting a line 5-13
2.3.5 Deleting one character 5-13
2.3.6 Backspace 5-13
2.3.7 Copying/cutting a program 5-13
2.3.8 Searching a character string 5-14
2.3.9 Jumping step 5-14
2.3.10 Checking entry data 5-14
2.4 Compiling sequence program 5-15
2.5 Setting a main program 5-15
2.6 Changing a program attribute 5-16
2.7 Deleting a program 5-16
2.8 Changing a program name 5-17
2.9 Copying a program 5-17
2.10 Resetting an alarm 5-18
3. Shift coordinates 5-19

3.1 Creating new shift coordinates 5-22
3.2 Editing shift coordinates 5-23
3.5 Selecting shift coordinates 5-26
Chapter 5 Edit
4. Hand definitions 5-28

4.1 Data format of hand definition 5-29
4.1.1 SCARA type robots 5-29
4.1.2 Cartesian type robots 5-30
4.2 "HAND EDIT"/"CREATING NEW HAND" screen 5-32
4.3 Creating new hand definitions 5-34
4.4 Editing hand definitions 5-35
4.5 Setting hand definitions 5-35
4.6 Selecting hand definitions 5-36
5. Work definitions 5-37

5.1 Data format of work definition 5-38
5.2 Creating new work definitions 5-38
5.3 Editing work definitions 5-39
5.4 Selecting work definitions 5-40
6. Pallet definitions 5-41

6.1 Creating new pallet definitions 5-43
6.2 Editing pallet definitions 5-44
6.3 Setting pallet definitions 5-45
6.4 Setting point of pallet definitions 5-46
7. Parameters 5-47
7.1 Parameter setting conditions 5-47
7.2 Setting the parameters 5-47
7.4 Parameter descriptions 5-53
7.4.1 Controller parameters 5-53
7.4.2 Robot parameters 5-56
7.4.3 Axis parameters 5-59
7.4.4 I/O parameters 5-67
7.4.5 Option board related parameters 5-70
7.5 PRM skip 5-74
8. Area check output 5-75

8.1 Setting area check output 5-75
8.2 Initializing area check output 5-76
Chapter 5 Edit
9. Standard coordinates 5-78

9.1 Setting the standard coordinates by simple teaching 5-80
9.4 Setting the standard coordinates by both handed system teaching 5-85
10. General Ethernet port (GEP) setting 5-87
11. Calibration 5-87
12. Collision prevention for double-carriage 5-88

12.1 Overview 5-88
12.1.1 <WAIT> status 5-88
12.1.2 Simultaneous movement 5-89
12.1.3 Deadlock 5-89
12.2 Before using collision prevention function 5-90
12.2.1 Conditions to use/preparation 5-90
12.2.2 Precautions 5-91
12.3 W.carrier parameter 5-92
12.4 Setting method of Double-carriage collision prevention function 5-93
1. Point editing
When selecting [Edit] - [Point Edit] from the initial screen, the "POINT EDIT" screen will appear.
One point consists of 6 axes data (axis 1, axis 2, axis 3, axis 4, axis 5, and axis 6).
For the point data that is set in the Cartesian coordinate system ("mm" units), the hand system flag, first
arm rotation information, and second arm rotation information can be set as expansion settings. The hand
system flag is valid only for SCARA type robots. For robots other than YK-TW series, the first arm rotation
information and second arm rotation information are invalid.
Since the operation ranges of both the first arm and second arm of the YK-TW series are extended to -225
degrees to +225 degrees that are 360 degrees or more, the first arm rotation information and second arm
rotation information are added to a portion after the hand system flag of the point data in "mm" units.
Point data format
• Robots other than YK-TW series
Hand system
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
(FLG)
fxxxxxx fyyyyyy fzzzzzz frrrrrr faaaaaa fbbbbbb t
• YK-TW series
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6

Hand
system
(FLG)
First arm
Rotation information
(FLG1)
Second arm
Rotation information
(FLG1)
5
fxxxxxx fyyyyyy fzzzzzz frrrrrr faaaaaa fbbbbbb t xr yr
f. . ..................................... Coordinate sign: + / - / space
Edit
xxxxxx/../bbbbbb.............. Numeric value of up to 8 digits. When the numeric value includes a dot, the
coordinate system becomes that in "mm" units.
t. . ..................................... Hand system flag of the expansion settings of SCARA type robots
0 : No setting (Conforms to the selected arm type setting.)
1 : Right-handed system
2 : Left-handed system
xr..................................... X arm rotation information of expansion setting
0 : The range of the angle data x (*1) after converted from "mm" to "pulse" is -180.00
degrees < x <= 180.00 degrees.
1 : 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.
yr..................................... Y arm rotation information of expansion setting
0 : The range of the angle data y (*1) after converted from "mm" to "pulse" is -180.00
degrees < y <= 180.00 degrees.
1 : The range of the angle data y (*1) after converted from "mm" to "pulse" is 180.00
-1 : The range of the angle data y (*1) after converted from "mm" to "pulse" is -540.00
*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.
■ Arm rotation information
Blue → Rotation information: 0

Yello →Rotation information: 1
Red → Rotation information: -1
In the case of X-axis
Rotation of Y arm
5-1
• The hand system flag is valid only when the SCARA type robot and the coordinate system in "mm" units are
specified.
• When a numeric value other than "1" and "2" is specified for the hand system flag or when no numeric value
is specified, the hand system flag setting becomes none (0).
• The first arm rotation information and second arm rotation information are valid only when the SCARA type
robot "YK-TW series" and coordinate system in "mm" units are specified.
• When a numeric value other than "0", "1", and "-1" is specified for the first arm rotation information and
second arm rotation information or when no numeric value is specified, the setting becomes "0".
The point number can be specified in a range of 0 to 29999.
n NOTE
When using multiple robots, the point data is used commonly.
The current position (upper portion) and axis data to two points are displayed on the screen. To see other data,
use the cursor keys to scroll the screen.
Press the cursor up or down key to scroll up or down one line.
When the scroll function is ON (this function is changed every time the SCROLL ON key is pressed), press the
cursor up or down key to scroll up or down one screen (two points).
c CAUTION
In the case of SCARA type robots, repetitive positioning accuracy in the robot specifications does not apply to
the stop position of a different hand system if it is used to move to a point data on the Cartesian coordinates
5
(units: mm).
■ "POINT EDIT" screen

Edit
1. Hierarchy
3. Current position
5. Point number 6. Point name
7. Hand system
8. First arm and second

arm rotation information
8. Guide line
1. Hierarchy


5-2
3. Current position

Displays the coordinate unit system. The unit shows [pulse], [mm], or [mm](tool).
5. Point number
Displays the selected point number.
The selected point data is displayed in yellow.
6. Point name
Displays the point name when the point name is registered into the displayed point.
The selected point data is displayed in yellow.
7. Hand system
0: No hand system setting (Standard coordinates are not set.)
1: Right-handed system
2: Left-handed system

Displays the rotation information; FLG1: First arm, FLG2: Second arm
5
9. Guide line
Edit
Valid keys and submenu descriptions on the "POINT EDIT" screen (Edit Point Edit) are shown below.
/ / / Moves the cursor or scrolls the screen.
Switches between the "insert" and "overwrite" modes alternately.
Deletes one character on the left of the cursor position.
Deletes one character at the cursor position.
Returns the edit contents before setting to its original status. Returns to the
initial screen when the data is not edited.
Displays the pop-up screen, allowing you to input the jump destination point
JUMP
number.
COPY Copies the point data.
DEL Deletes the point data.
Changes the display unit of the current position to [pulse], [mm], and [mm]
UNIT
(tool) in order.
TRACE Moves to the "PTP (ALL)" screen.
NAME DEL Deletes the point name.
5-3
1.1 Inputting/editing point data
1 Select the point data to input/edit. Step 1 "POINT EDIT" screen

Use the cursor keys on the "POINT EDIT"
screen (Edit Point Edit) to select the point
data to input/edit.
The selected point data is displayed in
yellow.
2 Input the point data or point name.

Input the point data or point name, and
then press the ENTER key to set the data you
have input.
The cursor moves to the point data of the
next axis.
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.
5
• 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)

Edit
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.
1 : Shows that the point is set in the right-handed system.
2 : Shows that the point is set in the left-handed system.
For YK-TW series, set the first arm and second arm rotation information for FLG1 and FLG2, respectively. (*1)
The set values are as follow.
0 : The range of the angle data x (*2) after converted from "mm" to "pulse" is -180.00 degrees
< x <= 180.00 degrees.
1 : The range of the angle data x (*2) after converted from "mm" to "pulse" is 180.00 degrees
< x <= 540.00 degrees.
-1 : The range of the angle data x (*2) after converted from "mm" to "pulse" is -540.00 degrees
< x <= -180.00 degrees.
(*1) For robots other than YK-TW series, this data is invalid.
(*2) 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.
n 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.
5-4
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.
w WARNING
c CAUTION
• When using multiple robots, be sure to check the current target robot.
• The robot is changed from the "QUICK MENU". For details, refer to "5.2 Quick menu" in Chapter 4.
n NOTE
• In the return-to-origin incomplete status, the teaching of the point data cannot be performed. Be sure to
perform the teaching after the return-to-origin has been performed.
5
• When performing the teaching of the point data in "mm" units, the hand system information during teaching is
input for the hand system information of the point data.
Edit
• For YK-TW series, the arm rotation information corresponding to the joint coordinates (data in "pulse" units) of
the point to perform the teaching is set for the first arm rotation information and second arm rotation information.
For robots other than YK-TW series, "0" is set for the first arm rotation information and second arm rotation
information.
Step 1 "POINT EDIT" screen

1 Select the point.
Use the cursor keys or the jump function on
the "POINT EDIT" screen (Edit Point Edit) to
select the point number to input .
* For details about jump function, refer to
"1.4 Jumping point display" in this Chapter.
2 Display the "JOG" screen. Step 2 "JOG" screen

Press the F6 key (JOG) to display the "JOG"
screen.
3 Move the robot axis.

Move the robot axis using the Jog keys.
The current position values change as
the axis moves.
5-5
4 Execute the teaching. Step 4 Teaching confirmation pop-up screen
When the axis reaches the target position,
press the F3 key (TEACH).
The confirmation pop-up screen appears.
Select [OK] and press the ENTER key.
When selecting [CANCEL], the teaching is
canceled.
The input format of point data for teaching

is the same as the current position display.
c CAUTION
The robot will not move to the same position if
moving with a hand system different from that
used for teaching.
When changing the hand system that was used for
registering the point data, re-teach the position
using the hand system that you have changed to.
1.3 Point data input by direct teaching

5 Point data can also be registered by direct teaching (moving the robot by hand to the target point while the
robot servo is off). To directly load the current position of the point data, use the "JOG" screen.
w WARNING
Edit
Before starting direct teaching, press the emergency stop button on the programming box so that the servo will
not turn on by external operation.
1 Activate emergency stop.

Press the emergency stop button on the programming box
2 Execute point teaching.

For point data teaching methods, refer to "1.2 Point data input by teaching" in this Chapter. In this
procedure, move the robot by hand since the Jog keys cannot be used.
n NOTE
When the robot is in the servo off status, the automatic operation or Jog operation cannot be performed. To put
the robot in the servo on status, use the programming box or dedicated input. For details, refer to Chapter 4 "6.
Servo operation" or Chapter 8 "1.9 Dedicated input signal description".
1.4 Jumping point display

Point data can be displayed from the point numbers you have specified.
When pressing the F1 key (JUMP) on the "POINT Point number designation pop-up screen
EDIT" screen (Edit Point Edit), the pop-up screen
will appear, allowing you to specify the point
number. Input the jump destination point number,
Next, use the cursor keys to select [OK], and then
The point data is displayed from the specified point

number.
n NOTE
5-6
1.5 Copying point data
Point data can be copied under another point number.
n NOTE
When the hand system flag is set for the point data, the hand system flag is also copied.
For YK-TW series, the first arm rotation information and second arm rotation information are also copied.
1 Display the "POINT DATA COPY" Step 1,2 Copying the point data
pop-up screen.
When pressing the F2 key (COPY) on the
"POINT EDIT" screen (Edit Point Edit),
the "POINT DATA COPY" pop-up screen will
appear.
2 Input the point number range to

copy.
Input the point numbers for the copy range
and destination, then press the ENTER key.
n NOTE
3 Copy the point data

5
The point data in the specified range is copied to the start number of the copy destination.
When pressing the ESC key before executing the copy, the copy process is then canceled.
Edit
1.6 Deleting point data
1 Display the "POINT DATA DELETE" Step 1,2 Deleting point data
pop-up screen.
When pressing the F3 key (DEL) on the "POINT
EDIT" screen (Edit Point Edit), the "POINT
DATA DELETE" pop-up screen will appear.

delete.
Input the point numbers for the delete
range, and then press the ENTER key.
n NOTE
3 Delete the point data.

The point data in the specified range is deleted.
When pressing the ESC key before executing the data delete, the delete process is then canceled.
1.7 Executing point trace

Positions of point data you have input can be checked by actually moving the robot.
To execute the point trace, press the F5 key (TRACE) on the "POINT EDIT" screen (Edit Point Edit) to display
the "PTP (All)" screen.
After that, use the point trace function to execute the point trace. For details, refer to "8. Point trace" in Chapter 4.
w WARNING
The robot starts to move when point trace is executed. To avoid danger, do not enter the robot movement range.
5-7
1.8 Deleting point name
The point name can be deleted.
1 Display the "POINT NAME Step 1,2 Deleting point name

DELETE" pop-up screen.
When pressing the F7 key (NAME DEL) on the
"POINT EDIT" screen (Edit Point Edit), the
"POINT NAME DELETE" pop-up screen will
appear.

delete.
Input the point numbers for the delete
range, and then press the ENTER key.
n NOTE
3 Delete the point name.

The point name in the specified range is deleted.
When pressing the ESC key before executing the copy process, the delete process is then canceled.
5
Edit
5-8
2. Program editing
In the program editing, you can edit or delete the robot language program.
When inputting the program edit initial screen (Edit Program Edit) by selecting [Program Edit] on the "Edit"
pop-up screen that is displayed from the Menu screen, the "PROGRAM SELECTION" screen will appear as
shown in the figure below. The "PROGRAM SELECTION" screen displays the information on the program
currently selected.
■ "PROGRAM SELECTION" screen

1. Hierarchy
3. Program number
4. Program name
5. Creation/change date
6. Flag
7. Program attribute 8. Line count
5
9. Guide line
1. Hierarchy
Edit


3. Program number
4. Program name
Displays the program name (name attached to the program).
5. Creation/change date
Displays the program creation or update date.
6. Flag
Displays "m" when the main program is specified, "c" when the current program exists, "s" when the object for the
sequence program is shared, and nothing in other cases.
7. Program attribute
Displays the program attribute.
8. Line count
Displays the number of program lines.
5-9
9. Guide line
Valid keys and submenu descriptions on the "PROGRAM SELECTION" screen are shown below.
NEW Creates a new program.
EDIT Moves to the "PROGRAM EDIT" screen.
SEQ CMP Moves to the screen that allows you to compile the sequence program.
Moves to the screen that allows you to set the program currently selected to
MAIN
the main program.
AUTO OPE Moves to the "AUTO OPE" screen for the selected program.
ATRIB Moves to the screen that allows you to change the program attribute.
DEL Deletes the program.
5 n NOTE
• Refer to the separate programming manual for details on the programming language.
• For details automatic operation, refer to "9. Automatic operation" in Chapter 4.
Edit
2.1 Selecting the program

The "PROGRAM SELECTION" screen displays the ■ "PROGRAM SELECTION" screen
program configuration (overview).
The program to be displayed can be selected by
changing the program number.
Program
number
Cursor
■ Selecting the program number with the cursor keys

Use the cursor keys on the programming box to select [ ] or [ ] on the screen, and then press the ENTER key to
increase or decrease the program number so as to display the program configuration of the specified program number.
■ Inputting the program number directly

Use the cursor keys on the programming box to select the program number.
Input the program number and press the ENTER key. The program configuration of the specified program number appears.
5-10
2.2 Creating a new program
To create a new program, register the program name at first.
1 Create a new program.

Press the F1 key (NEW) on the "PROGRAM SELECTION" screen (Edit Program Edit).
The program name entry screen will appear.
2 Input the program name. Step 2 Inputting the program name

On the program name entry screen, input
the program name using the operation keys.
n NOTE
Characters 0 to 9, A to Z, and "_" (underscore) are
valid for the program name.
Up to 32 characters can be used.
Additionally, since the controller recognizes the
program names shown below as special
programs, do not use these names for normal
program names.
"SEQUENCE" "COMMON"
(For details, refer to the separate programming
manual.)
3 Register the program name.

Press the [OK] button to register the program name.
5
n NOTE
Edit
The numbers except for those into which the programs have already been registered are automatically assigned
to the program numbers from "1" in order.
Press the ESC key to cancel the new program creation and return to the previous screen.
Be aware that the existing program is overwritten when registering the same program name as that
already registered in the program.
4 Check the new program you have registered.

Select the newly registered program name on the "PROGRAM SELECTION" screen, and then press the F2
key (EDIT).
"3.220: Program step doesn't exit" alarm appears when creating a new program.
When pressing the ESC key, the alarm display disappears and you can start editing.
n NOTE
When creating a new program, the alarm occurs since no program is written. This alarm does not occur when
editing the created program.
2.3 Editing the program

Valid keys and submenu descriptions on the "PROGRAM EDIT" screen (Edit Program Edit Edit) are shown
below.
Deletes one character immediately before the cursor position.
RANGE Specify the range of copy or cut.
COPY Sets the copy contents and saves the data into the buffer temporarily.
5-11
Sets the cut contents, deletes the selected contents, and saves the data into the buffer
CUT
temporarily.
PASTE Inserts the data saved in the buffer to a portion immediately before the cursor line.
FIND Specifies the character string you want to find.
JUMP Displays the program from the specified line.
CHECK Checks the program entry error, etc.
1 Put the program in the editable status.

When pressing the F2 key (EDIT) on the "PROGRAM SELECTION" screen (Edit Program Edit), the
program is displayed and it can be edited.
2 Input the program. Step 2 Inputting the program

Use the cursor keys to move the cursor to the
position where to edit the program, and then
input the program with the programming
box.
Up to 255 characters can be input for one
5
line. Input the program for one line, and then
press the ENTER key at the end.
The program entry is completed and the
cursor then moves to the top of the next line.
Edit
n NOTE
One program consists of up to 9999 lines and the maximum program capacity is approximately 2100 KB.
Since the program area is shared with the point data, the capacity may decrease depends on the amount of
point data.
Example) When the amount of point data is 10000, the capacity decrease 600 KB and approximately 1500 KB
can be used for the program.
3 Exit the program editing.

After the program entry has been completed, press the ESC key to exit the program editing.
2.3.1 Cursor movement

• When pressing the cursor key, the cursor moves up or down one line. Additionally, when changing the scroll
function to the ON status with the SCROLL ON key, pressing the cursor key will move up or down the cursor
ten lines.
• When pressing the cursor key, the cursor moves left or right one line.
2.3.2 Quitting program editing

Press the ESC key to quit editing program.
2.3.3 Switching between the "insert" and "overwrite" modes

When pressing the INS key, the insert and overwrite modes are changed alternately.
When changing the overwrite mode to the insert mode, the cursor shape changes from " " to " " and the
character to be input is inserted to a portion immediately before the cursor position.
When changing the insert mode to the overwrite mode, the cursor shape changes from " " to " " and the
character to be input is overwritten on the character at the cursor position.
5-12
2.3.4 Inserting a line
A blank line is inserted into the program. Move the cursor to the top of the line where you want to insert a line,
A blank line is then inserted to a portion immediately before the cursor line.
When the cursor is located at a position other than the top of the line, a new line is inserted into the cursor
position.
2.3.5 Deleting one character

Move the cursor to the character you want to delete, and then press the DEL key to delete one character at the
cursor position.
2.3.6 Backspace
When pressing the BS key, one character immediately before the cursor position is then deleted.
2.3.7 Copying/cutting a program

The program can be copied or cut.
1 Use the cursor keys to move to the position where you start the copy or cut.
5
2 Specify the copy or cut range. Step 2 Specifying the range
Press the F1 key (RANGE) and specify the
copy or cut range with the cursor keys.
Pressing the up/down cursor key will cancel
the range designation.
Edit
n NOTE
A range including multiple lines cannot be
specified.
3 Copy or cut the specified range.

When pressing the F2 key (COPY) or F3 key (CUT), the data in the specified range is copied into the buffer.
When cutting the specified range, the program in the specified range is deleted after the data has been
copied into the buffer.
4 Paste the program.

Press the F4 key (PASTE) to paste the program in the specified range.
The data saved in the buffer is inserted to a portion immediately before the cursor line.
n NOTE
The data stored in the buffer can be pasted repeatedly until you exit PROGRAM mode.
However, if another copy/cut operation is performed, then the data within the buffer is rewritten.
5-13
2.3.8 Searching a character string
1 Display the character string search pop-up screen.

Press the F5 key (FIND) on the "PROGRAM EDIT" screen (Edit Program Edit Edit) to display
the pop-up screen.
2 Input the character string to search. Step 2,3 Searching a character string
Input the character string to find, and then
press the ENTER key. Up to 24 characters can
be input.
3 Specify the search direction.

The search starts toward the top from
the cursor position by pressing the F1 key
(Previous) and the cursor jumps to
the character string that is found first.
The searching starts toward the end from
the cursor position by pressing the F2 key
(Next) and the cursor jumps to the character
string that is found first.
When executing the finding subsequently,
press the F1 key (Previous) or F2 key (Next) to
specify the direction and perform searching
5
in relevant direction.
2.3.9 Jumping step

The currently selected program can be displayed from a specified step.
Edit
1 Display the "JUMP" pop-up screen. Step 1 Jumping step (step number entry)
Press the F6 key (JUMP) on the "PROGRAM
EDIT" screen (Edit Program Edit Edit) to
display the pop-up screen.
2 Input the step number.

Input the step number, and then press the
ENTER key.
The program is displayed from the specified
step.
2.3.10 Checking entr y data

The entry error, etc. can be checked after editing the program.
1 Press the F7 key (CHECK) on the "PROGRAM EDIT" screen (Edit Program Edit
Edit).
2 Check the results.
If any command statement you have input has an error, the cursor moves to the program including
incorrect line.
c CAUTION
Only one error location of the program including errors is displayed. If there are multiple error locations, it is
necessary to correct the errors line-by-line from the top, and then repeat the check work.
When there are no errors, the cursor does not move from its current position and the display does not
change.
5-14
2.4 Compiling sequence program
The sequence program is compiled.
n NOTE
The sequence program can be executed when all of the following items are satisfied.
1. The object program for the sequence is created.
2. The execution of the sequence program is enabled.
3. The DI10 (sequence control) contact is closed.
1 Display the sequence compile

pop-up screen.
Press the F3 key (SEQ CMP) on Step 2 Executing the sequence compile
the "PROGRAM EDIT" screen (Edit Program
Edit Edit) to display the pop-up screen.
2 Execute the sequence compile.

Select [OK] and press the ENTER key. The
sequence compile is executed and "s" is
shown in FLAG on the "PROGRAM SELECTION"
screen.
5
Select [CANCEL] and press the ENTER key or
press the ESC key to cancel the sequence
compile and return to the "PROGRAM
SELECTION" screen.
c CAUTION
Edit
The program name of the sequence program needs to be "SEQUENCE". If the program name is not "SEQUENCE",
the sequence compile cannot be executed.
2.5 Setting a main program

The program you have selected is set for the main program.
1 Display the main program setting

pop-up screen. Step 2 Setting for the main program
Press the F4 key (MAIN) on the "PROGRAM
SELECTION" screen (Edit Program Edit) to
display the pop-up screen.
2 Set the program for the main

program.
Select [OK] and press the ENTER key.
The selected program is set for the main
program and "m" is shown in FLAG on the
"PROGRAM SELECTION" screen.
Select [CANCEL] and press the ENTER key or
press the ESC key to cancel setting the
program for the main program and return to
the "PROGRAM SELECTION" screen.
5-15
2.6 Changing a program attribute
It can be prohibited to edit or delete the registered program by specifying the program attribute on the "PROGRAM
SELECTION" screen (Edit Program Edit).
There are three kinds of program attributes as described below.
1. RW (read or write)
The program can be edited or deleted.
This attribute is automatically specified when the program name is registered.
2. RO (read only)
The program cannot be edited or deleted.
3. H (hide)
The program cannot be edited or deleted. Program contents cannot also be seen.
To change the program attribute, follow the Steps below. Note that the program attribute can be changed only
when the access level is the "maintainer level".
1 Select the program to change the Step 2 Changing the program attribute
attribute.
Select the program to change the attribute.
For details about how to select the program,
refer to "2.1 Selecting the program" in this
Chapter.
5
2 Change the program attribute.
Press the F6 key (ATRIB) to display the attribute
change pop-up screen.
Select [RW], [RO], or [H], and press the ENTER
key to change the program attribute.
Press the ESC key to return to the previous
Edit
screen.
2.7 Deleting a program

The program you have selected on the "PROGRAM SELECTION" screen (Edit Program Edit) can be deleted.
1 Select the program to delete.

Use the cursor keys to select the program to delete. For details about how to select the program, refer
to "2.1 Selecting the program" in this Chapter.
2 Delete the program. Step 2 Deleting a program

Press the F7 key (DEL) to display the delete
confirmation pop-up screen.
Select [OK] and press the ENTER key to
delete the program.
Select [CANCEL] or press the ESC key to
return to the previous screen.
n NOTE
• When the attribute of the program is RO (read
only) or H (hide), this program cannot be
deleted. To delete such programs, change the
program attribute.
• For details about how to change the program
attribute, refer to "2.6 Changing a program
attribute" in this Chapter.
5-16
2.8 Changing a program name
The program name can be changed on the "PROGRAM SELECTION" screen (Edit Program Edit).
1 Select the program. Step 2 Changing a program name

Select the program to change the name
using cursor keys.
For details on selection operating, refer to
"2.1 Selecting the program" in this Chapter.
2 Change the program name.

Display the "CHANGE THE PROGRAM NAME"
pop-up screen by pressing the F8 key
(RENAME).
Input the program name to "New program
name" using the operation keys, select "OK"
and press the ENTER key to change the
name.
To return to the previous screen without
changing, select "CANCEL" or press the ESC
key.
n NOTE
• Characters 0 to 9, A to Z, and "_" (underscore) are valid for the program name.
• Up to 16 characters can be used.
• Program names that are already used for other programs cannot be used.
• Since the controller recognizes the program names shown below as special programs, do not use these names
5
for normal ones.
"SEQUENCE" "COMMON"
Edit
(For details, refer to the separate programming manual.)
2.9 Copying a program

The programs can be copied on the "PROGRAM SELECTION" screen (Edit Program Edit).
1 Select the program. Step 2 Copying a program

Select the program to copy using the cursor
keys.
For details on selecting operation, refer to
"2.1 Selecting a program" in this Chapter.
2 Copy the program.

Display the "PROGRAM COPY" pop-up
screen by pressing the F9 key (COPY).
Input the destination program number to
"Program number" and the program name
to "Program name" using the operation keys,
select "OK" and press the ENTER key to copy
the program.
changing, select "CANCEL" or press the ESC
key.
n NOTE
• Valid program numbers are between 1 and 100.
• Characters 0 to 9, A to Z, and "_" (underscore) are valid for the program name.
• Up to 16 characters can be used.
• Program names that are already used for other programs cannot be used.
• Program numbers that are already used for other programs cannot be used.
• Since the controller recognizes the program names shown below as special programs, do not use these names
for normal ones.
"SEQUENCE" "COMMON"
(For details, refer to the separate programming manual.)
5-17
2.10 Resetting an alarm
If "9.701: Program destroyed" occurs in the program, reset the alarm. After resetting the alarm, the program can
then be edited.
c CAUTION
If the checksum error occurs, a failure may occur in the program. Although this operation resets the alarm, it
does not restore the program data. Be sure to check and change the program on the "PROGRAM EDIT" screen.
To reset the alarm, move to the "QUICK MENU" screen with the QUICK MENU key and select [Alarm Reset].
For details, refer to "5.2 Quick menu" in Chapter 2.
5
Edit
5-18
3. Shift coordinates
Use the cursor keys to select [Edit] on the initial screen, and press the ENTER key. Next, select [Shift
Coordinate], and then press the ENTER key to display the "SHIFT COORDINATE" screen.
In this hierarchy, you can display, edit, or set the shift coordinates and shift coordinate range.
However, when using SCARA type robots, the standard coordinates need to be set.
For details about how to set the standard coordinates, refer to "9. Standard coordinates" in this Chapter.
The robot work position specified by point data on the Cartesian coordinates ("mm" units) can be shifted by
setting the shift coordinates. The movement range can also be limited in each direction.
40 shift coordinates, the shift coordinate number is between 0 and 39, can be set. Shift coordinates are set by
shifting the standard coordinates in the X-direction, Y-direction, Z-direction, and R-direction (rotation of XY
plane).
■ Data format of shift coordinates

Sn:
1 [ dX ] : ± #####.###(mm)
2 [ dY ] : ± #####.###(mm)
3 [ dZ ] : ± #####.###(mm)
4 [ dR ] : ± #####.###(degree)
(n = 0 to 39)
n NOTE
• "n" corresponds to the shift coordinate number. Up to 40 shift coordinates can be set.
5
Example): S1…Shows the shift coordinate S1.
• When the shift amounts are "dX = 0.00", "dY = 0.00", "dZ = 0.00", and "dR = 0.00", the shift coordinates equal the
standard coordinates.
Edit
• When using multiple robots, the shift data is used commonly. The shift number can also be set individually for
each robot.
■ Standard coordinates and shift coordinates
Standard coordinate
X
dR
−
dY Z-axis origin
te
rdina
coo
ift dZ
Sh dX ＋
X' Y Y'
Additionally, as the shift coordinate range is set, the robot movement range is limited by each shift coordinate.
Furthermore, as the soft limit parameter is set, the robot movement range can be specified more accurately.
■ Data format of shift coordinate range

• Shift coordinate range (plus) side SHIFT+ • Shift coordinate range (minus) side SHIFT-
1 [ dPX ] : ± #####.###(mm) 1 dMX : ± #####.###(mm)
2 [ dPY ] : ± #####.###(mm) 2 dMY : ± #####.###(mm)
3 [ dPZ ] : ± #####.###(mm) 3 dMZ : ± #####.###(mm)
4 [ dPR ] : ± #####.###(degree) 4 dMR : ± #####.###(degree)
(n = 0 to 39)
n NOTE
• "n" is a shift coordinate number. Up to 40 shift coordinates can be set.
• When both the plus side and minus side are "0.00", the movement range is not limited by each axis (x, y, z, r).
5-19
■ Shift coordinate range
Y
dM
Y
dP
X
dM
dMZ
Z'
dPZ
X
dPR dP
X' dMR Y Y'
When moving to the "SHIFT COORDINATE" screen (Edit Shift Coordinate), the screen shown below will
appear.
■ "SHIFT COORDINATE" screen
5
1. Hierarchy
7. Shift coordinate range
Edit
8. Guide line
Press the F1 key (EDIT) to show the screen below.
■ "SHIFT EDIT" screen
1. Hierarchy
3. Current position
5. Shift number
6. Shift coordinates 7. Shift coordinate range
8. Guide line
5-20
1. Hierarchy


3. Current position

Displays the coordinate unit system. The unit shows [pulse] or [mm].
5
5. Shift number
Edit
Displays the shift number selected on the "SHIFT EDIT" screen.
Displays the shift coordinates of the shift number selected on the "SHIFT EDIT" screen. When there is any input data in
the shift coordinates to use, this means that the data is already defined.
7. Shift coordinate range

Displays the shift coordinate range of each shift coordinates. The robot movement range of each shift coordinates can be
limited by setting the shift coordinate range.
8. Guide line
Valid keys and submenu descriptions on the "SHIFT COORDINATE" screen (Edit Shift Coordinate) are shown
below.
/ Selects the operation system that specifies the shift number.
EDIT Edits the shift data currently selected.
Selects the shift coordinates

SELECT
For details, refer to "3.5 Selecting shift coordinates" in this Chapter.
Switches the scroll function on/off.
5-21
3.1 Creating new shift coordinates
Shift coordinates are created newly.
Valid keys and submenu descriptions on the "CREATING NEW SHIFT" screen (Edit Shift Coordinate New)
are shown below.
/ Specifies the shift coordinates and shift coordinate range (+/-).
n NOTE
The shift coordinates cannot be edited without creating them newly.
Be sure to create new shift coordinates before setting.
1 Select the shift coordinate number Step 1 Selecting the shift number
using the cursor keys.
5 The shift number scrolls up or down to display
the set contents of this shift number by three
when the scroll function is ON.
2 Press the F1 key (EDIT) to display

the "SHIFT EDIT" screen.
Edit
3 Press the F2 key (NEW).

n NOTE
The values input before pressing the F1 key (NEW)
will be cleared.
4 Input the shift coordinates. Step 2-5 Creating new shift coordinates
shift coordinate and shift coordinate range
+ and - setting items. Use 0 to 9 keys, "+" key,
"-" key, and "." key to input a numeric value
consisting of an integer portion of up to 4
digits and having 3 or less places below the
decimal point.
n NOTE
Input the data for all shift coordinates, axis 1 to
axis 4 [dX, dY, dZ, dR], shift coordinate range (plus)
side [dPX, dPY, dPZ, dPR], shift coordinate range
(minus) side [dMX, dMY, dMZ, dMR].
For the data without entry, "0" (zero) is input
automatically.
Input the data in the Cartesian coordinate system
("mm" units).
5 Set the entry values.

After inputting the values, press the ENTER key to set them.
Press the ESC key to cancel the data you have input and return to the previous screen.
6 Return to the "SHIFT COORDINATE" screen.

After inputting the data, press the ESC key to return to the "SHIFT COORDINATE" screen (Edit Shift
Coordinate).
5-22
3.2 Editing shift coordinates
Shift coordinates are edited.
Valid keys and submenu descriptions on "SHIFT EDIT" screen (Edit Shift Coordinate Edit) are shown
below.
/ Specifies the shift coordinates and shift coordinate range (+/-).
UNIT Switches the units of the current position "mm" and "pulse".
NEW Moves to the "CREATING NEW SHIFT" screen.
1 Select the shift coordinate number Step 1 Selecting the shift number
using the cursor keys.
5
The shift number scrolls up or down to display
the set contents of this shift number by three

the "SHIFT EDIT" screen.
Edit
3 Input the shift coordinates.
For details on how to input values, refer to
Step 4 through Step 6 of "3.1 Creating new
shift coordinates" in this Chapter.
n NOTE
All the values input before pressing the F1 key
(NEW) will be cleared. Take care as the values
cannot be returned after creating new shift
coordinates.
■ Restoring the shift coordinates and shift coordinate range

When pressing the ESC key while the shift coordinate data is edited, the data you have input is canceled and it
returns to the data before inputting.
This function is valid only for the cursor line before the data entry is completed.
3.3 Setting shift coordinate 1

This sets the shift coordinate data by inputting the coordinate direction after teaching two points.
The point 1 (1st P) taught first is the coordinate origin, and the Z-axis value of point 1 is that of the shift
coordinates.
w WARNING
5-23
■ Shift coordinate setting 1
Point 1
(1st P)
Point 2
(2nd P)
X’ Y Y’
1 Display "SHIFT SETTING 1" screen.

Press the F3 key (SETTING1) to display "Edit > Shift coordinate > Shift setting 1".
2 Input shift coordinate number. Step 2 Inputting the shift coordinate number
Use 0 to 9 keys to input the shift number and
press the F4 key (NEXT).
5
Edit
Step 3 Setting inch distance

3 Determine point P [1].
Move the robot tip to the Point P [1] with
the jog key, press the F4 key (NEXT) to
decide the position.
n NOTE
Determine the points to teach accurately,
otherwise the shift coordinates cannot be set
correctly.
Press the F1 key (SPEED) to display pop-up

screen for speed settings. Refer to "2.3
Changing the Jog movement speed" in
Chapter 3 for details of speed adjustment.
Press the F2 key (INCH) to display pop-up
screen. Use 0 to 9 keys to input the value in Step 5 Inputting direction from P [1] to P [2]
"mm" units.

Repeat the Step3 operation.
5 Determine direction from P [1] to P

[2].
Determine the direction from P [1] to P [2]
using 0 to 3 key.
5-24
6 Set the shift coordinate. Step 6 Checking the setting
Check the shift coordinate to be displayed.
Select “SET” and press the ENTER key to save
the settings. Press the F4 key (FINISH) to finish
setting.
When pressing the F4 key (FINISH) or ESC key
in the status that the settings are not saved,
the setting finishes without saving the data.
If the calculation cannot be performed, a
corresponded alarm occurs.
3.4 Setting shift coordinate 2

This sets the shift coordinate data by inputting the coordinate direction after teaching two points.
The Z-axis value of point 1 is that of the shift coordinate.
w WARNING
c CAUTION
Input the point coordinate value to teach correctly, otherwise wrong calculation results will be registered. 5
Therefore, determine the points to teach accurately
Edit
■ Shift coordinate setting 2
Point 1
(1st P)
Point 2
(2nd P)
X’ Y Y’
1 Display "SHIFT SETTING 2" screen.

Press the F4 key (SETTING2) to display "Edit > Shift coordinate > Shift setting 2".
2 Input shift coordinate number. Step 2 Inputting the shift coordinate number
Use 0 to 9 keys to input the shift number and
5-25
3 Determine the point P [1]. Step 3 Inputting the inch distance
Move the robot tip to the Point P [1] with
the jog key, press the F4 key (NEXT) to
decide the position.
n NOTE
Determine the points to teach accurately,
otherwise the shift coordinates cannot be set
correctly.
4 Input the point P [1]. Step 4 Inputting point P [1] value

Input the point data of X, Y, and Z with 0 to 9,
"+", "-", and "." keys, then press the F4 key
(NEXT).

Determine the point P [2] according to
the same procedure as the point P [1].
5 n NOTE
The shift value of the Z-direction will be defined by
the Z-axis coordinate value of point 1.
On the other hand, that of point 2 will not be
reflected to the shift coordinates.
Edit
6 Set the shift coordinate. Step 6 Checking the setting

Check the shift coordinate to be displayed.
Select “SET” and press the ENTER key to save
the settings. Press the F4 key (FINISH) to finish
setting.
the setting is completed without saving.
If the calculation cannot be performed,
a corresponded alarm occurs.
3.5 Selecting shift coordinates

When using the shift coordinates, select the shit coordinates that have been created.
n NOTE
The shift coordinates cannot be used only when creating or editing them. Be sure to select the shift coordinates.
1 Select [SELECT].
Press the F6 key (SELECT) on the "SHFT COORDINATE" screen (Edit Shift Coordinate) to open the shift
number selection pop-up screen.
5-26
Step 2 Inputting the shift number
2 Input the shift number.
Use 0 to 9 keys to input the shift number.
Select [CLR] and press the ENTER key. The
shift number currently selected at the upper
right portion of the screen changes from (S)
to " " showing that the shift number is not
selected.
3 Set the shift number.

Select [OK], and then press the ENTER key.
screen.
Edit
5-27
4. Hand definitions
Use the cursor keys to select [Edit] on the initial screen and press the ENTER key. Next, select [Hand
Definition] and press the ENTER key to display the "HAND DEFINITION" screen.
In this hierarchy, you can display, edit, or set the hand definitions.
However, when using SCARA type robots, the standard coordinates need to be set. For details about how to
set the standard coordinates, refer to "9. Standard coordinates" in this Chapter.
n NOTE
When using multiple robots, the hand data cannot be used commonly.
The tip position of the tool attached to the second arm (Y-axis) or the R-axis can be specified as the robot
coordinate position by hand definition.
There are 4 kinds of hand definitions depending on the combination of the robot type and tool attachment
position.
Using hand definitions allows moving the tips of different tools to positions on the same Cartesian coordinates.
"HAND DEFINITION" screen (Edit Hand Definition) a screen like that shown below appears.
■ "HAND DEFINITION" screen
5 1. Hierarchy
4. Hand data
3. Hand number
Edit
5. Guide line
1. Hierarchy


3. Hand number
Displays the hand number selected on the "HAND EDIT" screen.
The selected hand number is highlighted.
5-28
4. Hand data
Displays the hand data of the hand number selected on the "HAND EDIT" screen.
When the hand definition you want to use has any input data, this means that the hand is already defined.
5. Guide line
4.1 Data format of hand definition

Hn:
Robot : m
1 : ± #####.###
2 : ± #####.###
3 : ± #####.###
4 : [R]
Item Input range
Hand definition number (n) Input 0 to 31.
Robot number (m) Input 1 to 4.
Input a numeric value consisting of an integer portion of up to 4 digits and having 3 or less
5
First parameter places below the decimal point or an integer value of up to 8 digits. (The numeric value format
is determined according to the robot model setting or hand definition type.)
Input a numeric value consisting of an integer portion of up to 4 digits and having 3 or less
Second and third parameters
places below the decimal point.
Fourth parameter (R) Input one character or nothing. (This is determined by the hand definition type.)
Edit
* Setting all hand definition values to "0" means that no hand definition is set.
The parameter setting and movement of each robot type are shown below.
4.1.1 SCARA type robots
1. Hand attached to 2nd arm

a. Robot movement
• Imaginary 2nd arm of hand "n" moves to a specified point as if it were the actual 2nd arm.
• Imaginary 2nd arm of hand "n" determines whether the robot is in a right-handed system or left-handed system.
b.Parameter descriptions
<1st parameter>: Specify with an integer, the difference between the number of offset pulses of the standard
2nd arm and the number of offset pulses of the imaginary 2nd arm of hand "n".
If counterclockwise, input a "+" value. (unit: pulses)
<2nd parameter>: Specify with a real number, the difference between the imaginary 2nd arm length of hand "n"
and the standard 2nd arm length. (unit: mm)
<3rd parameter>: Specify the Z-axis offset amount of hand "n" with a real number. (unit: mm)
<4th parameter>: No setting for "R".
■ Hands attached to 2nd arm (SCARA type)
H AN D 1
HAND 0
20.00mm
m
-5000 pulse
m
00
0.
15
m
ar
d
2n
rd
da
an
St
5-29
Input example
H0: H1:
ROBOT : 1 (Robot number) ROBOT : 1 (Robot number)
1 : 0 (Pulse) 1 : -5000 (Pulse)
2 : 150.00 (mm) 2 : 20.00 (mm)
3 : 0.00 (mm) 3 : 0.00 (mm)
4 : No input 4 : No input
2. Hand attached to R-axis

a. Robot movement
The tip of hand "n" moves to a specified point. The direction of hand "n" changes according to the R
coordinate of the point.
Even if hand "n" is between obstacles, it can move while avoiding the obstacles. Hand "n" moves in
parallel to or perpendicular to its direction.
b. Parameter descriptions
<1st parameter> : When the current R-axis position is 0.00, specify with a real number the angle between the
+X direction of Cartesian coordinates and hand "n".
If counterclockwise, input a "+" value. (unit: degrees)
<2nd parameter> : Specify the length of hand "n" with a positive real number. (unit: mm)
<3rd parameter> : Specify the Z-axis offset amount of hand "n" with a real number. (unit: mm)
<4th parameter> : Specify "R".
5 ■ Hands attached to R-axis (SCARA type)
Y
Edit
Standard 2nd arm 150.00mm
HAND 0
-90.00 degrees
100.00mm
H AN D 1
Input example
H0: H1:
1 : 0.00 (degree) 1 : -90.00 (degree)
2 : 150.00 (mm) 2 : 100.00 (mm)
3 : 0.00 (mm) 3 : 0.00 (mm)
4 : R 4 : R
4.1.2 Cartesian type robots
1. Hand attached to 2nd arm

a. Robot movement
Hand "n" moves to a specified point.
<1st parameter>: Specify the X-axis offset amount of hand "n" with a real number. (unit: mm)
<2nd parameter>: Specify the Y-axis offset amount of hand "n" with a real numbers. (unit: mm)
<4th parameter>: No setting for "R".
5-30
■ Hands attached to 2nd arm (Cartesian type)
H AN D 1
-100.00mm
HAND 0
- 1 0 0 .0 0 m m
Y
Input example
H0: H1:
1 : 0.00 (degree) 1 : -100.00 (degree)
2 : 0.00 (mm) 2 : -100.00 (mm)
5
3 : 0.00 (mm) 3 : -100.00 (mm)
4 : No input 4 : No input
2. Hand attached to R-axis

a. Robot movement
Edit
Hand "n" moves towards a specified point while changing its movement direction. The direction to be changed is set
for the specified point with an R value. Obstacles can therefore be avoided by changing the R value.
<1st parameter>: When the current R-axis position is 0.00, specify with a real number the angle between the +X
direction of Cartesian coordinates and hand "n".
If counterclockwise, input a "+" value. (unit: degrees)
<2nd parameter>: Specify the length of hand "n" with a positive real number. (unit: mm)
<4th parameter>: Specify "R".
■ Hands attached to R-axis
H AN D 1
150.00mm
- 9 0 .0 0 °
HAND 0
1 0 0 .0 0 m m
Y
Input example
H0: H1:
1 : 0.00 (degree) 1 : -90.00 (degree)
2 : 100.00 (mm) 2 : 150.00 (mm)
3 : 0.00 (mm) 3 : -100.00 (mm)
4 : R 4 : R
5-31
4.2 "HAND EDIT"/"CREATING NEW HAND" screen
Valid keys and submenu descriptions on the "HAND DEFINITION" screen (Edit Hand Definition) are shown
below.
Selects the operation system that specifies the hand definition number.
/ The hand definition scrolls up or down to display the set contents of this shift number by three
EDIT Edits the hand data currently selected.
SELECT Selects the hand definition. For details, refer to "4.6 Selecting hand definitions" in this Chapter.
The screen shown below will appear when moving to the "HAND EDIT" (Edit Hand Definition HAND
EDIT) or "CREATING NEW HAND" (Edit Hand Definition HAND EDIT CREATING NEW HAND).
1. Hierarchy
5 3. Current position
5. Hand number
Edit
6. Hand data
7. Guide line
* The "CREATING NEW HAND" screen is the same as above
except for the guide line display.
1. Hierarchy


3. Current position
Displays the current position of the robot. The current position is displayed by an integer when using "pulse" units.
When using "mm" units, the position is displayed by a value with the decimal point.

5-32
5. Hand number
Displays the hand number selected on the "HAND EDIT" screen.
The selected hand number is highlighted.
6. Hand data
Displays the hand data of the hand number selected on the "HAND EDIT" screen.
When the hand definition you want to use has any input data, this means that the hand is already defined.
7. Guide line
■ Data format of hand definition

Hn:
Robot : m
1 : ± #####.###
2 : ± #####.###
3 : ± #####.###
4 : [R]
Item Input range
Hand definition number (n)
Robot number (m)

Input 0 to 31.
Input 1 to 4.
5
Input a numeric value consisting of an integer portion of up to 4 digits and having 3 or
First parameter less places below the decimal point or an integer value of up to 8 digits. (The numeric
Edit
value format is determined according to the robot model setting or hand definition type.)
Input a numeric value consisting of an integer portion of up to 4 digits and having 3 or
Second to third parameters
less places below the decimal point.
Fourth parameter (R) Input one character or nothing. (This is determined by the hand definition type.)
* Setting all hand definition values to "0" means that no hand definition is set.
5-33
4.3 Creating new hand definitions
New hand definitions are created.
Valid keys and submenu descriptions on the "CREATING NEW HAND" screen (Edit Hand Definition New)
are shown below.
/ Specifies the hand data.
n NOTE
The hand definition cannot be edited without creating it newly. Set the hand definition after creating it newly.
1 Select the hand definition number Step 1 Selecting the hand definition number
with the cursor keys.
The hand definition scrolls up or down to
5
display the set contents of this shift number by
three when the scroll function is ON.

the "HAND EDIT" screen.
Edit
n NOTE
will be cleared.
4 Input the hand data Step 2-5 Creating new hand definitions
item to set (robot number, parameters 1 to
4). Use 0 to 9 keys, "+" key, "-" key, and "." key
to input a value.
For the fourth parameter, input "R" or
nothing.
5 Set the values you have input.

After inputting the values, press the ENTER
key to set them.
Press the ESC key to cancel the data you
have input and return to the previous
screen.
6 Return to the "HAND DEFINITION" screen.

After inputting the data, press the ESC key to return to the "HAND DEFINITION" screen (Edit Hand
Definition).
5-34
4.4 Editing hand definitions
Hand definitions are edited.
Valid keys and submenu descriptions on the "HAND EDIT" screen (Edit Hand Definition Edit) are shown
below.
/ Specifies the hand data.
UNIT Switches the units of the current position "mm" and "pulse".
NEW Moves to the "CREATING NEW HAND" screen.
1 Select the hand definition number Step 1 Selecting the hand definition number
The hand definition scrolls up or down to
display the set contents of this shift number
by three when the scroll function is ON. 5
the "HAND EDIT" screen.
Edit
3 Input the hand definition.
Refer to4 through6 of "4.3 Creating
new hand definitions" in this Chapter for
details on how to input values.
n NOTE
cannot be returned after newly creating.
■ Restoring hand definitions

When pressing the ESC key while the hand definition data is edited, the data you have input is canceled and it returns to
the data before inputting.
4.5 Setting hand definitions

Specify the hand definition by teaching.
w WARNING
The robot starts to move when a jog key is pressed. Do not enter the robot movement range to avoid danger.
n NOTE
Setting methods are different between Cartesian and SCARA type robot.
Cartesian type robot
Teach the same point with the robot tip and the tool tip to set the hand definition data.
SCARA type robot
Teach the same point with right-handed and left-handed system at the tool tip to set the hand definition data.
Make sure to move the robot with a right-handed system to teach the point 1, for point 2, move with a left-
handed system.
5-35
1 Input the hand definition number.
Input the hand definition number using 0 to 9 keys and press the F4 key (NEXT).
2 Teach working point at the point Step 2 Teaching

P [1].
Move the robot tip to the point P [1] with
the jog keys and press the F4 key (NEXT).
n NOTE
Make sure to teach the point precisely, otherwise
the hand definition cannot be set correctly.
3 Teach working point at the point

P [2].
Move the tool tip to the point P [2] with
the jog keys and press the F4 key (NEXT).
Step 4 Setting hand definition

4 Set the hand definition.
Check the hand coordinates to be
displayed. Select [SET] and press the ENTER
key to save the setting. After saving, press
the F4 key (FINISH) to end the setting.
Pressing the F4 key (FINISH) without saving, it
5 ends before saving.

Edit
4.6 Selecting hand definitions

To use the hand definition, select the hand definition you have created.
n NOTE
The hand definition cannot be edited only when creating or editing hand definitions. Be sure to select the hand
definition.
When using multiple robots, the hand data cannot be used commonly.
Select the hand number by robot that corresponds to the robot number set in the hand definitions.
1 Select [SELECT].
Press the F5 key (SELECT) on the "HAND DEFINITION" screen (Edit Hand Definition) to display the "HAND
DEFINITION SELECT" pop-up screen.
Step 2,3 Setting the hand number

2 Input the hand number.
Use 0 to 9 keys to input the hand number.
hand number currently selected at the upper
right portion of the screen changes from (H)
to " " showing that the hand number is
not selected.
3 Set the hand number.

screen.
5-36
5. Work definitions
A workpiece that is held at the tip of the robot or the tool specified by hand definition will be regarded as
the robot coordinate position by work definition.
Using work definition enables the tip of a different workpiece to move to the same Cartesian coordinate
position.
■ "WORK DEFINITION" screen
1. Hierarchy
4. Work data
3. Work number
5
5. Guide line
1. Hierarchy
Edit


W1 • • • Specified "work definition" number
3. Work number
Displays the work number selected on the "WORK EDIT" screen.
The selected work number is highlighted.
4. Work data
Displays the work data of the work number selected on the "WORK EDIT" screen.
When the work definition you want to use has any input data, this means that the work is already defined.
5. Guide line
5-37
5.1 Data format of work definition
Wn:
X : ± #####.###
Y : ± #####.###
Z : ± #####.###
R : ± #####.###
Item Input range Description Unit
Work definition number (n) 0 to 39 mm
Specifies X-coordinate Offset amount from the tip of the

X-coordinate Offset robot (the tip of the tool with hand definition) of the work "n" mm
with real number.
Specifies Y-coordinate Offset amount from the tip of the
Y-coordinate Offset robot (the tip of the tool with hand definition) of the work "n" mm
Numeric value consisting
with real number.
of an integer portion of up
Specifies Z-coordinate Offset amount from the tip of the
to 4 digits and having 3 or
Z-coordinate Offset robot (the tip of the tool with hand definition) of the work "n" mm
less places below the
with real number.
decimal point
Specifies the angle of + X-direction of the Cartesian
coordinate and work "n" when R-coordinate current position
R-coordinate Offset of the tip of the robot (the tip of the tool with hand definition) degree
is "0.00".
5 Input positive value for counterclockwise value.
* Setting all work definition values to "0" means that no work definition is set.
■ Robot Movement
The robot moves the tip of the work "n" to the specified point. The direction of the work "n" changes depending on
Edit
R-coordinate value of the point, which enables the tip to move the target position (i.e. installation position) with
the position and angle based on the work "n". The robot moves in parallel / vertical direction to the work "n".
■ Example
Moving the robot with Point A as the operating point along Plane B
X 115.000mm Y
Y -50.000mm
Z 0.000mm 30.000°
R 30.000°
A
50.000 mm
B
115.000 m m
5.2 Creating new work definitions

New work definitions are created.
Valid keys and submenu descriptions on the "CREATING NEW WORK" screen (Edit Work Definition New)
are shown below.
/ Specifies the work data.
n NOTE
The hand definition cannot be edited without creating it newly. Set the hand definition after creating it newly.
5-38
1 Select the work definition number Step 1 Selecting the work definition number
The work definition scrolls up or down to
display the set contents of this shift number by
three when the scroll function is ON.

the "WORK EDIT" screen.
n NOTE
will be cleared.
Step 2-5 Creating new work definitions

4 Input the work data
item to set (parameters X to R). Use 0 to 9
keys, "+" key, "-" key, and "." key to input a
value.
5 Set the values you have input.

After inputting the values, press the ENTER
key to set them.
Press the ESC key to cancel the data you
have input and return to the previous
5
screen.
Edit
6 Return to the "WORK
DEFINITION" screen.
After inputting the data, press the ESC key
to return to the "WORK DEFINITION" screen
(Edit Work Definition).
5.3 Editing work definitions

Work definitions are edited.
Valid keys and submenu descriptions on the "WORK EDIT" screen (Edit Work Definition Edit) are shown
below.
/ Specifies the work data.
NEW Moves to the "CREATING NEW WORK" screen.
5-39
1 Select the work definition number Step 1 Selecting the work definition number
The work definition scrolls up or down to
display the set contents of this shift number
by three when the scroll function is ON.

the "WORK DEFINITION" screen.
3 Input the work definition.
Refer to4 through6 of "5.2 Creating
new work definitions" in this Chapter for
details on how to input values.
n NOTE
cannot be returned after newly creating.
■ Restoring work definitions

When pressing the ESC key while the work definition data is edited, the data you have input is canceled and it returns to
the data before inputting.
5 5.4 Selecting work definitions

To use the work definition, select the work definition you have created.
Edit
n NOTE
The work definition cannot be edited only when creating or editing work definitions. Be sure to select the work
definition.
When using multiple robots, the work data cannot be used commonly.
Select the work number by robot that corresponds to the robot number set in the work definitions.
1 Select [SELECT].
Press the F5 key (SELECT) on the "WORK DEFINITION" screen (Edit Work Definition) to display the "WORK
DEFINITION SELECT" pop-up screen.
Step 2,3 Setting the work number

2 Input the work number.
Use 0 to 9 keys to input the work number.
work number currently selected at the upper
right portion of the screen changes from (H)
to " " showing that the work number is not
selected.
3 Set the work number.

screen.
5-40
6. Pallet definitions
Use the cursor keys to select [Edit] on the initial screen and press the ENTER key. Next, select [Pallet
Definition] and press the ENTER key to display the "PALLET DEFINITION" screen.
In this hierarchy, you can display, edit, or set the pallet definitions.
However, when using SCARA type robots, the standard coordinates need to be set.
For details about how to set the standard coordinates, refer to "9. Standard coordinates" in this Chapter.
A total of 40 pallets (definition numbers 0 to 39) can be defined then assign five consecutive point data from
point data areas (P0 to P29999). Five points are used for each pallet. The maximum number of points that can
be defined in one pallet is 32767 (=NX*NY*NZ).
n NOTE
• A total of 40 (PL0 to PL39) pallets can be defined.
• The maximum number of points that can be defined as the positions on one pallet is 32767.
• Data in the point data area is used point data on the for pallet definitions.
n NOTE
• When using multiple robots, the pallet definitions are used commonly.
■ Pallet definition
P［5］
P［3］ P［4］
5
NZ
NY
Edit
P［1］ P［2］
NX
■ Data format of pallet definition

PLm : Pallet number (m = 0 to 39)
PLN : XY or YZ or ZX (Reference plane. The figure above shows that the XY plane is the reference.)
NX : ### (Number of points in the X-axis direction)
NY : ### (Number of points in the Y-axis direction)
NZ : ### (Number of points in the Z-axis direction)
POINT : P##### - P##### (Start point number to be used - Start point number to be used + 4)
• Conditions "NX*NY*NZ < 32768" need to be satisfied.
• The start point number setting range is P0 to P29995.
Example): Pallet number PL0 Points to be used, P2900 to P2904
5-41
When moving to the "PALLET DEFINITION" screen (Edit Pallet Definition), the screen shown below will
appear.
■ "PALLET DEFINITION" screen

1. Hierarchy
6. Pallet data
5. Pallet number
7. Guide line
Press the F1 key (EDIT) to move to the "PALLET EDIT" screen.
■ "PALLET EDIT" screen
5 1. Hierarchy

Edit
3. Current position
5. Pallet number
6. Pallet coordinates
7. Guide line
1. Hierarchy


3. Current position

5-42
5. Pallet number
Displays the pallet number selected on the "PALLET EDIT" screen.
6. Pallet data
Displays the pallet data of the pallet number selected on the "PALLET EDIT" screen.
When the pallet definition to be used has any input data, this means that the data is already defined.
7. Guide line
Valid keys and submenu descriptions on the "PALLET DEFINITION" screen (Edit Pallet Definition) are shown below.
/ Selects the operation system that specifies the pallet number.
EDIT Edits the pallet data currently selected.
6.1 Creating new pallet definitions

New pallet definitions are created.
Valid keys and submenu descriptions on the "PALLET EDIT (NEW)" screen (Edit
shown below.
Hand Definition New) are 5
Edit
/ Specifies the pallet number.
POINT Moves to the "POINT EDIT" screen in the pallet definition.
n NOTE
The pallet definition cannot be edited without creating it newly. Set the pallet definition after creating it newly.
1 Select the pallet definition number

with the cursor keys. Step 1 Selecting the pallet definition number
The pallet definition number scrolls up or
down to display the set contents of this shift
number by three when the scroll function is
ON.
5-43
2 Press the F1 key (EDIT) to display Step 2-5 Creating new pallet definitions
the "PALLET EDIT" screen.
n NOTE
Make sure to teach the point precisely, otherwise
the hand definition cannot be set correctly.
4 Input the pallet data.

setting item [PLN, NX, NY, NZ, Point].
Input "XY", "YZ", or "ZX" for [PLN]. For other
items, use 0 to 9 keys to input a value.
If data other than "XY", "YZ", and "ZX" is input
for [PLN], relevant alarm occurs.
Input the start point number (P0 to P29995)
for [Point].
n NOTE
• For PLN, specify the plane that becomes the reference for the pallet definition. For details, refer to "6. Pallet
definitions" in this Chapter.
• Conditions "NX*NY*NZ < 32768" need to be satisfied.
• The points to be used are five consecutive point data in the point data area (P0 to P29999).
5 5 Set the data you have input.

After inputting the data, press the ENTER key to set it.
Press the ESC key to cancel the data you have input and return to the previous screen.
Edit
6 Return to the "PALLET DEFINITION" screen.

After the data has been set, press the ESC key to return to the "PALLET DEFINITION" screen (Edit Pallet
Definition).
6.2 Editing pallet definitions

Pallet definitions are edited.
Valid keys and submenu descriptions on the "PALLET EDIT" screen (Edit Pallet Definition Edit) are shown
below.
/ Selects among PLN, NX, NY, NZ.
POINT Moves to the "POINT EDIT" screen.
UNIT Changes the display unit of the current position. ([mm] [pulse])
NEW Moves to the "CREATING NEW PALLET" screen.
n NOTE
The pallet definition cannot be edited without creating it newly. Set the pallet definition after creating it newly.
5-44
Step 1 Selecting the pallet definition number
1 Select the pallet definition number
The pallet definition number scrolls up or
down to display the set contents of this shift
number by three when the scroll function is
ON.

the "PALLET EDIT" screen.
3 Input the pallet data.
For details on how to input values, refer
to4 through6 of "6.1 Creating new
pallet definitions" in this Chapter.
n NOTE
All the values input before pressing the F3 key (NEW) will be cleared. Take care as the values cannot be
returned after newly creating.
6.3 Setting pallet definitions
w WARNING
The robot starts to move when a jog key is pressed. Do not enter the robot movement range to avoid danger.
5
n
Edit
NOTE
The pallet definition cannot be input by teaching in the return-to-origin incomplete status.
Make sure to perform absolute reset or return-to-origin before teaching.
1 Display the "PALLET SETTING"

screen. Step 2 Inputting the pallet definition number
Press the F2 key (SETTING), <Edit> g <Pallet
definition> to open the "PALLET SETTING"
screen.
2 Select the pallet to define.

Input the pallet number using 0 to 9 keys
and press the F1 key (2D) or F2 key (3D) to
select the dimension.
3 Input the number of points between

points.
Input a positive integer as the number of
points, NX, between P [1] and P [2].
In the case of NY and NZ (when specifying
3D), input the same way as NX.
Press the F4 key (NEXT) after inputting. Step 3 Inputting the point number
4 Input the start point number to be
used.
Input the pallet numbers using 0 to 9 keys
and press the F1 key (TEACH).
5 Teach the point P [1].

Move the robot tip to the point P [1] which is
used for the pallet definition and press the F4
key (NEXT).
w WARNING
When moving the robot, do not enter the robot
movement range to avoid danger.
5-45
6 Teach other points. Step 6 Teaching other points
Teach P [2], P [3], P [4], and P [5] (only when
specifying 3D) in the same way as teaching
P [1].
7 Specify the pallet definition.

Check the pallet definition to be displayed.
Select [SET] and press the ENTER key to save
the setting. After saving, press the F4 key
(FINISH) to finish the setting.
Pressing the F4 key (FINISH) without saving, it
ends before saving. When the calculation
failed, an corresponded alarm occurs.
6.4 Setting point of pallet definitions

When pressing the F1 key (POINT) on the "PALLET ■ Point setting
EDIT (NEW)" screen (Edit Pallet Definition
New) described in "5.1 Creating pallet definitions
newly" of this Chapter or "PALLET EDIT" screen
(Edit Pallet Definition Edit) described in "5.2
Editing pallet definitions" of this Chapter, you can
5 set the point of the pallet definition.

To set the point, move to the "POINT EDIT" screen
described in "2. Point editing" in this Chapter.
Edit
Move to relevant point number in the pallet definition and edit the point data.
For details about how to edit the point data, refer to "1. Point editing" in this Chapter.
w WARNING
The robot starts to move when point trace or manual operation is executed. To avoid danger, do not enter the
robot movement range.
n NOTE
• There are five point data in the pallet definition. Set all of the point data.
• Input the point data in the pallet definition in "mm" units.
• The point order in the pallet definition has the meaning. For details, refer to "6. Pallet definitions" in this Chapter.
5-46
7. Parameters
There are 11 kinds of parameters related the followings;
• controller setting • robot operation • axis • driver • I/O • option board

• gripper • camera • lighting • conveyor tracking • double-carriage
7.1 Parameter setting conditions

Set the parameters in the following cases.
• The system generation is performed. • The robot in the factory shipment status is installed and operated.
• The robot or axis movement range is changed. • The robot or axis transfer conditions are changed.
• Gripper, camera or lighting conditions are changed.
c CAUTION
• The parameters are important data to match the robot specifications to the controller specifications. If the
parameters are set incorrectly, this may cause alarm or malfunction. So, be sure to set the parameters correctly.
• Save the data files (program, point, point comment, parameter, shift, hand, and pallet, etc.) saved inside the
RCX340/RCX320 to an external storage device, such as personal computer before and after setting the
parameters.
• If incorrect parameter setting is changed, this may adversely affect the robot operation or cause serious hazard
to the operator. Before changing the parameters, contact your distributor.
• Absolute reset or return-to-origin may be required as the parameters are changed.
• Some parameters require turning off and on the power to be valid.
5
Edit
7.2 Setting the parameters
For setting the parameters, select [Edit] - [Parameter] on PBX, or open the parameter editor of support software.
This procedure shows the setting parameters using PBX.
c CAUTION
Parameters for camera, lighting, and double-carriage are not settable by PBX.
Step 1 "PARAMETER" screen

1 Press the F1 key (CONT) to F10 key
(TRACKING) to select the category.
The "PARAMETER" screen for the selected
category will appear.
5-47
Valid keys and submenu descriptions on the "PARAMETER" category screen are shown below.
CONT Sets the controller setting related parameters.
ROBOT Sets the robot operation related parameters.
AXIS Sets the axis related parameters.
DRIVER Sets the driver related parameters. (Contact your distributor for changing this parameter.)
IO Sets the I/O related parameters.
OPTION Sets the option board related parameters.
GRIPPER Sets the gripper related parameters.*
CAMERA Sets the iVY2 system camera related parameters.*
LIGHT Sets the iVY2 system light related parameters.*
TRACKING Sets the tracking system related parameters.*
5
* Refer to the each manual for details.
2 Select the parameter.

Use the cursor keys to select the parameter. Input the parameter number on the pop-up screen that is
displayed by pressing the F2 key (JUMP) to select the parameter otherwise.
Edit
Press the F1 key (EDIT) to select.

"PARAMETER>CONT" screen "PARAMETER>ROBOT" screen "PARAMETER>AXIS" screen
* The screens are examples, and the setting depends on the robots and options to use.
n NOTE
Changing the driver parameters might influence to robot control even though they can be selected.
Contact your distributor for changing them.
Valid keys and submenu descriptions on each parameter setting screen are shown below.
/ Moves up or down the cursor.
EDIT Edits the parameter.
JUMP Moves the cursor to the specified number.
Switches ON/OFF of the scroll function.
3 Press the ESC key to exit the parameter editing.
5-48
7.3 Parameter list
n NOTE
•We do not recommend that each user changes the driver parameters. Contact your distributor for changing them.
•For the parameters; Gripper, Camera, Lighting, and Conveyor tracking, refer to the relevant manuals.
■ Controller parameters
For details about parameters, refer to "7.4.1 Controller parameters" in this Chapter.
Name Identifier Setting range Initial value Unit
Incremental Mode control INCMOD 0: INVALID, 1: VALID 0
MOVEI/DRIVEI start pos. MOVIMD 0: KEEP, 1: RESET 0
MOVET start pos. MOVTMD 0: KEEP, 1: RESET 0
Servo on when power on SRVOON 0: INVALID, 1: VALID 0
0: INVALID, 1: VALID
Sequence flag *1 SEQFLG 0
3: VALID & EMG-Reset
Safe mode flag *1 SAFEMODE -2147483648 to 2147483647 -1
Permission to start program in origin

RUNINOIC 0: INVALID, 1: VALID 0
5
non-completion
Permission to reset at controller boot RSTATBOT 0: INVALID, 1: VALID 0
Permission to reset at program start RSTATRUN 0: INVALID, 1: VALID 0
Current program no. CRNTPG 0 to 100 0
Edit
Main program no. MAINPG 0 to 100 0
INPUT/PRINT using channel STDPRN 1: PB, 2: CMU, 3: ETH, 5: iVY 1
Emergency time *1*2 EMGTIM 0 to 2000 1000 ms
Emergency time 2 *1*2 EMGTIM2 0 to 2000 300 ms
Debug start mode DBGSTAMD 0: LOAD, 1: START 0
Break point stop mode BRKSTPMD 0: HOLD, 1: HALDALL 1
Shift on area check out SFTONACO 0: INVALID, 1: VALID 1
*1 Contact your distributor for changing these parameters as editing them may influence the robot control.
*2 New setting values will be valid after turning off and on the power.
n NOTE
This manual describes the controller parameters shown above.
Others are normally write-protected. When such parameters need to be changed, contact your distributor.
■ Robot parameters
For details about parameters, refer to "7.4.2 Robot parameters" in this Chapter.
Tip weight (kg) *1 WEIGHT 0 to 500 Depends on the model. kg
Tip weight (g) *1 WEIGHTG 0 to 500000 Depends on the model g
Origin sequence ORGORD 0 to 654321 312456
R axis orientation *2 RORIEN 0: KEEP, 1: FREE 0
Arm type at reset *2 ARMTYP 0: NONE, 1: RIGHT, 2: LEFT 0
MOVE L coef. for SCARA *2 CPACRAT 1 to 100 100 %
R axis inertia for SCARA *2 SCRINR 0 to 32767 0 10 kgm 2

-4
R axis inertia offset for SCARA INROFST 0 to 32767 0 0.001mm
MOVE L max speed for SCARA *2*3 CPVMAX 1 to 32767 750 mm/s
MOVE L accel. for SCARA *2*3 CPACCL 1 to 32767 500 mm/s 2
MOVE L comp. curve for SCARA *2*3 CPCMPCRV 0 to 255 0
5-49
MOVE L comp. velocity for SCARA *2*3 CPCMPVL 1 to 32767 500 mm/s
Zone control for SCARA *2*3 ZONCTRL 0: INVALID, 1: VALID Depends on the model.
XY axis accel. rate for SCARA *2*3 SCRACC 1 to 500 100 %
XY axis velocity rate for SCARA *2*3 SCRVEL 1 to 500 100 %
R axis velocity rate for SCARA SCRRVEL 1 to 500 Depends on the model. %
Inner side circle minimum radius for SCARA *2*3 MINRAD 10 to 100000 5000 0.001mm
Speed limit radius 1 for SCARA *2*3 CERAD1 10 to 100000 30000 0.001mm
Speed limit radius 2 for SCARA *2*3 CERAD2 10 to 100000 5000 0.001mm
Speed limit 1 for SCARA *2*3 SPLMT1 1 to 100 10 %
Speed limit 2 for SCARA *2*3 SPLMT2 1 to 100 1 %
SCARA outer CP prohibited range SCROPHR 0 to 9999999 Depends on the model. 0.001mm
SCARA outer Jogging CP velocity limited range SCROVLR 0 to 9999999 Depends on the model. 0.001mm
SCARA outer Jogging CP velocity limit SCROVL 1 to 100 5 %
Custom robot *3 CSTMRBT 0: INVALID, 1: VALID 0
*1 These parameters are not available for multi type robots and the tip weight of the axes specified as auxiliary axis
are set on the axis tip weight of the axis parameter.
5 *2 This parameter is valid only for SCARA robots.

*3 Contact your distributor for changing these parameters as editing them may influence the robot control.
■ Axis parameters
For details about parameters, refer to "7.4.3 Axis parameters" in this Chapter.
Edit
+ Soft limit PLMT+ -9999999 to 9999999 Depends on the model. pulse
- Soft limit PLMT- -9999999 to 9999999 Depends on the model. pulse
Accel. coefficient ACCEL 1 to 100 100 %
Decel. rate DECRAT 1 to 100 100 %
Axis tip weight AXSTIP 0 to value depending on the model Depends on the model. kg
Tolerance TOLE 1 to value depending on the model 80 pulse
OUT position OUTPOS 1 to 9999999 2000 pulse
CONT pulse CONTPLS 0 to 9999999 0 pulse
Arch distance 1 ARCHP1 0 to 9999999 9999999 pulse
Arch distance 2 ARCHP2 0 to 9999999 9999999 pulse
Push speed PSHSPD 1 to 100 10 %
Push force PSHFRC -1000 to 1000 100 ms
Push time PSHTIME 1 to 32767 1000 ms
Push judge speed PSHJGSP 0 to 100 0 %
Push method PSHMTD 0: NORMAL, 1: RESET 0
Manual accel MANACC 1 to 100 100 %
Origin speed 1 ORGVEL1 1 to 1000 200 pulse/10ms
Origin speed 2 ORGVEL2 1 to 100 50 pulse/10ms
Speed after origin ORGMVS 1 to 100 20 %
Move position ORGMVP -9999999 to 9999999 0 pulse
Origin shift ORGSFT -9999999 to 9999999 0 pulse
Dual offset DOFSET -9999999 to 9999999 0 pulse
0: MARK, 1: SENSOR,
Origin method ORGMTD Depends on the model.
2: TORQUE, 3: ZR_TORQUE
5-50
Origin direction ORGDIR 0: MINUS, 1: PLUS 0
Motor direction MOTDIR 0: CW, 1: CCW Depends on the model.
0: NORMAL, 1: NORMAL_MOVE
2: DIST, 3: DIST_MOVE
Semi-absolute mode SABSRCH 0
4: DIR, 5: DIR_MOVE
6: CHECK, 7: CHECK_MOVE
Arm length ARMLEN 0 to 9999999 0 0.001mm, 0.001 deg.
Offset pulse OFFSET -9999999 to 9999999 0 pulse
For multi type robots and auxiliary axes:

• The tip weight parameter needs to be set for each axis. (Set the tip weight for each axis, such as tip weight of axis 1,
tip weight of axis 2, and so on.)
• Set the axis tip weight parameter of the axis parameters.
• Even when the tip weight of the robot parameters is changed, the acceleration does not change.
For Cartesian, SCARA and Pick & Place type robots:
• Set the workpiece weight held at the robot tip for the tip weight of the robot parameters.
• The value of the arm length parameter may affect the acceleration. The effective stroke value of each axis needs to
be input for the arm length.
■ I/O parameters
For details about parameters, refer to "7.4.4 I/O parameters" in this Chapter.
Name Identifier Setting range Initial value

5
DO output at emergency stop EMGCDO 0: IO_RESET, 1: IO_HOLD 1
Error output (DO & SO)* ERPORT 0 to 0277 (Octal) 0
Edit
Battery warning output (DO & SO)* BTALRM 0 to 0277 (Octal) 0
DIO Noise Cancel Num. DIOCAN 0 to 7 1
DO output at program reset RESCDO 0: IO_RESET, 1: IO_HOLD 0
Remote command RMTCMD 0: INVALID, 1: VALID 1
DI17 mode DI17MD 0: ABS, 1: ABS_ORG 0
Indiv. Origin IOORGMD 0: INVALID, 1: VALID 0
Axes sel. port (DI & SI) IOORGIN 2 to 027 (Octal) 2
Done output port (DO & SO)* IOORGOUT 0 to 027 (Octal) 0
Servo output port (DO & SO)* IOSRVOUT 0 to 027 (Octal) 0
Gripper origin axes select port (DI & SI)* GRPORGIN 0 to 027 (Octal) 0
Real time output RTOENBL 0: INVALID, 1: VALID 0
* New setting values will be valid after turning off and on the power.
■ Option board related parameters

For details about parameters, refer to "7.4.5 Option board related parameters" in this Chapter.
Initial Separate
Name Identifier Setting range
value manual
Option board enable* OPTENBL 0: INVALID, 1: VALID 1
Parallel IO ID* DIOID 1234 to 4321 1234
CC-Link address ID CCLADD 1 to 61 1 ✔
0: 156K, 1: 625K, 2: 2.5M,

CC-Link baudrate CCLCOM 0 ✔
3: 5M, 4: 10M
CC-Link version CCLVER 0: Ver.1.10, 1: Ver.2.00 0 ✔
PROFIBUS station address* PBUSADD 1 to 125 125 ✔
Gripper servo when emergency stop GEMGMD 0: OFF, 1: ON 1 ✔
Include Gripper in Origin GORGMD 0: NO, 1: YES 1 ✔
5-51
Initial Separate
Name Identifier Setting range
value manual
Manual Holding of Gripper GMHLMD 0: INVALID, 1: VALID 1 ✔
Gripper origin sequence GORGORD 1234 to 4321 1234 ✔
Gripper origin priority GORGPRI 0: AFTER, 1: BEFORE 0 ✔
DeviceNet address ID DEVADD 0 to 63 0 ✔
DeviceNet baudrate DEVCOM 0:125K, 1:250K, 2: 500K, 3: AUTO 0 ✔
DeviceNet I/O type DEVTYP 0: NORMAL, 1: COMPACT 0 ✔
EtherNet/IP IP address EIPADD 0.0.0.0 to 255.255.255.255 0.0.0.0 ✔
EtherNet/IP subnet mask EIPSUB 0.0.0.0 to 255.255.255.255 0.0.0.0 ✔
EtherNet/IP default gateway EIPDEF 0.0.0.0 to 255.255.255.255 0.0.0.0 ✔
EtherNet/IP DHCP enable EIPDHCP 0: INVALID, 1: VALID 0 ✔
EtherCAT Device ID ECTDEVID 0 to 65535 0 ✔
SIOW extension* SIOWEXT 0: INVALID, 1: VALID 0 ✔
iVY2 Unit enable* IVYENBL 0: INVALID, 1: VALID 1 ✔
iVY2 Monitor Mode DISPMODE 0, 1, 2, 3 0 ✔
5
iVY2 Monitor channel 1 DISPCH1 0 to 16 0 ✔
iVY2 Monitor channel 2 DISPCH2 0 to 16 0 ✔
* New setting values will be valid after turning off and on the power.
Edit
■ W.carrier parameters for double-carriage type robot

For details about parameters setting, refer to this Chapter "12. Collision prevention for double-carriage".
c CAUTION
Double-carrier parameters cannot be set on PBX, use the support software for RCX 3 series for setting them.
0: OFF
W.carrier control mode WCMODE 1: STOP 0
2: WAIT
W.carrier stroke WCSTRK 0 to 9999999 9999999 0.001mm
W.carrier robot 1 WCRBT1 0 to 4 0
W.carrier axis 1 WCAXS1 0 to 6 0
5-52
7.4 Parameter descriptions
7.4.1 Controller parameters

■ Incremental mode control ‹INCMOD ›
This parameter sets whether or not the robot is always put in the return-to-origin incomplete status when starting up this
controller. Set "0: INVALID" in the case that there are axes whose return-to-origin method are set to "Mark". When this
parameter is initialized, "0: INVALID" is set.
Setting Meaning
0: INVALID Holds the origin position information on absolute type axes even when the power is shut down.
1: VALID Puts all axes in the return-to-origin incomplete status when turning on the power.
n NOTE
• When this parameter is set to "VALID", all axes are always put in the return-to-origin incomplete status when
turning on the controller.
• When using the absolute type axes without installing the absolute battery, set this parameter to "VALID".
■ MOVEI/DRIVEI start pos. ‹MOVIMD›

This parameter sets the operation when executing the relative motion command again after it has been stopped by the
5
interlock or emergency stop. When this parameter is initialized, "0: KEEP" is set.
Setting Meaning
The previous motion continues. The target position before executing again does not change. When
0: KEEP
executing return-to-origin or absolute reset, the target position after the relative motion stop is reset.
The relative motion is newly performed from the current position. The target position before executing
1: RESET
Edit
again will change.
■ MOVET start pos. ‹ MOVTMD›

This parameter sets the operation when executing the MOVET command again after it has been stopped by the interlock
or emergency stop. When this parameter is initialized, "0: KEEP" is set.
Setting Meaning
The previous motion continues. The target position before executing again does not change. When
0: KEEP
executing return-to-origin or absolute reset, the target position after the relative motion stop is reset.
The relative motion is newly performed from the current position. The target position before executing
1: RESET
again will change.
■ Ser vo on when power on ‹SRVOON›

This parameter sets whether the controller starts in the servo on status or servo off status when starting up the controller.
When this parameter is initialized, "0: INVALID" is set.
Setting Meaning
0: INVALID The controller always starts in the servo on status.
The controller starts in the servo on status. However, when the control authority is not released or the
1: VALID
serial I/O setting is enabled, the controller starts in the servo on status.
■ Sequence flag ‹SEQFLG›

This parameter sets whether the controller executes the sequence program. When this parameter is initialized, "0: INVALID"
is set.
Setting Meaning
0: INVALID The sequence program execution is not allowed.
1: VALID The sequence program execution is allowed.
3: VALID & EMG-Reset The sequence program execution, program reset and emergency stop release are allowed.
5-53
■ Safe mode flag ‹SAFEMODE›
The setting value saved in "7. Safety setting" in this Chapter will be stored into this parameter. As editing this may
influence the robot setting, do not attempt to edit.
■ Permission to start program in origin non-completion ‹RUNINOIC›

This parameter sets whether the controller allows to execute the program in origin incomplete status. When this
parameter is initialized, "0: INVALID" is set.
Setting Meaning
0: INVALID The program cannot be executed.
1: VALID The program can be executed.
■ Permission to reset at controller boot ‹RSTATBOT›

This parameter sets whether the controller performs program reset when it starts. When this parameter is initialized,
"0: INVALID" is set.
Setting Meaning
0: INVALID The program reset is not performed.
1: VALID The program reset is performed.
5 ■ Permission to reset at program start ‹RSTATRUN›

This parameter sets whether the controller performs program reset when the program starts. When this parameter is
initialized, "0: INVALID" is set.
Edit
Setting Meaning
0: INVALID The program reset is not performed.
1: VALID The program reset is performed.
■ Current program no. ‹CRNTPG›

This parameter sets the program number last executed to the task 1. When this parameter is initialized, "0" is set.
n NOTE
Current program is the one that was executed last at task 1. Setting this number allows to register any programs.
Furthermore, it is registered to task 1 at program resetting when the main program number is "0".
■ Main program no. ‹MAINPG›

This parameter sets the program number that is registered to the task 1 first at program resetting. When this parameter is
initialized, "0" is set.
n NOTE
Main program is the one that is registered to task 1 first at program resetting.
When the main program number is "0", the current program number is registered to the task 1 at program resetting.
■ INPUT/PRINT using channel ‹STDPRN›

This parameter sets the PRINT statement output destination channel and INPUT statement input origin channel. When
this parameter is initialized, "1: PB" is set.
Setting Meaning
1: PB Programming box
2: CMU RS232C port
3: ETH Ethernet port
5: IVY Ethernet port on the iVY2 board
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■ Emergency time ‹EMGTIM›
This parameter sets the longest servo control time at emergency stop. As editing this may influence the robot setting, do
not attempt to edit.
■ Emergency time2 ‹EMGTIM2›

This parameter sets the longest servo control time when the power is shut off. As editing this may influence the robot
setting, do not attempt to edit.
■ Debug start mode ‹DBGSTAMD›

This parameter sets whether the started program should be executed or stopped when the START statement is executed on
the program step execution (debug). When this parameter is initialized, "0: LOAD" is set.
Setting Meaning
0: LOAD The started program is in stop status on the first line.
1: START The started program is in executed status.
■ Break point stop mode ‹BRKSTPMD›

This parameter sets whether the break point stops only the relevant program or all the programs. When this parameter is
5
initialized, "1: HOLD ALL" is set.
Setting Meaning
0: HOLD The program with the break point stops.
1: HOLD ALL All the programs stop.
Edit
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7.4.2 Robot parameters
■ Tip weight ‹WEIGHT›

The tip weight (workpiece weight + tool weight) of the robot is set in "kg" units. However, when the robots for which the
tip weight is set are YK120XG, YK150XG, YK180XG, or YK220X, the tip weight is set in "0.1kg" units.
The maximum value is determined by the robot model that has been set. When this parameter is initialized, the maximum
value is set.
The acceleration value, etc., is set to the optimal valve according to the value of this parameter.
c CAUTION
When a value lower than the actual tip weight is set, this may adversely affect the robot main body. Therefore,
be sure to input a correct value.
n NOTE
• This parameter cannot be input for multi type robots.
• The tip weight of the axes specified as auxiliary axis are set on the axis tip weight of the axis parameter.
• When using the electric gripper YRG series, the weight of the gripper main body is added to the tool weight.
For details, refer to the YRG series user's manual.
■ Tip weight (g) ‹WEIGHTG›
5
The tip weight (workpiece weight + tool weight) of the robot is set in "g" units.
When this parameter is initialized, the value of the tip weight will be set depending on the robot model.The maximum
value is determined by the robot model that has been set.
c CAUTION
When a value lower than the actual tip weight is set, this may adversely affect the robot main body. Therefore,
Edit
be sure to input a correct value.
n NOTE
• This parameter cannot be input for multi type robots.
• The tip weight of the axes specified as auxiliary axis are set on the axis tip weight of the axis parameter.
• When using the electric gripper YRG series, the weight of the gripper main body is added to the tool weight.
For details, refer to the YRG series user's manual.
• If both of Tip weight parameters; <WEIGHT> and <WEIGHTG> are set, a total value will be set.
Example: WEIGHT = 2, WEIGHTG = 500; Tip weight = 2.5 kg (2500 g)
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■ Origin sequence ‹ORGORD›
This parameter sets the order of return-to-origin operation using the axis number (1 to 6).
Axes perform return-to-origin operation in order from the left end. Axes that are not set finally perform return-to-origin
operation at the same time. When this parameter is initialized, "312456" is set.
c CAUTION
When performing return-to-origin of three or more axes with the return-to-origin method set at the stroke end
method, the emergency stop may be activated.
At this time, change the stroke end return-to-origin method to simultaneous two axes or return-to-origin of each axis.
n NOTE
• Perform return-to-origin operation from an axis that may interfere with a peripheral device.
• This order includes the robot axis and axillary axis.
When different position detection methods (absolute specifications or incremental specifications) are mixed in
one robot, the order of return-to-origin operations may vary depending on the return-to-origin method.
Example:
Robot axis configuration: Axis 1, axis 2, axis 3, axis 4
Return-to-origin order setting: 312456
Position detection method of each axis: Axis 1, axis 2 Incremental specifications
Axis 3, axis 4 Absolute specifications
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1. Return-to-origin operations of only the absolute type axes are performed.
Return-to-origin operations of only the absolute type axes are performed from the left end of the return-to-
origin order setting in order.
3 1 2 4 5 6
Axis 3 operation Axis 1 cancel Axis 2 cancel 4 operation Axis 5 cancel Axis 6 cancel
Edit
2. Return-to-origin operations of only the incremental type axes are performed.
Return-to-origin operations of only the incremental type axes are performed from the left end of the return-
to-origin order setting in order.
3 1 2 4 5 6
Axis 3 cancel Axis 1 operation Axis 2 operation Axis 4 cancel Axis 5 cancel Axis 6 cancel
3. Return-to-origin operations of both the absolute type and incremental type axes are performed.
First, return-to-origin operations of the absolute type axes are performed from the left end of the return-to-
origin order setting in order.
Subsequently, return-to-origin operations of the incremental type axes are performed in the same manner.
3 1 2 4 5 6
Axis 3 operation Axis 1 cancel Axis 2 cancel Axis 4 operation Axis 5 cancel Axis 6 cancel
3 1 2 4 5 6
Axis 3 cancel Axis 1 operation Axis 2 operation Axis 4 cancel Axis 5 cancel Axis 6 cancel
n NOTE
The semi-absolute specifications of the PHASER series are included in the incremental specifications.
The actual example of return-to-origin operation is shown below.
Programming box operation PGM execution IO operation

Key operation Command *1 Input port DI17 mode *2
Absolute specifications only Impossible (possible by-axis) ORIGIN 0, 2 DI17 ABS
Incremental specifications only Impossible (possible by-axis) ORIGIN 0, 1 DI14 ABS
Both specifications at the same time "ALL" ORIGIN 0, 0 DI17 ABS/ORG
*1 For details about ORIGIN command, refer to the programming manual.

*2 This is the DI17 mode setting of the control parameters.
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■ R-axis orientation ‹RORIEN›
This parameter sets whether or not the R-axis orientation (posture) is held when performing jog operation on the
Cartesian coordinates in the SCARA robot. When this parameter is initialized, "0: KEEP" is set.
When the orientation set at "KEEP", the R-axis automatically rotates to hold the current orientation if jog movement is
performed on the Cartesian coordinates.
This parameter is invalid for robots other than the SCARA robot.
Setting Meaning
0: KEEP Keeps the R-axis orientation (posture).
1: FREE Does not keep the R-axis orientation (posture).
n NOTE
This parameter is invalid when the R-axis is set at the auxiliary axis.
■ Arm type at reset ‹ARMTYP›

This parameter sets the hand system that is selected at program reset. When this parameter is initialized, "0: NONE" is set.
When moving on the Cartesian coordinates in the SCARA robot or when performing coordinate conversion (pulse
coordinates Cartesian coordinates), the hand system setting becomes important.
This parameter is invalid for robots other than the SCARA robot.
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Setting Meaning
0: NONE Keeps the hand system that was set before performing program reset.
1: RIGHT Sets the hand system to the right-handed.
2: LEFT Sets the hand system to the left-handed.

Edit
■ MOVE L coef. for SCARA ‹CPACRAT›

This parameter sets the acceleration/ deceleration at linear interpolation, circular interpolation and PATH movement of
the SCARA robots between 1 to 100%. When this parameter is initialized, "100" is set.
This coefficient obtains optimum efficiency when set to "100%" to the tip weight and SCARA R-axis moment of inertia.
c CAUTION
If decreasing the acceleration coefficient, a period of stop time in response to the stop command by the STOP
key or stop signal may become long.
n NOTE
When the tip swings during robot movement acceleration/ deceleration, decrease this value to suppress the swing.
■ R axis inertia for SCARA ‹SCRINR›

This parameter sets the moment of inertia for the R-axis of the SCARA robot. The unit is "kgm2 × 10-4".
This parameter is invalid for robots other than the SCARA robot. When this parameter is initialized, "0" is set.
■ R axis inertia offset for SCARA ‹INROFST›

This parameter sets the distance that is offset from the rotation center of the R-axis to the gravity center of the tip weight.
The unit is "0.001 mm".
This parameter is invalid for robots other than the SCARA robot YK-XE.
When this parameter is initialized, "0" is set.
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7.4.3 Axis parameters
■ Plus (+) soft limit ‹PLMT+› Minus (-) soft limit ‹PLMT-›
This parameter sets the axis movement range using the upper limit value [plus (+) soft limit] and lower limit value [minus
(-) soft limit]. When this parameter is initialized, the value unique to the model is set.
When performing point teaching or automatic operation, check that the specified point data is within the soft limit range.
w WARNING
Be sure to set the soft limit inside the mechanical movement range (mechanical stopper) of the axis.
c CAUTION
• Since this parameter is important to determine the operating range, be sure to set the correct value.
• For the X-axis and Y-axis of the SCARA robot, make the setting so that the total of the plus (+) and minus (-) soft limit
absolute values does not exceed 360 degrees. Otherwise, an error may occur in the coordinate conversion results.
• When return-to-origin is incomplete, the soft limits become invalid. Therefore, take great care when performing
jog movement.
n NOTE
Input the soft limit value with the 0 to 9 keys, "." key, and "-" key.
When the value that is input with the keys is a real number (numeric value including a period), the unit is
automatically converted into the pulse value.
■ Acceleration coefficient ‹ACCEL› 5

This parameter sets the acceleration/ deceleration during robot movement in a range of 1 to 100%. When this parameter
is initialized, "100" is set.
Edit
c CAUTION
When decreasing the acceleration coefficient, a period of stop time in response to the stop command by the
STOP key or stop signal may become long. Take great care when using the robot with the acceleration
coefficient decreased extremely.
n NOTE
When the tip swings during robot movement acceleration/ deceleration, decrease this value to suppress the swing.
■ Deceleration rate ‹DECRAT›

This parameter sets the deceleration rate during robot movement in a range of 1 to 100% and sets the deceleration as
the rate to acceleration. When this parameter is initialized, the value unique to the model is set.
c CAUTION
When decreasing the deceleration rate, a period of stop time in response to the stop command by the STOP key
or stop signal may become long. Take great care when using the robot with the deceleration rate decreased
extremely.
n NOTE
•Set this parameter for changing only deceleration without decreasing acceleration.
•When the tip swings during robot movement deceleration, decrease this value to suppress the swing.
■ Axis tip weight ‹AXSTIP›

This parameter sets the tip weight (workpiece weight + tool weight) in "kg" units when the robot setting is multi type and
axillary axis setting. Setting this parameter makes the acceleration value optimum automatically.
When this parameter is initialized, the maximum value is set. The maximum value is unique to the model.
c CAUTION
When a value lower than the actual axis tip weight is set, this may adversely affect the robot main body.
Therefore, input a correct value.
n NOTE
This parameter can be input only for multi type robots (other than Cartesian type robots) and auxiliary axes.
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■ Tolerance ‹TOLE›
This parameter sets the positioning completion range to the target position when the robot moves. When this parameter is
initialized, the value unique to the model is set.
When the current position of the robot enters the specified range, this is judged to the positioning completion.
n NOTE
Input the tolerance value with the 0 to 9 keys, "." key, and "-" key.
When the value that is input with the keys is a real number (numeric value including a period), the unit is
automatically converted into the pulse value.
Tolerance range
Current position Target position
Tolerance range
c CAUTION
If the tolerance value is made small, a variation in robot positioning time may occur.
■ OUT position ‹OUTPOS›
5 This parameter sets the execution completion range to the target position when a movement command is executed.
However, it applies to only the PTP motion.
When the current position of the robot enters the specified range, this is judged to the movement command execution
completion. However, the movement to the target position continues. The larger the value is, the shorter the time until
Edit
the next command executed is.

When executing the movement command continuously, the next movement command cannot be executed until the
positioning is completed even when the previous movement command line has been completed.
When this parameter is initialized, the value unique to the model is set.
n NOTE
Input the OUT valid position with the 0 to 9 keys, "." key, and "-" key. When the value input with the keys is a real
number (numeric value including a period), the unit is converted into the pulse value.
OUT valid position range OUT valid position range
Tolerance range
c CAUTION
If the tolerance value is larger than the OUT valid position value, both the command execution and positioning
are completed when it enters the OUT valid position range.
■ CONT pulse ‹CONTPLS›

This parameter sets the execution completion range to the target position when the movement command specified as
CONT option is executed in the program. However, this parameter applies to only the PTP motion. When this parameter
is initialized, "0" is set.
c CAUTION
The movement command is judged by the OUT valid position value when the CONT pulse value is "0". If the
tolerance value is larger than the OUT valid position value, both the command execution and positioning are
completed when it enters the OUT valid position range.
n NOTE
Input the OUT valid position with the 0 to 9 keys, "." key, and "-" key. When the value input with the keys is a real
number (numeric value including a period), the unit is converted into the pulse value.
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■ Arch distance 1 ‹ARCHP1› Arch distance 2 ‹ARCHP2›
This parameter sets the overlap area of the arch-specified axis and other axis movement when executing the arch motion
that is an option of the PTP motion. When this parameter is initialized, "9999999" is set.
The smaller the value, the larger the overlap area during axis movement. As a result, the movement execution time can
be reduced.
The value whose unit of the selected axis setting value was converted is shown.
n NOTE
Input the arch distance 1 and arch distance 2 with the 0 to 9 keys, "." key, and "-" key. When the value input with
the keys is a real number (numeric value including a period), the unit is converted into the pulse value.
Arch distance
2. Other axes movement
Arch-specified axis = 0
Overlap area
Arch distance 1 Arch distance 2
1. Arch-specified axis movement 3. Arch-specified axis movement
1. The arch-specified axis starts moving to the position specified by the option. ("1" shown in the figure above)
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2. When the arch-specified axis moves arch distance 1 value or more, other axes move to their target positions. ("2"
shown in the figure above)
3. The arch-specified axis moves to the target position so that the remaining distance becomes arch distance 2 when the
movement of other axes is completed. ("3" shown in the figure above)
4. When all axes enter the OUT valid position range, the command is completed.
Edit
c CAUTION
The tracking of the arch motion may vary depending on the movement speed. Check the interference check at
actual robot operation speed.
■ Push speed ‹PSHSPD›

This parameter sets the movement speed rate in 1 to 100 [%] at executing PUSH statement.
• Neither "S" nor "DS" is set as an option in the PUSH statement:
Max. speed of a robot (mm/s or deg./s) x Pushing movement speed (%) x Auto. movement speed (%)
• "S" is set as an option in the PUSH statement:
Max. speed of a robot (mm/s or deg./s) x Pushing movement speed (%) x Auto. movement speed (%) x Program movement speed (%)
• "DS" is set as an option in the PUSH statement:
Max. speed of a robot (mm/s or deg./s) x Pushing movement speed (%) x Movement speed of an axis (%)
* Refer to the programming manual for details regarding the option settings of the PUSH statement.
■ Push force ‹PSHFRC›

This parameter sets the pushing thrust in -1000 to 1000 [%] at executing PSHFRC statement.
Actual pushing thrust is as follows:
• Rated thrust x <pushing thrust> / 100
■ Push time ‹PSHTIME›

This parameter sets the pushing time within 0 to 32767 [ms] at executing PSHTIME statement. Pushing time is counted in
conditions as follows:
• The pushing time reaches the specified value.
• The axis movement speed lowers the pushing detection speed threshold.
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■ Push judge speed ‹PSHJGSP›
The pushing time counting starts when the current axis movement speed lowers the rate specified in this parameter
against command movement speed. When "0" is set, the judgement is invalid.
■ Push method ‹PSHMTD›

This parameter sets the pushing control end detection at executing PUSH statement as follows:
0: The time for the pushing thrust to reach the specified value is totalized to execute the pushing control end detection.
1: The pushing control end detection is executed only when the pushing thrust continuously reaches the specified
value. If the pushing thrust is lower than the specified value, the elapsed time is reset to "0".
When this parameter is initialized, "0: NORMAL" is set.
■ Manual acceleration ‹MANACC›

This parameter sets the acceleration coefficient during robot movement with the manual operation in a range of 1 to
100 [%]. When this parameter is initialized, "100" is set.
c CAUTION
When decreasing the acceleration coefficient, a period of stop time in response to the stop command by the
STOP key or stop signal may become long. Take great care when using the robot with the acceleration
coefficient decreased extremely.
5 n NOTE
When the tip swings during acceleration of the manual movement, decrease this value to suppress the swing.
■ Origin speed 1 ‹ORGVEL1›

Edit
This parameter sets the movement speed when performing return-to-origin. When this parameter is initialized, the value
unique to the model is set for the incremental type axis and absolute type axis. For the semi-absolute type axis, "20
pulse/ms (= 20 mm/s)" is set.
■ Origin speed 2 ‹ORGVEL2›

This parameter sets the stop speed in performing return-to-origin. When this parameter is initialized, the value unique to
the model is set.
■ Speed after origin ‹ORGMVS›

This parameter sets the movement speed when moving to the return-to-origin position in a range of 1 to 100 [%]. When
this parameter is initialized, the value unique to the model is set.
c CAUTION
Actual movement speed is:
Maximum speed command [rpm (mm/s for linear motor robots)] x Automatic operation speed [%] x Speed after origin [%]
■ Move position ‹ORGMVP›

This parameter sets the movement position after performing return-to-origin. When this parameter is initialized, the value
unique to the model is set.
c CAUTION
The axes that are set as mark method move to the "move position" after performing absolute reset in servo on
status. After performing absolute reset in servo off status, they do not move to the "move position".
Return-to-origin is not performed when the semi-absolute search is set to "0", "2", "4" or "6" on linear motor robots
with semi-absolute specification.
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■ Origin shift ‹ORGSFT›
This parameter is used to correct the deviation amount of each axis if the work position deviates after the motor has been
replaced and an impact has been applied. When this parameter is initialized, "0" is set.
Set the electrical deviation origin position amount to the mechanical origin position of the robot. The value of this
parameter becomes the current motor position immediately after return-to-origin operation.
Example:
When the current position after moved to the work position before positional deviation is expressed by "A" pulse and the
current position after moved to the work position after positional deviation is expressed by "B" pulse, input the value (A - B).
c CAUTION
• This parameter is important to determine the robot position.
• When this parameter is changed, the robot is put in the origin return incomplete status.
• This parameter is valid after performing absolute reset or return-to-origin.
• Setting incorrect values may cause of robot collision.
■ Dual offset ‹DOFSET›

The dual offset is the function that controls two motor axes of the same models with one motor axis and adjusts the origin
position of the sub axis to the main one. For details, refer to Chapter 4 "11. Dual offset".
c CAUTION
This parameter is used only for the robots which are prepared to use dual offset function.
5
■ Origin method ‹ORGMTD›
Edit
This parameter sets the return-to-origin method of the robot. When this parameter is initialized, the value unique to the
model is set.
0: Mark method …… Method to set the origin position, such as match mark by the user
1: Sensor method …… Origin position detection method by inputting sensor
2: TORQUE (Stroke end method) … Origin position detection method by the robot stroke end
3: ZR_TORQUE (ZR-stroke end method) …
Origin position detection method by the specific robot stroke end
The origin position is detected by combining the Z and R-axis return-to-origin methods.
c CAUTION
• If the setting is changed without consulting, your distributor shall not be held responsible for any trouble arising
from this setting change.
■ Origin direction ‹ORGDIR›

This parameter sets the movement direction when the robot performs return-to-origin. When this parameter is initialized,
the value unique to the model is set.
0: Minus … The minus (-) direction of the motor position is the return-to-origin direction.
1: Plus … The plus (+) direction of the motor position is the return-to-origin direction.
c CAUTION
• When any of the conditions shown below is satisfied, do not change the factory setting.
Conditions Problem at setting change
When performing stroke end return-to-origin on the non-motor side, the origin
The model is the F14H lead 5 mm.
position becomes unstable.
The iVY2 system is used. The camera calibration is not executed correctly.
When the setting needs to be changed, contact your distributor.

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■ Motor direction ‹MOTDIR›
This parameter sets the direction, in which the robot moves. When this parameter is initialized, the value unique to the
model is set.
0: CW … The motor CW direction is the minus (-) direction of the axis.
1: CCW … The motor CCW direction is the minus (-) direction of the axis.
This parameter cannot be changed in the servo on status. To change the parameter, turn the servo off.
For details on the movement direction when the robot is operated to the minus direction by jog movement and the motor
axis polarity is set to "0", refer to "Robot operation direction list" mentioned later in this Chapter.
c CAUTION
• When any of the conditions shown below is satisfied, do not change the factory setting.
Conditions Problem at setting change
When performing stroke end return-to-origin on the non-motor side, the origin
The model is the F14H lead 5 mm.
position becomes unstable.
The iVY2 system is used. The camera calibration is not executed correctly.
When the setting needs to be changed, contact your distributor.

5 ■ Semi-absolute mode ‹SABSRCH›

This parameter sets the semi-absolute search mode on linear motor robots with semi-absolute specification. When this
parameter is initialized, the value unique to the model is set.
Edit
Setting Meaning
0: NORMAL Normal mode
1: NORMAL (MOVE) Normal mode without movement after performing return-to-origin
2: DIST Mode for shortening moving distance
3: DIST (MOVE) Mode for shortening moving distance without movement after performing return-to-origin
4: DIR Mode for operation in the specific direction
5: DIR (MOVE) Mode for operation in the specific direction without movement after performing return-to-origin
6: CHECK Check mode
7: CHECK (MOVE) Check mode without movement after performing return-to-origin
c CAUTION
The origin direction and motor axis polarity affects the operation direction. After operation direction reversing by
robot stroke end detection or origin sensor detection, the operation will be the same as NORMAL mode. This
parameter is INVALID on other than linear motor robots with semi-absolute specification.
■ Arm length ‹ARMLEN›

For SCARA type robots, this parameter sets the X and Y-arm lengths.
For Cartesian type robots, this parameter sets the effective stroke length of each axis. According the arm length setting,
the weight of each axis is set automatically.
Example: XYZ Cartesian type robot case
The Y-axis acceleration is optimized by the Z-axis weight since it is load to the Y-axis. The X-axis acceleration is
optimized by the total weight of Y and Z-axis.
When this parameter is initialized, the unique value to the model is set in both cases. Additionally, this parameter is set
automatically when setting the standard coordinates.
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■ Offset pulse ‹OFFSET›
This parameter sets the angle to the arm posture or standard coordinate axis in the status where the X, Y, and R-axis
motor positions of the SCARA robots are located at their "0"-pulse positions.
• X-axis offset pulse
… Angle formed by the plus (+) X-axis direction of the standard coordinates and the X-arm. (Unit: pulse)
• Y-axis offset pulse
… Angle formed by the X-arm and Y-arm. (Unit: pulse)
• R-axis offset pulse
… Angle formed by the plus (+) X-axis direction of the standard coordinates and the R-axis tip tool. (Unit: pulse)
When this parameter is initialized, "0" is set. Additionally, this parameter is set automatically when setting the standard
coordinates.
"Offset pulse" setting
X-axis offset pulse
X
X-arm length
X-arm
Y-arm length
Y-arm
Y
5
R-axis offset pulse Y-axis offset pulse
Tip tool
Edit
c CAUTION
• For SCARA type robots, coordinate conversion to the Cartesian coordinates is performed using the arm length
and offset pulse. Therefore, be sure to set the correct offset pulse.
• When the data is input using this parameter (press in the input cursor display status), the standard coordinates
are set.
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Robot operation direction list
Series name Classification Model name Motor minus (-) direction
Compact T type T4H,T5H,T6
Direction to move to the motor side
Compact clean type C4H,C5H,C6
Compact F type F8,F8L,F8LH
Direction to move to the non-motor side
Compact clean type C8,C8L,C8LH
Medium T type T9,T9H
Medium, large F type F10,F14,F14H,F17,F17L,F20 Direction to move to the motor side
Medium, large clean type C10,C14,C14H,C17,C17L,C20
Direction to move to the side opposite to
FLIP-X Nut rotation F20N
the motor installation
FLIP-XC
Direction to move left when viewed from
Nut rotation (hollow motor) N15,N18
the flexible cable guide.
B10,B14,B14H
Belt drive Motor installation R direction Direction to move to the motor side
Motor installation L direction Direction to move to the non-motor side
Counterclockwise direction when viewed
Rotation axis R5,R10,R20
from the side opposite to the shaft
MR type Direction to move left when viewed from
MR type (semi-absolute MR12 the flexible cable guide.
specifications) MR12A
PHASER
MF type MF7,MF15,MF20,MF30,MF50,MF75
MF type (semi-absolute MF7A,MF15A,MF20A,MF30A,MF50A,MF75A
specifications)
5
PXYX
Axis 1 Direction to move to the motor side
FXYX
Edit
FXYBX
Axis 1
XY-axis
Arm variations A1 , A2 Move to the non-motor side
XY-X
Arm variations A3 , A4 Move to the motor side
Axis 2
Arm variations A1 , A4 Move to the motor side
Arm variations A2 , A3 Move to the non-motor side
ZRS
Axis 3 Shaft protrusion direction
ZR-axis
Axis 4
YP220BX
Axis 3 Up direction
2-axis
YP320X
Axis X Shaft retraction direction
Axis Z Up direction
YP220BXR
Axis 3 Up direction
Axis 4
YP-X 3-axis from the side opposite to the shaft
YP330X
Axis 1 Shaft retraction direction
Axis 2 Left side when viewed from the robot front
Axis 3 Up direction
YP340X
Axis 1 Shaft retraction direction
Axis 2 Left side when viewed from the robot front
4-axis
Axis 3 Up direction
Axis 4
* For details about arm variations, refer to "YAMAHA robot catalog".
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7.4.4 I/O parameters
■ DO at emergency stop ‹EMGCDO›

This parameter sets the DO/MO/LO/TO/SO port outputs to RESET/HOLD when the emergency stop is input. When this
parameter is initialized, "1: IO_HOLD" is set.
Setting Meaning
0: IO_RESET Turns the DO/MO/LO/TO/SO port outputs OFF when the emergency stop is input to the controller.
1: IO_HOLD Holds the DO/MO/LO/TO/SO port outputs when the emergency stop is input to the controller.
■ Error output (DO & SO) ‹ERPORT›

This parameter sets error outputs to the general-purpose output ports when an error occurred on the controller. The port
number between 0 and 0277 (octal) can be used as an error output port.
Example: Set "0027" for inputting to DO27.
When this parameter is initialized, "0" is set. New setting value will be valid after turning off and on the power.
n NOTE
• The alarms with category of message (alarm classification number is between 0 and 199) are excluded.
• The alarms that occur in online command or remote command with category of operation error (alarm
classification number is between 200 and 399) are excluded.
5
• SO with the same number as DO is output when serial boards such as CC-Link is added to the option board.
Setting Meaning
0 Outputs no error.
Edit
1 to 0277 (Octal) Outputs an error from the port specified by DO or SO.
The general-purpose output used in error output is OFF in any case of follows:
1. Servo was turned on.
2. Program reset was executed.
3. Step execution, skip or next execution started.
4. Return-to-origin started.
5. Remote command was send.
6. Jog movement started with the programming box in MANUAL mode.
7. Online command was executed.
■ Batter y warning output (DO & SO) ‹BTALRM›

This parameter sets alarm outputs to the general-purpose output ports when an alarm related to memory battery or
absolute battery occurs on the controller. The port number between 0 and 0277 (octal) can be used as an alarm output
port. When this parameter is initialized, "0" is set.
New setting value will be valid after turning off and on the power.
Setting Meaning
0 Outputs no battery alarm.
1 to 0277 (Octal) Outputs a battery alarm from the port specified by DO or SO.
■ DIO noise cancel Num. ‹DIOCAN›

This parameter cancels the short pulse shape external input signals (dedicated input signals and general-purpose input
signals). Unintended input signals, such as noise are prevented. Signals with length that does not satisfy the conditions
(specified cycle x 0.25 ms) are determined to noise to be canceled. When this parameter is initialized, "1" is set.
* For input signals, input signals with 6 ms or longer on or off signal.
5-67
■ DO output at program reset ‹RESCDO›
This parameter sets the DO/MO/LO/TO/SO port outputs to RESET/HOLD when all programs are reset or the HALT ALL
statement is executed. When this parameter is initialized, "0: IO_RESET" is set.
Setting Meaning
The DO/MO/LO/TO/SO port outputs are reset when executing any of the following operations.
• All reset (RESETALL) is performed during automatic operation.
• Dedicated input signal DI15 or SI15 (program reset) is turned on during program stop.
• Any of the following data is initialized by selecting [System] [Initialize].
0: IO_RESET
ALL: All data
PGM: Program data
• Online command @RESET, @INIT PGM, @INIT ALL, @INIT MEM, or @SWI is executed.
• HALTALL is executed in the program.
Even when any of the operations shown above is executed, the DO/MO/LO/TO/SO port outputs are
1: IO_HOLD
not reset.
■ Remote command ‹RMTCMD›

This parameter sets VALID/INVALID of the remote command. When the option parameter "DeviceNet I/O type" is set
to "COMPACT", the remote command cannot be used even when this parameter is set to "VALID". When this
parameter is initialized, "1: VALID" is set.
Setting Meaning
5 0: INVALID Remote command cannot be used.
1: VALID Remote command can be used.

Edit
■ DI17 mode ‹DI17MD›

This parameter sets the operation of the dedicated input DI17/SI17. When this parameter is initialized, "0: ABS" is set.
Setting Meaning
When the DI17/SI17 signal is input, return-to-origin of the absolute type motor axis is performed
0: ABS
For the incremental specifications, return-to-origin is performed by the DI14/SI14 input.
When the DI17/SI17 signal is input, return-to-origin of the absolute and incremental type axes is
1: ABS_ORG
performed.
■ Indiv. Origin ‹IOORGMD›

This parameter sets axes to perform return-to-origin; all axes with return-to-origin input DI14 (for incremental axes) /
DI17 (for absolute axes), or only specified axes. When this parameter is initialized, "0: INVALID" is set.
Setting Meaning
0: INVALID Performs return-to-origin on all axes.
Performs return-to-origin on the axes specified by "Axes sel. port (DI & SI)" or "Gripper origin axes
1: VALID
select port (DI & SI)" parameter and the gripper only.
■ Axes sel. port (DI & SI) ‹IOORGIN›

This parameter sets ports which specify axes to perform return-to-origin when the "Indiv. Origin" parameter is set to
"VALID". Axis 1 of robot 1 is "0" pit of specified port, then axes are allocated subsequently. When the number of axes
exceeds 8, the next port is used to specify 16 axes maximum. When this parameter is initialized, "2" is set.
■ Done output port (DO & SO) ‹IOORGOUT›

This parameter sets ports to output the return-to-origin status of each axis. When the number of axes exceeds 8, the next
port is used to specify 16 axes maximum. When this parameter is initialized, "0" is set. The return-to-origin status is not
output when "0" is set.
5-68
■ Ser vo output port (DO & SO) ‹IOSRVOUT›
This parameter sets ports to output the servo status of each axis. When the number of axes exceeds 8, the next port is used
to specify 16 axes maximum. When this parameter is initialized, "0" is set. The servo status is not output when "0" is set.
■ Gripper origin axes select port (DI & SI) ‹GRPORGIN›

This parameter sets ports which specify grippers to perform return-to-origin when the "Indiv. Origin" parameter is set to
"VALID". When this parameter is initialized, "0" is set. Individual gripper return-to-origin is not performed when "0" is set.
■ Real time output ‹RTOENBL›

This parameter sets the real time output function enabled or disabled.
When this parameter is enabled, items registered in the real time output file are output into the word output area
SOW(24) to (127). Update cycle is 10 ms.
Only EtherNet/IP, EtherCAT and PROFINET support this function.
To use this patameter, the word IO area should be extended beforehand; set the option board parameter "SIOW
extension" to "1: VALID".
Note that the real time output setting (the registration in the real time output file) is performed on the editor of support
software or via the remote commands.
n NOTE
For details about the real time output function, refer to the remote I/O manual. 5
Setting Meaning
Edit
0: INVALID Disables the real time output function.
1: VALID Enables the real time output function.
5-69
7.4.5 Option board related parameters
■ Option board enable ‹OPTENBL›

This parameter sets the option DIO (PNP specifications and NPN specifications) enabled or disabled. When this
parameter is initialized, "1: VALID" is set.
Setting Meaning
0: INVALID Disables the option DIO.
1: VALID Enables the option DIO.
■ Parallel IO ID ‹DIOID›
This parameter sets allocate order to DIO in numeric value when several parallel I/O boards are inserted. When this
parameter is initialized, "1234" is set.
The numbers 1 to 4 correspond to the inserted parallel I/O board ID in the option board number order. The board
corresponded the number allocates ID to DIO in order from the left. In the case of normal I/O board, the ID is always "1"
no matter what is set.
Example:
1: Dedicated parallel I/O board
5 Option board configuration
Parallel I/O ID setting

2: General-purpose parallel I/O board 1
4: General-purpose parallel I/O board 2
3214
DI0 to DI3, DO0 to DO2 Dedicated parallel I/O board

Edit
DI4 to DI7, DO3 to DO5 General-purpose parallel I/O board 2
DI8 to DI11, DO6 to DO8 General-purpose parallel I/O board 1
■ CC-Link address ID ‹CCLADD›

This parameter sets the CC-Link station number. When this parameter is initialized, "1" is set.
■ CC-Link baudrate ‹CCLCOM›

This parameter sets the CC-Link baud rate (communication speed). When this parameter is initialized, "0: 156kbps" is set.
Setting Meaning
0 156kbps
1 625kbps
2 2.5Mbps
3 5Mbps
4 10Mbps
5-70
■ CC-Link version ‹CCLVER›
This parameter sets the CC-Link version. When this parameter is initialized, "0: Ver.1.10" is set.
Setting Meaning
0 Ver.1.10
1 Ver.2.00
■ PROFIBUS station address ‹PBUSADD›

This parameter sets the station number (the identifier to each node of the PROFIBUS) of the PROFIBUS-corresponding
unit. The setting range is between 1 and 125. When this parameter is initialized, "125" is set.
■ Gripper ser vo when emergency stop ‹GEMGMD›

This parameter sets the gripper servo status when the emergency stop button is pressed. When this parameter is
initialized, "1: ON" is set.
Setting Meaning
5
0: OFF The remote command cannot be used.
The gripper servo is not turned off when the emergency button is pressed. Therefore, the gripper
1: ON
keeps to grip the workpiece.
■ Include Gripper in Origin ‹GORGMD›
Edit
This parameter sets whether the gripper is added to the axes when return-to-origin operation of the entire robot.
When this parameter is initialized, "1: YES" is set.
The following operations enable this parameter:
• Return-to-origin by DI14 or DI17
• Return-to-origin by the programming language (ORIGIN)
• Return-to-origin by remote command
Setting Meaning
The gripper is not added to the axes to be performed return-to-origin.

0: NO
* Executes the online command @GORIGIN to perform return-to-origin of the gripper.
1: YES The gripper is added to the axes to be performed return-to-origin.
■ Manual Holding of Gripper ‹GMHLMD›

This parameter sets whether the gripper holds the workpiece by the jog movement online command (@GJOG, @GJOGXY).
When this parameter is initialized, "1: VALID" is set.
Setting Meaning
The jog movement online command (@GJOG, @GJOGXY) is INVALID. If the gripper holds
0: INVALID
the workpiece, "26.801: Gripper over load" alarm occurs.
1: VALID The jog movement online command (@GJOG, @GJOGXY) is VALID.
■ Gripper origin sequence ‹GORGORD›

This parameter sets the order of return-to-origin for the gripper to decide the motor position. When this parameter is
initialized, "1234" is set, and each number is corresponding to the gripper numbers.
Return-to-origin operations of the grippers are performed from the left end of the return-to-origin order setting in order.
The grippers without setting perform return-to-origin simultaneously at last.
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■ Gripper origin priority ‹GORGPRI›
This parameter sets the timing of performing return-to-origin of the gripper. When this parameter is initialized, "0: AFTER"
is set.
Setting Meaning
0: AFTER Return-to-origin of the gripper is performed after all the robots return-to-origin.
1: BEFORE Return-to-origin of the gripper is performed before all the robots return-to-origin.
■ DeviceNet address ID ‹DEVADD›

This parameter sets the DeviceNet station number. When this parameter is initialized, "0" is set.
■ DeviceNet baudrate ‹DEVCOM›

This parameter sets the DeviceNet baud rate. When this parameter is initialized, "0: 125kbps" is set.
Setting Meaning
0 125kbps
1 250kbps
5 2
3
500kbps
Auto
Edit
■ DeviceNet I/O type ‹DEVTYP›

This parameter selects the number of channels shared by the DeviceNet applicable unit from "Normal" or "Compact".
When "Normal" is selected, each of the input and output shares 24CH (I/O including word data).
When "Compact" is selected, each of the input and output shares 2CH (dedicated/ general-purpose I/O).
When this parameter is initialized, "0: DEV_NORMAL" is set.
Setting Meaning
0 DEV_NORMAL
1 DEV_COMPACT
■ EtherNet/IP IP address ‹EIPADD›

This parameter sets the IP address. When this parameter is initialized, "0.0.0.0" is set.
■ EtherNet/IP subnet mask ‹EIPSUB›

This parameter sets the subnet mask. When this parameter is initialized, "0.0.0.0" is set.
■ EtherNet/IP default gateway ‹EIPDEF›

This parameter sets the gateway. When this parameter is initialized, "0.0.0.0" is set.
■ EtherNet/IP DHCP enable ‹EIPDHCP›

This parameter sets the DHCP function VALID or INVALID.
Set this parameter to "VALID" when assigning the IP address, etc. from the host unit. When this parameter is initialized,
"0: INVALID" is set.
Setting Meaning
0 INVALID
1 VALID
* When the DHCP function is valid, the setting value of IP address, subnet mask and gateway is "0.0.0.0".
5-72
■ EtherCAT Device ID ‹ECTDEVID›
This parameter sets the device ID. Use this for the EtherCAT master device to identify the slave device explicitly.
As this is not the node address, it has no affect on the connection.
When this parameter is initialized, "0: No device is set." is set.
Setting Meaning
0 No device is set.
1 to 65535 Valid network address
■ SIOW extension ‹SIOWEXT›

This parameter sets the SIOW extension enabled or disabled.
When this parameter is enabled, the word IO area in the field network is extended to use SIW(24)-(127) and SOW(24)-
(127) as the general IO ports.
Only EtherNet/IP, EtherCAT and PROFINET support this function.
n NOTE
• To use the real time output function, enable this parameter and extend the word IO area.
5
• For details about the SIOW extension function, refer to the relevant field network manual.
c CAUTION
• When using the unsupported field network, this parameter is not shown on Support software.
• Even if you use the field network that supports the SIOW extension, the communication cannot be established
Edit
unless you use the setting file that supports SIOW extension and set PLC correctly.
Setting Meaning
0 INVALID
1 VALID
■ iVY2 Unit enable ‹IVYENBL›

This parameter Enables/disables the iVY2 unit. When this parameter is initialized, "1: VALID" is set.
Setting Meaning
0 INVALID
1 VALID
■ iVY2 Monitor Mode ‹DISPMODE›

This parameter sets the screen layout when outputting to a monitor from the iVY2 unit's DVI output jack. When this
parameter is initialized, "0: single latest image" is set.
Setting Meaning
0 Single latest image
1 Specifies 2 channels
2 Latest and previous
3 Latest and latest NG
5-73
■ iVY2 Monitor channel 1 ‹DISPCH1›
This parameter sets the camera channel of the camera image that is shown on channel 1 of the monitor output screen
when the monitor display mode (DISPMODE) is set to "1: Specify 2 channels". When this parameter is initialized, "0: No
monitor display" is set.
■ iVY2 Monitor channel 2 ‹DISPCH2›

This parameter sets the camera channel of the camera image that is shown on channel 2 of the monitor output screen
when the monitor display mode (DISPMODE) is set to "1: Specify 2 channels". When this parameter is initialized,
"0: No monitor display" is set.
) is set to "1: Specify 2 channels". When this parameter is initialized,
"0: No monitor display" is set.
7.5 PRM skip

This function sets skipping the undefined data of parameter files to load the controller (parameters that the
controller is not corresponded) or not.
Undefined data in the file will be skipped when the parameter files are loaded with this function “VALID”.
This function is not included in the parameter file.
5 c CAUTION
Spelling mistakes in the parameter file are not detected when this function is “VALID”. Do not set this to “VALID”
except the case that it is necessary to load the parameters from later version controller into the earlier one.
Edit
n NOTE
New parameters may added as the controller software upgrading. “10.214: Undefined parameter found” alarm
will occur when the later version parameter file including such new parameters is load to the controller with
earlier version.
1 Press the F3 key (PRM SKIP) on the Step 1 "PARAMETER>CONT" screen

"PAREMETER>CONT" screen.
2 Input the value. Step 2 "PRM SKIP" screen

Input "1" and press the ENTER key to enable
"Do not load undefined parameters". To
disable, input "0" and press the ENTER key.
5-74
8. Area check output
This performs the area check of the current robot position by defining the point data to the area check output
parameter, then the result will be output to the specified port.
When the comparison point is set shown as ● below, if the robot tip moves between ○ , output is off in
and on in . (When the check condition of the area check output is on within the area.)
Area check output setting

Comparison point 2
＋Z
Comparison point 1 ＋Y
＋X
n NOTE
• The maximum number of areas that can be checked is 32.
• The output state may change unexpectedly when the output ports overlap used in the program and area
check output. Therefore, make sure to set the output port so as not to overlap.
5
• Make sure that the comparison point number does not overlap with that for another use.
Example: Point number used for move command, pallet definition, etc.
• This will be OR output when the same ports are specified to different area check output.
Edit
• An error occurs if the comparison point does not exist or comparison points are different in the unit system, and
the area check output cannot be performed.
If it is in such a state during automatic operation, the operation will be stopped and an error occurs. The area
check output where an error occurred will be off and automatic operation stops while an error occurring.
• The area check output does not operate in return-to-origin incomplete stated.
• All the specified axes are target of the area check. Give special attention to settings when there is a rotation axis.
• The area check does not output outside when a number that does not exist in the hardware was specified as an
area check output port number.
Select "Edit" – "Area check output" on the initial screen, "AREA CHECK OUTPUT" screen appears.
8.1 Setting area check output

Set the parameters on area check output.
Valid keys and sub menu descriptions on the "AREA CHECK OUTPUT" screen (Edit Area check output) are
shown below.
/ Moves the cursor.
EDIT Moves to the edit screen for area check output.
INIT Initializes the selected area check output parameters.
Switches ON/OFF of the scroll function.
Valid keys and submenu descriptions on "AREA CHECK OUTPUT" screen (Edit Area check output Edit
New) are shown below.
/ Moves the cursor.
(Only on EDIT screen) NEW Creates new area check output.
5-75
Step 1 Selecting the area check output

1 Select the area check output using
the cursor keys.
Turn the scroll function on to scroll the shift
numbers up and down by three.
Press the F1 key (EDIT), then the "Edit" screen
appears.
Pressing the F2 key (INIT) initializes the selected
area check output parameter.
Refer to "8.2 Initializing area check output" in
this Chapter.
Step 2 Editing the area check output

2 Edit or create area check output.
Select the setting value to edit with the
cursor keys, then input values and press the
5 ENTER key.
* Pressing the ESC key halfway cancels editing.
Press F1 key (NEW) to create new area check
output.
Edit
3 Press the ESC key to exit the

editing.
8.2 Initializing area check output

Select the area check output number to initialize the ■ Area check output initialization
parameter on the "Area check output" screen, press
the F2 key (INITI) to display the pop-up screen.
Select [OK] with the cursor keys and press the ENTER
key to initialize the selected area check output.
initialization, press the ESC key or [CANCEL] and
the ENTER key.
8.3 Parameter list

There are six parameters for the area check output.
■ ROBOT
Select the robot to perform the area check.
Setting Meaning
0 INVALID: The area check output is not performed.
1 to 4 Perform the area check output for the robot 1 to 4.
5-76
■ PORT TYPE
Select the port type to output the result of the area check.
Setting Port type
0 DO/SO
1 DO
2 SO
3 MO
■ PORT NUMBER
Select the port number to output the result of the area check. Available port numbers are shown below.
Port type Setting range
0: DO/SO 20 to 277
1: DO 20 to 277
2: SO 20 to 277
3: MO 0 to 277
n NOTE
The output state may change unexpectedly when the output ports overlap used in the program and area
5
check output. Therefore, make sure to set the output port so as not to overlap.
Edit
■ Check conditions <LOGIC>
Select whether turning ON or OFF the set output port when the robot current position is within the specified area.
Setting Meaning
0 OFF within the area
1 ON within the area
n NOTE
• The position just on the border line is within the area.
• Despite the condition settings, the area check output keeps OFF when normal area check cannot be performed
such as in return-to-origin incomplete status, except manual/automatic mode, during a memory error.
• Initial setting is [0: OFF within the area].
■ Comparison number 1 <PINT1>
■ Comparison number 2 <PINT2>

Sets the points to define the area.
Setting range
0 to 29999
Possible point number range to use is P0 to P29999. All the specified axes are the target of the area.
When the R-axis is specified, make sure that the R-axis data of comparison point is specified.
n NOTE
• Use the same unit system for comparison point 1 and 2.
• An error occurs when no comparison points exist, or the comparison points are different in the unit system and
area check cannot be performed.
• If it is in such a state during automatic operation, the operation will be stopped and an error occurs. The area
check output where an error occurred will be off and automatic operation stops while an error occurring.
• All the specified axes are target of the area check. Give special attention to settings when there is a rotation
axis.
• Make sure that the comparison point data ranges to a certain extent. If the two of comparison point data is
specified nearly equal, the area check may be unstable.
5-77
9. Standard coordinates
When selecting [Edit] - [Standard Coordinate] from the initial screen, the "STD COORD" screen will appear.
In this hierarchy, the standard coordinates can be set.
The standard coordinates for SCARA type robots are treated as Cartesian coordinates using the X-arm rotating
center as the coordinate origin.
The following operations and functions are enabled on SCARA type robots by setting the standard coordinates.
• Moving the robot arm tip in the direction of the Cartesian coordinates.
• Using PALLET definitions, SHIFT coordinates, and HAND definitions.
• Using commands requiring coordinate conversion, such as linear/circular interpolation and pallet movement
commands.
n NOTE
On Cartesian type robots, it is not necessary to set the standard coordinates.
To set the standard coordinates, the methods shown below are available.
5
• Simple teaching
Align the first arm and second arm of the SCARA type robot on the straight line, and then input the lengths
of the first arm and second arm to set the standard coordinates.
• 3-point teaching
Perform the teaching of three points arranged on the line at equal intervals, and input the direction and
length from the start point to the end point so as to set the standard coordinates.
Edit
• 4-point teaching
Perform the teaching of four points that form a rectangle. The first point is specified as the teaching
origin and the positions of other 3 points are input relative to the first point.
* This method is different from that described in RCX240 operator's manual.
• Both handed system teaching
To set the standard coordinates, prepare two points that is separated 100 mm in parallel from the X-axis
or Y-axis of the new standard coordinates.
Set the two points to the values three times; the teaching points, the arm length, and the direction from
the start point to the end point.
For the start point, set twice the values above in the both handed system; the right- and left-handed
system.
For the end point, set the values once.
n NOTE
The both handed teaching is the most recommended method, for this method is more easy to realize the high
precision than the other mothods.
Available version (REF) “9.4 Setting the standard coordinates by both handed system teaching”
■ Setting the standard coordinates
L L
Di s t a nc e > 1 0 0 mm
L
P[1] P[2] P[3] P[2]
P[1]
+X
P[2] P[1]
+Y
X
Simple teaching 3-point teaching 4-point teaching Both handed system teaching
5-78
c CAUTION
When setting the standard coordinates, note the following points.
• Always perform teaching with the same hand system carefully and accurately.
• Set the teach points as near as possible to the center of actual work area and also separate them from each
other as much as possible.
• The plane formed by the robot X and Y-axis movement must be parallel to the actual working plane.
• Perform point teaching at the rotation center of the R-axis.
• The standard coordinate setting accuracy greatly affects the Cartesian coordinate accuracy.
The following parameters are automatically set when the standard coordinates are input.
1) Arm length (mm)
M1 = ###.### First arm length (distance between the first arm and second arm rotation centers)
M2 = ###.### Second arm length (distance between the second arm and R-axis rotation centers)
2) Offset pulse
M1 = ###### X-axis offset pulse (angle formed by the first arm when the axis 1 motor is
located at the "0" pulse position and the X-axis of the standard coordinates)
M2 = ###### Y-axis offset pulse (angle formed by the first arm and second arm when the
axis 2 motor is located at the "0" pulse position)
M4 = ###### R-axis offset pulse (angle formed by the R-axis direction when the R-axis
motor is located at the "0" pulse position and the X-axis of the standard
coordinates)
5
When using multiple robots, set the standard coordinates for each robot.
However, the offset pulse of the R-axis is not set automatically. Set it by editing the parameters directly.
* The first arm and second arm of the robot described in this manual are equivalent to the X-arm and Y-arm
of the conventional RCX series (RCX240, RCX142, and RCX40).
Edit
c CAUTION
When using multiple robots, be sure to check the current target robot. The robot is changed from the "QUICK
MENU" screen. For details, refer to "5.2 Quick menu" in Chapter 4.
n NOTE
• The standard coordinates have been set at shipment.
• The offset pulse value equals the pulse value that axis 1, axis 2, and R-axis move on the X-axis of the standard
coordinates.
X-axis offset pulse
X-axis arm length
Y-axis arm length
R-axis offset pulse Y-axis offset pulse
SIMPLE Moves to the screen that allows you to set the standard coordinates by simple teaching.
3POINT Moves to the screen that allows you to set the standard coordinates by 3-point teaching.
4POINT Moves to the screen that allows you to set the standard coordinates by 4-point teaching.
Moves to the screen that allows you to set the standard coordinates by both handed
BOTH HND
system teaching.
5-79
9.1 Setting the standard coordinates by simple teaching
n NOTE
Align the rotation centers of the first arm, second arm, and R-axis on the line as much as possible.
■ Setting the standard coordinates by simple teaching
+Y direction
+X direction
Setting the standard coordinates

1 Press the F1 key (SIMPLE) on the Step 1 by simple teaching
"STD COORD" setting screen (Edit
Standard Coordinate).
5
Edit
2 Align the first arm and second arm Step 2 Setting the inch amount
on the line.
Move the first arm and second arm using
the Jog key operation or Jog operation in
the servo off status to the position where
they are aligned, and then press the F4 key
(NEXT). At this time, the direction shown in
the figure above becomes the +X direction.
w WARNING
When performing the operation with the Jog key,
the robot is in operation. Therefore, do not enter
the robot movement range to prevent any hazard.
During the operation with the Jog key, the operation can be performed by adjusting the speed and
inch distance.
To adjust the speed, select the F1 key (SPEED) to display the speed setting pop-up screen. Adjust the
speed on this screen.
For details about speed adjustment, refer to "7.3 Changing the Jog movement speed" in Chapter 4.
To adjust the inch amount, select the F2 key (INCH) to display the inch amount adjustment pop-up
screen. Use 0 to 9 keys to input the pulse value.
* The first arm and second arm of the robot described in this manual are equivalent to the X-arm and
Y-arm of the conventional RCX series (RCX240, RCX142, and RCX40).
5-80
3 Input the arm lengths. Step 3
Inputting the first arm and
second arm lengths
Use 0 to 9 keys to input the first arm length,
and then press the F4 (NEXT).
Next, input the second arm length, and then
4 Set the standard coordinates. Step 4 Checking the settings

Check the arm length and offset pulse value.
Select [SET], and then press the ENTER key to
save the settings. After the settings have been
saved, press the F4 key (FINISH) or ESC key to
exit the setting.
the setting is completed without saving.
5
corresponding alarms occur.
* The first arm and second arm of the
Edit
robot described in this manual are
equivalent to the X-arm and Y-arm of the
conventional RCX series (RCX240,
RCX142, and RCX40).
5-81
9.2 Setting the standard coordinate by 3-point teaching
n NOTE
Separate the teach points from each other as much as possible.
■ Setting the standard coordinate by 3-point teaching L L
Precondition:
All 3 points P[1], P[2] and P[3] must be aligned,
P[1] P[2] P[3]
with P[2] set at the midpoint between P[1] and P[3].
5 1 Press the F2 key (3POINT) on

the "STD COORD" screen (Edit
Step 1
Setting the standard coordinate
by 3-point teaching
Standard Coordinate).
Edit
2 Determine the point P1. Step 2 Setting the inch distance

Use the Jog key to move the robot tip to
the point P1 and press the F4 key (NEXT) to
set the position.
w WARNING
the robot operates. Therefore, do not enter the robot
movement range to prevent any hazard.
n NOTE
Perform teaching carefully to obtain accurate
points. Precise standard coordinates cannot be
set if a point is inaccurate.
3 Determine the points P2 and P3.

Perform the same operation stated in Step 2.
5-82
4 Determine the direction from P1 to P3. Step 4 Inputting the direction from P1 to P3
Use the F1 key (+X) to F4 key (-Y) to
determine the direction from P1 to P3.
5 Input the length from P1 to P3. Step 5 Inputting the length from P1 to P3
Use 0 to 9 keys and "." key to input the length
from P1 to P3, and then press the F4 key
(NEXT). The upper limit of the input value is
"1000".
6 Set the standard coordinates.

Check the arm length and offset pulse
value. Select [SET], and then press the ENTER
key to save the settings. After the settings
have been saved, press the F4 key (FINISH)
or ESC key to exit the setting.
5
Edit
the setting is then completed without saving.
corresponding alarms occur.
9.3 Setting the standard coordinate by 4-point teaching
n NOTE
• Separate the teach points from each other as much as possible.
• If one side length is inadequate, an error may occur and the point cannot be set.
■ Setting the standard coordinate by 4-point teaching
+X
P[2] P[1]
+Y
5-83
Setting the standard coordinate
1 Press the F3 key (4POINT) on the Step 1 by 4-point teaching
"STD COORD" screen (Edit
Standard Coordinates).
2 Determine the point P1. Step 2 Setting the inch distance

Use the Jog key to move the robot tip to the
point P1 and press the F4 key (NEXT) to set
the position.
w WARNING
5 movement range to prevent any hazard.
n NOTE
Edit
3 Determine the points P2, P3 and P4. Step 4 Inputting each point coordinate
with P1 as the origin
Perform the same operation stated in Step 2.
4 Input coordinate values of each

point from the P1 as the origin
point.
Use 0 to 9 and "." keys to input the
coordinates of each point from P1. The
upper limit of input value is 9999.999.
5 Set the standard coordinates. Step 5 Confirming the setting

value. Select [SET], and then press the Input
the setting is then completed without saving
the settings.
If the calculation cannot be performed, the
alarm occurs.
5-84
9.4 Setting the standard coordinates by both handed system teaching
n NOTE
The both handed system teaching is available in the version below.
•Host controller (indispensable) : V1.68 or later
•Programming box (required for the standard coordinates setting with operating the pendant; PBX) : V1.16 or later
•RCX Studio Pro (required for the standard coordinates setting with operating the support software) : V2.4.0 or later
•RCX Studio 2020 (required for the standard coordinates setting with operating the support software)
■ Setting the standard coordinates by both

Di s t a nc e > 1 0 0 mm
handed system teaching. L
P[2]
The both handed system teaching is the method
P[1]
for setting the standard coordinates that is based
on the two points that is separated 100 mm in
parallel from the X-axis or Y-axis of the new
For the start point, the teaching is required twice

by the both handed system; the right- and the
left-handed system.
Y
The standard coordinates can be set by teaching

three times and by entering the arm length and
the direction from the start point to the end X
5
point.
Edit
1 Press the F4 key (Both handed) on the "STD COORD" screen (Edit g Standard
Coordinate).
Step 2 Confirm (change) the arm length.
2 Confirm (change) the arm length.
The value firstly shown in the entering form is
the default value of the arm length of the
currently set robot model.
Check the arm length value and press the

F4 key (NEXT) if it is not necessary to change.
If the change of the arm length is needed,
use 0 to 9 keys to input the first arm length,
and then press the F4 (NEXT).
3 Teach the point P1. Step 3 Teach the point P1.

Use the Jog key to move the robot tip to
set the position.
w WARNING
movement range to prevent any hazard.
n NOTE
5-85
Step 4 Teach the point P1 in the opposite
4 Teach the point P1 in the opposite hand system
hand system.
In the opposite hand system (left <--> right)
of the one at Step3, move the robot tip to
the point P1' (the same position at Step3),
and then press the F4 key (NEXT) to teach
the position.
5 Determine the point P2. Step 5 Determine the point P2

Move the robot tip to
set the position.
5 It doesn't matter whether the hand system is

left or right.
Set the position of P1 and P2 so that they are

parallel to the X- or Y-axis in the new
Edit
Step 6 Determine the direction from P1 to P2.

6 Determine the direction from P1 to
P2.
Using the F1 key (+X) to the F4 key (-Y), set
the direction from P1 to P2.
Step 7 Set the standard coordinates

7 Set the standard coordinates.
value. Select [SET], and then press the Input
the setting is then completed without saving
the settings.
If the calculation cannot be performed, the
alarm occurs.
5-86
n NOTE
To optimize the precision, be sure to fulfill the following conditions.
•The distance between P1 and P2 should be more than 100 mm.
•P1 and P2 should not be within a 50 mm radius from rotation center of the first axis of SCARA robot.
•Keep 20 mm or more (10 mm or more for the tiny SCARA) between P1/P2 and the working envelope of robot.
•To set P1 and P1', surely use both of the left- and right- handed system. if each point is set in the same handed
system, an incorrect value will be estimated.
TIP how to optimize the precision:
•Concerning the teaching of P1, the more an angle made of the first and the second axis get close to
90-degrees, the more the precision will be increased.
10. General Ethernet por t (GEP) setting

Press the F5 key (GEP) on the "Ethernet" screen to display the "GEP SETTING" screen. The general Ethernet
port parameters are set on this screen.
■ "GEP SETTING" screen 5
Edit
Refer to Chapter 10 "4. General Ethernet port (GEP)" for details on GEP and setting.
11. Calibration
"Calibration" refers to the process in which the coordinates (camera coordinates) of the image acquired by
the camera are aligned with the robot coordinates.
Camera calibration must be performed when using the iVY2 system for the first time, and when the relative
position of the camera and robot has changed (e.g., when the camera has moved).
Conveyor calibration must be performed when using the conveyor tracking system, and when the related
position of the conveyor, camera, or robot has changed.
Refer to the iVY2 system or Tracking System manual for details.
5-87
12. Collision prevention for double-carriage
12.1 Over view
This controller has a function to prevent collisions between carriages of double-carriage type robot.
Double-carriage type robot
Prevents carriages from colliding
The collision prevention function works as follows:
■ During execution of movement command

5 The target positions of one and the other carriage are checked.
If there is a possibility that a collision may occur, the robot moves to prevent the collision.
Edit
The behavior is selectable in the following modes.

Control mode <STOP> The robot motion and the program execution are stopped with an alarm.
Control mode <WAIT> The carriage that have been about to move waits until it become enabled to move.
■ During Jog movement

When one carriage is moving towards the other carriage, it stops just short of the other carriage.
■ During Inching movement

If there is a possibility that a collision may occur, an alarm is raised and the operation stops.
12.1.1 <WAIT> status

In the control mode <WAIT>, Judgement is performed if the target position of carriage causes the collision.
• Target position that occurs a collision: the carriage enters a waiting status without starting the motion.
• A fter the other carriage have moved to the position where it does not collide, the waiting status will be
released and the carriage will start moving.
<WAIT> status and its release in control mode

Carrier = Carriage
Carriage 1 starts waiting Carriage 2 moves to the position Waiting status is released
As target position is in collision zone. where the collision will not occur. and Carriage 1 starts moving.
c CAUTION
When one carriage is in the servo-off status, the carriage will not enter the waiting status and will stop with an
alarm.
5-88
12.1.2 Simultaneous movement
In the configuration where two carriages exist in one robot, two carriages can be moved simultaneously by one
operation command.
If there is a possibility of collision when moving to the target position, the alarm will be generated and the
robot will stop without executing the operation.
SAMPLE Description
'
Setting example; Carriage 1 is axis 1 of robot 1, Carriage 2 is axis 2 of robot 1,
and W.carrier stroke is 500.0 mm.
P0 = 0.0 300.0 0.0 0.0 0.0 0.0 … Position where axes 1 and 2 do not collide
P3 = 300.0 300.0 0.0 0.0 0.0 0.0 … Position where axes 1 and 2 collide
MOVE P, P0
MOVE P, P1 … Available to move from P0 to P1
MOVE P, P2
MOVE P, P3 … Robot stops with alarm when moving from P2 to P3
Simultaneous movement of double-carriage
5
Transfer from P0 to P1 is possible Transfer from P2 to P3 causes
an alarm and the robot stop
Edit
CAUTION
In the case of simultaneous movement, if the operation speeds and parameters of each carriage are different,
the collision may occur in the middle path of the operation.
12.1.3 Deadlock
Deadlock is a state in which both carriages wait for the other carriage to move together.
When the carriages have deadlocked, the waiting state cannot be cancelled, then the robot will stop with an
alarm.
Movement example that causes Deadlock

Carrier = Carriage
Sample Description
'
Setting example; Carriage 1 is axis 1 of robot 1, Carriage 2 is axis 1 of robot 2,
and W.carrier stroke is 500.0 mm.
'TASK1
P0 = 200.0 0.0 0.0 0.0 0.0 0.0
P1 = 400.0 0.0 0.0 0.0 0.0 0.0
START <SUB _ TSK2>,T2
START <SUB _ TSK3>,T3
HALT
'TASK2 Program name: SUB _ TSK2
MOVE[1] P, P0 …
Carriage 1 (Axis 1 of Robot 1) moves to 200.0 mm position.
MOVE[1] P, P1 …
Carriage 1 (Axis 1 of Robot 1) starts waiting.
HALT
'TASK3 Program name: SUB _ TSK3
MOVE[2] P, P0 …
Carriage 2 (Axis 1 of Robot 2) moves to 200.0 mm position.
MOVE[2] P, P1 …
Carriage 2 (Axis 1 of Robot 2) also starts waiting and
HALT deadlocks.
5-89
12.2 Before using collision prevention function
Check the following conditions before using this function.
12.2.1 Conditions to use/preparation
1. Available software version

• Host CPU software: V1.72 or later
• Support software: RCX-Studio Pro (V2.4.2 or later) or RCX-Studio 2020 (All version is available)
2. Robot setting
As shown in the drawing below, each carriage should approach the other carriage when it moves in the "+" direction.
To change the moving direction, change the "Motor direction" (motor axis polarity) of the axis parameter.
Double-carriage setting
Carriage 2
+ direction
5
Carriage 1
+ direction
Edit
3. Movement distance of carriage

Each carriage's movement distance on the display (PBX or RCX_Studio Pro) should match the distance that the carriage
has actually moved.
If not, please consult the distributor.
Confirmation of movement distance on PBX
Current position
e
nc
dista
nt
me
ve
Mo
4. Maximum number of setting carriage

Carriage is settable up to 2 axes in one system.
(Even if more than one controllers are connected by YC-Link E, the upper limit number is 2 axes.)
5-90
12.2.2 Precautions
1. Origin shift
c CAUTION
Never set the origin shift while the double-carriage prevention function is used, the function might not work normally.
2. Conveyor tracking
c CAUTION
Conveyor tracking cannot be executed while the double-carriage prevention function is enabled.
3. Collision on movement path

This function is for preventing the collision at the target position and thus does not guarantee the prevention of
collision on the movement path.
c CAUTION
The collision may occur on the movement path.
Ex) C
ircular interpolation movement
The motion path might pass through the collision position even if the target position is not the collision position.
5
Collision in circular interpolation movement
Start position
Edit
End position
Ex) S
imultaneous movement
If the velocity, acceleration and/or deceleration of each carriage is different, one carriage may catch up the other on
the way and they may collide.
Collision in simultaneous movement B

A
B
A Target position
Start position
B
A Catching up and collision
on the way
4. Coordinate option
c CAUTION
Even though the collision prevention function ( "Anti-collision" in the table below) is set, using coordinate options
may disable the part of the function. Take great care to operate.
✔ Anti-collision is enabled Anti-collision is disnabled / Option is not executable

Hand definition Hand definition
No setting Shift coordinate Work definition
(without R setting) (with R setting)
Operation command
✔ ✔ ✔ ✔ ✔
(MOVE, etc.)
Jog [pulse] ✔ ✔ ✔ ✔ ✔
Jog [mmdeg] ✔ ✔ ✔
Jog [tool]
Inching [pulse] ✔ ✔ ✔ ✔ ✔
Inching [mmdeg] ✔ ✔ ✔ ✔ ✔
Inching [tool] ✔ ✔ ✔ ✔ ✔
5-91
12.3 W.carrier parameter
To use the collision prevention function, set W.carrier parameters.
0: OFF
W.carrier control mode WCMODE 1: STOP 0
2: WAIT
W.carrier stroke WCSTRK 0 to 9999999 9999999 0.001mm
c CAUTION
If the controller and the parameters are initialized, each parameter returns to the initial value.
■ W.carrier control mode <WCMODE>

This parameter changes the control mode of double-carriage. There are three kinds of mode.
Control mode Meaning
5 OFF
STOP
Disables the anti-collition function.
Generates an alarm and stops if the motion has a possibility of collision.
WAIT Waits until the operation is allowed if the motion has a possibility of collision.
Note that the motion by the manual operation is also changed when the control mode is other than OFF.
Edit
Jog one carriage moves to the nearest position where collision will occur.
Inching one carriage stops before moving to the collision position with the other carriage.
■ W.carrier stroke <WCSTRK>

The Double-carrier stroke is the reference length for collision judgment.
With carriage B at its origin position, this "stroke" is the distance ("0.001mm" units) from carriage A's origin position, to
the position where it is closest to carriage B.
Stroke setting
Carriage B origin
B
A
o ke
Str
Carriages at their closest point
Carriage A origin A
■ W.carrier robot 1 <WCRBT1> / W.carrier axis 1 <WCAXS1>

■ W.carrier robot 2 <WCRBT2> / W.carrier axis 2 <WCAXS2>
This parameter registers the robot axis as the double-carriage.
To register the axis as the carriage 1, set at "W.carrier robot 1" and "W.carrier axis 1".
To register the axis as the carriage 2, set at "W.carrier robot 2" and "W.carrier axis 2".
Example: W
hen "Robot 1 – Axis 2" is registered as the carriage 1, "Robot 3 – Axis 4" is registered as the carriage 2,
set the parameters as shown below.
• for carriage 1 W.carrier robot 1: 1
W.carrier axis 1: 2
W.carrier robot 2: 3
• for carriage 2
W.carrier axis 2: 4

c CAUTION
If either of the parameter value is 0. the double-carriage collision prevention function is disabled.
5-92
12.4 Setting method of Double-carriage collision prevention function
■ Setting W.carrier parameters

Double-carrier parameter can be set on the parameter editor of Support software. (PBX does not support.)
Other than "W.carrier stroke" paramete cannot be changed in the servo-off status.
1 Turns the robot servo ON.

2 Perform the return-to-origin.
When the origin position is infinite (return-to-origin incomplete status),
Double-carriage collision prevention function is invalid.
3 Check "W.carrier stroke" parameter.

With each carriage at the origin/home position, use jog or inching to move one carriage toward the
carriage's proximity.
Move the carriage to the position where the carriages (the tools if the tools are attached to the
carriages) are closest to each other.
To prevent carriages from contacting each other, keep a distance of 1mm or more between the tools.
Stroke setting
Stroke
5
Origin position Origin position
A A B
Edit
Position where tools are nearest
to each other
c CAUTION
• Always set "W.carrier stroke" parameter again when changing the origin position.
• The carriage will stop with an alarm if it attempts to move to a position that exceeds the set stroke.
• The measurement of double-carriage stroke must be done under the following consition;
- The return-to-origin is complete.
- Coordinate options (shift, hand, work) are not set.
- "W.carrier control mode" is OFF.
4 Turns the robot servo OFF.

5 Set the parameter.
Edit the following parameters to set the Double-carriage.
• W.carrier control mode

• W.carrier robot 1/ W.carrier axis 1: for registration of carriage 1
• W.carrier robot 2/ W.carrier axis 2: for registration of carriage 2
• W.carrier stroke
c CAUTION
• When the stroke is changed during the axis operation, the changed value of the parameter will be reflected
from the next operation.
• Registrate each carriage correctly. The following conditions are not correct and an alarm will occur during the
robot operation;
- a robot or axis that does not exist in the system is specified.
- the robots and axes specified in Carriage 1 and 2 are duplicated.
- Axes of SCARA / YP-X robot are registered as carriages.
5-93
Chapter 6 Controller system settings
1. Overview 6-1
2. History 6-2
3. Check 6-2
4. Property 6-3
4.1 Robot information 6-3
4.2 Option information 6-3
4.3 Clock 6-4
4.4 Version 6-4
4.5 Configuration 6-4
5. USB memory operation 6-5

5.1 Saving the data 6-5
5.2 Loading the data 6-6
6. Execution level 6-7

6.1 Changing the access level 6-7
7. Safety setting 6-8
8. Initialize 6-9
8.1 Initializing the data 6-10
8.2 Setting the clock 6-11
9. Generation 6-11
1. Over view
To operate the robot, various settings corresponding to the customer's operation are needed.
This Chapter describes how to make the various controller settings and display the information.
Additionally, system settings other than the robot operation settings are also described.
Item Description
2 History Displays the alarm history data.
3 Check Checks if an alarm occurs in the controller.
4 Property Displays the information of the controller.
5 USB Memory Operation Saves or restores various data using the USB memory.
6 Execution Level Sets the operating level (operable range).
7 Safety Setting Sets the safety parameters.
8 Initialize Initializes various data.
9 Generation Makes the settings corresponding to specifications of the axis and the robot to be connected.
10 Parameter Sets the parameters.
Controller system settings
6-1
2. Histor y
When selecting [System] - [History] from the initial

■ "HISTORY" screen
screen, the "HISTORY" screen will appear.
The "HISTORY" screen displays five past alarm
history records from the latest. Up to 500 records
are saved.
The alarm display format is shown below.
Alarm occurrence date and time

Number
Alarm number: Alarm occurrence location
The display is scrolled one line with the cursor keys.

When pressing the "SCROLL ON" key to set the scroll
function ON, the display is scrolled one screen with
the cursor keys.
c CAUTION
The alarm history data is very important information when taking the robot troubleshooting measures. Therefore,
do not initialize the alarm history data carelessly.
n NOTE
• When the number of alarm history records exceeds 500, the oldest history record is deleted.
• The same alarm as the previous alarm in the same occurrence place occurs is not recorded.
6 • When the alarm classification is between 0 and 99, such alarms are not recorded.
• Alarms with the classification number between 200 and 399 on the online or remote commands are not
recorded.
3. Check
When selecting [System] - [Check] from the initial
screen, the "CHECK" screen will appear. ■ "CHECK" screen
The controller is diagnosed. If an error is detected,

relevant message will appear.
n NOTE
Even when the 24 V DC power is not supplied to the option DIO, the alarm always occurs.
6-2
4. Proper ty
When selecting [System] - [Property] from the initial screen, the property screen will appear.
The property screen displays the robot information, option information, clock, and version.
4.1 Robot information

The robot names connected to the controller are displayed.
To display the "ROBOT" screen, select [Menu] [System] [Property] or press the F1 key (ROBOT) on other
information screen.
Select the robot (Robot 1 to Robot 4) using the cursor keys and press the ENTER key to switch to the screen
displaying the axis name connected to the robot.
■ ROBOT name ■ ROBOT axis name
6
4.2 Option information

When pressing the F2 key (OPTION), the "OPTION" ■ "OPTION" screen
screen displays the type and version of the option
boards connected to the option slot of the controller.
Display Unit name
Displays that the option DIO with the NPN

DIO_Nm* specifications is installed.
(S: Standard DIO, 1 to 4: Expanded DIO2)
Displays that the option DIO with the PNP
DIO_Pm* specifications is installed.
(S: Standard DIO, 1 to 4: Expanded DIO2)
CCLNK CC-Link unit
D_Net DeviceNet unit
ENet_IP EtherNet/IP unit
Profi_B PROFIBUS unit
Profi_N PROFINET unit
YCLnkE_M YC-Link/E master unit
YCLnkE_S YC-Link/E slave unit
iVY2 iVY2 (VISION) unit
iVY2_L iVY2 (VISION with light) unit
Gripper Electric Gripper unit
Tracking Tracking System unit
EtherCAT EtherCAT unit
* "m" shows the specifications.
6-3
4.3 Clock
When pressing the F3 key (CLOCK), the controller ■ "CLOCK" screen
built-in clock will appear.
4.4 Version
When pressing the F4 key (VERSION), various ■ "VERSION" screen
versions inside the controller and the version of
the programming box are displayed.
6
4.5 Configuration
When pressing the F5 (CONFIG) key to display each ■ "CONFIG" screen
controller setting.
* The F5 is shown by switching the KEYTYPE.
Display Meaning
Displays the controller type.

Type
RCX340 is displayed as "340".
Displays controller specification.
Method
Global: CE specification, Local: Normal specification
Displays YC-Link/E settings.
Node
Blank: Master, 1 to 99: Slave station number
Memory Displays controller memory size.
Displays the brake power settings.

Brake
Internal (power supply) / External (power supply)
MAC Displays the MAC address of the Ethernet port.
6-4
5. USB memor y operation
Various data in the memory inside the controller ■ "USB MEMORY" screen
can be saved into the USB memory. Additionally,
the saved data can be reloaded to the controller.
Select [System] - [USB Memory] from the initial

screen, to display the "USB MEMORY" screen.
n NOTE
It is recommended to save the internal data when
robot controller setting is completed.
c CAUTION
• If a trouble (data corruption, error, etc.) occurs in the USB memory or saved data, the data cannot be loaded.
Be sure to save the data into an external storage device, such as personal computer.
• If an abnormal process, such as power shutdown occurs while the data is being saved or loaded, the data is
not guaranteed.
5.1 Saving the data

The internal data of the controller is saved into the USB memory. The data will be saved into the "YAMAHA"
folder immediately beneath the USB memory. 6
1 Select [System] - [USB Memory] Step 1 Selecting the data to save
- [SAVE] from the initial screen.

Use the cursor keys to select the type of
the data to save, then press the F1 key
(CHOOSE) to show the list of the data files to
be saved.
2 Select the file to save.

To save the file newly:
Press the F1 key (CHOOSE) and input the file name in the next Step.
To save the file in the overwrite mode:
Use the cursor keys to select the file to save, and then press the F1 key (CHOOSE) or ENTER key.
When many files are saved:
Press the F2 key (NEXT) to scroll the file list.
3 Save the file.

Input the file name of the data to save.
To save into a new file, input a new file name.
Input a new file name or input an existing file name to overwrite.
Press the ESC key to cancel the data saving.
"Now Saving" message will appear during data saving.
6-5
5.2 Loading the data
The data saved in the USB memory is restored to the internal memory of the controller.
It is required to the data to have been saved into the "YAMAHA" folder immediately beneath the USB memory.
1 Select [System] - [USB Memory] Step 1 Selecting the data to save

- [LOAD] from the initial screen.
Use the cursor keys to select the type of
the data to load, then press the F1 key
(CHOOSE) to show the list of the data files
which can be loaded.
2 Select the file to load.

Use the cursor keys to select the data file to
load, then press the F1 key (CHOOSE). The
confirmation message will appear.
When many files are saved, press the F2 key
(NEXT) to scroll the file list.
3 Load the data.

Press the ENTER key to load the data from the file.
Press the ESC key to cancel the data loading. The message, "Now Loading", will appear during data
loading.
c CAUTION
When loading the data as ALL file or parameter file, the controller must be put in the servo off status.
Additionally, after the data has been loaded, the robot is put in the origin return incomplete status.
6
6-6
6. Execution level
The controller can be set to operating levels that permit or prohibit changing programs and point data.
The three-digit access-level value specifies the function to limit.
Level
Access level Description
Value
Level 0: Maintainer level All operations can be performed.
**0
Ones place is "0". To move to this level, a password is required.
Level 1: Operator level Only the manual operation and automatic operation can be performed.
**1
Ones place is "1". Programs with hidden attribute cannot be loaded.
Permission: Editable area:
Editing coordinate system data *11 Coordinate system data such as point data in addition to normal
Partial
Tens place is "1". operator level permission
Permission
Permission: Editing parameter Editable area:
1*1
Hundreds place is "1". Parameter data in addition to normal operator level permission
n NOTE
• If you set an access password, the controller will always start with access level 1 (operator level) when it starts.
• The access password will not be reset even if all data is initialized.
If you forget your password, please contact your distributor.
• Host CPU software version for setting the partial permission: Ver.1.46 R0299 or later
6.1 Changing the access level

To change the access level, follow the procedure below.
1 Display the "ACCESS LEVEL" screen.

Use the cursor keys to select [System] on the initial screen, and then press the ENTER key. Next, select
6
[Execution Level], and then press the ENTER key. The "ACCESS LEVEL" screen will appear.

2 Input the access level to set. Step 2 Setting the ACCESS LEVEL
Input the access level and press the ENTER
key. Select [SET] and press the ENTER key.
To set "0 (Maintainer level)":
Perform the operation stated in Step 3.
To set "1 (Operator level)":
Press the ENTER key again to determine
the setting you have input.
3 Input the password.

Input the password in the password entry
field, and then press the ENTER key.
* If an incorrect password is input,
"6.235: Password error" alarm occurs.
Input the password.
■ Changing the password Step 2 Changing the password
1 Press the F1 key (CHANGE PW) on

the "ACCESS LEVEL" screen.
The "CHANGE PW" screen will appear.
2 Set a new password.

Input the current password in [Pass], and
then press the ENTER key. Next, input a new
password in [New Pass] at two locations,
Input the current password.

Input a new password (two locations).
6-7
7. Safety setting
The safety parameters are set to safely perform the work with the programming box within the movement
range (the safety enclosure) of the system using the robot.
w WARNING
• In "Safety setting", changing the settings from their default values is likely to increase hazards to the robot operator
during maintenance or operation. Although customers can change these settings based on their own
responsibility, adequate consideration should first be given to safety.
• Set the control setting "GET" to enable the SAFETY SETTING.
On the "SAFETY SETTING" screen, you can set five items described below.
Item name Setting Remarks
The robot operation (including the program execution) is executed while holding down
1 Hold to Run For Auto VALID/INVALID
the key on the programming box.
2 Deceleration Control VALID/INVALID When set VALID, the maximum robot movement speed is limited to its 3%.
Sets the dedicated input of the I/O interface VALID or INVALID.

3 Exclusive IO VALID/INVALID
* Even when set INVALID, the general-purpose inputs and outputs can be used.
4 RS-232C VALID/INVALID Sets the RS-232C interface VALID or INVALID.
5 Ethernet VALID/INVALID Sets the Ethernet interface VALID or INVALID.
■ Setting procedure
Step 1 Warning message
1 Select [System] - [Safety Setting]
from the initial screen.
6 When the warning screen appears, agree to

the contents and press the ENTER key.
Step 2 Setting the safety parameters

2 Set [VALID] or [INVALID].
Use the cursor keys to select [VALID] or
[INVALID] of the item to set, and then press
the ENTER key.
To set the setting valid even after the power
shut-down, perform the operation stated in
Step 3.
Step 3 Saving the safety parameters

3 Save the settings.
When pressing the F1 key (SAVE) on
the "SAFETY SETTING" screen, the setting save
confirmation screen will appear.
Select [OK], and then press the ENTER key to
save the settings.
When selecting [Cancel], the settings are
not saved.
This setting will be valid after turning on the
power again.
6-8
8. Initialize
When selecting [System] - [Initialize] from the ■ "INITIALIZE" screen
initial screen, the "INITIALIZE" screen will appear.
On this screen, you can initialize the data
managed by the controller. Use the F1 key (ALL) to
F11 (CLOCK) to select the item to initialize.
Valid keys and submenu descriptions on the "INITIALIZE" screen are shown below.
ALL
PGM
Initializes all data.
Deletes the program data.

6
PNT Deletes the point data.

PNM Deletes the point name data.
SFT Deletes the shift coordinate data.
HND Deletes the hand definition data.
PRM Initializes the parameter data.
PLT Deletes the pallet definition data.
ION Deletes the I/O name data.
LOG Deletes the alarm history data.
CLOCK Sets the clock.
6-9
8.1 Initializing the data
Programs, point data, point names, shift coordinates, hand definitions, parameters, pallet definitions, IO
names, and alarm history data are initialized or deleted.
Before executing the initialization process, carefully check that the currently input data is unnecessary.
n NOTE
• Once the memory is initialized, the external data needs to be input to restore the data.
• If the memory is corrupted for some reason, the memory needs to be initialized.
Valid keys and submenu descriptions on the "INITIALIZE" screen are shown below.
ALL Initializes all data.
PGM Deletes the program data.
PNT Deletes the point data.
PNM Deletes the point name data.
SFT Deletes the shift coordinate data.
HND Deletes the hand definition data.
PRM Initializes the parameter data.
PLT Deletes the pallet definition data.
6
ION Deletes the I/O name data.
LOG Deletes the alarm history data.
1 Use the function keys to select the Step 1 Confirming the initialization execution
item to initialize.
Use the F1 key (ALL) to F10 key (LOG) to

select items to initialize.
The initialization execution confirmation
screen will appear.
2 Execute the initialization process.

Select the [OK] button and press the ENTER
key to execute the initialization process.
Select the [CANCEL] button, and then press
the ENTER key to cancel the initialization
process.
6-10
8.2 Setting the clock
The controller is equipped with the clock function, allowing you to set the date and time.
c CAUTION
•The clock used inside the controller has an error when compared to the actual time.
If an error occurs, make the setting again.
•If the parameter ”iVY2 Unit enable <IVYENBL>" is set to "1: Enabled", the power must be turned on again
after changing the setting.
1 Press the F11 key (CLOCK) on the "INITIALIZE" screen.

The current date and time will appear.
2 Input the date.

Select the date (year/month/day) using
the cursor keys, input a value using the 0 to
9 keys, and then press the ENTER key.
Subsequently, use the cursor keys to select
[SET], and then press the ENTER key.
The date is then set in the controller.
3 Input the time.

Select the date (hour: minute: second) using
the cursor keys, input a value using the 0 to
9 keys, and then press the ENTER key.
Subsequently, use the cursor keys to select
[SET], and then press the ENTER key. The time
is then set in the controller.

9. Generation
The system generation of the controller has been set at shipment corresponding to the specification of robot
to be connected and axis. So, the system generation setting by the customer is not needed.
If the system generation related memory is corrupted by serious trouble or if the robot or axis to be connected
to the controller is changed, the system generation setting is needed.
For details about how to operate the system generation, contact your distributor.
c CAUTION
• If the system generation is changed by mistake, this may adversely affect the robot operation or cause serious
hazard to the operator. When the system generation needs to be changed, contact your distributor.
• If the system generation is changed without consulting your distributor, YAMAHA shall not be held responsible
for any trouble arising from this change.
6-11
Chapter 7 Monitor
1. Overview of function 7-1
2. Current position display 7-1
3. I/O status display 7-2

3.1 I/O monitor list 7-3
3.2 I/O monitor detail 7-4
3.3 Changing output status 7-4
4. Task driving state 7-5
5. Current monitor 7-6

1. Over view of function
This monitor function allows you to display or check the robot current position information, controller I/O
status, and task driving state.
Use the cursor keys to select [Monitor] from the initial screen, and then press the ENTER key. The monitor
hierarchy menu will appear.
2. Current position display

The current position of the robot is displayed.
In the monitor hierarchy, select [Current Position], and then press the ENTER key to display the current position
information.
■ "CURRENT POSITION" screen

1. Current position
3. Hand system
4. First arm and second
arm rotation information
1. Current position
7
Displays the current position of the robot.
Monitor
The current position in "pulse" units is displayed by an integer. The current position in "mm" units is displayed by a value
with the decimal point.
When pressing the F1 key (UNIT), the display unit can be changed to [mm] or [pulse].

3. Hand system
Displays the hand system of the current robot. This information is displayed only when the unit of the hand system
information is "mm".
0 : No hand system setting (Standard coordinates are not set.)
1 : Right-handed system
2 : Left-handed system
* The hand system information is valid only when the SCARA type robot and the coordinate system in "mm" units are
specified.

Displays FLG1: First arm rotation information and FLG2: Second arm rotation information.
For details, refer to "1. Point editing" in Chapter 5.
* The first arm and second arm of the robot described in this manual are equivalent to the X-arm and Y-arm
of the conventional RCX series (RCX240, RCX142, and RCX40).
7-1
3. I/O status display
The I/O status of the controller is displayed.
n NOTE
Input and output ports that do not exist as hardware are also displayed.
■ I/O status display examples are shown below.

Example of bit I/O list display
Example of bit I/O detail display
7
Monitor
Example of word data display
* Values are displayed in hexadecimal notation.
7-2
Valid keys and submenu descriptions on the I/O status display are shown below.
LIST/DETAIL Switches between the I/O list and detail displays.
DI Displays the DI motor.
DO Displays the DO motor.
MO Displays the MO motor.
LO Displays the LO motor.
TO Displays the TO motor.
SI Displays the SI motor.
SO Displays the SO motor.
SIW Displays the SIW motor.
SOW Displays the SOW motor.
3.1 I/O monitor list

In the monitor hierarchy, select [IO], and then press the ENTER key. The I/O monitor list will appear.
The I/O monitor list provides the input status list and output status list.
The input status list is displayed first.
■ Input status list display
Monitor
When pressing the MONITOR key on this screen, the next DI port is displayed. When there is no next DI port,
the I/O status is displayed in the order shown below.
DI DO MO LO TO SI SO SIW SOW
Additionally, the input or output can be selected with the function key.
n NOTE
The screen display is updated at constant intervals.
Press the ESC key to exit the monitor display and return to the initial screen.
7-3
3.2 I/O monitor detail
When pressing the F1 key (DETAIL), the details of the displayed I/O are displayed.
The "DETAIL" screen displays the I/O names registered by the support software.
* SIW and SOW detail displays are not available.
■ Input status detail
n NOTE
• IO names can be edited only with Support software.
Refer to RCX-Studio software Manual
• IO names can be used instead of DI/DO in the program.
Refer to "DI", "DO", and "WAIT" in RCX 3 series Programming Manual
■ Changing the ten's place of the port number

When pressing the MONITOR key, the ten's place of the DI port changes "0 10 20" to display the monitor
7
detail. When there is no next DI port, the I/O is displayed in the order shown below.
DI DO MO LO TO SI SO SIW SOW
■ Changing the one's place of the port number

Use the cursor keys to select [ ] or [ ] on the screen, and then press the ENTER key to change the port
number.
Monitor
n NOTE
The screen display is updated at constant intervals.
Press the ESC key to exit the monitor display and return to the initial screen.
3.3 Changing output status

ON/OFF of the DO, MO, LO, TO, or SO output can be changed in "bit" units.
Step 2,3 Changing the output status

1 Display the output monitor detail.
Display the output list of the port whose
output ON/OFF you want to change, and
then press the F1 (DETAIL) key.
The "DO MONITOR DETAIL" screen will appear.
2 Specify the port number of the port

whose ON/OFF to change.
the output monitor detail screen, and then
press the ENTER key to change the port.
3 Change the output status. This figure shows the "DO MONITOR1 DETAIL" screen as an example.
Use the cursor keys to select [ON] or [OFF] of
the bit number whose output status to
change, and then press the ENTER key.
The output status is then changed.
7-4
4. Task driving state
The task driving state can be checked.
In the monitor hierarchy, select [Task Driving State] and press the ENTER key to display the task driving state.
■ "TASK STATE" screen
6. Program name
1. Hierarchy
3. Program number 5. Program status
4. Task number 8. Step
7. Priority
10. Message
9. Guide line
1. Hierarchy


7
Monitor
ALM Alarm occurrence status (This is not displayed when no alarm occurs.)
SRV Servo on status (This is not displayed when the servo is off.)
AUTO Control setting is set "RELEASE". (This is not displayed when the control setting is "GET" and
the operation is in the MANUAL mode.)
SEQ Sequence program execution status (This is not displayed when the sequence program is not
executed.)
3. Program number
4. Task number
Displays the task number of the selected program.
5. Program status
Displays the status of the selected program.
STOP Stop status
RUNNING Execution status
WAIT Wait status
SUSPENDED Forced suspended status
NON-EX Unregistered status
For details about each task status, refer to the programming manual.
7-5
6. Program name
Displays the selected program name.
7. Priority
Displays the priority of the selected program.
8. Step
Displays the line number at which the program stops.
9. Guide line
10. Message
Displays the output of "PRINT" command in the program.
5. Current monitor
The ratio of the current torque value (current value) to each axis rated torque value (current value) of the
selected robot is displayed in percentage [-1000 to 1000%].
Press the ESC key to return to the previous screen.
n NOTE
The robot is changed from the "QUICK MENU" screen. For details, refer to "5.2 Quick menu" in Chapter 4.
■ "CURRENT MONITOR" screen
7
Monitor
7-6
Chapter 8 I/O interface

1.1 ID settings 8-2
1.2 Power supply 8-2
1.4.1 Standard specification I/O connector signal list 8-4
1.4.2 Expanded specification I/O connector signal list 8-5
1.5 Connector pin assignment lists 8-6
1.5.1 Standard specification I/O connector 8-6
1.5.2 Expanded specification I/O connector 8-6
1.6 Connector pin numbers 8-7
1.7 Typical input signal connection 8-8
1.8 Typical output signal connection 8-9
1.9 Dedicated input signal description 8-10
1.10 Dedicated output signal description 8-12
1.11 Dedicated I/O signal timing chart 8-13
1.11.1 From the controller power on to servo on 8-13
1.11.2 Controller emergency stop and servo on reset 8-14
1.11.3 Return-to-origin 8-15
1.11.4 Program reset and program execution 8-16
1.11.5 Stopping by program stop 8-17
1.12 General-purpose I/O signals 8-18
1.12.1 General-purpose input signals 8-18
1.12.2 General-purpose output signals 8-18
1.12.3 General-purpose output signal reset (off) 8-18
2. Ratings 8-19
2.1 Input 8-19
2.2 Output 8-19
3. Caution items 8-19

1. I/O interface over view
To make the robot applicable to the customer's system, the dedicated or general-purpose I/O interface can
be selected for the controller.
• Add an optional parallel I/O board to the controller to use the I/O interface.
• The parallel I/O board can select the standard specifications that include the dedicated I/O or the expanded
specifications that have only the general-purpose I/O.
Up to four boards can be installed.
• The standard/expanded specifications and the PNP/NPN specifications of the parallel I/O board are
determined at shipment.
•W
hen the serial I/O (CC-Link, DeviceNet, etc.) is selected, dedicated inputs other than DI06 (Stop) of the
parallel I/O board become invalid.
For details about the definitions of the NPN and PNP specifications, refer to "7. I/O connections" in Chapter 3.
In the following descriptions, the input signal and output signal are expressed as "DI" and "DO", respectively.
n NOTE
The dedicated inputs are limited to ensure the safety during manual operation of the robot.
Specifications Connector name Connector type number Wire thickness
Connector shell: KBH-M4425-00

Dedicated 8
Input
General-purpose 16
Standard
STD.DIO
specifications
Dedicated 9
Output AWG30 to 24
General-purpose 8
8
Connector plug: KBH-M4424-00
Input 24 (Max. 96)
Expanded
EXP.DIO
I/O interface
specifications
Output 16 (Max. 64)
■ Parallel I/O board
Power connector
Parallel I/O connector
8-1
1.1 ID settings
Parallel I/O board IDs (1 to 4) are automatically allocated from the board connection position (in the option
slot number order).
The option slot numbers are shown on the option slots of the controller main body in the order like "upper left
→ lower left → upper right → lower right".
The parallel I/O board IDs can be set using the parameters as well. However, when the board has the standard
specifications, the ID is always "1".
ID General-purpose I/O Dedicated I/O
Standard specifications DI20-DI37 / DO20-DO27 Provided *1

1
Expanded specifications DI10-DI37 / DO10-DO27 None
2 DI40-DI67 / DO30-DO47 None
3 DI70-DI117 / DO50-DO67 None
4 DI120-DI147 / DO70-DO107 None
*1 To enable the dedicated input, it is necessary to short-circuit CHK1 (pin number 4) and CHK2 (pin number 40) of the I/O.
n NOTE
•Standard specifications/expanded specifications are determined at shipment.
•Only one standard specification board can be used.
•When changing the ID, it is necessary to turn off the controller power, and then turn it on again.
•If the ID setting is mismatched, all parallel I/O board IDs are initialized.
1.2 Power supply

When using the I/O interface, it is necessary to connect an external 24 V power supply.
Perform the wiring of the power connector of the parallel I/O board, and then connect the 24 V power supply.
■ Power connector
8 Terminal 1
I/O interface
Terminal 2
Terminal Input Electric wire to be used Connector type number
1 24 V DC
AWG22~18 KCX-M657L-00
2 GND
c CAUTION
• Make sure the direction to insert the power connector.
• When the controller main body is turned off, do not supply an external 24 V DC power to the parallel I/O
interface. Otherwise, the controller may malfunction.
8-2
1.3 Power connector wiring work
■ Stripping the electric wire

7 mm
Strip the electric wire sheath 7 mm.
Perform the work while referring to the figures shown below.
■ When using the finger operation lever
1. Push the finger operation lever 2. Insert the electric wire all the way 3. Release the operation lever.
installed on the top by finger to from the insertion port while To check the connection, lightly
push down the spring. pushing the operation lever. pull the electric wire.
■ When using a screwdriver (front entr y)
1. Insert a screwdriver into the 2. Insert the electric wire that has 3. Remove the screwdriver.
operation slot (square hole). been stripped correctly all the way To check the connection, lightly
When the screwdriver is inserted to the wire hole (round hole). pull the electric wire.
8
correctly, it is then held.
I/O interface
8-3
1.4 Connector I/O signals
1.4.1 Standard specification I/O connector signal list
n NOTE
•"CHK1" and "CHK2" are connection check inputs of the standard specification I/O connector. When the ID is set
at "1", be sure to short-circuit these inputs.
•When the serial I/O is enabled, the dedicated inputs of the option DIO are disabled.
Pin I/O No. Signal name Remarks

1 DI 01 Dedicated input: Servo ON input
2 DI 10 Dedicated input: Sequence control
3 DI 03 Spare Do not use.
4 CHK 1 Check signal 1 Short-circuit with CHK2.
6 DI 06 Dedicated input: Stop
8 DI 20 General-purpose input 20
16 DO 00 Emergency stop contact monitor
17 DO 01 Dedicated output CPU OK
18 DO 10 Dedicated output AUTO mode output
19 DO 11 Dedicated output Return-to-origin completed
20 DO 12 Dedicated output Sequence program-in-progress
21 DO 13 Dedicated output Robot program-in-progress
22 DO 14 Dedicated output Program reset status output
23 DO 15 Dedicated output Warning output
24 DO 16 Spare Do not use.
25 DO 17 Spare Do not use.
8 26
27
28
DI 12
DI 13
DI 14
Dedicated input: Automatic operation start
Spare
Dedicated input: Return-to-origin (for INC axis)
Do not use.
29 DI 15 Dedicated input: Program reset input

30 DI 16 Dedicated input: Alarm reset input
I/O interface
31 DI 17 Dedicated input: Return-to-origin (for ABS axis)

40 CHK 2 Check signal 2 Short-circuit with CHK1.
41 DO 02 Dedicated output: Servo ON output
42 DO 03 Dedicated output: Alarm output
43 DO 20 General-purpose output 20
8-4
1.4.2 Expanded specification I/O connector signal list
The IDs are set using the parameter.
Pin I/O No. (ID=1) I/O No. (ID=2) I/O No. (ID=3) I/O No. (ID=4) Signal name
1 --- --- --- --- Reserved
2 DI 10 DI 40 DI 70 DI 120 General-purpose input 10,40,70,120
3 --- --- --- --- Reserved
5 --- --- --- --- Reserved
6 --- --- --- --- Reserved
7 --- --- --- --- Reserved
16 --- --- --- --- Reserved
17 --- --- --- --- Reserved
18 DO 10 DO 30 DO 50 DO 70 General-purpose output 10,30,50,70
33
34
35
DI 31
DI 32
DI 33
DI 61
DI 62
DI 63
DI 111
DI 112
DI 113
DI 141
DI 142
DI 143
General-purpose input 31,61,111,141
8
I/O interface
40 --- --- --- --- Reserved
41 --- --- --- --- Reserved
42 --- --- --- --- Reserved
For details regarding the definition of NPN and PNP specifications, refer to "7. I/O connections" in Chapter 3.
8-5
1.5 Connector pin assignment lists
1.5.1 Standard specification I/O connector

1 DI01 Servo ON 26 DI12 RUN
2 DI10 SEQ enable 27 DI13 (Spare)
3 28 ORIGIN
DI03 (Spare) DI14 (for INC axis)
4 CHK1 Check input 1 29 DI15 RESET
5 DI05 (Spare) 30 DI16 ALMRST
6 31 ORIGIN
DI06 STOP DI17 (for ABS axis) General-
7 DI07 (Spare) 32 DI30
General- General- purpose input
8 DI20 33 DI31
purpose input General- purpose input General-
9 DI21 34 DI32
General- purpose input General- purpose input
10 DI22 35 DI33
11 DI23 36 DI34
purpose input purpose input
12 General- 37 General-
DI24 DI35
13 DI25 38 DI36
DI26 DI37
15 General- 40
DI27 CHK2 Check input 2
Emergency purpose input
16 DO00 stop contact 41 DO02 SERVO
monitor
17 DO01 CPUOK 42 DO03 ALARM
18 43 General-
DO10 AUTO DO20 purpose output General-
19 DO11 ORGOK 44 DO21 purpose output
20 45 General-
DO12 SEQRUN DO22 purpose output General-
21 DO13 RUN 46 DO23 purpose output
22 47 General-
DO14 RESET DO24 purpose output General-
23 DO15 WARNING 48 DO25 purpose output
24 49 General-
DO16 (Spare) DO26 purpose output General-
25 DO17 (Spare) 50 DO27 purpose output
1.5.2 Expanded specification I/O connector

The following shows the expanded specification I/O connector pin assignment list when the ID is "2".
For details about pin assignments other than those with the ID set at "2", refer to the I/O connector signal list.
1 26 General-
− Do not use. DI42 purpose input
DI40 DI43
purpose input purpose input General-
3 − Do not use. 28 DI44 purpose input
General- General-
8
4 DI41 29 DI45
purpose input purpose input General-
6 31 General-
− Do not use. DI47 purpose input General-
DI50 DI61
9 DI51 34 DI62
DI52 DI63
I/O interface

11 DI53 36 DI64
DI54 DI65
13 DI55 38 DI66
DI56 DI67
purpose input General- purpose input
15 DI57 40 − Do not use.
purpose input
16 − Do not use. 41 − Do not use.
17 − Do not use. 42 − Do not use.
DO30 DO40
purpose output General- purpose output General-
19 DO31 44 DO41
purpose output purpose output
DO32 DO42
purpose output General- purpose output General-
21 DO33 46 DO43
General- purpose output General- purpose output
22 DO34 47 DO44
DO35 DO45
General- purpose output General- purpose output
24 DO36 49 DO46
DO37 DO47
8-6
1.6 Connector pin numbers
■ Figure when viewed in the cable connector soldering direction
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
1 26
2 27
3 28
4 29
5 30
6 31
7 32
8 33
9 34
10 35
11 36
12 37
13 38
14 39
15 40
16 41
17 42
18 43
19 44
20 45
21 46
22 47
23 48
24 49
25 50
For the part numbers of connector shells and connector plugs, refer to this chapter "1. I / O interface overview".
8
I/O interface
8-7
1.7 Typical input signal connection
External DC24V
power
supply 4.7kΩ
DC24V
DI
DI Logic Internal
circuit circuit
DI
CHK1
CHK2
GND
DC24V
DI 3.6kΩ
DI Logic Internal
750Ω circuit circuit
DI
External CHK1
power
8
supply CHK2
DC24V
GND
I/O interface
8-8
1.8 Typical output signal connection
DC24V
DO
Load
Internal Logic DO
circuit Load
circuit
DO
Load
External
power
supply
DC24V
GND
c CAUTION
• In connecting an inductive load (solenoid, relay, etc.), connect a diode in parallel to the load as a surge killer.
• For the NPN specifications, do not short-circuit DO and 24 V DC. Otherwise, this may cause the circuit to break.
DC24V
External
power
supply
DC24V
DO
Load
Internal
circuit
Logic
circuit DO
Load
8
DO
I/O interface
Load
GND
c CAUTION
For the PNP specifications, do not short-circuit DO and GND. Otherwise, this may cause the circuit to break.
8-9
1.9 Dedicated input signal description
n NOTE
• Do not input several dedicated inputs at the same time. When inputting continuously, make sure to provide an
interval of 100 ms or more between input pulses.
• Keep 100 ms or more pulses for the pulse input signal width.
• The dedicated inputs are valid when the controller is in the AUTO mode and the control setting is "RELEASE".
1. DI01 Ser vo ON input (Pulse input signal)

DI01 is used to release the emergency stop status and turn the servo on.
When the DI01 contact is closed (ON), the servo turns on at the signal rise.
n NOTE
• To use this function, it is necessary that no alarm occurs and the emergency stop input is closed.
• In PHASER series robot operation, when the servo is first turned on after power-on, the robot emits a noise (sound)
for 0.5 to 2 seconds during the servo on process and then enters a servo on status. This is normal operation
necessary for obtaining control information by slightly moving the robot and is not an abnormal condition.
2. DI06 Stop
DI06 is used to pause the program or robot operation during program execution or manual robot movement operation.
When the DI06 contact is open (OFF), the program and robot operation stop. Additionally, the program execution and
manual robot movement operation cannot be performed in the DI06 contact open status.
w WARNING
The stop signal is not a safety input. Therefore, do not use this signal for the safety purpose.
Even when the stop signal is turned on, the servo does not turn off.
3. DI10 Sequence control

DI10 is used to execute a sequence program.
When the DI10 contact is closed (ON), a sequence program is executed.
DO12 (Sequence program-in-progress) is output while a sequence program is executed.
n NOTE
When an external 24 V power is not supplied to the parallel I/O board, the robot always enters the stop status.
The stop status is released when the parallel I/O board setting is "INVALID".
8 4. DI12 Automatic operation start

DI12 is used to start execution of the program.
When the DI12 contact is closed (ON) in AUTO mode, the robot program starts as the signal pulse is established. DO13
I/O interface
(Robot program-in-progress) is output when the robot program is executed.
c CAUTION
When the program execution is stopped by a signal such as DI06 (Stop), the program re-executes the command
that has stopped.
5. DI14 Return-to-origin (for INC axis)

DI14 is used to perform return-to-origin of the incremental type axis and semi-absolute type axis. For the incremental
type axis, when return-to-origin is executed, the return-to-origin operation is performed. For the semi-absolute type axis,
when return-to-origin is executed, the absolute search operation is performed.
When the DI14 contact is closed (ON), the axes will start returning to their origin positions at the rising edge of the
signal pulse, in the return-to-origin sequence specified by parameter.
When there are no incremental type axis and semi-absolute type axis, "6.309: INC. motor disconnected" alarm occurs.
This input signal is only for the axes whose return-to-origin method is set to "SENSOR" or "TORQUE" (stroke end).
8-10
6. DI15 Program reset input
DI15 is used to reset the program.
When DI15 is input in the program execution stop status, the robot program is then reset.
At this point, all general-purpose outputs and dynamic variables (refer to the RCX 3 series programming manual for
details) are reset.
DO14 (Program reset status output) is output when the program is correctly reset.
7. DI16 Alarm reset input

DI16 is used to reset the alarm.
If an alarm occurs, remove the cause and execute this command to reset the alarm.
* Some alarms cannot be reset. In this case, shut down the control power and reset the alarm.
8. DI17 Return-to-origin (for ABS axis)

The operation may vary depending on the setting of the I/O parameter "DI17 mode".
1. When the "DI17 Mode" parameter is set to "ABS"

DI17 is used to perform return-to-origin dedicated to the absolute type axis.
When the DI17 contact is closed (ON), the axes will start returning to their origin positions at the signal, in the sequence
specified by the parameter.
When there is no absolute type axis, "6.310: ABS. motor disconnected" alarm occurs. DI17 is intended only for the axis
with the return-to-origin method set at "SENSOR" or "TORQUE" (stroke end). Absolute reset cannot be performed when
return-to-origin is incomplete on axes whose return-to-origin method is set to "MARK".
2. When the "DI17 Mode" parameter is set to "ABS/ORG"

DI17 is used to perform return-to-origin commonly for the absolute type axis and incremental type axis.
1) Absolute type axis
For details about operation, refer to "1. When the 'DI17 Mode' parameter is set to 'ABS'" described above.
2) Incremental type axis
For details about operation, refer to "5. DI14 Return-to-origin (for INC axis)" described earlier in this section.
When the absolute type axis and incremental type axis are mixed, return-to-origin for the absolute type axis precedes for
the incremental type axis.
c CAUTION
In most cases, do not use this setting. Use this setting only when the return-to-origin signal must be input to DI17.
n NOTE
The return-to-origin (for INC axis) and return-to-origin (for ABS axis) inputs do not execute the absolute reset for
the axis with the mark method.
8
c CAUTION
DI01, DI12, DI14, DI15, DI16 and DI17 inputs are invalid while the program is being executed. Input these signals
only after the program is halted.
I/O interface
8-11
1.10 Dedicated output signal description
1. DO00 Emergency stop contact monitor

This signal monitors the status of Emergency stop ready input within SAFETY I/O signals. This signal turns on while
Emergency stop ready input is OFF.
You won't clear the emergency stop status even if you operate to clear the status with Emergency stop ready input OFF.
2. DO01 CPU_OK
This is always on during normal controller operation. In the following cases this output turns off.
• Serious malfunction has occurred.
• When the power supply voltage has dropped to lower than the specified value.
If this signal is once turned off, turn the power supply on again.
3. DO02 Ser vo ON output

This output turns on when all the axes of the robot are in the servo on status.
4. DO03 Alarm
This output turns on in the following cases.
1) When the emergency stop input contact is open in the servo on status.
2) W hen a driver unit detects a serious malfunction such as an overload.
* When an alarm with alarm classification number 500 or later occurs.
3) When the host CPU has stopped due to a serious abnormality or other causes.
4) When the battery is not connected.
When the alarm is on, the alarm number is displayed on the 7-segment LED on the front of the controller simultaneously.
In the above cases, turn off the alarm as described below.
In the case of 1)
After closing the emergency stop input contact, turn on DI16 (alarm reset input) of the I/O interface.
The alarm can also be reset as the power is turned off, and then it is turned on again.
In the case of 2)
Turn on DI16 (alarm reset input) of the I/O interface to turn off the alarm. Additionally, when the alarm is reset from
the programming box, the alarm is turned off.
* Some alarms cannot be reset. In this case, shut down the control power and reset the alarm.
In the case of 3)
Since the CPU has stopped, the alarm cannot be turned off and operation cannot be reset unless the power supply is
turned on again. If the alarm remains on even after the power has been turned off and then turned back on, the controller
needs to be replaced.
8 In the case of 4)
When a battery abnormality is detected, the alarm cannot be turned off until the power supply is turned on again.
If the alarm remains on even after the power has been turned on again, check the battery connection or replace
the battery as necessary.
I/O interface
5. DO10 AUTO mode output

DO10 is always on when the controller is in the AUTO mode and the control setting is "RELEASE".
6. DO11 Return-to-origin complete

DO11 is always on when return-to-origin is complete on all axes.
7. DO12 Sequence program-in-progress

DO12 is always on when the sequence program is being executed.
8. DO13 Robot program-in-progress

DO13 is always on when the robot program is being executed or when program instruction commands are executed
individually.
9. DO14 Program reset status output

DO14 is always on when the robot program is in its reset status. DO14 turns off when robot program is executed.
10. DO15 Warning output

DO15 turns on if a warning occurs, for example, the controller detects the battery voltage drop.
n NOTE
DO15 is for all warnings. Refer to "[c] Warning" in Troubleshooting (the appendix) for details.
8-12
1.11 Dedicated I/O signal timing chart
1.11.1 From the controller power on to ser vo on
■ From the controller power on to ser vo on
Approx. 3 sec. Conditions: AUTO mode
Control power
CPU_OK on
DO01 off
Servo ON output on
DO02 off
Alarm output on
DO03 off
on
Emergency stop
off
Alarm reset input on

DI16 off
Servo ON input on
DI01 off
MP RDY* on
(SAFETY connector) off
Main power
a) b) b’) c) d) e) f)
*For details on MP RDY signal, refer to Chapter 9, "SAFETY I/O interface".
c CAUTION
It will take about 3 seconds until the CPU_OK output status is confirmed after the power is turned on.
Initial servo on process after turning the power on

a) Control power turns on.
b) MP RDY output turns on. (Main power turns on after MP RDY output turns on.)
b') CPU_OK output turns on.
8
c) Emergency stop input turns on.
d) Servo ON input turns on.
I/O interface
e) Servo ON output turns on.
f) Servo ON input turns off after checking that servo ON output turns on.
* When processing with dedicated inputs, use I/O signals to perform handshake processing. If handshake processing is
impossible, input a signal for 100 ms or more.
* An external circuit shall be constructed so that main power is supplied when MP RDY turns on.
8-13
1.11.2 Controller emergency stop and ser vo on reset
■ Emergency stop and ser vo on reset from ser vo on status
Conditions: AUTO mode

Control power
CPU_OK on
DO01
off
on
Servo ON output
DO02 off
Alarm output on
DO03 off
on
Emergency stop
off
Alarm reset input on

DI16
off
Servo ON input on
DI01 off
MP RDY* on
(SAFETY connector) off
Main power
a) b) c) d) e) f) g) h) i) j) k)
Emergency stop
a) Emergency stop input turns off.
b) Alarm output turns on and servo ON output turns off.
Shifting from emergency stop to servo on

c) Emergency stop input turns on.
d) Alarm reset input turns on.
e) Alarm output turns off.
f) Alarm reset input turns off after checking that the alarm output turns off.
g) Servo ON input turns on.
8
h) Servo ON output turns on.
i) Servo ON input turns off after checking that servo ON output turns on.
* When processing with dedicated inputs, use I/O signals to perform handshake processing. If handshake processing is
impossible, input a signal for 100 ms or more.
Serious alarm occurring

I/O interface
j) Alarm output turns on, servo ON output turns off, and MP RDY output turns off.
k) Control power turns off.
* If a serious alarm occurs (alarm classification number 900s), the alarm reset cannot be performed.
* An external circuit shall be constructed so that main power is shut down when MP RDY turns off.
8-14
1.11.3 Return-to-origin
■ Return-to-origin
Conditions: Servo ON, AUTO mode
CPU_OK on
DO01a off
Servo ON output on
DO02a off
on
Return-to-origin complete
DO11 off
Stop on
DI06 off
Return-to-origin on
DI14/DI17 off
100 ms or more
Move
Robot axis status
Stop
a) b) c)d) e) f) g) h) i)
Return-to-origin
a) Return-to-origin input turns on. (Pulse width: 100 ms or more)
b) Robot axis starts moving to origin position.
c) Robot axis reaches origin position and stops moving.
On semi-absolute axes, the current position is determined and movement stops.
d) Return-to-origin complete output turns on.
Stop during return-to-origin

e) Return-to-origin input turns on (pulse width: 100 ms or more) and return-to-origin complete output turns off.
f) Robot axis starts moving to origin position.
g) Stop input turns off.
h) On-going robot axis movement stops.
i) Stop input turns on.
* When the return-to-origin complete output is on, return-to-origin does not have to be performed.
* Return-to-origin complete output keeps on until performing return-to-origin is required.
* Return-to-origin cannot be executed unless the robot is in the servo on status.
8
* When the return-to-origin input is on, the return-to-origin complete output is off.
* When turning on the controller with the incremental type axes, the robot enters the return-to-origin incomplete status.
Therefore, the return-to-origin complete output turns off.
* When the robot consists of only the absolute type axes, it starts up in the return-to-origin complete output on status
if the position information alarm does not occur at turning on the controller.
* When the "DI17 mode" parameter is set to "ABS/ORG", return-to-origin can also be performed with DI17. For description
I/O interface
of DI14 and DI17, refer to "1.9 Dedicated input signal description" in this Chapter.
8-15
1.11.4 Program reset and program execution
■ Program reset and program execution
Return-to-origin complete on
DO11 off
Robot program-in-progress on
DO13 off
Program reset status output on

DO14 off
on
Stop
DI06 off
on
Automatic operation start
DI12 off
Program reset input on

DI15
off
100 ms
or more
a) b) c) d) e) f)
Program reset
a) Program reset input turns on.
b) Program reset status output turns on.
c) Program reset input turns off after checking program reset status output turns on.
Program execution
d) Automatic operation start input turns on.
e) Program reset status output turns off, and robot program-in-progress output turns on.
f) Automatic operation start input turns off after checking robot program-in-progress output turns on.
* Program cannot be executed when the emergency stop input and stop input are off.
* The AUTO mode input of the SAFETY connector is a function that is intended only for the controller with the CE
specifications.
8
I/O interface
8-16
1.11.5 Stopping by program stop
■ Stopping by program stop
on
Return-to-origin complete
DO11 off
Robot program-in-progress on
DO13 off
on
Stop
DI06 off
Automatic operation start on

DI12 off
100 ms
or more
a) b) c) d) e) f) g) h) i)
Program execution
a) Automatic operation start input turns on.
b) Robot program-in-progress output turns on.
c) Automatic operation start input turns off after checking that the robot program-in-progress output turns on.
Program stop process by stop input

d) Stop input turns off.
e) Robot program-in-progress output turns off.
Program execution process after program stop by stop input

f) Stop input turns on.
g) Automatic operation start input turns on.
h) Robot program-in-progress output turns on.
i) Automatic operation start input turns off after checking that the robot program-in-progress output turns on.
* Switching to emergency stop status will cause the program to stop. Alarm output turns on and the servo ON output
turns off. It is required that the servo turns on to execute the program again.
w WARNING
The stop signal is not a safety input. Therefore, do not use this signal for the safety purpose.
Even when the stop signal is turned on, the servo does not turn off.
8
c CAUTION
If the program execution is stopped halfway by the stop input, it is executed again from the command that stops
I/O interface
the program.
When the program execution is stopped during robot movement, the robot movement is started by executing the
program again. Therefore, take great care when executing the program again.
8-17
1.12 General-purpose I/O signals
1.12.1 General-purpose input signals

The standard specifications provide 16 points in total, DI20 to DI27 and DI30 to DI37 while the expanded
specifications provide 24 points in total, DI10 to DI17, DI20 to DI27, and DI30 to DI37.
These general-purpose inputs can be used arbitrarily. They can be connected to components such as push
button switches and sensors. The input status of these can be read in the robot program or sequence program.
c CAUTION
For input signals, input on/off signals with 6 ms or longer.
1.12.2 General-purpose output signals

The standard specifications provide 8 points in total, DO20 to DO27, while the expanded specifications
provide 16 points in total, DO10 to DO17 and DO20 to DO27.
These general-purpose outputs can be used arbitrarily. The output status of these can be changed in the robot
program or sequence program.
All output signals are initialized and turned off when the controller power is turned on.
Additionally, the area check outputs can be allocated to the general-purpose outputs.
1.12.3 General-purpose output signal reset (off)

All general-purpose output signals are reset (off) in the following cases.
■ When "ALL RESET" is executed on the "AUTO OPE" screen.

■ When the dedicated input signal DI15 (Program reset input) was turned on in AUTO mode while the program was
stopped.
(Refer to "1.9 Dedicated input signal description" in this Chapter.)
■ When any of the following initialization is performed on the "INITIAL" screen ([System] → [Initialize]).
1. ALL: All data
2. PGM: Program data
8
■ When the online commands @RESET, @INIT PGM, @INIT MEM, or @INIT ALL were executed.
■ When the HALTALL statement was executed in the program.
I/O interface
8-18
2. Ratings
2.1 Input
NPN specifications PNP specifications
DC input (positive common type) DC input (negative common type)

Method
Photo-coupler insulation method Photo-coupler insulation method
Input power 24 V DC ±10%, 5.1 mA/point 24 V DC ±10%, 5.5 mA/point
ON voltage: 4.0 Vmax (4.2 mA) ON voltage: 11.6 Vmin (2.7 mA)
Load
OFF voltage: 9.9 Vmin (3.0 mA) OFF voltage: 4.6 Vmax (1.1 mA)
Response time 2 ms or longer, or 4 ms *1 or longer 2 ms or longer, or 4 ms *1 or longer
*1 When three or more optional I/O interface boards are installed.
2.2 Output
NPN specifications PNP specifications
NPN open-collector (negative common type) PNP open-collector (positive common type)
Method
Photo-coupler insulation method Photo-coupler insulation method
Load 24 V DC ±10%, 50 mA/point (resistance load) 24 V DC ±10%, 50 mA/point (resistance load)
Residual voltage 1.0V 1.0 V
Response time 2 ms or longer, or 4 ms *1 or longer 2 ms or longer, or 4 ms *1 or longer
*1 When three or more optional I/O interface boards are installed.
8
3. Caution items
1. When using a dual-lead proximity sensor as an input signal, check that the electrical specifications of
the sensor output signal are within the input signal specifications of the controller. For example, if the
I/O interface
residual voltage is large at turn on/off, this may cause malfunction.
2. Take noise countermeasures when using an inductive load such as a solenoid valve as an output load.
For example, connect a diode (high-speed type) in parallel at both ends of a load, as a surge killer to
protect against noise.
3. If a short occurs in the load or an excessive current flows, the over-current protective circuit shuts off the
interface circuit. Once this circuit is activated, it may be required to replace parts in order to restore it to
its previous state.
Furthermore, be sure to perform the operation within the rated load, or heat generated inside may lead to
burning damage.
4. As noise countermeasures, keep the machine power cables separate or make sure wires are well shielded.
5. When the controller main body is turned off, do not supply the external 24 V DC power to the I/O
interface continuously. Otherwise, the controller may malfunction.
8-19
1. SAFETY I/O interface overview 9-1

1.1 Power 9-1
1.3 Connection example combining the programming box with external emergency stop circuit 9-2
1.3.1 Connection example of controller with normal specifications and PBX 9-2
1.3.2 Connection example of controller with CE specifications and PBX-E 9-3
1.4 Connections example of dedicated input signal 9-4
1.4.1 Emergency stop inputs (E-STOP RDY*, E-STOP COM*) 9-4
1.4.2 AUTO mode inputs (AUTO*+, AUTO COM*) 9-4
1.5 Connection example of dedicated output signal 9-5
1.5.1 Emergency stop contact outputs (E-STOP*1, E-STOP*2) 9-5
1.5.2 Enable switch contact outputs (ENABLE*1, ENABLE*2) 9-5
1.5.3 Motor power ready outputs (MP RDY*+, MP RDY*-) 9-6
1. SAFETY I/O interface over view
9
A SAFETY I/O interface is prepared to construct a robot safety circuit. Use the terminals to construct a safety
circuit so that the system including the controller operates toward the safe side. Additionally, connect the I/O
terminals correctly and effectively, and then start the operation after checking the operation of the safety circuit
sufficiently.
SAFETY I/O interface

Connector name Connector type number Wire thickness
SAFETY KCX-M5370-00 AWG24-16
1.1 Power
The emergency stop input uses either the controller’s internal power for emergency stop, or external 24 V power.
Additionally, the AUTO mode input (valid only for the CE specifications) uses the external 24 V power.
1.2 Connector I/O signals
A1
B1
A12
B12
Release
Lock
PIN I/O No. PIN I/O No. Name Remarks
B1 E-STOP2+ A1 E-STOP1+ Internal power (+) for emergency stop
B2 E-STOP21 A2 E-STOP11
Emergency stop contact output
B3 E-STOP22 A3 E-STOP12
B4 E-STOP RDY2 A4 E-STOP RDY1

Emergency stop ready input +24 V/45 mA
B5 E-STOP COM2 A5 E-STOP COM1
B6 E-STOP2- A6 E-STOP1- Internal power (-) for emergency stop
B7 ENABLE2+ A7 ENABLE1+ 1 A/30 Vmax

Enable switch contact output
B8 ENABLE2- A8 ENABLE1- Valid only when PBX-E is connected.
B9 AUTO2+ A9 AUTO1+ 7 mA at24 V

AUTO mode input
B10 AUTO COM2 A10 AUTO COM1 Valid only for the CE specifications
B11 MP RDY2+ A11 MP RDY1+ 30 V DC/300 mAmax

Motor power ready output
B12 MP RDY2- A12 MP RDY1- (MOS FET contact)
The I/O signals have two systems; line A and line B of the connector.
c CAUTION
• Construct a physical emergency stop circuit so that the system including the controller operates toward the
safe side.
• Do not connect any external power to "E-STOP+/-" of the internal power for the emergency stop. Additionally,
do not use "E-STOP+/-" for a purpose other than the emergency stop.
9-1
1.3 Connection example combining the programming box
with external emergency stop circuit
9 c CAUTION
• Construct an external emergency stop circuit so that the emergency stop function of the overall system
including the controller operates securely.
• "E-STOP RDY*" needs a relay or photocoupler drive current of 45 mA or more.
1.3.1 Connection example of controller with normal specifications and PBX
c CAUTION
When manufacturing the system that complies with the Machinery Directive and with other related standards,
Refer to this Chapter "1.3.2 Connection example of controller with CE specifications and PBX-E".
ACIN
L
N To main power circuit
Controller PBX

Internal power Emergency stop Manual lock
EXTERNAL +24V OFF ON
E-STOP
A1 E-STOP1+
B1 E-STOP2+ PB
A4 E-STOP RDY1

B4 E-STOP RDY2
status detection
B5 E-STOP COM2
A6 E-STOP1-
B6 E-STOP2-
Internal power +24V
Internal power GND
A7 ENABLE1+ 17 ENABLE11 17
A8 ENABLE1- 18 ENABLE12 18
B7 ENABLE2+ 19 ENABLE21 19
B8 ENABLE2- 20 ENABLE22 20
21 21
22 22
Not used. 23 23
A9 AUTO1+ Manual lock switch
status detection
A10 AUTO COM1
B9 AUTO2+ AUTO mode
change detection
B10 AUTO COM2
A11 MP RDY1+ Internal power GND
A12 MP RDY1-
Connected to Motor power ready output
B11 MP RDY2+
external device
B12 MP RDY2-
SAFETY
■ Operation description
• Use the internal power for the emergency stop. Short-circuit "E-STOP COM*" and "E-STOP*-".
• In the connection example, the emergency stop button on the programming box and external emergency stop button
are connected in series.
a. In the normal status, "E-STOP*+" is connected to "E-STOP RDY*" through each emergency stop button and SAFETY
connector to turn on the motor power relay inside the controller.
b. In the emergency stop status, the current does not flow to "E-STOP RDY*" of the SAFETY connector and the motor
power turns off.
• When the programming box and SAFETY connector are removed, the robot enters the emergency stop status.
• The following PB connector pins of the PB terminator supplied with the controller are short-circuited and the automatic
operation is ready to start.
PB connector
13 pin - 14 pin
15 pin - 16 pin
17 pin - 18 pin
19 pin - 20 pin
21 pin - 22 pin
9-2
1.3.2 Connection example of controller with CE specifications and PBX-E
ACIN
L L To main
9
N N
power circuit Controller PBX-E
CE specifications
100mA*2
T0 Main power on/off control Emergency Enable

IN10 Internal power stop Manual lock
O0 +24V
O1 OFF ON

A1 E-STOP1+
B1 E-STOP2+ PB
T2 A2 E-STOP11 13 E-STOP11 13
IN4 A3 E-STOP12 14 E-STOP12 14
T3 B2 E-STOP21 15 E-STOP21 15
IN5 B3 E-STOP22 16 E-STOP22 16
O2 A4 E-STOP RDY1

O3 B4 E-STOP RDY2
status detection
EXTERNAL SAFETY
E-STOP B5 E-STOP COM2
CONTROLLER A6 E-STOP1-
B6 E-STOP2-
T2 Internal power +24V
IN0
Internal power GND
T3 A7 ENABLE1+ 17 ENABLE11 17
IN1 A8 ENABLE1- 18 ENABLE12 18
IN6
DOOR B7 ENABLE2+ 19 ENABLE21 19
IN7 B8 ENABLE2- 20 ENABLE22 20
IN2 21 21
22 22
IN3 A9 AUTO1+ 23 23
O4 Manual lock switch
AUTO MODE A10 AUTO COM1 status detection
SWITCH B9 AUTO2+
O5 AUTO mode
IN12
B10 AUTO COM2 change detection
IN13 Internal power GND
External power A11
+24V IN8 A12
V B11 MP RDY2+ Motor power ready output
G
IN9 B12 MP RDY2-
SAFETY
■ Operation description
• This example does not use the internal power for the emergency stop. Use the external power and do not connect
"E-STOP*+" and "E-STOP*-".
• The safety controller monitors the emergency stop and enable switch status of two systems. If any contact is open,
the main power is shut down by the external contactor to put the robot in the emergency stop status.
• The safety controller operates the external main power according to the safety protection door open/close status, AUTO
mode switch, and MP RDY* signal status of two systems. Additionally, the safety controller judges "E-STOP RDY*" and
"AUTO*+" and outputs this judgment signal to the controller.
• To restart the external main power of the controller, it is necessary to input RESET to the safety controller.
• When the programming box and SAFETY connector are removed, the controller enters the emergency stop status.
• The following PB connector pins of the PB terminator supplied with the controller are short-circuited and the automatic
operation is ready to start.
PB connector
13 pin - 14 pin
15 pin - 16 pin
17 pin - 18 pin
19 pin - 20 pin
21 pin - 22 pin
* For details about the CE specifications, refer to the "Safety standards application guide".
9-3
1.4 Connections example of dedicated input signal
1.4.1 Emergency stop inputs (E-STOP RDY*, E-STOP COM*)

9
L
To main power circuit
N
45 mA
E-STOP RDY1 3.3kΩ 7 mA
E-STOP COM1
45 mA
E-STOP RDY2 3.3kΩ 7 mA
DC24V
E-STOP COM1
The emergency stop inputs are used to construct a physical emergency stop circuit as a safety protection
function of the overall system including the controller.
To operate the robot, the emergency stop input contact needs to be closed. For connection example, refer to
"1.3.1 Connection example of controller with normal specifications and PBX" in this Chapter.
When the emergency stop input contact is closed (ON), the servo power can be turned on. When any
emergency stop input contact is open (OFF), the servo power cannot be turned on.
To drive the internal power relay that is connected in parallel, E-STOP RDY*/E-STOP COM* needs 45-mA
current.
1.4.2 AUTO mode inputs (AUTO*+, AUTO COM*)
7 mA
3.3kΩ
AUTO1+
AUTO COM1
7 mA
3.3kΩ
AUTO2+
DC24V
AUTO COM2
The AUTO mode inputs are valid only for the controller with the CE specifications.
They can change the external safety circuit of the controller to the AUTO mode and inform that the robot is in
the automatic operation ready status. When either AUTO mode input turns off, the controller changes to the
MANUAL mode. For the controller with the standard specifications, the operation mode can be changed only
from the manual lock switch on the programming box.
9-4
1.5 Connection example of dedicated output signal
1.5.1 Emergency stop contact outputs (E-STOP*1, E-STOP*2)
PBX-E Controller
9
Emergency stop

E-STOP11
E-STOP12
E-STOP21
E-STOP22
The emergency stop contact outputs are used to construct a physical emergency stop circuit as a safety
protection function of the system including the controller. To operate the robot, the contact needs to be closed.
For details about connections, refer to "1.3.1 Connection example of controller with normal specifications and
PBX" in this Chapter.
The emergency stop switch contacts are connected to that of the programming box.
1.5.2 Enable switch contact outputs (ENABLE*1, ENABLE*2)
PBX-E Controller
Enable
ENABLE1+
ENABLE1-
ENABLE2+
ENABLE2-
The enable switch contact outputs are connected to the enable switch contacts of the programming box.
Three-position enable switch status is informed to the external system as a safety protection function of the
system including the controller.
Construct an external system so that it monitors the enable switch status (always on) in the MANUAL mode to
permit the main power supply to the controller.
9-5
1.5.3 Motor power ready outputs (MP RDY*+, MP RDY*-)
300 mAmax
9
MP RDY1+
DC30 Vmax
MP RDY1-
300 mAmax Load
MP RDY2+
DC30 Vmax
DC24V
MP RDY2-
Load
This signal turns on when the controller can receive the external main power supply. When this signal turns on,
this means that the servo on operation can be performed by supplying the main power and operating the servo
on input signal.
If a serious alarm (alarm classification number 900s) that needs to turn off the power and turn it on again so as
to reset the alarm, turn off the motor power ready output. This signal is connected to the PLC or external device
and used to judge the main power supply on/off conditions.
The output current is up to 300 mA.
9-6
Chapter 10 External communication interface
1. Overview 10-1
1.1 Communication overview 10-1
1.2 ONLINE and OFFLINE modes 10-2
1.3 Character code 10-3
2. RS-232C 10-4
2.4 Communication parameter setting 10-6
2.5 Communication flow control 10-7
2.5.1 Flow control during transmit 10-7
2.5.2 Flow control during receive 10-7
2.6 Other caution items 10-8
3. Ethernet 10-9
3.4 Parameter setting on controller (server) 10-13
3.4.1 Setting the communication mode and parameters 10-14
3.4.2 Initializing communication parameters 10-14
3.5 System setting on personal computer (client) 10-15
3.5.1 Setting the TCP/IP protocol 10-15
3.6 Connection check using "Ping" 10-16
3.7 Communication example using "TELNET.EXE" 10-17
3.8 Appendix 10-18
3.8.1 Example of network system configuration 10-18
3.8.2 Glossary 10-21
4. General Ethernet port (GEP) 10-23

4.1 GEP parameter setting 10-23
4.2 GEP parameter setting method 10-24
4.3 Initializing communication parameters 10-25
1. Over view
1.1 Communication over view
To perform the communication between the controller and external device, a communication port (RS-232C
interface or Ethernet interface) is used to directly send the robot communication command (SEND command)
10
or send the command through the communication port.
As these communications are used individually or together, the robot is applicable to applications using an
external communication.
1. Robot language command (SEND command) is used.
External communication interface

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

* When using the RS-232C port and Ethernet port, specify "CMU" and "ETH", respectively.
2. Various commands are directly sent from the external device through the communication port.
These commands are called "online commands".
When using this function, a part of the controller operation can be performed from an external device.
Example: @RUN … Executes the program.
@READ PNT … Reads out all of point data.
@MOVE P,P123,SPEED=30… Moves the robot 1 to point 123 at 30%-speed.
n NOTE
All online commands can be used only when the controller is in the AUTO mode and the control authority is
released externally.
When the controller is not in the AUTO mode, some commands, such as "@MOVE", cannot be executed.
10-1
1.2 ONLINE and OFFLINE modes
The controller provides two communication modes, ONLINE mode and OFFLINE mode.
1. OFFLINE mode
In OFFLINE mode, the communication between the robot and external device is executed with SEND commands in the
program.
When using the RS-232C port and Ethernet port, specify "CMU" and "ETH", respectively.
10 • SEND command (robot → external device)
SEND <source file> TO CMU

SEND <source file> TO ETH
• SEND command (external device → robot)
SEND CMU TO <destination file>

SEND ETH TO <destination file>
2. ONLINE mode
In ONLINE mode, commands can be directly sent to the robot from the external device.
Commands to be sent directly from the external device are called "online commands".
The SEND command in the robot program is valid even in ONLINE mode.
To set ONLINE mode, select "ONLINE" as a communication parameter. The ONLINE statement in the program can also be
used to set ONLINE mode.
• ONLINE command format
@ [_] <online command> [<_command option>] <termination code>
[ ] shows optional arguments.
@ . . ................................. Start code (=40h)

_ . . ................................. Blank
<online command> .. ....... Refer to the programming manual.
<command option> ........ Refer to the programming manual.
<termination code> ........ CRLF(= 0Dh + 0Ah) code
■ Robot control commands start with the start code "@"(=40h) and are executed by sending a statement that the
termination code CRLF ((= 0Dh +0Ah) code) is put at its end. As exceptions, the control codes, such as "^C" or "^V",
do not need the start code and termination code.
■ One line consists of up to 255 characters except for the termination code ((CRLF(= 0Dh + 0Ah) code).
■ The communication command consists of <online command> and <command option> parts. Some commands have
no <command option> part or multiple <command option> parts.
■ Character codes to be used are JIS8 unit system codes (KATAKANA characters are added to the ASCII codes). For
details about the character code table, refer to "1.3 Character code" in this Chapter.
■ One or more space must be put between the <online command> and <command option> parts.
■ The <command option> part is specified by the user. Check the details of each communication command, and then
input appropriate data.
n NOTE
• In OFFLINE mode, online commands from external devices cannot be received.
• When using online commands, be sure to switch to ONLINE mode.
• In the OFFLINE mode, the controller cannot be connected from the RCX-Studio software. Therefore, when
connecting the controller using the support software, be sure to put the controller in the ONLINE mode.
10-2
1.3 Character code
HEX. 0- 1- 2- 3- 4- 5- 6- 7- 8- 9- A- B- C- D- E- F-
-0 SP 0 @ P p
-1 XON ! 1 A Q a q
-2 " 2 B R b r
-3
-4
STOP XOFF #
$
3
4
C
D
S
T
c
d
s
t
10
-5 % 5 E U e u

-6 & 6 F V f v
-7 ' 7 G W g w
-8 BS ( 8 H X h x
-9 TAB ) 9 I Y i y
-A LF EOF * : J Z j z
-B + ; K [ k {
l
-C , < L ¥ l
l
-D CR - = M ] m }
-E . > N ^ n ~
-F / ? O o
Note 1: The above character codes are written in hexadecimal.

Note 2: SP indicates a blank space.
Note 3: Only capital letters can be used for robot language.
Small letters are used for program comments and so on.
However, these cannot be input on the programming box.
Note 4: BS deletes the preceding character in the receive buffer.
Note 5: TAB is replaced with one space.
10-3
2. RS-232C
2.1 Connectors and cables
The RS-232C interface connector is located on the front panel of the robot controller as shown below.
10 RS-232C interface
Pin No. Name Description I/O

1 NC Not used
Pin No. 2 RXD Receive data Input

Pin No.
5 3 TXD Send data Output

9
8 4 4 NC Not used
7 3
2 5 GND GND
6
1 6 NC Not used
Request to
7 RTS Output
send
Permission
8 CTS Input
to send
9 NC Not used
n NOTE
The controller connector is a 9-pin D-Sub female type. Use male type for the connection cable.
■ Cable wiring for connections
a. Cable of hardware busy control
Controller External device

NC 1 DCD
RXD 2 RXD
TXD 3 TXD
NC 4 DTR
GND 5 GND
NC 6 DSR
RTS 7 RTS
CTS 8 CTS
NC 9
b. Cable without using control wires
Controller External device

NC 1 DCD
RXD 2 RXD
TXD 3 TXD
NC 4 DTR
GND 5 GND
NC 6 DSR
RTS 7 RTS
CTS 8 CTS
NC 9
* When arranging signal wiring on an external device, be sure to refer to the manufacturers manual.
10-4
2.2 Communication specifications
Transmission mode Full duplex
Synchronous system Start-stop synchronization
Baud rate [bps] 4800, 9600, [19200], 38400, 57600, 115200
Character length [bit] 7, [8]
Stop bit [bit] [1], 2
Parity None, [odd], even
Termination code
Flow control
Receive buffer
CR, [CRLF]
None, [XON/XOFF], RTC/CTS
1024 bytes
10
Transmit buffer 1024 bytes
Numbers or items in [ ] indicate the initial setting.

n NOTE
1) Termination code
• Robot transmit
When CRLF (carriage return + line feed) is selected:
Transmits data with a CR code (0xDH) and LF code (0xAH) added at the end of a line.
When CR (carriage return) is selected:
Transmits data with a CR code (0xDH) added at the end of a line.
• Robot receive
Receives data by treating entries made up to the CR code as 1 line and ignoring the LF code, regardless of
which termination code is selected.
2) If the "Display language" parameter is set to "JAPANESE" in SYSTEM mode, then set the character length to 8
bits. Katakana letters (Japanese phonetic) cannot be output from the communication port if set to 7 bits.
2.3 Connections
The following are examples of connecting to a personal computer using the YAMAHA communication cable.
1. Using the PC's COM port
COM port
* The communication cable is optional.
9 pins 9 pins
Controller Personal computer
Communication cable Length Cable type number.

9 pins ↔ 9 pins 5m KAS-M538F-10
2. Using the PC's USB port
USB port
Communication cable
9 pins USB port

Communication cable Length Cable type number.
9 pins ↔ USB Port 5m KBG-M538F-00
10-5
2.4 Communication parameter setting
Parameters and communication mode related to the communication that uses the RS-232C interface are set.
There are seven communication parameters.
Communication parameter set values
Item name Set value Initial value Remarks
10
Sets the mode of the communication with the computer (ONLINE/
1 LINE ONLINE, OFFLINE ONLINE OFFLINE).
The online command can be executed only in the ONLINE mode.
Sets the communication speed.
9600, 19200, 38400, When the communication speed is set at a high speed, the communication
2 Baud Rate 19200
57600, 115200 error occurs easily.
If the error occurs frequently, set the communication speed to a low speed.
Sets the data bit length.
3 Length 7, 8 8 When the data bit length is set at "7 bits", KATAKANA characters cannot
be sent.
Sets the stop bit length.
4 Stop Bits 1, 2 1 If the communication error occurs frequently, set the stop bit length to "2
bits".
0: None, 1: Odd Sets the parity check.
5 Parity 1
2: Even Use the parity check as much as possible.
Sets whether or not the data flow control using the XON/XOFF code or
0: None
RTS/CTS signal is performed.
6 Flow 1: Xon/Xoff 1
When the data flow control is not performed, data missing may occur.
2: RTS/CTS
So, set the data flow control as much as possible.
7 Eof 0:CRLF 1:CR 0 Sets the line feed code.
■ Setting the communication mode and parameters
Setting the RS-232C communication

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

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

Use the cursor keys to select the set value to
edit, input a numeric value, and then press
the ENTER key.
To set the data, press the ENTER key until the
cursor selects the numeric value in [Baud
Rate].
* When pressing the ESC key halfway, the
edited contents are canceled. Parameter initialization
* Pressing the F4 key (INIT) initializes the

communication parameters.
4 Press the ESC key to exit the data

editing.
n NOTE
When using offline commands or connecting to the controller by support software, be sure to set the mode to
the ONLINE mode.
10-6
2.5 Communication flow control
Software flow control (XON/XOFF) and hardware flow control (RTS/CTS) can be set.
2.5.1 Flow control during transmit

Flow Control Description
0: None XON (11H) and XOFF (13H) do not affect transmission even when they are received. Stops transmission while CTS is OFF.
1: XON/XOFF
2: RTS/CTS
Temporarily stops transmission when XOFF is sent from the other party. Resumes transmission when XON is sent.
Stops transmission while CTS is OFF.

10
n NOTE

1. Transmission stops when transmission is invalid in either of XON/XOFF or RTS/CTS flow control.
2. CTS must be on during transmission regardless of flow control When RTS/CTS is set to "None", the CTS should
always be set on. However, if CTS is connected to RTS of the other party, CTS may not always be on causing
the transmission to halt, depending on the other party specifications.
2.5.2 Flow control during receive

To prevent overflow when receiving data, XON/XOFF and RTS are used to notify the other party whether or not
it is possible to receive data.
Flow Control Description
0: None XON and XOFF are not transmitted. XON and XOFF are ignored if received. RTS is always on.
Transmits XOFF when available space in receive buffer falls below a certain capacity. Transmits XON when receive
1: XON/XOFF
buffer is empty.
Turns RTS off when available space in receive buffer falls below a certain capacity. Turns RTS on when receive buffer
2: RTS/CTS
is empty.
n NOTE
"XON/XOFF" and "RTS/CTS" operate individually. For example, when all flow controls are set valid, XOFF is sent and
RTS is turned off if the free space of the receive buffer becomes insufficient. After that, when the free space of
the receive buffer is recovered, XON is sent and RTS is turned on.
10-7
2.6 Other caution items
1) The controller allows receiving data as long as the receive buffer has capacity.
The receive buffer is cleared in the following cases.
• When the power was turned off and turned back on.
• When the program was reset.
• When an ONLINE CMU statement or OFFLINE CMU statement was executed according to the robot language.
10 • When the communication parameter was changed or the initialization was executed.
2) Turning on an external device might sent incorrect data to the robot controller which is readying to receive
data when the power is turned on. That incorrect data might then be stored in the receive buffer if the
controller is turned on prior to the external device and cause communication errors. In such a case, clear
the buffer.
3) When the external device does not support the flow control, the data processing speed becomes slower
than the communication speed. In this case, take countermeasures such as reducing the communication
speed (baud rate).
4) When the communication speed is set at a high rate, communication errors may occur due to external noise.
In this case, take countermeasures such as reducing the communication speed.
5) "0.5: Busy" alarm occurs if the command transmitted from the external device cannot be executed such
as during point trace execution. After the execution has been completed, retransmit the command from
the external device.
6) Electrical shock, malfunction, or breakdown of the controller or external device may occur depending on
the external device specifications and usage conditions.
Always comply with the following points when connecting an external device.
1. When the external device has a ground wire, be sure to ground it properly.
2. If using an external device that does not have a ground wire, check whether or not its structure is designed to protect
from electrical shock. Be sure to use an external device that is designed to protect from electrical shocks.
■ Example problems caused by poor connections
Improper ground wire connection

might cause electrical shock if
connector metal parts are
touched.
External device * Controller
Communication cable
AC100 to 200V
FG
Connector metal
parts
Potential
Malfunction or breakdown might

Ground wire was not at ground Failure to use ground wire might occur when making connection or
potential or not connected. raise the voltage potential. after connection.
* External device: Notebook computer using an AC adapter, etc.
10-8
3. Ethernet
■ Features of Ethernet
The RCX 3 series controller adopts the TCP/IP protocol.
Therefore, the controller can exchange the data with a TCP/IP protocol built-in device.
c CAUTION
Connect the Ethernet port of the RCX340/RCX320 only to another controller or personal computer, and do not
10
connect this port to the public telephone line.
■ As the 100BASE-TX specifications are adopted, cables to be used are UTP cables (shield-less twist pair cable) or STP

cables (shielded twist pair cable).
■ Multiple controllers can be connected to the same network and all of the information can be controlled from
the specific personal computer.
■ Since the robot controller operates as a TELNET (socket) server, you can easily access the robot controller from
the TELNET terminal, such as a personal computer. (For details about how to install TELNET of the personal computer,
refer to the manual for relevant product.)
For details about other device, such as network setting on the personal computer, also refer to the manual for relevant
product. Furthermore, for details about robot programming, refer to the programming manual.
* Ethernet is a registered trademark of Xerox in the United States.
■ Communication mechanism
TCP/IP can identify each device uniquely by assigning the number unique to each device called "IP address" to each
device connected to the network.
Therefore, the connection process is performed first by specifying the IP address of a robot controller to be communicated
with, and then is disconnected after exchanging the data.
At this time, the controller operates as a server, monitors the connection request from the client (mating device, such as
personal computer), and performs the specified operation according to the request from the client.
192.168.0.5
IP address Operates as a server

192.168.0.3 RCX 3 series and performs the
robot controller specified operation
Server according to the request
from the client.
Ethernet
(2) (1)
Client Client Client
192.168.0.10 192.168.0.11 192.168.0.12
Device such as a personal computer becomes a client and connects to the server to give the
instruction so as to perform a specified operation.
(1) The connection process is performed by specifying the IP address of a robot controller to be communicated with.
(Above example shows the client 192.168.0.10 has specified the robot controller 192.168.0.5 and made a
connection.)
(2) After making the connection, the robot controller runs a specific series of actions according to instructions from the
client.
n NOTE
During multitasking by the client, one client can connect to multiple robot controllers at the same time.
Only one client can make a simultaneous connection to one robot controller unit.
The IP address or subnet mask is set from the programming box.
10-9
3.1 Connectors and cables
The Ethernet interface is located at the position shown in the figure below.
Ethernet interface Modular connector

Pin number Signal name
1
2 1 TD+
3
4
2 TD-
10
5
6
7
Link/Activity 8 3 RD+
4 Not use
5 Not use
6 RD-
7 Not use
8 Not use
Speed
*Pin numbers 4, 5, 7, and 8 are not used.
The Ethernet cable is standardized in ANSI/TIA/EIA568A. To avoid misconnection or malfunction, be sure to

use a cable that complies with this standard. Additionally, 100BASE-TX needs transmission characteristics
category 5 or higher.
■ Straight cable
This cable is used to connect the robot controller or mating device to the hub.
For devices applicable to Auto MDI/MDI-X, the straight cable can be used when the controller and mating
device are connected directly.
T-568A pin assignments T-568A pin assignments
Signal name Wiring color Pin number Pin number Wiring color Signal name
TD+ Green/white 1 1 Green/white TD+
TD- Green 2 2 Green TD-
RD+ Orange/white 3 3 Orange/white RD+
Not use Blue 4 4 Blue Not use
Not use Blue/white 5 5 Blue/white Not use
RD- Orange 6 6 Orange RD-
Not use Brown/white 7 7 Brown/white Not use
Not use Brown 8 8 Brown Not use
* 100BASE-TX does not use the wiring of 4, 5, 7, and 8 pins.

* There is a straight cable with T-568B pin assignments wired.
■ Cross cable
This cable is used to directly connect the robot controller and mating device. Additionally, when the hub does
not have any cascade port, this cable is used for the cascade connection of the hub.
T-568A pin assignments T-568A pin assignments
Signal name Wiring color Pin number Pin number Wiring color Signal name
TD+ Green/white 1 1 Orange/white TD+
TD- Green 2 2 Orange TD-
RD+ Orange/white 3 3 Green/white RD+
Not use Blue 4 4 Blue Not use
Not use Blue/white 5 5 Blue/white Not use
RD- Orange 6 6 Green RD-
Not use Brown/white 7 7 Brown/white Not use
Not use Brown 8 8 Brown Not use
* 100BASE-TX does not use the wiring of 4, 5, 7, and 8 pins.
10-10
3.2 Communication specifications
Type Ethernet applicable unit
Specification item
Network specifications In conformity with Ethernet (IEEE802.3)
Communication speed 100 Mbps (100BASE-TX)
Connector specifications RJ-45 connector (8 modular connectors)
Cable specifications
UTP cable (non-shielded twist pair cable) or STP cable (shielded twist pair cable)
applicable to category 5 or higher 10
Maximum cable length 100 m (between hub and controller)
Communication mode Full duplex

Application layer : TELNET
Transport layer : TCP
Network protocol Network layer : IP, ICMP, ARP
Data link layer : CSMA/CD
Physical layer : 100BASE-TX
Number of simultaneous log-in cycles 1
IP address setting Setting is made from the programming box or the support software.
Monitor LED Link/Activity, Speed
IP address initial value 192.168.0.2
Subnet mask initial value 255.255.255.0
Default gateway initial value 192.168.0.254
c CAUTION
It is recommended to use FL HUB (PHOENIX CONTACT). Make sure to select hubs with high noise immunity;
general consumer hubs are not assumed for use at factory and have low noise immunity.
n NOTE
Refer to RCX-Studio software manual for details on how to set the IP address.
10-11
3.3 Connections
The UTP cable (non-shielded twist pair cable) or STP cable (shielded twist pair cable) applicable to category 5
or higher is used for the connections. The wiring type uses the straight type.
To make the connections, insert the modular jack of the cable into the modular connector of the controller
until a click sounds. In the same manner, insert also the modular jack into the modular connector of the hub.
10
Hub
1 2 3 4 5 6 7 8
UTP (STP) straight cable
c CAUTION
YAMAHA uses FL HUB (PHOENIX CONTACT) for the operation check. When incorporating a system, it is
recommended to use this hub.
It is not assumed to use general consumer hubs at factory. Such hubs may have low noise immunity. Therefore,
note that YAMAHA does not warrant the operation of a hub other than that specified above.
Be sure to connect a hub with high noise immunity to the controller.
c CAUTION
The maximum cable length between the hub and controller is 100 m.
When making the connections, be sure to refer to the manuals for mating device (personal computer, etc.) or
peripheral device (hub, etc.).
Set it to "100 Mbps/Full duplex" when the communication mode of the hub can be set manually.
n NOTE
To connect to the mating device, it is recommended to make connections using the straight cable through the
hub. It is also possible to directly connect to the mating device using the cross cable without using the hub. In this
case, the communication may not be performed depending on the LAN adapter of the mating device.
10-12
3.4 Parameter setting on controller (ser ver)
It is necessary for the controller to set the IP address, subnet mask, and gateway port number. These settings are
performed from the programming box.
■ Communication parameter set values on controller (ser ver)
Item name Initial value Remarks
1 LINE ONLINE
Set value: ONLINE, OFFLINE
Sets the communication mode with the computer (ONLINE/OFFLINE).
The online command can be executed only in the ONLINE mode.
10
Sets the IP address.
This IP address is a number unique to each device that is assigned to

2 IP Address 192.168.0.2 identify multiple devices connected to the network. Therefore, set and
control the IP address so that it is not duplicated with that of other
device.
Selects the subnet mask.
3 Subnet Mask 255.255.255.0
The subnet mask is used to finely separate the network.
Sets the gateway. Actually, specify the IP address of the router.
4 Default Gateway 192.168.0.254 This router is a device that relays the information from a certain network
to others when there are multiple networks.
Sets the TCP port number of the controller.
5 PORT* 23 (TELNET port) Specify the port number that is set here together with the IP address
when the client connects to the robot controller.
* If a setting other than TELNET port (23) is made, the negotiation using the TELNET protocol is not attempted.
(The communication becomes the simple socket communication.)
* When changing the port, it is recommended to use a port number other than "Well-Known Port (0 to 1023)".
c CAUTION
When connecting the robot controller to the existing network, be sure to check with the network administrator
regarding the settings, such as IP address, subnet mask, and gateway.
n NOTE
The IP address is separated into network address and host address sections.
The network address section is extracted from the IP address by AND processing with the subnet mask.
The remaining portion is the host address section.
Devices belonging to the same network must all be set to have the same network address.
The host address, however, should be different for every device and set so that no two devices have the same
number.
The first and the last host address numbers are reserved for the system so be sure not to set these as the IP
address.
When the IP address, for example, is 192.168.0.10 and the subnet mask is 255.255.255.0, the network address
section is found to be 192.168.0 and the host address section to be 10 by means of AND processing with the
subnet mask. In this case, the network address section of all other devices belonging to that network must all be
192.168.0. The host address section of those other devices on the other hand, must be set to a number other than
10. The number 0 and 255 are reserved, so do not use them for setting the host address.
Therefore, when a device having an IP address of 192.168.0.10 and a subnet mask of 255.255.255.0 belongs to a
particular network and to add another device to that network, then the IP address is assigned from among
192.168.0.1 to 192.168.0.9 and 192.168.0.11 to 192.168.0.254.
n NOTE
Since the RCX340/RCX320 is not applicable to IP address auto acquisition functions such as DHCP and BOOTP,
make sure to set the IP address manually.
10-13
3.4.1 Setting the communication mode and parameters
1 Display the "Ethernet" screen. Setting the Ethernet communication

Select [System] - [Communication Setting] Step 1 mode and parameters
from the initial screen and press the F1 key
(Ethernet).
2 Set the communication mode.

10
Press the F2 (ONLINE) or F3 (OFFLINE) key on
the "Ethernet" screen to change the setting
to [ONLINE] or [OFFLINE].
3 Set the communication parameters.

Use the cursor keys to select the set value to
edit, input a numeric value, and then press

the ENTER key.
To set the edited data, press the ENTER key
until the cursor selects the numeric value in
[IP Address].
* When pressing the ESC key halfway, the edited contents are canceled.
* Pressing the F4 key (INIT) initializes the communication parameters.
Refer to "3.4.2 Initializing communication parameters" in this Chapter.

editing.
n NOTE
• External offline commands are not accepted in the OFFLINE mode.
• When using online commands, be sure to put the controller in the ONLINE mode.
• In the OFFLINE mode, the controller cannot be connected from the support software. Therefore, when
connecting the controller using the support software, be sure to put the controller in the ONLINE mode.
3.4.2 Initializing communication parameters

Press the F4 key (INIT) on the "Ethernet" screen to display a pop-up screen.
Select [OK] with the cursor keys and press the ENTER key to initialize all the Ethernet parameters.
To return to the previous screen without initialization, press the ESC key or select [CANCEL].
■ Parameter initialization
10-14
3.5 System setting on personal computer (client)
The following describes the basic setting procedure by using Windows7 as an example. For details about other
OS or device, refer to the relevant manual.
For details about setting procedure, refer to the first step guide supplied with Windows7.
Additionally, the set values, such as IP address, need to be changed appropriately according to the customer's
network environment.
* Windows7 is a registered trade mark of Microsoft in the United States.
3.5.1 Setting the TCP/IP protocol 10

1 Open the "Control Panel" window.

Step 2 [Network and Sharing Center] icon
2 Click the [Network and Sharing
Center] icon in the "Control Panel"
window.
3 Click [Change adapter settings] in Step 3 [Change adapter settings] icon

the "Network and Sharing Center"
window.
4 Right-click the [Local Area

Connection] icon to open the
"Local Area Connection Properties"
window.
5 Confirm that [Client for Microsoft

Networks] and [Internet Protocol Step 4 [Local Area Connection] icon
Version 4 (TCP/IPv4)] are shown in
the "Networking" tab window.
6 Check on [Internet Protocol Version 4 Step 5 "Local Area Connection Properties" window
(TCP/IPv4)] and click the [Properties]
button.
7 According to the operating
conditions, input the IP address,
subnet mask, and gateway on
the personal computer side in the
"Internet Protocol Version 4 (TCP/
IPv4) Properties" window.
Set the DNS server according to the operating
conditions.
8 Click the [OK] button to close

the setting window.
Inputting the IP address, etc.

Step 7 on the personal computer side
10-15
3.6 Connection check using "Ping"
After the network has been set, check using "ping" if the communication can be performed correctly. "Ping" is
a network diagnosis tool that is incorporated into OS as a standard accessory.
The following describes how to use "ping" that is incorporated into Windows7. For details about other OS or
device, refer to the relevant manual.
10
1 From the [Start] button, select [All Step 1 "Command Prompt" window
Programs] -> [Accessories] ->
[Command Prompt] to display the
"Command Prompt" window.
2 Execute "ping". Step 2 Executing "ping"

Input "ping xxx.xxx.xxx.xxx" next to ">", and
then press the ENTER key. At this time, input
the IP address of the controller in the "xxx.
xxx.xxx.xxx" portion.
Step 3 (1) Communication success

3 Check the "ping" results.
When communicated successfully, the display
becomes as follows.
Reply from xxx.xxx.xxx.xxx: bytes=32
time<1ms TTL=64
(See the figure (1).)
If the communication failed, "Request timed

out." is displayed. (See the figure (2).)
In this case, review the network device,
controller setting, and wiring to solve
the problem. (2) Communication failure
10-16
3.7 Communication example using "TELNET.EXE"
The following describes how to make the connections using "TELNET.EXE". For details about how to install
TELNET in the personal computer, refer to the manual for relevant product. It is preconditioned that the IP
address of the robot is set at "92.168.0.2" and the port number is set at "23".
1 From the [Start] button, select Step 2 "Run" window
10
[Accessories] -> [Run] to display
the "Run" window.

2 After inputting "telnet" in the
"Open" field, click the [OK] button
to start.
3 Input "open xxx.xxx.xxx.xxx" next Step 3 "Telnet" window (1)

to ">", and then press the ENTER
key.
Input the IP address of the controller in the
"xxx.xxx.xxx.xxx" portion. The controller is then
connected and the message "Welcome to
RCX340 (RCX320)" will appear.
4 To cancel the connection with the Step 4 "Telnet" window (2)

controller, input "LOGOUT" or
"BYE", and then press the ENTER
key.
5 The message appears and the Step 5 "Telnet" window (3)

connection is then canceled.
Press any key to return to Step 3.
6 To exit "telnet", input "quit", and Step 6 "Telnet" window (4)

then press the ENTER key.
n NOTE
To control multiple robot controllers at the same
time, run multiple TELNET.EXE.
10-17
3.8 Appendix
3.8.1 Example of network system configuration
c CAUTION
The network system configuration may vary depending on the user's network scale.
For details, be sure to consult the system administrator.
10 ■ Configuration example 1
One controller is controlled by one personal computer.
Ethernet cable (category 5 or higher)
System setting example
IP address Subnet mask Gateway
Personal computer 192.168.0.2 255.255.255.0 192.168.0.1
Controller 1 192.168.0.3 255.255.255.0 192.168.0.1
10-18
■ Configuration example 2
Multiple controllers are controlled by performing the cascade connection of the hubs.
Hub
1 2 3 4 5 6 7 8
Cross cable
10
Straight cable 1 2 3 4 5 6 7 8
Hub

Cascade port
(UPLINK port, MDI port)
X 1 2 3 4 5 6 7 8
Hub with cascade port
Controller
Personal computer
* Similar network can be configured by performing the stack connection of the stackable hubs. In this case, multiple
hubs that are connected through the stack connection are recognized as a single large hub from the network.
Therefore, unlike the cascade connection, the number of connection hubs is not limited.
* Be sure to use the Ethernet cable with category 5 or higher.
Controller 1 192.168.0.3 255.255.255.0 192.168.0.1
Controller 2 192.168.0.4 255.255.255.0 192.168.0.1
: : : :
Controller 9 192.168.0.11 255.255.255.0 192.168.0.1
Controller 10 192.168.0.12 255.255.255.0 192.168.0.1
10-19
■ Configuration example 3
Factory 2
Internet
10
Factory 1
Router
Head office
Router
Hub
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
Hub
Personal computer Controller
For security, it is recommended to construct a firewall (illegal access prevention mechanism).
Router in head office 133.215.0.2 255.255.255.0
Router at factory 1 133.215.1.1 255.255.255.0
Controller 1 133.215.1.2 255.255.255.0 133.215.1.1
Router at factory 2 133.215.2.1 255.255.255.0
Controller 1 133.215.2.2 255.255.255.0 133.215.2.1
* Set the routers appropriately.

* Set the global address for the IP address to connect to the Internet.
* Since duplicated addresses are not permitted, the customer cannot use the addresses shown in the setting examples
above. Be sure to use the customer's unique addresses. Note that the address allocation and control are performed by
NIC (JPNIC in Japan).
10-20
3.8.2 Glossar y
■ TCP/IP
TCP/IP is a general term for a group of standard protocols for carrying out communications over the Internet around TCP
and IP protocols. Computers capable of accessing the Internet all use TCP/IP protocols.
The RCX340/RCX320 incorporates the TCP, IP, ICMP, ARP, and TELNET protocols of the TCP/IP protocols.
10
■ Ethernet
One of the network related hardware standards.
This Ethernet is a network that was developed by Xerox in the United States at the beginning of 1970s. Presently, the
Ethernet is standardized internationally as IEE802.3. According to the transmission cable type, the Ethernet is classified
into 100BASE-T2, 100BASE-T5, and 100BASE-TX, etc. The maximum cable length or the maximum number of

connections may vary depending on the classification.
The RCX340/RCX320 adopts the 100BASE-TX specifications.
Protocols that are generally used on the Ethernet are NetBEUI and IPX/SPX in addition to the TCP/IP protocols.
The CSMA/CD data transmission method is also the features of the Ethernet.
■ CSMA/CD (Carrier Sense Multiple Access with Collision Detection)

CSMA/CD is a method of sending signals, developed by combining a CSMA data transmission method with a transmission
error handling method called CD.
CSMA refers to joint use of one transmission cable by many devices connected over a network. CSMA is therefore a
method for checking network status beforehand and then transmitting the data after verifying that transmission is
possible.
CD is a method for handling data collisions that occur on the network. In this method, when a data collision occurs, that
data is re-transmitted after a randomly selected time period has elapsed.
Many devices can be connected to the Ethernet by using these CSMA/CD methods. However, performance cannot be
guaranteed in real-time because of transmission standby (time awaiting transmission) and retransmissions.
■ IP address
This IP address is a number unique to each device that is assigned to each device so that the numbers are not duplicated
with each other so as to identify the device on the network. (More precisely, the IP address is assigned to each network
interface since multiple network interfaces may be installed into one personal computer.) In the TCP/IP protocols, the
data transmission source or communication destination is specified by this IP address. The IP address is a 32bit-(4byte)-
numeric value. Normally, the IP address is separated 1-byte by 1-byte by a dot (".") and expressed in decimal notation.
For example, an IP address of "0xC0A80002" is expressed as "192.168.0.2".
The IP address consists of two address parts. One is a network address part that shows the address of the network's own
address. The other is a host address part that shows the address to identify each device.
N bits from the beginning of the IP address are used as a network address. Bits from the "N+1"th bit to 32th bit are used
as a host address. (The value of "N" is determined by the subnet mask.)
1 N N+1 32
IP address Network address part Host address part
For example, when the IP address is "192.168.0.2" and the value of "N" (network length) is 24 bits, the network address
part is "192.168.0" and the host address part is "2". Generally, to express the network address, set "0" for the host address
part and describe "/" and the network length next to the address. In the example shown above, the network address is
expressed as "192.168.0.0/24".
One network can be connected with as many devices as there are addresses to identify them. However, host address bits
having all zeroes (0), or all ones (1) are reserved and so cannot be used. Therefore, in the example shown above, the host
address can identify 256 units. However, since "0" and "255" cannot be used, the maximum number of units that can be
connected is 254.
192.168.0.0/24
192.168.0.1
Max. 254 units
192.168.0.100
192.168.0.254
10-21
The host address can be set freely by each company (organization). However, when connecting to the Internet, it is
necessary to make an application to the NIC (JPNIC in Japan) for a network address to get the acquisition. Note that the
network address can also be set freely by each company (organization) in the environment where the network is not
connected to the Internet in the same manner as the host address.
In the environment where the network is not connected to the Internet, it is permitted to freely use the addresses
shown below. These addresses are called "private address".
10.0.0.0 to 10.255.255.255 (1 unit of class A)
172.16.0.0 to 172.31.255.255 (16 units of class B)
10 192.168.0.0 to 192.168.255.255 (256 units of class C)

An address acquired by making application to NIC on the other hand is referred to as a global address.
■ Subnet mask
This subnet mask is used to separate the IP address into a network address part and host address part. The network
address bits are set to "1" and the host address bits are set to "0".
In the same manner as the IP address, the subnet mask is a 32bit-(4byte)-numeric value. The subnet mask is separated
1-byte by 1-byte by a dot (".") and expressed in decimal notation.
Therefore, when the subnet mask is "255.255.255.0", the network address part becomes 24 bits.
Generally, when making an application to the NIC for an IP address, only one network address is allocated to each
company (organization). Any of class A to class C is allocated depending on the scale of each company (organization).
For example, since the network length is 16 bits in class B, one network address that can connect up to 65533 units is
allocated. However, when using this network address as it is, the efficiency of the management or process becomes poor.
Normally, the subnet mask is set appropriately to separate the network into multiple networks.
For example, when a subnet mask of 255.255.255.0 is set for the class B network, 256 networks, each of which can
control up to 254 units, can be set.
■ MAC address (Media Access Control Address)

This MAC address is also called "Ethernet address" and shows a hardware identification number (6-byte numeric value)
set for each network interface. Since the MAC address is set for each unit in the manufacture phase, users do not need to
set it.
The Ethernet system identifies the connected unit from this MAC address. That is, even when the communication is
performed using the TCP/IP protocols, the communication is performed while the IP address is automatically converted
into the MAC address.
■ HUB
HUB is a device used to connect the personal computer and each unit. This is equipped with multiple ports to connect
the modular jacks. A unit is connected to this port using the twist pair cable with the modular jack.
■ Router
A router is a device used to connect multiple networks with each other. This sends the external data transmitted from the
internal network to the external network or sends the data transmitted from the external network to the internal network.
Additionally, specific data is disposed of through the filtering process to ensure the network safety.
The IP address of the router is set for each network unit as a gateway address. As this setting is made, each unit can
correctly receive or send the data among the networks.
10-22
4. General Ethernet por t (GEP)
■ Features of GEP
GEP function enables RCX340/RCX320 Ethernet port to communicate with several devices at the same time by allocating
maximum eight IP addresses or port.
In addition, there are differences below between GEP and Ethernet function.
10
• GEP can be used in OFFLINE mode.
• GEP function enables the controller to be specified as either of a client or server. (Ethernet function can be specified
only as a server.)
Ethernet function: Only as a server General Ethernet Port function: Both as a server and a client
192.168.0.5 192.168.0.5

Operates as a server GEP 0 Setting GEP 1 Setting
and performs the RCX 3 Series MODE: 0 (Server) RCX 3 Series MODE: 1 (Client)
specified operation robot controller PORT: 23 robot controller PORT: 12345
according to the Port 23 Port 12345
request from the client. Operates as a server and Operates as a client and
communicates with the client communicates with the server
through port 23. through port 12345.
Ethernet Ethernet
Client Client Client Client Client Server
192.168.0.10 192.168.0.11 192.168.0.12 192.168.0.10 192.168.0.11 192.168.0.12
Ethernet port specification and connecting method are the same as Ethernet function. Refer to "3.1 Connectors and
cables", "3.2 Communication specifications", and "3.3 Connections" in this Chapter for details.
c CAUTION
Connect the Ethernet port of the RCX340/RCX320 only to a computer for development, other controller or
personal computer. Do not connect this port to the public telephone line.
4.1 GEP parameter setting

Press the F5 key (GEP) in the "Ethernet" screen, and the "GEP setting" screen appears.
There are five communication parameters.
■ GEP set values

Name Setting value Initial value Remarks
1 MODE 0: Server 1: Client 0 Specifies the controller as a server or client.
Specifies an IP address.
An IP address is a number uniquely assigned to each device to
0.0.0.0 to
2 IPADRS 192.168.0.2 recognize several devices connecting to the network. Therefore, IP
255.255.255.0
addresses should be specified and managed so that other devices will
not overlap.
Specifies a TPC port number.
3 PORT 1 to 65535 40 When a robot connects to the server or client, specify this port number
with the IP address.
4 EOL 0: CRLF 1: CR 0 Specifies a line feed code.
5 TYPE 0: TCP 0 Specifies a port type. Make sure to set "0".
n NOTE
•It is recommended to use other than the "Well-Known Port (0 to 1023)" for the port number.
•Make sure not to overlap other GPE settings or Ethernet function with both IP address and port number when
setting the GEP. (Refer to below examples.)
Example: Setting communication parameter on GEP 0 and GEP 1
GEP 0 IP address: 192.168.0.3 Port No.: 23 Same IP address and different port numbers: Possible to set
GEP 1 IP address: 192.168.0.3 Port No.: 2345
Same port number and different IP addresses: Possible to set
Same IP address and same port number: Impossible to set
•In the case of specifying the MODE "0: Server", set the IP address the same value as that of the Ethernet function and
set the port number the different value.
•Do not input except "0" for the port type.
10-23
4.2 GEP parameter setting method
Step 1 Selecting the GEP number
1 Select a GEP number with cursor
keys.
Pressing the F2 key (INIT) initializes all the
GEP communication parameter.
Refer to "4.3 Initializing communication
parameters" in this Chapter for details.
10 2 Press the F1 key (EDIT) to display

GEP edit screen.
3 Set the parameters.

Press the F1 key (CREATE) to set a new GEP
parameter, and a pop-up screen appears.
Input a TCP port number to set and press
[OK], and a new GEP parameter will be
Step 2 Editing the GEP
created.
Select the items to edit, input the setting
values and press the ENTER key.
n NOTE
•It is not necessary to create new parameters
when editing GEP parameters already set.
•Pressing the ESC key halfway cancels the edited
contents.

editing.
Step 3 Creating new GEP
10-24
4.3 Initializing communication parameters
1 Display the pop-up screen.

Press the F2 key (INIT) on the "GEP SETTING" screen to display a pop-up screen.
2 Initialize the communication parameters.

Select [OK] with the cursor keys and press the ENTER key to initialize all the GEP communication
parameters.
■ Parameter initialization 10

n NOTE
Press the ESC key or select [CANCEL] and press the ENTER key to return to the previous screen without
initialization.
10-25
Chapter 11 Periodic inspection
1. Before carrying out work 11-1
2. Maintenance parts 11-1
3. Periodic inspections 11-2

3.1 Daily inspections 11-2
3.2 Three-month inspections 11-3
4. Replacing the absolute battery 11-3
5. Replacing the memory battery 11-4

1. Before carr ying out work
In order to operate the robot system safely and more efficiently, carry out the periodic inspection and
maintenance.
This section describes how to carry out periodic inspections on the controller. Before carrying out the
inspection, carefully read and follow the instructions in this chapter and in Chapter 1 "Using the robot
safely".
2. Maintenance par ts
11
■ Consumable parts
Periodic inspection
Part name Part No. Remarks
RCX340 KCX-M427G-00
Fan filter 5 pieces / bag
RCX320 KDK-M427G-00
Absolute battery KCA-M53G0-02 3.6 V 2700 mAh
Memory battery KAS-M53G0-01 3.0 V 850 mAh
11-1
3. Periodic inspections
3.1 Daily inspections
The following inspections must be performed on a daily basis before and after robot operation.
1. Inspections carried out with the power turned off
w WARNING
• Turn off the power source when performing inspections.
11
• Display such as "During operation" sign to warn other users not to turn on the controller power.
Inspect the below items.
Inspection item Inspection details
Ground terminal Verify that the terminal is not loose. Tighten where necessary.
Periodic inspection
Power connector Check that the power connector is not loose. Tighten and connect securely where necessary.
Power cable Check that the power cable is securely connected to the power connector. Connect securely where necessary.
Robot cable Check that the robot cable is securely connected to the controller. Connect securely where necessary.
Other cables Check for damage to cables, excessive bending and loose connectors.
2. Inspections carried out with the power turned on
w WARNING
• Check that no one is inside the robot movement range before turning the controller power on.
• Display such as "During operation" sign to warn other users not to use the controller, programming box or
control panel.
Inspect the below items from outside the safety enclosure.
Inspection area Inspection details
Safety enclosure Check if it is in the correct position. Is an emergency stop executed when the door is opened?
Emergency stop device Check if an emergency stop is executed when the device is operated.
Mode switching device Check if the mode switches correctly when the device is operated.
Robot motion Check for unusual motion, vibrations or sounds.
11-2
3.2 Three-month inspections
Check the fan filter on the left side of the controller for dirt and damage.
w WARNING
Turn off the primary power source or the power on the controller inside the control panel.
Step 1 Removing the filter cover

1 Remove the filter cover.
The filter cover is fixed to the controller
with nails in four places.
Insert fingers into the two gaps located in
the upper corners of the filter and pull
11
towards you.
Pulling the upper part
2 Check the fan filter for dirt and toward you
damage.
Replace the filter if it is dirty or is
damaged.
Periodic inspection
3 Attach the filter cover.
After attaching the filter cover, check that
the all four of the fixing nails are fastened
securely.
c CAUTION
Do not loosen the screws that secure the fan cover, otherwise malfunction may occur.
4. Replacing the absolute batter y

The absolute battery is a consumable part. If a sign of low battery (warning message) occurs, this is
determined as expiration of the battery service life, and replace the absolute battery.
Depending on the operating conditions, the reference for battery replacement is that the total power off
time after the battery has been connected to the controller reaches about 8,000 hours (about one year).
w WARNING
To avoid danger, never replace the absolute battery in servo on status. Otherwise electrical shock, robot
abnormal operation or controller malfunction may occur.
n NOTE
For details about how to replace the absolute battery, refer to "4. Connecting the absolute battery" in Chapter 3.
11-3
5. Replacing the memor y batter y
The memory battery is a consumable part. If a trouble occurs in the backup data retention, this is determined
as expiration of the battery service life, and replace the memory battery.
Depending on the operating conditions, the reference for battery replacement is that the total power off time
reaches about four years.
c CAUTION
• If the memory battery is removed, the data files (program, point, point comment, parameter, shift, hand, and
pallet, etc.) saved inside the controller will be lost. Therefore, be sure to save the data into an external storage
device before performing the replacement work.
11
• After the battery replacement work has been completed, load the data that has been saved into the external
storage device into the controller.
• When replacing the memory battery, the robot is put in the return-to-origin incomplete status. Be sure to perform
return-to-origin after the battery replacement.
Periodic inspection
■ Replacing the memor y batter y
1 Loosen the knob on the bottom. Step 1-2
2 Remove the bottom cover, to which

the memory battery is secured.
3 Disconnect the memory battery

connector from the controller main
body.
4 Remove the memory battery from Step 4

the bottom cover and replace it
with a new one.
5 Install the new battery in the

reverse order of removal.
4
11-4
Chapter 12 Specifications
1. Controller 12-1
1.1 Specifications 12-1
1.2 Basic functions 12-3
1.3.1 RCX340 12-4
1.3.2 RCX320 12-4

3. Regenerative unit 12-6

1. Controller
1.1 Specifications
RCX340 RCX320
Connected motor capacity 1600 W or less (in total for 4 axes) 1200 W or less (in total for 2 axes)
Basic specifications
Power capacity 2500 VA 2400VA
Dimensions W355 × H195 × D130 mm (main unit) W213×H195×D130 mm (main unit)
Weight 6.2kg (main unit) 3.6kg (main unit)
Power supply voltage Single phase 200 to 230 V AC ±10%, 50/60 Hz
Type of distribution system TN
4 axes maximum 2 axes maximum
12
(simultaneous control: 6 axes)
Number of controllable axes Up to 16 axes (4 robots) can be connected Up to 14 axes (4 robots) can be connected
through the YC-Link/E. through the YC-Link/E.
(including 4 axes that connected with (including 2 axes that connected with
master controller) master controller)
Specifications
Drive method AC full digital servo
Axis control
Position detection method Resolver, Magnetic linear scale
Control method PTP motion (Point to Point), ARCH motion, linear interpolation, circular interpolation
Coordinate systems Joint coordinates, Cartesian coordinates
Position display units Pulses, millimeters (1/1000 increments), degrees (1/1000 increments)
Speed setting 0.01-100%, (setting for less than 1% possible with the commands execution)
Optimization based on robot model and tip weight parameter

Setting with accel coefficient and decel. rate parameters (1% steps)
Acceleration/deceleration setting
*Can be changed by programming.
Zone control (Optimum acceleration setting matching SCARA robot arm position)
Program language YAMAHA BASIC II (conforming to JIS B8439 (SLIM language))
Multitask 16 tasks maximum
Sequence program 1 program
2.1 MB (Total of program and point data) (Available size for program when the maximum of
Memory size
point is used: 300 KB)
Programming
100 programs (maximum number of programs)

Program
9999 lines (maximum lines per program)
Point 30000 points (maximum number of points)
MDI (coordinate value input), direct teaching, teaching playback, offline teaching (data
Point teaching
input from external device)
System backup
Lithium battery (service life about 4 years at 0 to 40°C)
(Internal memory backup)
Internal flash memory 512 KB
Emergency stop input, 2 systems

Input
AUTO mode input, 2 systems (valid only for the CE specifications *3 )
SAFETY Emergency stop contact output, 2 systems
Output Enable contact output, 2 systems (valid only when using the PBX-E)
Motor power ready output, 2 systems
External I/O
Break output Transistor output (PNP open-collector)
Origin sensor input Connectable to 24 V DC NC contact (normally closed) sensor
RS-232C : 1 CH (D-SUB 9-pin female connector)

Ethernet : 1CH (IEEE802.3u/IEEE802.3 compliance)
External communications 100Mbps/10Mbps（100BASE-TX/10BASE-T）
Applicable to Auto Negotiation
RS-422 : 1CH (dedicated to the programming box)
12-1
RCX340 RCX320
Operating temperature 0 to 40 °C
General specifications
Storage temperature -10 to 65 °C
Operating humidity 35 to 85% RH (no condensation)
Noise immunity Conforms to IEC61000-4-4 Level 3
Protective structure IP20
Protection class class I
Dedicated input 8 points, dedicated output 9 points

Standard
General-purpose input 16 points, general-purpose output 8 points
Parallel I/O specifications
(Max. 1 board, NPN/PNP specifications)
board
Expanded General-purpose input 24 points, general-purpose output 16 points
specifications (Max. 4 boards, NPN/PNP specifications) (Max. 2 boards, NPN/PNP specifications)
CC-Link board
Version 1.1/2.0
Remote I/O
DeviceNet board
12
Dedicated I/O: 16 points each
EtherCAT board * 2 General-purpose I/O: 96 points each
EtherNet I/P board * 2

Remote register
Option board *1
PROFIBUS board I/O: 16 words each

Specifications
PROFINET board * 2
Communication cycle: 1ms, Control cycle: Min. 1ms/Max. 8ms, Max. number of robots: 4
Max. number of controllable axes: 16 in total Max. number of controllable axes: 14 in total
Option
YC-Link/E board (including 4 axes that connected with master (including 2 axes that connected with master
(Master/Slave) controller) controller)
Max. 12 axes that connected with slave Max. 12 axes that connected with slave
controller controller
Position detection method: Optical rotary encoder, Min. setting unit: 0.01mm
YRG (gripper) board Speed setting: Set in the range of 20 to 100% to the max. parameter speed.
Number of connection grippers: Max. 4, Drive power supply: DC 24V±10%, Max.1.0A
Number of connected encoders: Max. 2,
Applicable encoder: 26LS31/26C31 or equivalent line driver (RS422 compliance)
Tracking board
Encoder power supply: 5VDC (Total of less than 500mA for both channels)
(Supplied from controller)
Number of screen pixels: Max.2 million, Model setting capacity: 254 models
iVY2 unit
Number of connectable cameras: Max. 2, Power supply: DC24V±10%, Max. 1.5A
Programming box PBX, PBX-E
Absolute battery 3.6 V, 2700 mAH/axis Backup retention time: about 1 year
• RCX-Studio Pro •RCX-Studio Pro (Ver.2.4.1 or later)

PC software
• RCX-Studio 2020 RCX-Studio 2020
*1) The number of the option board slots which can be attached is max.4 for RCX340/ max.2 for RCX320.
*2) W
hile the SIOW extension parameter is enabled, each input/output range of the remote register is extended to 120 word (0 to 15, 24 to 127).
For the detail of this parameter, refer to "7.4.5 Option board related parameters" in Chapter 5.
*3) T
he CE specifications are conformed with both CE / UKCA.
12-2
1.2 Basic functions
AUTO mode (Major functions: program creation, program execution, step execution, etc.)
Operation modes
MANUAL mode (Major functions: jog movement, point data teaching, parameter editing, etc.)
Array declaration commands (DIM statement)

Assignment commands (Numeric assignment, character string assignment, point definition statements, etc.)
Movement commands (MOVE, DRIVE, PMOVE statements, etc.)
Conditional branching commands (IF, FOR, WHILE statements, etc.)
Commands
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.)
Functions
Point functions (WHERE, JTOXY, XYTOJ functions, etc.)
Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.) etc.
Simple variables (integer variables, real variables, character variables)
Variables
Array variables (integer variables, real variables, character variables)
Point variables
Shift variables
12
I/O variables etc.
Arithmetic operators (+, -, *, /, MOD)
Specifications
Arithmetic operation Logic operators (AND, OR, XOR)
Relational operators (=, <, >, <>, <=, >=)
Monitor I/O status monitor (200 ms intervals)
Program operation commands (RUN, STOP, RESET, STEP, etc.)

Utility commands (COPY, ERA, INIT, etc.)
Online commands
Data handling commands (READ, WRITE, etc.)
Robot language commands (independent-executable commands)
Data files Program, point, parameter, shift, hand, all, error history etc.
Internal timer Timer count variable (TCOUNTER), 1 ms interval
Program break points Max. 32 points
12-3
1.3 External view
1.3.1 RCX340
10.5 355 3-φ5.5
12
195
225
213
5.5
Specifications
130 22.5 155 155
1.3.2 RCX320
9.5 213 2-φ5.5

225
213
195
5.5
130
29 155
12-4
2. Programming box
2.1 Basic specifications
Item PBX PBX-E
Display screen Color LCD (320 × 240 dot)
Emergency stop button Normally-closed contract (with lock function)
Enable switch Not provided 3-position type
Manual lock selector switch 90°, 2-notch
Power +12 V DC
Ambient temperature for use: 0 to 40 °C,
Operating environment Ambient temperature for storage: -10 to 60 °C
Humidity: 35 to 80% (no condensation)
Dimensions (mm) W141 × H245 × D45 (excluding projecting parts)
Cable length
Weight
5 m or 12 m(Select either)
440 g (excluding the cable) 460 g (excluding the cable) 12
Specifications
2.2 External view
141
17 84 45
245
Enable switch
135
*Only PBX-E
12-5
3. Regenerative unit
3.1 Basic specifications
Power Supply Input 254 to 357 V DC (Controller DCBUS Connecting)
Connector Regenerative unit connector (for unit connection and extension)
Working Temperature 0 to 40 °C
Working Humidity 35 to 85% RH (No Condensation)

Installation
Location of Use Altitude 2,000 m or lower and indoor (free from corrosive gases and dust)
Environment
Storage Temperature -10 to 65 °C
Vibration Withstanding 1G
12 Dimensions
Weight
62.5 × 180 × 110 mm
1450 g
Protective Construction / Rating IP20 / Class 1

Specifications
3.2 External view
4-M4 110 100

Tapped hole 100
5
4.
φ
2-
180
164
164
25
2.
R
2-
62.5
12-6
Troubleshooting
1. When trouble occurs A-1
2. Acquiring the alarm information A-2

2.1 Checking the alarm occurrence status A-2
2.2 Checking the alarm history A-2
3. Troubleshooting checkpoints A-3

3.1 Installation and power supply A-3
3.2 Robot operation A-4
3.3 I/O A-5
4. Alarm messages A-6

[ 0] Operation messages A-9
[ 1] System events A-10
[ 2] Alarm related to the robot operation A-12
[ 3] Alarm related to the program file operation A-20
[ 4] Alarm related to the data input A-21
[ 5] Alarm related to the syntax of the robot language (compile) A-23
[ 6] Alarm related to the robot language execution A-30
[ 9] Alarm related to the memory A-40
[10] Alarm related to the environment and general hardware A-44
[12] Alarm related to the option board A-47
[14] Alarm related to the communication A-55
[17] Alarm related to the motor control A-58
[19] Alarm related to the YC-Link/E A-64
[20] Alarm related to the iVY2 system A-67
[21] Serious alarm related to software A-75
[22] Serious alarm related to hardware A-76
[26] Alarm related to the gripper A-79
[28] Alarm related to the driver I/F A-83
5. Warning number A-84

[ c] Warning A-84
6. Alarm messages related to the programming box A-86

1. When trouble occurs
A
Please contact your distributor and report the following items in as much detail as possible.
Item Description
• Controller model name and serial number

example: RCX340
Troubleshooting
• Robot model name and serial number
What happened
example: YK400XE
• Controller version No.
example: V1.70 R0341
• Date of purchase
example: January 2020
When
• Period of use
example: Since delivery, about 1 year
• Usage conditions
example: when power is turned on
Under what conditions when creating program
during jog movement
when robot is moved to particular location during program operation
• Programming box screen status
example: Nothing is displayed on screen
Error message appears on screen
• Robot servo status
example: Servo won't turn on.
Abnormal sound occurs when robot is moved.
Current status is
Return-to-origin is incomplete.
• Programming box operating status
example: Keys won't function.
Response after pressing key is slow.
Only the emergency stop button functions.
etc.
• How often above problem occurs
example: Always occurs when power is turned on.
How often it happens
Occurs at particular line during program operation.
Only occurs once, then does not occur again.
n NOTE
When the programming box is connected, the error message appearing on the screen is a valuable source of
information for troubleshooting.
A-1
2. Acquiring the alarm information
A
The controller stores the alarm information in its inside. You can check the current controller error status and
past alarm history data.
2.1 Checking the alarm occurrence status

Troubleshooting
■ Checking the alarm with the programming box

Select [System] - [Check] from the initial screen. Checking the alarm occurrence status
If an alarm occurs, relevant alarm code will appear.
■ Checking the alarm through the RS-232C or Ethernet
1 Connect the controller and personal

computer.
Connect the controller and personal
computer with the RS-232C cable or Ethernet
cable (category 5 or higher) and set the
communication conditions so that the online
command can be set.
2 Check the alarm status.

Send the command "@READ SCK" from the
personal computer.
The alarm code is received when an alarm
occurs. No alarm code is received when any
alarm does not occur.
2.2 Checking the alarm histor y
■ Checking the alarm histor y with the programming box

Select [System] - [History] from the initial screen. Checking the alarm history
The alarms that occurred past will appear.

Up to 500 alarm records can be checked.
■ Checking the alarm through the RS-232C or Ethernet
1 Connect the controller and personal

computer.
Connect the controller and personal
computer with the RS-232C cable or Ethernet
cable (category 5 or higher) and set the
communication conditions so that the online
command can be set.
2 Check the alarm status.

Send the command "@READ LOG" from the
personal computer, and the alarm status is
received when an alarm occurs.
Up to 500 alarm records can be checked.
A-2
3. Troubleshooting checkpoints
3.1 Installation and power supply
A
Symptom Possible cause Check items Corrective action
1 The controller was not • Power is not supplied. • Check power input terminal • Connect the power input
Troubleshooting
turned on even though • Problem occurred in the connection (L/N/L1/N1). terminal correctly.
the power was supplied. controller internal power • Check power input terminal • Supply the specified power
supply. voltage (L/N/L1/N1). voltage.
• Check if "PWR" LED on front • Replace the controller.
panel is lit.
2 The programming box is • The programming box is not • Check the PB connector. • Plug in the PB connector
not displayed even connected. • Check how the PB connector correctly.
though the controller is • The programming box is inserted. • Replace the programming
turned on. connection is incorrect. • Replace the programming box.
• Malfunction occurred in the box and check operation. • Replace the controller.
programming box.
• Problem occurred in
controller internal power
supply.
3 Although the controller • The controller is now in • Connect the programming box • Release the emergency stop
turns on, the alarm emergency stop status. and check the alarm using self- button on the programming
number is displayed on diagnosis. box.
• Connect the PB connector.
the 7-segment LED on • Check the DO00 (Output of
• Connect the emergency stop
the front. emergency stop input status)
terminal of the SAFETY
on the "MONITOR" screen
connector.
displayed on the programming
box.
• An alarm with alarm group • Connect the programming box • Check the axis from the
number 17 occurred. and check the alarm using self- alarm information.
diagnosis. • Check the cause from the
alarm information.
• Take the corrective action.
• An alarm with alarm group • Connect the programming • Check the cause from the
number 21 or 22 occurred. box and check the alarm alarm information.
using self-diagnosis. • Take the corrective action.
A-3
3.2 Robot operation
A 1 Although the controller

turns on, program and
jog movement cannot be
• Stop signal is in the open
status.
• Check the I/O interface
connector stop signal and
24V-power supply
• Connect the power input
terminal correctly.
• Supply the specified power
executed. connections. voltage.
• Check DI06 (stop) on the • Replace the controller.
"MONITOR" screen displayed
Troubleshooting
on the programming box.

• The controller is now in • Connect the programming box • Release the emergency stop
emergency stop status. and check the alarm using self- button on the programming
diagnosis. box.
• Check DO00 (Output of • Connect the PB connector.
emergency stop input status) • Connect the emergency stop
on the "MONITOR" screen terminal of the SAFETY
displayed on the programming connector.
box.
• An alarm occurred. • Connect the programming box • Check the cause from the
and check the alarm using self- alarm information.
diagnosis. • Take the corrective action.
• Check the 7-segment LED display
on the front of the controller.
2 An abnormal sound or • The robot or axis type setting • Connect the programming • Correct the robot or axis type
vibration occurred. is incorrect. box and check the robot setting.
settings in SYSTEM mode. • Make sure the robot and
• Check if the robot and controller are compatible.
controller are compatible.
• The tip weight or acceleration • Check the tip weight • Set a correct tip weight
settings is incorrect. parameter setting in EDIT. parameter.
• Check the acceleration • Set a correct acceleration
parameter setting in parameter.
SYSTEM. • Make a correct setting in the
• Check the command setting program language.
of changing the tip weight or
acceleration in program
language.
• A mechanical problem • Check for resonance in the • Reinforce the robot frame.
occurred. robot frame. • Tighten the robot cover
• Check for the loose screws screws.
on robot cover. • Remove foreign matter if
• Check for warping or damage found.
on guides or ball screws. • Replace guides or ball
screws if warping or damage
is found.
• The controller is defective. • Replace with another controller • Replace the controller if
and check operation. operation is normal.
3 A position deviation • The position sensor device is • Move the axis in emergency • Replace the motor if count is
occurred.* defective. stop and check the pulse incorrect.
• The cable is defective. count. • Replace the cable if found to
be defective.
• A position detection error due • Check grounding of the robot • Ground the robot and
to noise. and controller. controller.
• Check the robot periphery for • Isolate from the noise
noise. sources around the robot.
• Check for noise sources • Isolate from the noise
around ROB I/O cable. sources around ROB I/O
cable.
• A mechanical error occurred. • Check the belt tension. • Adjust to correct tension if
• Check for warping or damage necessary.
on the guides or ball screws. • Remove the foreign matter if
found.
• Replace the guides or ball screws
if warping or damage is found.
• The controller is defective. • Replace the controller and • Replace the controller if
check operation. operation is normal.
* There are two main types of position deviation.
1. Electrical position deviation 2. Mechanical position deviation
In the case of 1, the robot can move back to the original position by return-to-origin operation after position deviation, which
does not correspond in the case of 2.
A-4
3.3 I/O
1 The command does not

work even when the
dedicated input signal is
• No 24 V DC is supplied. • Check the I/O interface
connector stop signal and
24V-power supply
• Supply 24 V DC.
A
supplied. connections.
• Check DI06 (stop) on the
Troubleshooting
• A problem in signal • Check the I/O interface • Correct the I/O interface
connection occurred. connector wiring. connector wiring.
and check the alarm by using alarm information.
self-diagnosis. • Take the corrective action.
• Check the 7-segment LED
display on the front of the
controller.
2 The dedicated output • No 24 V DC is supplied. • Check the I/O interface • Supply 24 V DC.
signal is not output. connector 24V-power supply
connections.
• Check DI04 on the
controller.
3 The general-purpose I/O • No 24 V DC is supplied. • Check the I/O interface • Supply 24 V DC.
signal is not output. connector 24V-power supply
connections.
• Check DI04 on the
• Check the I/O interface
24V-power supply
connection.
• A problem in I/O interface • Check the ID setting of the • Correct the ID setting of the
setting occurred. I/O interface. I/O interface.
controller.
A-5
4. Alarm messages
A
When an alarm occurs, an alarm code (alarm group number, alarm classification number and occurrence
location) and an alarm message) is displayed on the programming box screen.
The 7-segment LED on the front of the controller alternately displays " + alarm group number" and "alarm
classification number"
Troubleshooting
The alarm code consists of two elements, "group" and "classification". Each code is classified as follows.
XX. YYY
Classification number Classified by the axis operation or resetting procedure if an alarm occurs.
Group number Classified into groups [0] to [30] according to the alarm contents.
■ Checking the alarm occurrence status
Alarm code Occurrence location
A-6
1. Alarm group number list
The alarm message is classified into groups [0] to [30] according to the alarm contents.
The contents of each group are shown below.
Group number
[ 0] Operation messages
Contents
A
[ 1] System events
Troubleshooting
[ 2] Alarm related to the robot movement range
[ 3] Alarm related to the program file operation
[ 4] Alarm related to the data input
[ 5] Operation alarm related to the syntax of the robot language (compile)
[ 6] Alarm related to the robot language execution
[ 7] (Not used.)
[ 8] (Not used.)
[ 9] Alarm related to the memory
[10] Alarm related to the environment and general hardware
[11] (Not used.)
[12] Alarm related to the option board
[13] (Not used.)
[14] Alarm related to the communication
[15] (Not used.)
[16] (Not used.)
[17] Alarm related to the motor control
[18] (Not used.)
[19] Alarm related to the YC-Link/E
[20] Alarm related to the iVY2 system
[21] Serious software alarm
[22] Serious hardware alarm
[23] (Not used.)
[24] (Not used.)
[25] (Not used.)
[26] Alarm related to the gripper
[27] (Not used.)
[28] Alarm related to the driver I/F
[29] (Not used.)
[30] (Not used.)
A-7
2. Alarm classification number list
Axis operation LED Alarm

Alarm code Type History Reset method Example
in case of error display output
A 0 Correct
-
- -
HALT, HOLD, Break point,

1 to 99 -
Key release
Message Restart operation
-
100 to 199 - CPU start
Troubleshooting
Individual
200 to 399 Restart No point
Operation operation stop
corresponding
error
operation
400 to 499 Interlock
Operation stop
500 to 599 PIO24V off, SIO link error
External
Save
error
600 to 699 Servo brake Emergency stop, Main power off
Reset
Display command
700 to 799 Operation stop Fan error
Output
800 to 899 Internal Servo brake Overload
error
Immediate Over-current,
900 to 999 Restart system
servo off Driver communication failure
3. Alarm occurrence location list
Task
T*
*… Task number
SYS Startup, memory check, generation
ONL Online command
RMT Remote command
SEQ Sequence program
SIN Standard input
Controller
C*
*… Controller number
Option board
C*O*
*… Controller number, option slot number
Robot, axis
R*/R*A*
*… Robot number, axis number
Physical motor
M*/C*M*
*… Controller number, motor number
For example, when "17.403:M1" is displayed, this shows that the position reset position error occurs in motor 1.
In the same manner, when "14.400:T02" is displayed, this shows that the communication shutdown error
occurs in task 2.
A-8
[Display format]
Group number
Alarm code
Classification number
Alarm message
12.600 : Emergency stop on

A
The group number and classification number of the alarm are
expressed in hexadecimal notation.
Troubleshooting
Meaning/Cause
Action
Shows the measures to reset or avoid the alarm.
Shows the alarm meaning and the cause of the alarm occurrence.
* The alarm occurrence status and alarm history can be checked from the programming box.
Information on the alarm occurrence location (axis, option unit, and so on) may be added.
[ 0] Operation messages
0.0 : OK
Code : &H0000 &H0000
Meaning/Cause Correct status. No alarm occurs.
Action −−−
0.2 : Running
Code : &H0000 &H0002
Meaning/Cause A program or command is running.
Action −−−
0.5 : Busy
Code : &H0000 &H0005
Meaning/Cause The data is being saved.
Action −−−
0.8 : Tr y again
Code : &H0000 &H0008
Meaning/Cause The operation failed.
Action Try again.
0.19 : Can’t edit

Code : &H0000 &H0013
Meaning/Cause The read-only file is being edited.
Action Change the file attribute.
A-9
0.20 : Illegal command in this mode
Code : &H0000 &H0014
A Meaning/Cause
Action
The specified online command cannot be executed in the current mode.
Change the mode.

Troubleshooting
0.21 : No control right

Code : &H0000 &H0015
Meaning/Cause The operation cannot be executed because of the control setting.
Action Change the control setting properly with the programming box.
0.22 : Not be execute by the safety setting

Code : &H0000 &H0016
Meaning/Cause The command cannot be executed since the SAFETY setting is "INVALID".
Action Set the target item in the SAFETY setting to "VALID".
0.23 : No right of PRINT/INPUT

Code : &H0000 &H0017
Meaning/Cause The "PRINT/INPUT" statement was executed without setting.
Action Change the setting of "PRINT/INPUT using channel" of the controller parameter.
[ 1] System events
1.1 : Program terminated by "CUT"

Code : &H0001 &H0001
Meaning/Cause The program execution was terminated by the "CUT" command.
Action −−−
1.2 : Program terminated by "EXIT TASK"

Code : &H0001 &H0002
Meaning/Cause The program execution was terminated by the "EXIT TASK" command.
Action −−−
1.3 : Program terminated by "HALTALL"

Code : &H0001 &H0003
Meaning/Cause The program execution was terminated by the "HALTALL" command.
Action −−−
1.4 : Program ended by "HALTALL"

Code : &H0001 &H0004
Meaning/Cause The program execution was terminated by the "HALTALL" command.
Action −−−
A-10
1.5 : Program ended by "HALT"
Code : &H0001 &H0005
Meaning/Cause
Action
The program execution was terminated by the "HALT" command.
−−−
A
Troubleshooting
1.6 : Program stopped by "HOLDALL"
Code : &H0001 &H0006
Meaning/Cause The program execution was stopped by the "HOLDALL" command.
The stop status is canceled by pressing the RUN key and the program execution restarts from
Action
the next command.
1.7 : Program stopped by "HOLD"

Code : &H0001 &H0007
Meaning/Cause The program execution was stopped by the "HOLD" command.
The stop status is canceled by pressing the RUN key and the program execution restarts from
Action
the next command.
1.8 : Stop executed

Code : &H0001 &H0008
Meaning/Cause The program/command execution was stopped by external stop command.
Action −−−
1.9 : Arrived at debug

Code : &H0001 &H0009
• The program in execution reached the break point and stopped.
Meaning/Cause • The program executed by the "RUNTO" command reached the specified line and stopped.
• One line of the program was executed and stopped by the "STEP/NEXT" command.
Action −−−
1.10 : Changed control right

Code : &H0001 &H000A
Meaning/Cause The operation stopped since the control setting was changed.
Action Change the control setting to "RELEASE" with the programming box.
1.12 : Program stopped by key release

Code : &H0001 &H000C
Meaning/Cause The RUN key was released in the "Hold To Run" enable status.
Action −−−
1.13 : Changed PRINT/INPUT right

Code : &H0001 &H000D
Meaning/Cause The operation stopped since the "PRINT/INPUT using channel" was changed.
Action Change the setting of "PRINT/INPUT channel in use" of the controller parameter.
A-11
1.100 : CPU normal start
Code : &H0001 &H0064
A Meaning/Cause
Action
Start-up checks and initialization ended and controller operation started normally.
−−−
Troubleshooting
1.101 : First Boot

Code : &H0001 &H0065
Meaning/Cause SRAM has been initialized during the first boot of controller.
Action −−−
[ 2] Alarm related to the robot operation
2.300 : Std. coord. doesn't exist

Code : &H0002 &H012C
Meaning/Cause The standard coordinates are not set.
• Set the standard coordinates.

Action
• Set the "Arm length" and "Offset pulse" of the axis parameter.
2.301 : Coordinate cal. failed

Code : &H0002 &H012D
a. The standard coordinate setting is not correct.
Meaning/Cause
b. The operating position is out of the movement range.
a. Set the standard coordinates correctly.
Action
b. Change the operating position within the movement range.
2.303 : Shift cal. failed

Code : &H0002 &H012F
Meaning/Cause Preset calculation for the shift setting is not functioning.
Action Set the shift coordinates correctly.
2.304 : Hand cal. failed

Code : &H0002 &H0130
a. Preset calculation for the hand definition setting is not functioning.
Meaning/Cause b. Multiple axes with the same coordinate attribute were operated simultaneously when
specifying the hand R.
a. Set the hand definitions correctly.
Action
b. Set the specified axis of the movement command correctly when specifying the hand R.
2.305 : Illegal Pallet parameter

Code : &H0002 &H0131
Meaning/Cause Preset calculation for the pallet setting is not functioning.
Action Set the pallet definition correctly.
A-12
2.306 : Movable range cal. failed
Code : &H0002 &H0132
Meaning/Cause
Action
a. Preset calculation for the movement path setting is not functioning.
b. The current position is not within the movement range.
a. Change to the correct movement point.
A
b. Change the current position to within the movement range.
Troubleshooting
2.307 : Overlap soft limit
Code : &H0002 &H0133
On SCARA type robots, the total of the absolute values of the X or Y-axis plus soft limit and
Meaning/Cause
minus soft limit becomes the value to move the arm one or more rotation.
Action Set the soft limit values so that the arm movement range becomes one rotation or less.
2.308 : X exceeded shift coord. range

Code : &H0002 &H0134
Meaning/Cause X-axis exceeded the shift coordinate range.
• Change the operation position to the inside of the shift coordinate range.
Action
• Change the shift coordinate range.
2.309 : Y exceeded shift coord. range

Code : &H0002 &H0135
Meaning/Cause Y-axis exceeded the shift coordinate range.
Action
2.310 : Z exceeded shift coord. range

Code : &H0002 &H0136
Meaning/Cause Z-axis exceeded the shift coordinate range.
Action
2.311 : R exceeded shift coord. range

Code : &H0002 &H0137
Meaning/Cause R-axis exceeded the shift coordinate range.
Action
2.314 : Arch condition bad

Code : &H0002 &H013A
The arch position and arch distance of the arch option are set in “mm” units on the arch motion
Meaning/Cause
command for X and Y-axis on SCARA type robots.
Action Set the arch position and arch distance of the arch option in "pulse" units.
2.318 : Arm length is 0

Code : &H0002 &H013E
Meaning/Cause The arm length is set is "0" on SCARA type robots.
• Set the standard coordinates.

Action
• Set the "Arm length" of the axis parameter.
A-13
2.319 : Cannot move (RIGHTY to LEFTY)
Code : &H0002 &H013F
A Meaning/Cause
Action
The interpolation movement to the target point whose hand system is set to "LEFT" was
attempted when the hand system is set to "RIGHT" on the SCARA type robots.
Check the current hand system and hand system flag of the point data.
Troubleshooting
2.320 : Cannot move (LEFTY to RIGHTY)

Code : &H0002 &H0140
The interpolation movement to the target point whose hand system is set to "RIGHT" was
Meaning/Cause
attempted when the hand system is set to "LEFT" on the SCARA type robots.
Action Check the current hand system and hand system flag of the point data.
2.321 : Cannot use TOOL coord.

Code : &H0002 &H0141
Meaning/Cause The hand data is not set.
Action Set the hand data.
2.326 : Exceeded velocity

Code : &H0002 &H0146
Meaning/Cause The interpolation operation speed exceeded the specified level.
Action Change the specified speed.
2.327 : Circular arc cal. failed

Code : &H0002 &H0147
Meaning/Cause The circular interpolation operation point is incorrect.
• Set the correct point data.

Action • Specify the correct circular arc plane option of the circular interpolation movement.
• Set the correct specified axis of the circular interpolation movement.
2.328 : Circular arc restart failed

Code : &H0002 &H0148
Meaning/Cause Stop position of the "MOVE C" command was different from the restart position.
Action Set the stop position same as the restart position.
2.329 : Same point exists

Code : &H0002 &H0149
• Two or three points of the “MOVE C” command three points are same.
Meaning/Cause
• Same points are consecutive on the path of PATH motion.
Action Set the correct points.
2.330 : 3 points on line

Code : &H0002 &H014A
Meaning/Cause Three points of one "MOVE C" command were placed on a straight line.
Change the three points of the "MOVE C" command so that they are not on the same straight
Action
line.
A-14
2.331 : Circular arc radius too small
Code : &H0002 &H014B
Meaning/Cause
Action
The "MOVE C" command radius is less than 0.1 mm.
Change the "MOVE C" command to 0.1 mm or more for circular arc radius.
A
2.332 : Circular arc radius too large
Troubleshooting
Code : &H0002 &H014C
Meaning/Cause The "MOVE C" command radius exceeded 5000 mm (5 meters).
Action Change the "MOVE C" command to within 5000 mm (5 meters) for circular arc radius.
2.333 : Too low speed

Code : &H0002 &H014D
Meaning/Cause The movement time exceeded 60 minutes since the specified speed was too low.
Increase the specified speed or shorten the distance so that the movement time becomes within
Action
60 minutes.
2.334 : Over soft limit

Code : &H0002 &H014E
Meaning/Cause The value of the target position exceeded the soft limit specified in the parameter.
• Change the operating position to within the soft limits.

Action
• Change the soft limit value.
2.335 : Over movable range

Code : &H0002 &H014F
Meaning/Cause There is a point outside the movement range on the movement path.
Action Specify the movement path to be within the movement range.
2.336 : ZR Torque origin failed

Code : &H0002 &H0150
Meaning/Cause Return-to-origin with ZR-stroke end method failed.
Action Change the R-axis dog length.
2.337 : Illegal DRIVE XY axes

Code : &H0002 &H0151
X or Y-axis point is not specified when using the XY designation option of the "DRIVE"
Meaning/Cause
command.
Action Specify the X or Y-axis point when using the XY designation option of the "DRIVE" command.
2.338 : PATH execute error

Code : &H0002 &H0152
a. The PATH motion cannot be executed.
Meaning/Cause b. The acceleration/deceleration zone distance is too short.
c. The speed is too high at the position where the direction changes.
a. Reduce the speed setting.
b. Lengthen the straight line or circular arc distance containing acceleration/deceleration.
Action
c. Set the speed so that the direction at the connection point of straight lines does not change
greatly.
A-15
2.339 : Start position changed by other task
Code : &H0002 &H0153
A Meaning/Cause
Action
The start position was changed by other tasks.
Check the start position of the target task and change the position as needed.
2.340 : Target position changed by other task

Troubleshooting
Code : &H0002 &H0154
Meaning/Cause The target position was changed by other tasks.
Action Check the target position of the target task and change the position as needed.
2.341 : Illegal axes (R axis shift exist)

Code : &H0002 &H0155
The operation was executed with specifying either X or Y-axis while selecting the shift
Meaning/Cause
coordinates for the R-axis rotation.
Action Change the program so that the operation is executed with specifying both X and Y-axis.
2.342 : Illegal hand type

Code : &H0002 &H0156
Meaning/Cause The hand definition of R-axis attachment was used to the robot without R-axis attachment.
• Change to the hand definition of Y-axis attachment.

Action
• Quit to use the hand definition.
2.343 : Illegal axes (R selected hand)

Code : &H0002 &H0157
a. Tool coordinate jog operation was executed for the auxiliary axis.
Meaning/Cause
b. Tool coordinate jog operation was executed while "R-axis orientation hold" is invalid.
a. The auxiliary axis cannot be jog-operated on tool coordinate.
Action
b. Set "R-axis orientation hold" of the robot parameter to "VALID".
2.344 : Can't move (Different rotation)

Code : &H0002 &H0158
Interpolation movement where the arm rotation information on the start position is different from
Meaning/Cause
that on the target position is executed by YK-TW series, the orbit type SCARA robot.
Action Check the arm rotation information on the start point and that of the point data.
2.345 : Illegal soft limit

Code : &H0002 &H0159
On YK-TW series, the orbit type SCARA robot, the total of the plus soft limit absolute value and
Meaning/Cause
minus soft limit absolute value of the X or Y-axis exceeds the movement range of the arm.
Action Set the soft limit values so that the total value is within the movement range of the arm.
2.346 : Illegal axes (tracking)

Code : &H0002 &H015A
a. Tracking cannot be executed with this axis configuration.
Meaning/Cause b. "CTDRIVE" or "CTMOVE" command with specifying the Z-axis operation command was
executed for the robot without Z-axis.
a. Check the robot axis configuration.
Action b. Change the program so that "CTDRIVE" or "CTMOVE" command with specifying the Z-axis
operation command cannot be executed for the robot without Z-axis.
A-16
2.347 : Not tracking status
Code : &H0002 &H015B
Meaning/Cause
Action
"CTDRIVE" command was executed for the robot without following the conveyor.
Change the program so that "CTDRIVE" command is executed after following the conveyor by
A
"CTMOVE" command.
Troubleshooting
2.348 : Over tracking area
Code : &H0002 &H015C
• The robot cannot be operated since the elements of position monitoring queue specified by
Meaning/Cause "CTMOVE" command was out of the work area.
• The elements of position monitoring queue in following moved out of the work area.
• Review the robot program so that the elements of position monitoring queue specified by
"CTMOVE" command is in the work area.
Action • Reduce the setting value of the tracking end margin of the tracking parameter.
• Change the program so that the next command or "CTSTOP" command execute before
moving out of the work area.
2.349 : Can't execute CTMOVE

Code : &H0002 &H015D
Meaning/Cause "CTMOVE" command was not executed since it was in deceleration control.
Action "CTMOVE" command cannot be executed in MANUAL mode.
2.351 : SCARA inner CP prohibited range

Code : &H0002 &H015F
The CP (Continuous Path) motion of YK-TW has been executed within the prohibited range of
Meaning/Cause
the inner CP motion.
• The CP motion cannot be executed within the range.
Action
• Move the robot to outside of the range with the servo-off status or with the PTP motion.
2.352 : SCARA outer CP prohibited range

Code : &H0002 &H0160
The CP (Continuous Path) motion of SCARA robot has been executed within the prohibited
Meaning/Cause
range of the outer CP motion.
• The CP motion cannot be executed within the range.
Action
• Move the robot to outside of the range with the servo-off status or with the PTP motion.
2.353 : Over W.carrier limit

Code : &H0002 &H0161
Meaning/Cause The target position exceeds the working envelope restricted by the double-carrier parameter.
Operate so that the starting position and the target position of the operation do not collide with
Action
Double-carrier.
2.354 : Illegal coordinates for pos. correction

Code : &H0002 &H0162
Meaning/Cause The position correction can not be executed in this robot configuration.
Action Use the robot involving each XYR axis.
A-17
2.700 : System error (EXCEPTION)
Code : &H0002&H02BC
A Meaning/Cause
Action
Error occurred in software.
Contact your distributor.
2.701 : System error (Robot Type)

Troubleshooting
Code : &H0002&H02BD
Meaning/Cause Error occurred in software.
Action Contact your distributor.
2.702 : System error (Robot No)

Code : &H0002&H02BE
2.703 : System error (Axis No)

Code : &H0002&H02BF
2.704 : System error (Arm Type)

Code : &H0002&H02C0
2.705 : System error (OPTION)

Code : &H0002&H02C1
2.706 : System error (PATH)

Code : &H0002&H02C2
2.707 : AXSWEI over

Code : &H0002&H02C3
Meaning/Cause The axis weight exceeds the input range.
Action Set the axis weight within the input range.
2.708 : System error (Tracking)

Code : &H0002&H02C4
A-18
2.709 : System error (W.carrier)
Code : &H0002&H02C5
Meaning/Cause
Action

A
Troubleshooting
2.710 : W.carrier collision prevention
Code : &H0002&H02C6
Meaning/Cause The operation was stopped because Double-carrier attempted to move to a colliding position.
•C hange the target position of the motion command to the position where Double-carrier does
not collide.
Action • Check if W.carrier control mode is set correctly.
•W hen W.carrier control mode is STOP, Execute the movement command after the partner
carrier has moved to the position where it does not collide.
2.711 : W.carrier collision deadlock

Code : &H0002&H02C7
Meaning/Cause Double-carrier became a deadlock state.
Action Change the program so that carriers do not wait the partner's movement each other.
2.712 : W.carrier overstroke

Code : &H0002&H02C8
Meaning/Cause The target position of Double-carrier exceeds the range of Double-carrier stroke.
Change the target position of each carrier so that the target position is smaller than Double-
Action
carrier stroke.
2.713 : Illegal W.carrier parameter

Code : &H0002&H02C9
Meaning/Cause Parameter setting of Double-carrier is incorrect.
Change the parameter setting not to correspond to the following condition.

• Robot/axis set at Double-carrier parameter does not exist.
Action
• Robot/axis set at Double-carrier parameter is SCARA robot or YP-X.
• Robot/axis set at Double-carrier parameter is the same setting for each carrier.
2.714 : W.carrier can't excute CTMOVE

Code : &H0002&H02CA
Meaning/Cause CTMOVE cannot be executed while Double-carrier collision prevention function is enabled.
Action Set W.carrier control mode to OFF when executing CTMOVE.
2.715 : W.carrier ser vo off

Code : &H0002&H02CB
Meaning/Cause Axis set at Double-carrier collision prevention is servo off status.
• Prevent the other carrier from becoming servo-powered OFF when one carrier is waiting.
Action
• Change the target position of one carrier so as not to collide the other carrier.
A-19
[ 3] Alarm related to the program file operation
A
3.201 : Too many programs
Code : &H0003 &H00C9
Meaning/Cause A new program was created over 100 programs.
Action Create a new program after deleting an unnecessary program. (Make a backup if necessary.)
Troubleshooting
3.202 : Program already exists

Code : &H0003 &H00CA
Meaning/Cause A program with the same name of a registered program was created, copied, or renamed.
Action Use a different program name to create, copy, or rename.
3.203 : Program doesn't exist

Code : &H0003 &H00CB
Meaning/Cause A registered program of the specified name does not exist.
Action Input a program name that is registered.
3.204 : Writing prohibited

Code : &H0003 &H00CC
Meaning/Cause The specified program is write-protected.
Action Make the program not write-protected.
3.206 : Too many breakpoints

Code : &H0003 &H00CE
Meaning/Cause More than 32 break points were set.
Delete unnecessary programs and then set new ones.

Action
(32 or less break points can be set per program.)
3.207 : Breakpoint doesn't exist

Code : &H0003 &H00CF
Meaning/Cause The break point was not found during search.
Action Set break points if necessary.
3.208 : Current program doesn't exist

Code : &H0003 &H00D0
Meaning/Cause As the current program does not exit, Reset can not be executed.
Action LOAD the program once or set MAINPG once, then reset again.
3.218 : Duplicated Breakpoint

Code : &H0003 &H00DA
Meaning/Cause Break points were already set on the line.
Action To set the break point, specify the line on which break point has not been set yet.
A-20
3.219 : Illegal program no
Code : &H0003 &H00DB
Meaning/Cause
Action
A program number exceeding 1 to 100 was set.
Specify a program number between 1 and 100.

A
Troubleshooting
3.220 : Program step doesn't exist
Code : &H0003 &H00DC
Meaning/Cause The number of lines exceeding the number registered in the program was specified.
Action Specify lines registered in the program.
3.221 : Reading prohibited

Code : &H0003 &H00DD
Meaning/Cause The program with the hidden attribute was browsed.
Action Make the relevant program readable.
3.237 : Program has been already loaded

Code : &H0003 &H00ED
Meaning/Cause The program that is already in the executable status was loaded.
Action −−−
3.238 : Program is already running

Code : &H0003 &H00EE
Meaning/Cause The program is already running.
Action −−−
3.239 : Sequence program is already running

Code : &H0003 &H00EF
Meaning/Cause The sequence program to revise or delete is running.
Action Stop the sequence program.
[ 4] Alarm related to the data input
4.201 : Point number error

Code : &H0004 &H00C9
Meaning/Cause A point number exceeding P29999 was input.
Action Input a correct point number.
4.202 : Input format error

Meaning/Cause The format used to input the data is incorrect.
Action Input the data in correct format.
A-21
4.204 : Undefined robot number
A Meaning/Cause
Action
The specified robot number does not exist.
Input a correct robot number.

Troubleshooting
4.205 : Undefined axis number

Code : &H0004 &H00CD
Meaning/Cause The specified axis number does not exist.
Action Input a correct axis number.
4.206 : Invalid input number

• Invalid data was input.
Meaning/Cause
• Invalid data was input in the area check output port number.
Action Input a port number that can be used
4.208 : Parameter range error

Code : &H0004 &H00D0
Meaning/Cause The parameter to set exceeds the range that can be input.
Action Set the parameter within the range that can be input.
4.209 : Point name doesn't exist

Code : &H0004 &H00D1
Meaning/Cause The specified point name does not exist.
• Input a point name that can be used.

Action
• Register a new point name.
4.210 : Illegal point name

Code : &H0004 &H00D2
Meaning/Cause The specified point name is incorrect.

Action
• Save a new point name.
4.211 : Illegal I/O port

Code : &H0004 &H00D3
Meaning/Cause The specified port number is incorrect.
Action Input a correct port number.
4.212 : Data not enough

Code : &H0004 &H00D4
Meaning/Cause The specified data does not exist.

Action
• Create and save new data.
A-22
4.213 : Undefined controller number
Code : &H0004 &H00D5
Meaning/Cause
Action
The specified controller number does not exist.
Input a correct controller number.

A
Troubleshooting
4.214 : Undefined motor number
Code : &H0004 &H00D6
Meaning/Cause The specified motor number does not exist.
Action Input a correct motor number.
4.215 : Real time output number error

Code : &H0004 &H00D7
Meaning/Cause Specified real time output number is out of range.
Action Input a correct real time output number.
[ 5] Alarm related to the syntax of the robot language (compile)
5.201 : Syntax error

Code : &H0005 &H00C9
Meaning/Cause The syntax error was found in program.
Action Input a correct syntax.
5.202 : Data error

Meaning/Cause The input data format is incorrect.
Action Use a correct data format.
5.203 : Number error

a. The input number is incorrect.
Meaning/Cause
b. The input expression value is incorrect.
a. Input a correct number.
Action
b. Input a correct expression value.
5.204 : Bit number error

Meaning/Cause The specified bit number is not within 0 to 7.
Action Specify a correct bit number.
5.206 : Digit number error

a. Binary number has exceeded 8 digits (places).
b. Octal number has exceeded 6 digits (places).
Meaning/Cause c. Decimal number has exceeded the specified range.
d. Hexadecimal number has exceeded 8 digits (places).
e. Cartesian coordinate point data has more than 3 decimal places.
a-d. Change to the correct number of digits (places).
Action
e. Specify the Cartesian coordinate point data of up to 3 decimal places.
A-23
5.207 : Illegal axis name
A Meaning/Cause
Action
The input robot axis name is incorrect.
Input a correct axis name.
5.208 : Illegal order

Troubleshooting
Code : &H0005 &H00D0
Meaning/Cause The bit order specified for I/O port is incorrect.
Action Input in descending order starting from left.
5.212 : Stack overflow

Code : &H0005 &H00D4
Meaning/Cause The stack area for execution overflowed.
• Shorten the expression (for example, by dividing).

Action • Reduce nesting of "GOSUB", "CALL" and "FOR to NEXT" statement.
• Reduce argument of "CALL" statement.
5.213 : Illegal variable

Code : &H0005 &H00D5
Meaning/Cause A variable other than a global variable was used in "SEND/@READ/@WRITE" commands.
Action Input a global variable.
5.214 : Type mismatch

Code : &H0005 &H00D6
a. Expression types are not equal on both sides.
Meaning/Cause
b. An incorrect type constant/variable/expression is used.
a. Use the same expression type on both sides.
Action
b. Use a correct type constant/variable/expression.
5.215 : FOR variable error

Code : &H0005 &H00D7
Meaning/Cause The variable name for "NEXT" statement differs from that for the corresponding "FOR" statement.
Action Use the corresponding variable names.
5.216 : WEND without WHILE

Code : &H0005 &H00D8
Meaning/Cause There is no "WHILE" statement corresponding to the "WEND" statement.
• Delete the "WEND" statement.

Action
• Add a "WHILE" statement corresponding to the "WEND" statement.
5.217 : WHILE without WEND

Code : &H0005 &H00D9
Meaning/Cause There is no "WEND" statement corresponding to the "WHILE" statement.
• Delete the "WHILE" statement.

Action
• Add a "WEND" statement corresponding to the "WHILE" statement.
A-24
5.218 : NEXT without FOR
Meaning/Cause
a. There is no "FOR" statement corresponding to the "NEXT" statement.
b. "NEXT" command was executed without executing "FOR" command.
a-1. Delete the "NEXT" statement.
A
Action a-2. Add "FOR" statement corresponding to the "NEXT" statement.
b. Confirm execution of "FOR" command.
Troubleshooting
5.219 : FOR without NEXT
Meaning/Cause There is no "NEXT" statement corresponding to the "FOR" statement.
• Delete the "FOR" statement.

Action
• Add "NEXT" statement corresponding to the "FOR" statement.
5.220 : ENDIF without IF

Meaning/Cause There is no "IF" statement corresponding to the "ENDIF" statement.
• Delete the "ENDIF" statement.

Action
• Add IF statement corresponding to the "ENDIF" statement.
5.221 : ELSE without IF

Meaning/Cause There is no "IF" statement corresponding to the "ELSE" statement.
• Delete the "ELSE" statement.

Action
• Add IF statement corresponding to the "ELSE" statement.
5.222 : IF without ENDIF

Code : &H0005 &H00DE
Meaning/Cause There is no "ENDIF" statement corresponding to the "IF" statement.
• Delete the "IF" statement.

Action
• Add "ENDIF" statement corresponding to the "IF" statement.
5.223 : ELSE without ENDIF

Code : &H0005 &H00DF
Meaning/Cause There is no "ENDIF" statement corresponding to the "ELSE" statement.
• Delete the "ELSE" statement.

Action
• Add "ENDIF" statement corresponding to the "ELSE" statement.
5.224 : END SUB without SUB

Code : &H0005 &H00E0
a. There is no "SUB" statement corresponding to the "END SUB" statement.
Meaning/Cause
b. "END SUB" command was executed without "SUB" command.
a-1. Delete the END SUB statement.
Action a-2. b-1. Add SUB statement corresponding to the END SUB statement.
b-2. Confirm execution of "SUB" command.
5.225 : SUB without END SUB

Code : &H0005 &H00E1
Meaning/Cause There is no "END SUB" statement corresponding to the "SUB" statement.
• Delete the "SUB" statement.

Action
• Add "END SUB" statement corresponding to the "SUB" statement.
A-25
5.226 : Duplicated variable
Code : &H0005 &H00E2
A Meaning/Cause
Action
Two or more array variables were defined with the same name.
Delete the definition statement for the array variables with the same name or define other array
valuables.
Troubleshooting
5.227 : Duplicated identifier

Code : &H0005 &H00E3
Meaning/Cause Two or more identifiers were defined with the same name.
Action Define identifiers with the different name.
5.228 : Duplicated label

Code : &H0005 &H00E4
Meaning/Cause The labels were defined with the same name.
Action Define the labels with different name.
5.229 : Undefined array

Code : &H0005 &H00E5
Meaning/Cause Assignment/reference was made for an undeclared array.
Action Declare the array.
5.230 : Undefined identifier

Code : &H0005 &H00E6
Meaning/Cause An undefined identifier was used.
Action Define the undefined identifier.
5.231 : Undefined label

Code : &H0005 &H00E7
Meaning/Cause An undefined label was used.
Action Define the undefined label.
5.232 : Undefined user function

Code : &H0005 &H00E8
Meaning/Cause Undefined function was called.
Action Define the undefined function.
5.233 : Undefined HAND

Code : &H0005 &H00E9
Meaning/Cause The specified hand is not defined.
• Specify a correct hand.

Action
• Define the hand.
A-26
5.234 : Too many dimensions
Code : &H0005 &H00EA
Meaning/Cause
Action
An array exceeding 3 dimensions was declared.
Change array to within 3 dimensions.

A
Troubleshooting
5.235 : Dimension mismatch
Code : &H0005 &H00EB
Meaning/Cause The array dimension number does not correspond to that declared.
Action Make the array dimension numbers correspond to each other.
5.236 : Argument mismatch

Code : &H0005 &H00EC
The number of "SUB" statement arguments does not correspond to that of "CALL" statement
Meaning/Cause
arguments.
Action Make the number of "SUB" statements correspond to that of "CALL" statements.
5.238 : Illegal option

Meaning/Cause The command option is incorrect.
Action Input a correct option.
5.239 : Illegal identifier

Meaning/Cause A reserved word was used as an identifier.
Action Use an identifier name other than a reserved word. Refer to the programming manual.
5.240 : Illegal command in procedure

Code : &H0005 &H00F0
Meaning/Cause The command cannot be executed inside the procedure (between "SUB to END SUB" statements).
Action Delete the target command.
5.241 : Illegal command outside procedure

Code : &H0005 &H00F1
Meaning/Cause The command cannot be executed outside the procedure (between "SUB to END SUB" statements).
Action Delete the target command.
5.242 : Illegal command inside IF

Code : &H0005 &H00F2
Meaning/Cause The command cannot be executed in simple "IF" statement.
• Input a command that can be executed in simple "IF" statement.

Action
• Input a block "IF" statement.
A-27
5.243 : Illegal direct
Code : &H0005 &H00F3
A Meaning/Cause
Action
The command cannot be executed independently.
• Change the execution according to program.

• Change it to a command that can be executed independently.
Troubleshooting
5.244 : Cannot use external label

Code : &H0005 &H00F4
Meaning/Cause The command cannot use an external label.
• Change to an internal label.

Action
• Change the execution command.
5.245 : Illegal program name

Code : &H0005 &H00F5
a. When transmitting a program file by "SEND" command, the "NAME" statement was not defined
on beginning line of the program data.
Meaning/Cause
b. Characters other than alphanumeric and " _ " (underscore) were used in the program name.
c. Program name has more than 32 characters.
a. Define the "NAME" statement on beginning line of program data.
Action b. Use only alphanumeric and " _ " (underscore) characters in the program name.
c. Use 32 characters or less in the program name.
5.246 : Too many identifiers

Code : &H0005 &H00F6
Meaning/Cause There are too many identifiers.
Reduce the number of identifiers.

Action
(An array variable or character string consume more memory than a numeric variable.)
5.247 : CASE without SELECT

Code : &H0005 &H00F7
Meaning/Cause There is no "SELECT" statement corresponding to the "CASE" statement.
• Delete the "CASE" statement.

Action
• Add a SELECT statement corresponding to the "CASE" statement.
5.248 : END SELECT without SELECT

Code : &H0005 &H00F8
Meaning/Cause There is no "SELECT" statement corresponding to the "END SELECT" statement.
• Delete the "END SELECT" statement.

Action
• Add a "SELECT" statement corresponding to the "END SELECT" statement.
5.249 : SELECT without END SELECT

Code : &H0005 &H00F9
Meaning/Cause There is no "END SELECT statement corresponding to the "SELECT" statement.
• Delete the "SELECT" statement.

Action
• Add an "END SELECT" statement corresponding to the "SELECT" statement.
5.250 : CASE without END SELECT

Code : &H0005 &H00FA
Meaning/Cause There is no "END SELECT" statement corresponding to the "CASE" statement.
• Delete the "CASE" statement.

Action
• Add an "END SELECT" statement corresponding to the "CASE" statement.
A-28
5.251 : Illegal command line
Code : &H0005 &H00FB
Meaning/Cause
Action
The command cannot be executed since it is between "SELECT" and "CASE" statements.
Delete the command between "SELECT" and "CASE" statements.

A
5.252 : Command doesn't exist
Troubleshooting
Code : &H0005 &H00FC
Meaning/Cause There is a line which does not have a command.
• Add a command.
Action
• Delete the line.
5.253 : Compile failure

Code : &H0005 &H00FD
Meaning/Cause An error occurred in software.
5.254 : ELSEIF without IF

Code : &H0005 &H00FE
Meaning/Cause There is no "IF" statement corresponding to the "ELSEIF" statement.
• Delete the "ELSEIF" statement.

Action
• Add an "IF" statement corresponding to the "ELSEIF" statement.
5.255 : ELSEIF without ENDIF

Code : &H0005 &H00FF
Meaning/Cause There is no "ENDIF" statement corresponding to the "ELSEIF" statement.
• Delete the "ELSEIF" statement.

Action
• Add an "ENDIF" statement corresponding to the "ELSEIF" statement.
5.256 : Subscript mismatch

Code : &H0005 &H0100
Meaning/Cause The numbers of the array declared by DIM and the subscript do not correspond.
• Make the number of the subscript correspond to that of declared array.

Action • Change the number of the subscript specified by the array declaration.
• Check if there is an array with the same name and different subscript in other program.
5.300 : Identifier already exists

Code : &H0005 &H012C
Meaning/Cause The specified identifier already exists.
Action Specify an identifier that does not exist.
5.301 : EXIT FOR without FOR

Code : &H0005 &H012D
Meaning/Cause There is no "FOR" statement corresponding to the "EXIT FOR" statement.
• Delete the "EXIT FOR" statement.

Action
• Add a "FOR" statement corresponding to the "EXIT FOR" statement.
A-29
5.302 : EXIT SUB without SUB
Code : &H0005 &H012E
A Meaning/Cause
Action
There is no "SUB" statement corresponding to the "EXIT SUB" statement.
• Delete the "EXIT SUB" statement.

• Add a "SUB" statement corresponding to the "EXIT SUB" statement.
Troubleshooting
5.303 : Can't open communicate file

Code : &H0005 &H012F
Meaning/Cause The communication file was specified in the "READ/WRITE" command.
Action Use the "SEND" command.
[ 6] Alarm related to the robot language execution
6.201 : Illegal command

Code : &H0006 &H00C9
Meaning/Cause Non-supported or non-executable command was executed.
Action Change to a command that can be executed.
6.202 : Illegal function call

The <expression> of "ON <expression> GOTO" or "ON <expression> GOSUB" command was a
Meaning/Cause
negative value.
Action Change the <expression> to a positive value.
6.203 : Division by 0
Meaning/Cause A command to divide by 0 was executed.
Action Change the command to divide by 0.
6.204 : Point doesn't exist

Meaning/Cause Assignment, movement or reference to an undefined point was attempted.
Action Define the point.
6.205 : Coordinate type error

a. Arithmetic operations of joint coordinate point data and Cartesian coordinate point data were
attempted.
Meaning/Cause
b. Joint coordinate system exists in the "MOVE C" command point data.
c. Joint coordinate system exists in the "PMOVE" command point data.
a. Change to the same coordinate system.
Action
b, c. Change to the Cartesian coordinate system.
A-30
6.206 : Subscript out of range
Meaning/Cause
Action
A subscript of an array variable has exceeded the declared range.
Change the subscript of array variable to within the defined range.

A
6.207 : RETURN without GOSUB
Troubleshooting
Meaning/Cause The "RETURN" command was executed without executing the "GOSUB" command.
Action Confirm the execution of "GOSUB "command.
6.208 : END SUB without CALL

Code : &H0006 &H00D0
Meaning/Cause The "END SUB" command was executed without executing the "CALL" command.
Action Confirm the execution of "SUB" command.
6.209 : EXIT SUB without CALL

Code : &H0006 &H00D1
Meaning/Cause The "EXIT SUB" command was executed without executing the "CALL" command.
Action Confirm the execution of "SUB" command.
6.210 : SUSPEND without START

Code : &H0006 &H00D2
Meaning/Cause The "SUSPEND" command was executed for a task not executed by the "START" command.
Action Confirm the execution of "START" command.
6.211 : CUT without START

Code : &H0006 &H00D3
Meaning/Cause The "CUT" command was executed for a task not executed by the "START" command.
6.212 : RESTART without START

Code : &H0006 &H00D4
Meaning/Cause The "RESTART" command was executed for a task not executed by the "START" command.
6.213 : RESTART without SUSPEND

Code : &H0006 &H00D5
Meaning/Cause The "RESTART" command was executed for a task not executed by the "SUSPEND" command.
Action Confirm the execution of "SUSPEND" command.
A-31
6.214 : Task number error
Code : &H0006 &H00D6
A Meaning/Cause
a. Task number is outside the range from 1 to 16.
b. "START", "CUT", "SUSPEND" or "RESTART" command was executed for task 1 (main task).
c. "START", "CUT", "SUSPEND" or "RESTART" command was executed for its own task.
a. Specify a correct task number.
Action b. Delete the task command for task 1.
c. Delete the command for its own task.
Troubleshooting
6.215 : Task running

Code : &H0006 &H00D7
Meaning/Cause The "START" command was executed for a task currently in operation.
Action Delete or correct the "START" command.
6.216 : Task suspending

Code : &H0006 &H00D8
Meaning/Cause The "START" or "SUSPEND" command was executed for a task in pause (suspend) condition.
Action Delete or correct the "START" or "SUSPEND" command.
6.217 : Illegal command in error routine

Code : &H0006 &H00D9
Meaning/Cause The command could not be executed within an error processing routine.
Action Delete the command.
6.218 : EXIT FOR without FOR

Meaning/Cause The "EXIT FOR" command was executed without executing the "FOR" command.
Action Confirm the execution of "FOR" command.
6.219 : SUB without CALL

Meaning/Cause The "SUB" command was executed without executing the "CALL" command.
Action Confirm the execution of "CALL" command.
6.220 : Not execute CALL

Meaning/Cause The "CALL" command was not executed.
Action Confirm the execution of "CALL" command.
6.225 : No sufficient memor y for OUT

Code : &H0006 &H00E1
Since 17 or more the "OUT" commands were executed in parallel, the command cannot be
Meaning/Cause
executed because of insufficient memory.
Action The maximum number of "OUT" commands that can be run in parallel is 16.
A-32
6.226 : PATH without SET
Code : &H0006 H00E2
A
Either of the "PATH L", "PATH C" or "PATH END" command was executed without executing the
Meaning/Cause
"PATH SET" command.
Action First execute the "PATH SET" command when setting a path.
Troubleshooting
6.227 : PATH without END
Code : &H0006 &H00E3
Meaning/Cause The "PATH START" command was executed without executing the "PATH END" command.
Execute the "PATH END" command to end the path setting and then execute the "PATH START"
Action
command.
6.228 : No PATH data

Code : &H0006 &H00E4
a. No path is set for PATH motion.
b. The previously set path was lost for the following reasons:
• When "PATH SET" command is executed.
Meaning/Cause
• When the program is changed.
• When the program is reset.
• When the controller power is turned off.
Action Set a path with the "PATH L" and "PATH C" commands.
6.229 : Too many PATH data

Code : &H0006 &H00E5
Meaning/Cause The number of PATH motion paths exceeded 1000.
Reduce the number of PATH motion paths to 1000 or less in total of the "PATH L" and "PATH C"
Action
commands.
6.230 : Not PATH start position

Code : &H0006 &H00E6
Meaning/Cause The robot's current position is not the start position of PATH motion.
Move the robot to the start position specified with the "PATH SET" command and then execute
Action
the "PATH START" command.
6.232 : ABS of MARK incomplete

Code : &H0006 &H00E8
Absolute reset was performed with the "ORIGIN" statement or dedicated input while axes of
Meaning/Cause
"Mark" method are in the origin-incomplete status.
Action Perform the absolute reset of the axis with the "Mark" method first.
6.233 : MARK method is not allowed

Code : &H0006 &H00E9
Return-to-origin was performed by "ORIGIN" statement or dedicated input while the return-to-
Meaning/Cause
origin method for incremental type axes or semi-absolute type axes are set to "Mark".
Action Change the return-to-origin method.
A-33
6.234 : Port number error
Code : &H0006 &H00EA
A
• The port numbers for the DO, DI, MO, SI, and SO ports were not specified within the range
of 0 to 7, 10 to 17, and 20 to 27.
Meaning/Cause
• The port numbers specified for the LO and TO ports were other than 0.
• The output to port 0 or port 1 was specified for the DO, MO, and SO ports.
Action Specify the correct port numbers.

Troubleshooting
6.235 : Password error

Code : &H0006 &H00EB
Meaning/Cause The password is not correct.
Action Input the correct password.
6.236 : Undefined pallet

Code : &H0006 &H00EC
Meaning/Cause Data is not defined in the specified pallet number.
• Specify another pallet number.

Action
• Define the pallet.
6.237 : Specification mismatch

Code : &H0006 &H00ED
Meaning/Cause The command is non-executable in the current robot specifications.
Action Change the execution command.
6.238 : Too many point data

Meaning/Cause More than 32 values of point data are specified for movement command.
Action Specify 32 or less values of point data for one movement command line.
6.239 : Illegal PATH task no

The "PATH L", "PATH C", or "PATH END" command was executed in different task from that
Meaning/Cause
executed the "PATH SET" command.
Action Execute commands from the "PATH SET" to the "PATH END" in the same task.
6.251 : Stack underflow

Code : &H0006 &H00FB
a. The "RESUME" statement was executed outside the alarm routine.
Meaning/Cause
b. Error occurred in software.
a. Use the "RESUME" statement within the alarm routine declared in "ON ERROR GOTO".
Action
b. Contact your distributor.
6.252 : Data out of range

Code : &H0006 &H00FC
Meaning/Cause The specified value is out of the input range.
Action Specify the value within the input range.
A-34
6.253 : Illegal point no
Meaning/Cause
Action
The specified point number is out of the range; between 0 and 29999.
Specify a point number between 0 and 29999.

A
Troubleshooting
6.254 : Illegal shift no
Code : &H0006 &H00FE
Meaning/Cause The specified shift number is out of the range; between 0 and 39.
Action Specify a shift number between 0 and 39.
6.255 : Illegal hand no

Meaning/Cause The specified hand number is out of the range; between 0 and 31.
Action Specify a hand number between 0 and 31.
6.256 : Illegal pallet no

Code : &H0006 &H0100
Meaning/Cause The specified pallet number is out of the range; between 0 and 39.
Action Specify a pallet number between 0 and 39.
6.257 : Illegal axis no

Code : &H0006 &H0101
Meaning/Cause The specified axis number is out of the range; between 1 and 6.
Action Specify an axis number between 1 and 6.
6.258 : Illegal robot no

Code : &H0006 &H0102
Meaning/Cause The specified robot number is out of the range; between 1 and 4.
Action Specify a robot number between 1 and 4.
6.259 : Illegal task no

Code : &H0006 &H0103
Meaning/Cause The specified task number is out of the range; between 1 and 16.
Action Specify a task number between 1 and 16.
6.260 : Too many characters

Code : &H0006 &H0104
a. The number of defined character constants exceeds 255.
Meaning/Cause
b. The number of addition characters exceeds 255.
a. Define the number of character constants within 255.
Action
b. Set the number of additional characters within 255.
A-35
6.261 : Task stopped
Code : &H0006 &H0105
A Meaning/Cause
Action
The task is in stop status.
Restart the task by "RESTART" statement.
6.262 : Task doesn't exist

Troubleshooting
Code : &H0006 &H0106
Meaning/Cause The task is not executed.
Action Start the task by "START" statement.
6.263 : Too many Tasks

Code : &H0006 &H0107
Meaning/Cause The number of programs has exceeded the upper limit (16).
Action Release the task by "EXIT TASK" statement or "CUT" statement, then register a task.
6.264 : Type mismatch

Code : &H0006 &H0108
a. Expression types are not equal on both sides.
Meaning/Cause
b. Prohibited type constant/variable/expression was used.
a. Use the same expression type on both sides.
Action
b. Use a correct type of constant/variable/expression.
6.265 : Timeout
Code : &H0006 &H0109
a. Servo off/free of the axis has not completed.
Meaning/Cause b. Mark setting has not completed.
c. Servo on/off of the gripper has not completed.
a. Check the axis connection.
Action b. Check the mark axis connection.
c. Check the gripper connection.
6.266 : All axes completed

Code : &H0006 &H010A
Meaning/Cause Return-to-origin has completed on all axes.
Action It is not necessary to perform return-to-origin.
6.267 : Access level error

Code : &H0006 &H010B
Meaning/Cause The operation cannot be executed at the present access level.
Action Change the access level so that the operation can be executed.
6.270 : Can't calculate

Code : &H0006 &H010E
Meaning/Cause The position that cannot be calculated is taught during wizard.
Action Teach again at the correct position.
A-36
6.271 : Can't be in hand use
Code : &H0006 &H010F
Meaning/Cause
Action
The hand data to change is in use.
Release the setting of the robot and specify the correct hand setting.
A
6.272 : Can't be in shift use
Troubleshooting
Code : &H0006 &H0110
Meaning/Cause The shift data to change is in use.
Action Release the setting of the robot and specify the correct shift setting.
6.280 : Illegal command Operating

Code : &H0006 &H0118
Meaning/Cause The online command was executed during data editing.
Action After completing data editing, execute the online command.
6.281 : Illegal command Running

Code : &H0006 &H0119
Meaning/Cause The non-executable online command was executed during program running.
Action After stopping the program, execute the online system command.
6.282 : Illegal command Moving

Code : &H0006 &H011A
Meaning/Cause The non-executable online command was executed during axis operation.
Action After stopping the axis operation, execute the online system command.
6.283 : Illegal work no

Code : &H0006 &H011B
Meaning/Cause The specified work number is out of the range; between 0 and 39.
Action Specify a work number between 0 and 39.
6.300 : Motor power off

Code : &H0006 &H012C
Meaning/Cause The movement command was executed in the motor power off status.
Action Put the robot in the motor and servo on status.
6.301 : Ser vo off

Code : &H0006 &H012D
Meaning/Cause The movement command was executed in the servo off status.
Action Put the robot in the servo on status.
A-37
6.302 : Origin incomplete
Code : &H0006 &H012E
A ● Without performing return-to-origin, operations shown below were performed in the origin
incomplete status.
• Program or command execution
• Point teaching
• Cartesian coordinate movement
● The robot puts into the origin-incomplete status by the following reasons.
Troubleshooting
Meaning/Cause • The absolute batteries were removed from the controller or retained position became
unstable by absolute battery voltage drop.
• ROB I/O cable was disconnected.
• Return-to-origin operation was stopped halfway.
• System generation was changed, parameters were initialized or parameters to determine
the origin return direction, axis polarity, or origin position were changed.
(Writing ALL and PRM files into the controller is also included.)
Perform absolute reset or return-to-origin operation to put the robot in the return-to-origin
Action
complete status.
6.309 : INC. motor disconnected

Code : &H0006 &H0135
Meaning/Cause Return-to-origin command was executed without incremental type or absolute type axes.
Refer to "DI14 Return-to-origin (for INC axis)" of "1.9 Dedicated input signal description" in
Action
Chapter 4.
6.310 : ABS. motor disconnected

Code : &H0006 &H0136
Meaning/Cause Return-to-origin command was executed without absolute type axes.
Refer to "DI14 Return-to-origin (for INC axis)" of "1.9 Dedicated input signal description" in
Action
Chapter 4.
6.312 : ABS. reset position incomplete

Code : &H0006 &H0138
Meaning/Cause Absolute reset was executed at a position where the absolute reset cannot be performed.
Action Move to a position where the absolute reset can be performed.
6.313 : MRK. motor disconnected

Code : &H0006 &H0139
Meaning/Cause Return-to-origin was executed without mark-specified axes.
Action Check the system generation data.
6.314 : Can't execute while ser vo on

Code : &H0006 &H013A
Meaning/Cause Writing in "ALL" or "PRM" files was attempted in servo on status.
Action Turn off the servo before writing files.
A-38
6.315 : ZR torque origin incorrect setting
Code : &H0006 &H013B
Meaning/Cause
a.
b.
c.
d.
Simultaneous return-to-origin was performed while the ZR-stroke end method was set.
R-axis stack was not set for the Z-axis.
Either Z or R-axis return-to-origin method was not set to the ZR-stroke end method.
Multiple Z-axis (or R-axis) return-to-origin methods were set to the ZR-stroke end method.
A
a. Set the return-to-origin order correctly. (Simultaneous return-to-origin cannot be performed.)
b. Set the R-axis stack correctly.
Action
Troubleshooting
c. Set both Z and R-axis return-to-origin methods to the ZR-stroke end method.
d. Set Z and R-axis one each for the ZR-stroke end method.
6.316 : Can't execute while motor power on

Code : &H0006 &H013C
Meaning/Cause The parameter that cannot be written in motor power off status was saved.
Action Turn off the motor, and then save the parameter.
6.317 : Illegal origin method

Code : &H0006 &H013D
a. Performing return-to-origin (mark method) was attempted.
Meaning/Cause
b. Only one of Z or R-axis is set to ZR-stroke end method.
a. Perform absolute reset for axes of “Mark" method using the programming box or support software.
Action
b. Set both Z and R-axis at "ZR-stroke end method".
6.319 : Can't change hand data

Code : &H0006 &H013F
a. Changing the hand setting that another robot is using was attempted.
Meaning/Cause
b. Specifying the hand R for the robot without R-axis was attempted.
a. Release the hand setting of the other robot.
Action
b. Set blank for the fourth parameter of the target parameter.
6.321 : Illegal option slot no

Code : &H0006 &H0141
Meaning/Cause The specified option slot number is out of the range; between 1 and 4.
Action Specify an option slot number between 1 and 4.
6.322 : Illegal calibration no

Code : &H0006 &H0142
Meaning/Cause The specified calibration number is out of the range; between 0 and 31.
Action Specify a calibration number between 0 and 31.
6.323 : Illegal real time output no

Code : &H0006 &H0143
Meaning/Cause The specified calibration number is out of the range; between 24 and 127.
Action Specify a calibration number between 24 and 127.
6.399 : Can't execute while alarm

Code : &H0006 &H018F
Meaning/Cause The program cannot be executed while an alarm is occurring.
Action Clear the alarm cause and reset alarm or restart the controller as necessary.
A-39
6.999 : Interpreter runtime system error
Code : &H0006 &H03E7
A Meaning/Cause
Action
[ 9] Alarm related to the memor y

Troubleshooting
9.300 : Memor y full

Code : &H0009 &H012C
Meaning/Cause There is no available space in the program or point data area.
Action Delete unnecessary programs or points.
9.301 : Program too big

Code : &H0009 &H012D
Meaning/Cause The program size exceeded the permissible size.
Action Compress the program size.
9.400 : Gripper origin data destroyed

Code : &H0009 &H0190
Meaning/Cause Part or all of the data that saved after performing return-to-origin of gripper has been destroyed.
Action Perform return-to-origin of the gripper.
9.701 : Program destroyed

Code : &H0009 &H02BD
a. Part or all of the program data has been destroyed.
Meaning/Cause b. This error message is sometimes issued due to a major error or the power being turned off
during rewrite of program data.
a. Delete that program during selection.
Action
b. Initialize the program data.
9.702 : Point data destroyed

Code : &H0009 &H02BE
• Part or all of the point data has been destroyed.
Meaning/Cause • This error message is sometimes issued due to a major error or the power being turned off
during rewriting point data.
Action Initialize the point data.
9.704 : Parameter destroyed

Code : &H0009 &H02C0
Meaning/Cause Part or all of the parameter data has been destroyed.
Action Initialize the parameter data.
9.706 : Shift data destroyed

Code : &H0009 &H02C2
Meaning/Cause Part or all of the shift data has been destroyed.
Action Initialize the shift data.
A-40
9.707 : Hand data destroyed
Code : &H0009 &H02C3
Meaning/Cause
Action
Part or all of the hand data has been destroyed.
Initialize the hand data.

A
Troubleshooting
9.709 : Pallet data destroyed
Code : &H0009 &H02C5
Meaning/Cause Part or all of the pallet definition data was destroyed.
Action Initialize the pallet definition data.
9.710 : Break point data destroyed

Code : &H0009 &H02C6
Meaning/Cause Part or all of the break point has been destroyed.
Action Initialize the break point.
9.711 : IO name data destroyed

Code : &H0009 &H02C7
Meaning/Cause Part or all of the name of I/O has been destroyed.
Action Initialize the name of I/O
9.712 : Area checkout data destroyed

Code : &H0009 &H02C8
Meaning/Cause Part or all of the area check output has been destroyed.
Action Initialize the area check output.
9.713 : Calibration data destroyed

Code : &H0009 &H02C9
Meaning/Cause Part or all of the calibration output has been destroyed.
Action Initialize the calibration.
9.714 : Conveyor data destroyed

Meaning/Cause Error occurred in the conveyor calibration data.
Action Initialize the conveyor calibration data.
9.715 : Alarm log destroyed

Meaning/Cause Part or all of the alarm history has been destroyed.
Action Initialize the alarm history.
A-41
9.716 : Variable data destroyed
A Meaning/Cause
Action
Part or all of the variable data has been destroyed.
Initialize the controller.

Troubleshooting
9.717 : Program register data destroyed

Meaning/Cause Part or all of the program register has been destroyed.
Action Initialize the program.
9.718 : Communicate setting destroyed

Meaning/Cause Part or all of the controller status data has been destroyed.
Action Initialize the communication setting.
9.722 : Global EtherNet Port setting destroyed

Code : &H0009 &H02D2
Meaning/Cause Part or all of the communication setting of general-purpose Ethernet has been destroyed.
Action Initialize the communication setting of general-purpose Ethernet.
9.723 : Controller status data destroyed

Code : &H0009 &H02D3
Meaning/Cause Part or all of the controller status data has been destroyed.
Action Initialize the controller status.
9.724 : Robot status data destroyed

Code : &H0009 &H02D4
Meaning/Cause Part or all of the robot status data has been destroyed.
• Initialize the robot status.

Action
• Reset the standard coordinates in the case of SCARA type robots.
9.725 : Axis status data destroyed

Code : &H0009 &H02D5
Meaning/Cause Part or all of the axis status data has been destroyed.
Action Initialize the axis status.
9.726 : Motor status data destroyed

Code : &H0009 &H02D6
Meaning/Cause Part or all of the motor status data has been destroyed.
• Initialize the motor status.

Action
• Re-perform return-to-origin.
A-42
9.727 : Out status data destroyed
Code : &H0009 &H02D7
Meaning/Cause
Action
Part or all of the out status data has been destroyed.
Reset the output port.

A
Troubleshooting
9.729 : Sequence object destroyed
Code : &H0009 &H02D9
Meaning/Cause Part or all of the sequence object program has been destroyed.
Action Re-compile the sequence program.
9.730 : Gripper status data destroyed

Part or all of the data for the gripper operation has been destroyed.
Meaning/Cause
Data for the gripper operation has been initialized.
Action Re-perform the gripper generation.
9.731 : Trace setting destroyed

Meaning/Cause Part or all of the trace setting has been destroyed.
Action Initialize the trace setting.
9.732 : Counter status data destroyed

Error occurred in the tracking counter status data.
Meaning/Cause
Status specified on "CCOND" and "CTVISION" commands will be initialized.
Action Re-execute "CCOND" and "CTVISION" commands.
9.733 : Real time output setting destroyed

Meaning/Cause Part or all of the real time output setting has been destroyed.
Action Initialize the real time output setting.
9.734 : Sys. accumulated data destroyed

Meaning/Cause Part or all of the system accumulated data has been destroyed.
Action −−−
9.735 : Motor accumulated data destroyed

Meaning/Cause Part or all of the motor accumulated data has been destroyed.
Action −−−
A-43
9.900 : Sys. generation destroyed
Code : &H0009 &H0384
A Meaning/Cause
Action
Part or all of the system generation data has been destroyed.
Back up the current data, then send/load the data that is proper for the target robot and controller.
Troubleshooting
9.901 : Sys. generation mismatch

Code : &H0009 &H0385
Meaning/Cause The robot type or axis number designation in the system generation data is incorrect.
Action Back up the current data, then send/load the data that is proper for the target robot and controller.
[10] Alarm related to the environment and general hardware
10.201 : Robot disconnected

Code : &H000A &H00C9
Meaning/Cause The system generation is not set.
• Back up the current data, then send/load the data that is proper for the target robot and controller.
Action
• Contact your distributor.
10.205 : Illegal robot type

Code : &H000A &H00CD
Meaning/Cause The specified robot type is incorrect.
• Check the robot type data.

Action • Back up the current data, then send/load the data that is proper for the target robot and controller.
10.208 : Cannot set auxiliar y axis

Code : &H000A &H00D0
An auxiliary axis was set on an axis that cannot be set as so. The following axes cannot be set as
Meaning/Cause an auxiliary axis.
• SCARA type robot axes • X and Y-axis except on MULTI type robots
• Do not set an auxiliary axis.
Action
10.209 : Cannot set no axis

"No axis" was set on an axis which cannot accept "no axis" setting. The
Meaning/Cause following axes cannot be set to "no axis".
• X and Y-axis except on MULTI type robots
• Do not set "no-axis" on the axis.
Action
10.213 : Cannot set Dualdrive

Meaning/Cause "Dual drive" was set on an axis that cannot be set to "Dual drive".
• Do not set "Dual drive" on the axis.

Action
A-44
10.214 : Undefined parameter found
A
a. The parameter name is incorrect.
Meaning/Cause b. Undefined and non-corresponded parameter data was written because the controller data of
different controller version was used.
a-1. Input the parameter name correctly.
Action a-2. Write the correct parameter data.
b. Set the "PRM SKIP" parameter to "VALID".
Troubleshooting
10.219 : Illegal axis type
Code : &H000A &H00DB
Meaning/Cause This axis type cannot be set.
• Check the axis setting.

10.223 : Axis disconnected

Code : &H000A &H00DF
Meaning/Cause No axis is set.
• Check the axis setting.

10.225 : Controller disconnected

Code : &H000A &H00E1
Meaning/Cause No controller is connected.
• Check the system generation data.

Action
• Re-perform the system generation.
10.226 : Motor disconnected

Meaning/Cause No motor is connected.

Action
10.231 : Driver overlap assign

Meaning/Cause The driver assignments are overlapping.
Action Assign the drivers not to overlap.
10.232 : Can't release driver-assign by using

Meaning/Cause The driver registration to release is in use.
Action Release the driver registration after deleting the robot setting.
10.233 : Illegal robot configuration

Meaning/Cause The robot configuration is specified incorrect.

Action
A-45
10.700 : Illegal safe mode
Code : &H000A &H02BC
A Meaning/Cause
Action
The safe mode setting is incorrect.
Reset the safe mode.
10.701 : Real time clock data failed

Troubleshooting
Code : &H000A &H02BD
Meaning/Cause Gaining real time clock data failed.
Action Reset the real time clock.
10.702 : Real time output robot disconnected

Code : &H000A &H02BE
Meaning/Cause Unconnected robot is specified at the real time output setting.
Action Specify the connected robot.
10.703 : Real time output axis disconnected

Code : &H000A &H02BF
Meaning/Cause Unconnected axis is specified at the real time output setting.
Action Specify the connected axis.
10.704 : Real time output motor disconnected

Meaning/Cause An axis unconnected with a motor is specified at the real time output setting.
Action Specify the axis connected with the motor.
10.705 : Real time output gripper disconnected

Meaning/Cause Unconnected gripper is specified at the real time output setting.
Action Specify the connected gripper.
10.706 : Real time output controller disconnected

Meaning/Cause Unconnected controller is specified at the real time output setting.
Action Specify the connected controller.
10.900 : Turn on power again

Code : &H000A &H0384
• System generation was performed because of changing robot and so on.
• Parameters were changed through the communication.
Meaning/Cause
• System generation data was destroyed.
• The controller is abnormal.
Action Turn the power off and then on again.
A-46
10.901 : Illegal driver setting
Code : &H000A &H0385
Meaning/Cause
Action
The driver configuration cannot be specified.

A
Troubleshooting
[12] Alarm related to the option board
12.75 : Illegal remote command

Code : &H000C &H004B
Meaning/Cause The remote command or command data is incorrect.
Action Check the remote command or command data.
12.76 : Disable remote command

Code : &H000C &H004C
Meaning/Cause The "Remote command" of the I/O parameter is set to "INVALID".
Action Set the "Remote command" parameter to "VALID".
12.100 : EtherNet/IP DHCP enabled

Code : &H000C &H0064
Meaning/Cause The DHCP setting of the communication parameter was changed from "INVALID" to "VALID".
Action −−−
12.200 : Tracking disabled

Code : &H000C &H00C8
a. No tracking board is connected to the option slot.
Meaning/Cause
b. The tracking board is set to "INVALID".
a. Check that the tracking board is connected.
Action
b. Set the tracking board to "VALID".
12.201 : Tracking counter not enabled

a. The tracking counter status is set "INVALID".
Meaning/Cause
b. The value of counter pulse did not change during calibration.
a. Check the counter status and set "VALID".
Action
b. Check if the counter value can be read.
12.202 : Tracking vision not enabled

Code : &H000C &H00CA
a. Tasks or counters which did not execute the "CTVISION" command were specified when
Meaning/Cause executing the "CADDQUEV" command.
b. The iVY2 system is set "INVALID".
a. Execute the "CTVISION" command on the tasks or counters beforehand.
Action
b. Set the iVY2 system "VALID".
A-47
12.203 : Tracking calibration incomplete
Code : &H000C &H00CB
A Meaning/Cause
Action
Tracking function was executed with the robot or counter on which calibration was not executed.
• Execute calibration.
• Write the calibration data.
• Set the different calibration data at upstream and downstream positions.
Troubleshooting
12.204 : Tracking counter number error

Code : &H000C &H00CC
Meaning/Cause The specified counter number was neither 1 nor 2.
Action Specify the correct value.
12.205 : Tracking queue element number error

Code : &H000C &H00CD
The position monitor queue element number that is out of specifiable range was specified.
Meaning/Cause
Between 0 and 79 can be specified.
Action Specify the value within the range.
12.206 : Tracking queue element doesn't exist

Code : &H000C &H00CE
Meaning/Cause The queue element specified by the position monitoring queue does not exist.
• Add the queue element to the position monitoring queue.

Action
• Check the specified queue element.
12.207 : Tracking queue element being used

Code : &H000C &H00CF
Meaning/Cause The "CRMVQUE" command was executed during tracking operation.
Action Execute the command after tracking operation has completed.
12.208 : Tracking queue element over run

Code : &H000C &H00D0
Meaning/Cause The queue element registered on the position monitoring queue exceeded the monitoring range.
• Delete the queue elements that are not used by the "CRMVQUE" command.
Action
• Check the queue elements to register.
12.300 : Incorrect Indiv. Origin setting

Code : &H000C &H012C
• Multiple axes were specified for the "Axes sel. port (DI & SI)" parameter.
Meaning/Cause • No axis was specified for the "Axes sel. port (DI & SI)" parameter.
• Axis which is not present was specified for the "Axes sel. port (DI & SI)" parameter.
Action Specify one axis each.
A-48
12.301 : SIO board does not support real time output
Code : &H000C &H012D
Meaning/Cause
Action
Using SIO board does not support real time output function.
Real time output function is compatible only with the board for EtherNet/IP, EtherCAT,
A
PROFINET.
Troubleshooting
12.400 : Standard in stop on
Code : &H000C &H0190
a. Program execution or axis movement was attempted in the stop status.
b. The robot was put in the stop status during program execution or axis movement.
Meaning/Cause
c. 24V-power for I/O is not supplied to the DIO connector.
d. The DIO connector is not connected.
a, b. Cancel the stop status, and then execute the program or move the axis.
c. Supply 24V-power for I/O.
Action
d. Connect the DIO connector.
* Set the "Option board enable" parameter INVALID when DIO is not used.
12.401 : Arm locked

Code : &H000C &H0191
Meaning/Cause The arm was moved while the arm lock variable LO was ON.
Action Set the arm lock variable LO off.
12.500 : Changed operation mode input

Code : &H000C &H01F4
Meaning/Cause The robot in operation stopped since the operation mode was changed.
Action Check the status, reset the alarm, and restart operating the robot.
12.520 : PIO DC24V low voltage

Code : &H000C &H0208
a. 24V power is not supplied to the PIO board.
Meaning/Cause
b. The power voltage supplying to the PIO board has dropped.
a. Supply 24V power.
Action b. Check if any device with over voltage source capacity is connected or how power supply
state is.
12.521 : PIO DC24V over voltage

Code : &H000C &H0209
Meaning/Cause Exceeding 24V power is supplied to the PIO board.
Action Supply power at 24V.
12.522 : PIO STD DC24V low voltage

Code : &H000C &H020A
a. 24V power is not supplied to the PIO STD board.
Meaning/Cause
b. The power supply voltage supplying to the PIO STD board has dropped.
a. Supply 24V power.
Action b. Check if any device with over voltage source capacity is connected or how power supply
state is.
A-49
12.531 : CC-Link communication error
Code : &H000C &H0213
A Meaning/Cause
a.
b.
c.
Error occurred on the cable for CC-Link system.
The communication setting of the CC-Link system is incorrect.
The master module power is turned off, has stopped operating or is damaged.
d. The CC-Link compatible module is damaged.
e. Initial data process is not performed.
a. Check for a break, disconnection, wiring error, short circuit on the CC-Link cable or the
Troubleshooting
specifications (cable length, etc.).

b. Check the station number, communication baud rate and CC-Link version settings.
Action
c. Check that the master module operates correctly.
d. Replace the CC-Link compatible module.
e. Perform initial data process.
12.532 : CC-Link overtime error

Code : &H000C &H0214
a. Communication error occurred by noise, etc. in the CC-Link system.
Meaning/Cause b. The master module is turned off or has stopped operating.
c. The cable is broken or unconnected.
a. Take noise preventive actions for the cable for the CC-Link system and the controller.
Action b. Check that the master module operates correctly.
c. Check the CC-Link cable connection.
12.541 : DeviceNet link error

Code : &H000C &H021D
a. Error occurred on the cable for DeviceNet system.
b. The communication setting of the DeviceNet system is incorrect.
Meaning/Cause c. Power for communication is not supplied.
d. The master module power is turned off, has stopped operating or is damaged.
e. The DeviceNet compatible module is damaged.
a. Check for a break disconnection, wiring error, short circuit on the DeviceNet cable or the
b. Check the communication settings.
Action
c. Check that the communication power is supplied.
d. Check that the master module operates correctly.
e. Replace the DeviceNet compatible module.
12.542 : DeviceNet overtime error

Code : &H000C &H021E
a. Communication error occurred by noise, etc. in the DeviceNet system.
Meaning/Cause b. The master module power is turned off or has stopped operating.
a. Take the noise preventive actions for the cable of the DeviceNet system and the controller.
c. Check the DeviceNet cable connection.
12.551 : EtherNet/IP link error

Code : &H000C &H0227
a. Error occurred on the cable for EtherNet/IP system.
b. The communication setting of the EtherNet/IP system is incorrect.
Meaning/Cause
c. The master module power is turned off, has stopped operating or is damaged.
d. The EtherNet/IP compatible module is damaged.
a. Check for a break disconnection, wiring error, short circuit on the EtherNet/IP cable or the
Action b. Check the communication setting.
d. Replace the EtherNet/IP compatible module.
A-50
12.552 : EtherNet/IP overtime error
Code : &H000C &H0228
A
a. Communication error occurred by noise, etc. in the EtherNet/IP system.
Meaning/Cause b. The master module power is turned off or has stopped operating.
a. Take the noise preventive actions for the cable of the EtherNet/IP system and the controller.
c. Check the EtherNet/IP cable connection.
Troubleshooting
12.561 : PROFIBUS link error
Code : &H000C &H0231
a. Error occurred in cable for PROFIBUS system.
b. The communication setting of the PROFIBUS system was incorrect.
Meaning/Cause
c. The master module power is turned off, has stopped operating or is damaged.
d. The PROFIBUS compatible module is damaged.
a. Check for a break disconnection, wiring error, short circuit on the PROFIBUS cable or the
d. Replace the PROFIBUS compatible module.
12.562 : PROFIBUS overtime error

Code : &H000C &H0232
a. Communication error occurred by noise, etc. in the PROFIBUS system.
Meaning/Cause b. Master module power is turned off or has stopped operating.
a. Take the noise preventive actions for the cable of the PROFIBUS system and the controller.
c. Check the PROFIBUS cable connection.
12.571 : PROFINET link error

Code : &H000C &H023B
a. Error occurred in cable for PROFINET system.
b. The communication setting of the PROFINET system incorrect.
Meaning/Cause
c. The master module power is turned off, or the PLC has stopped operating, or is broken.
d. The PROFINET compatible module is breakdown.
a. Check for a break disconnection, wiring error, short circuit on the PROFINET cable or the
d. Replace the PROFINET compatible module.
12.572 : PROFINET overtime error

Code : &H000C &H0232
a. Communication error occurred by noise, etc. in the PROFINET system.
Meaning/Cause b. Master module power is turned off or has stopped operating.
a. Take the noise preventive actions for the cable and controller of the PROFINET system.
c. Check the PROFINET cable connection.
12.581 : Counter1 wire breakage

Code : &H000C &H0245
The encoder cable connected to the counter 1 is broken. The break detection is available when
Meaning/Cause
the counter 1 is set to "VALID".
• Set the counter status to "INVALID" if the encoder is not connected to the counter 1.
Action • Check the encoder cable of the counter 1.
• Check if the encoder works normally.
A-51
12.582 : Counter2 wire breakage
Code : &H000C &H0246
A
The encoder cable connected to the counter 2 is broken. The break detection is available when
Meaning/Cause
the counter 2 is set to "VALID".
• Set the counter status to "INVALID" if the encoder is not connected to the counter 2.
Action • Check the encoder cable of the counter 2.
• Check if the encoder works normally.
Troubleshooting
12.583 : Tracking watchdog error

Code : &H000C &H0247
Meaning/Cause There is no response from the tracking board for a certain time.
• Check the tracking board connection status.

Action • Check if the tracking board is recognized on the programming box.
• Turn the power off and on again.
12.591 : EtherCAT link error

Code : &H000C &H024F
a. Error occurred in cable for EtherCAT system.
b. The communication setting of the EtherCAT system incorrect.
Meaning/Cause
c. The master module power is turned off, or the PLC has stopped operating, or is broken.
d. The EtherCAT compatible module is breakdown.
a. Check for a break disconnection, wiring error, short circuit on the EtherCAT cable or the
d. Replace the EtherCAT compatible module.
12.592 : EtherCAT overtime error

Code : &H000C &H0250
a. Communication error occurred by noise, etc. in the EtherCAT system.
Meaning/Cause
b. Master module power is turned OFF or has stopped operating.
a-1. Take the noise preventive actions for the cable and controller of the EtherCAT system.
Action a-2. Check the EtherCAT cable connection.
b. Check that the master module operates correctly.
12.600 : Emergency stop on

Code : &H000C &H0258
a. The programming box emergency stop button was pressed.
b. The emergency stop terminal on the SAFETY connector is open (emergency stop status).
Meaning/Cause
c. The programming box or terminator is not connected to the PB connector.
d. The SAFETY connector is not connected.
a. Release the emergency stop button on the programming box.
b. Close the emergency stop terminal on SAFETY connector.
Action
c. Connect the programming box or terminator to the PB connector.
d. Attach the SAFETY connector.
12.601 : Illegal operation mode input

Code : &H000C &H0259
a. The programming box or terminator is not connected to the PB connector,
Meaning/Cause b. Settings of the MANUAL LOCK of the programming box and AUTO MODE of the SAFETY
connector are incorrect in the case of a CE specification controller.
a. Connect the programming box or terminator to the PB connector.
Action b. Check the AUTO MODE connection of the SAFETY connector in the case of a CE specification
controller.
A-52
12.700 : Option board changed
Code : &H000C &H02BC
Meaning/Cause
Action
The option board configuration was changed.
Initialize the option board setting.

A
Troubleshooting
12.705 : Parallel I/O board assign changed
a. The PIO board was pulled out, or new one was inserted.
b. "Option board enable" parameter was changed.
Meaning/Cause
c. "Parallel IO ID" parameter was changed.
d. PIO board is damaged.
a. Check if the PIO board configuration is correct.
b. Check if the option board configuration is correct.
Action
c. Check the PIO board IDs are correct.
d. Check unrecognizable PIO boards and replace them.
12.706 : PIO board I/O stop

a. PIO board power is turned off or has stopped operation.
Meaning/Cause
b. The PIO board is broken.
a. Check if power for the PIO board is supplied normally.
Action
b. Replace the PIO board.
12.734 : POS.OUT Point not exist

Code : &H000C &H02DE
Meaning/Cause Comparison point data does not exist.
Action Set the comparison point data correctly.
12.735 : POS.OUT Point unit error

Code : &H000C &H02DF
Meaning/Cause Comparison points 1 and 2 do not use the same unit system.
Action Change them to the same unit system.
12.750 : PIO board Flash error

Code : &H000C &H02EE
Meaning/Cause The PIO board is breakdown.
Action Replace the PIO board.
12.751 : PIO STD. board connector error

Code : &H000C &H02EF
a. The standard PIO board cable is not connected.
Meaning/Cause b. The standard PIO board connector is half-plugged.
c. The standard PIO board wiring is incorrect.
a. Connect the standard PIO board cable.
Action b. Re-insert the standard PIO board connector.
c. Check the wiring of the standard PIO board.
A-53
12.760 : CC-Link initialize error
A Meaning/Cause
Action
Initializing the CC-Link option board failed.

Troubleshooting
12.761 : DeviceNet initialize error

Meaning/Cause Initializing the DeviceNet option board failed.
12.762 : EtherNet/IP initialize error

Code : &H000C &H02FA
Meaning/Cause Initializing the EtherNet/IP option board failed
12.763 : EtherNet/IP parameter mismatch

Code : &H000C &H02FB
Meaning/Cause Parameters set in the controller do not correspond to those set in the option board.
Action Initialize the EtherNet/IP option parameters.
12.764 : PROFIBUS initialize error

Code : &H000C &H02FC
Meaning/Cause Initializing the PROFIBUS option board failed.
12.765 : PROFINET initialize error

Code : &H000C &H02FD
Meaning/Cause Initializing the PROFINET option board failed.
12.767 : EtherCAT initialize error

Code : &H000C &H02FF
Meaning/Cause Initializing the EtherCAT option board failed.
12.900 : Incorrect option setting

Code : &H000C &H0384
a. Error occurred in ID setting on the option module.
Meaning/Cause b. Option modules that cannot be mixed were installed.
c. The installed option module cannot be identified.
a. Check the ID setting of the option module.
b. Install the correct option modules.
Action
c. Replace the option module.
• Replace the controller.
A-54
12.901 : PIO internal error
Code : &H000C &H0385
Meaning/Cause
a. The PIO board cable is abnormal.
b. The PIO board power is turned off, or has stopped operation.
c. The PIO board is breakdown.
A
a. Check for a break disconnection, wiring error, short circuit on the PIO cable or the specifications
(cable length, etc.).
Action
b. Check if power for the PIO board is supplied normally.
Troubleshooting
c. Replace the PIO board.
12.903 : PIO option setting error

Code : &H000C &H0387
Meaning/Cause The PIO board installed incorrectly.
• Remove the PIO board for correct configuration.

Action
• Set the PIO board INVALID for correct configuration.
12.904 : SIO option board initialize error

Code : &H000C &H0388
Meaning/Cause Initializing the SIO option board failed.
12.905 : Option board overlapped

Code : &H000C &H0389
Meaning/Cause The installed option board cannot be overlapped.
Action Remove the option board that cannot be overlapped.
12.906 : Undefined option board

Meaning/Cause The installed option board inapplicable.
[14] Alarm related to the communication
14.201 : Communication error

Code : &H000E &H00C9
a. Error occurred in the external communication.
Meaning/Cause
b. The external device was turned on or off with connecting to the communication cable.
• Prevent putting noise generation source close to the robot so as to improve the communication
environment.
Action
• Replace the communication cable.
• Check the communication parameter settings.
14.211 : Receive buffer overflow

Code : &H000E &H00D3
Meaning/Cause The communication receive buffer exceeded permissible capacity.
• Decrease the communication parameter speed (baud rate).

Action
• Change communication parameter so that the flow control is enabled.
A-55
14.212 : CMU is not ready
Code : &H000E &H00D4
A Meaning/Cause
Action
Sending the data from controller failed because the receiving prohibition status of the external
device continued for 10 or more seconds.
• Replace the communications cable.
• Check that the flow control is normal in software processing for the external device.
Troubleshooting
14.220 : Too many Command characters

Code : &H000E &H00DC
a. The online command character string in 1 line exceeded 255 characters.
Meaning/Cause
b. The command statement created with a remote command exceeded 255 characters.
a. Limit the number of characters in 1 line for an online command to 255 or less.
Action
b. Check the command data of the remote command.
14.221 : No return code(C/R)

Code : &H000E &H00DD
a. The character string in 1 line exceeded 255 characters.
Meaning/Cause
b. C/R code (0Dh) was not added at the end of a single line.
a. Limit the number of characters in 1 line to 255.
Action
b. Add a C/R code (0Dh) at the end of a single line.
14.222 : No start code (@)

Code : &H000E &H00DE
Meaning/Cause Starting code "@" is not added at beginning of a single line in the online command.
Action Add starting code "@" at the beginning of the online command.
14.228 : Illegal port type

Code : &H000E &H00E4
Meaning/Cause The communication port is not specified.
14.229 : Command stop timeout

Meaning/Cause Timeout occurred during sending/receiving through the communication port.
• Check the communication port settings.

Action
• Check the communication cable connection.
14.230 : Port is already open

Meaning/Cause The communication port is open.
Action Check if the communication port has already been opened.
14.231 : Port open failed

Meaning/Cause Opening the communication port failed.
• Check the communication port settings.

Action • Check the communication cable.
• Check if the communication port has already been opened.
A-56
14.233 : Parameter error
Meaning/Cause
Action
The parameter exceeded the range that can be input.
Set the parameters within the range.

A
14.400 : Communicate disconnected
Troubleshooting
Code : &H000E &H0190
• Error occurred on the external communication.
• Overrun error or framing error occurred.
Meaning/Cause
• E
xternal device power has been turned on/off while connecting to the external device
with the communication cable.
• Prevent putting noise generation source close to the robot so as to improve the communication
environment.
Action • Check the connection of the communication cable.
• Replace the communication cable.
• Check the communication parameter settings.
14.441 : EtherNet link error

Code : &H000C &H01B9
Meaning/Cause Error occurred on the EtherNet.
14.500 : Data send error

Code : &H000E &H0190
Meaning/Cause Error occurred on the external communication by RS-232C during sending.
Action Check the communication parameter settings.
14.501 : Data receive error

Code : &H000E &H01F5
Meaning/Cause Error occurred on the external communication by RS-232C during receiving.
14.502 : Framing error

Meaning/Cause Error occurred on the external communication by RS-232C.
14.503 : Parity error

14.504 : Over run error

A-57
14.505 : Break
A Meaning/Cause
Action
Error occurred in external communication by RS-232C.
Check the communication parameter settings.

Troubleshooting
14.700 : Can't be initialized

Code : &H000E &H02BC
Meaning/Cause Initializing the communication port failed.
Action Check the communication port settings.
[17] Alarm related to the motor control
17.400 : PZ failure
Code : &H0011 &H0190
a. The motor is defective.
Meaning/Cause
b. The resolver signal wire is broken.
a. Replace the motor.
Action
b. Replace the ROB I/O cable.
17.401 : Pole search error

Code : &H0011 &H0191
The motor magnetic pole was not detected when the servo was turned on.
a. The servo wire is broken or incorrectly connected.
Meaning/Cause
b. The position sensor cable is incorrectly wired.
c. Axis parameter settings related to motor control is incorrect.
a. Check the connection of the servo wire.
Action b. Check the connection of the position sensor cable.
c. Set the parameter setting correctly.
17.402 : ABS. data error

Code : &H0011 &H0192
a. The linear scale length setting is incorrect.
Meaning/Cause
b. Z-phase was detected incorrectly.
a. Set the correct value for the linear scale length.
Action b-1. Replace the ROB/IO cable.
b-2. Replace the robot.
17.403 : Position reset malposition

Code : &H0011 &H0193
a. "ABSINIT" statement was executed at a position where the current position cannot be reset.
Meaning/Cause
b. Absolute reset was executed at a position where it cannot be executed.
a. Move to a position where the current position can be reset, and then execute the "ABSINIT"
statement.
Action
b. Move the axis to a position (machine reference is 44 to 56%) where the absolute reset can
be executed.
17.404 : Moving distance error

Code : &H0011 &H0194
Meaning/Cause The movement distance exceeded the specified value by return-to-origin.
Action Re-perform the system generation.
A-58
17.410 : ABS. batter y error
Code : &H0011 &H019A
A
During the controller power-off...
a. The absolute battery cable is breakdown.
Meaning/Cause
b. The absolute battery cable is not connected.
c. The absolute battery voltage has dropped.
This alarm occurs every time the power is turned on until the absolute reset is completed.
a. Replace the absolute battery.
Troubleshooting
Action
b. Connect the absolute battery.
c. Set the "Incremental mode control" parameter to "VALID" for use in incremental mode.
17.411 : ABS. encoder error

Code : &H0011 &H019B
• Resolver signal line was disconnected or breakdown during the controller power-off.
(Same as when ROB I/O connector is removed.)
• The controller was restarted after the resolver signal line had been disconnected during
Meaning/Cause
power-on. (Same as when ROB I/O connector is removed.)
Even after turning off the power, the controller still memorizes the disconnection and this is
displayed as an error when the controller is restarted.
Action Perform absolute reset.
17.412 : ABS. count error

Code : &H0011 &H019C
Meaning/Cause The movement speed is too high during the controller power-off.
17.413 : ABS. overflow error

Code : &H0011 &H019D
Meaning/Cause The number of motor rotation exceeded 4096 during the controller power-off.
• Do not rotate motor more than necessary during the controller power-off.
Action
• Perform absolute reset.
17.414 : ABS. mixing error 1

Code : &H0011 &H019E
The position data count is inconsistent. (The electrical resolver position data deviated from the
Meaning/Cause
mechanical during the controller power-off.)
17.500 : Origin sensor failure

Code : &H0011 &H01F4
a. The origin sensor is defective.
Meaning/Cause
b. The origin sensor wiring is breakdown.
a. Replace the origin sensor.
Action
b. Replace the ROB I/O cable.
A-59
17.800 : Motor overload
Code : &H0011 &H0320
A a. The robot drive section mechanically locked.

b. The motor current exceeded its rated value due to a motor overload.
c. The motor acceleration is excessive.
d. The system generation setting is incorrect.
Meaning/Cause
e. The motor cable wiring is broken or wiring is incorrect.
f. The vertical axes electromagnetic brake is defective.
Troubleshooting
g. Wiring is incorrect or disconnected on the vertical axes electromagnetic brake.

h. The SAFETY connector is not used correctly.
a. Perform robot service and maintenance.
b. Decrease the load on motor.
c. Lower the motor acceleration.
d. Redo the system generation.
Action e-1. Wire the motor cable correctly.
e-2. Replace the motor cable.
f. Replace the vertical axes electromagnetic brake.
g. Replace the ROB I/O cable.
h. Do not use 24 V DC from the SAFETY connector as power source for external loads.
17.801 : Driver overload

Code : &H0011 &H0321
a. The robot drive section mechanically locked.
Meaning/Cause
b. Decrease the load on motor.
17.802 : Current limit error

Code : &H0011 &H0322
b. The system generation setting is wrong.
c. The motor cable wiring is broken or wiring is incorrect.
Meaning/Cause
d. The vertical axes electromagnetic brake is defective.
e. Wiring is incorrect or disconnected on the vertical axes electromagnetic brake.
f. The SAFETY connector is not used correctly.
b. Redo the system generation.
c-1. Wire the motor cable correctly.
Action c-2. Replace the motor cable.
d. Replace the vertical axes electromagnetic brake.
e. Replace the ROB I/O cable.
f. Do not use 24 V DC from the SAFETY connector as power source for external loads.
17.900 : AC power down

Code : &H0011 &H0384
a. AC supply voltage of control power supply dropped below 85% of rated voltage.
Meaning/Cause
b. The power source has insufficient capacity.
a-1. Check the AC supply voltage.
Action a-2, b-1. Check if the supply voltage drops during robot operation.
b-2. Lower the robot duty cycle.
A-60
17.901 : Over voltage
Code : &H0011 &H0385
Meaning/Cause
a. Output voltage for motor power supply exceeded 420 V.
b. The regenerative unit safety device was triggered due to temperature rise (120 °C or more) in
regeneration damping resistor.
A
c. The regenerative unit is defective.
d. The SAFETY connector is used incorrectly.
a, b-1. Check the power supply voltage.
Troubleshooting
Action b-2, c. Lower the robot duty cycle.
d. Do not supply 24 V DC to the SAFETY connector from external source.
17.902 : IPM error

Code : &H0011 &H0386
• The power module overheated.
Meaning/Cause
• The power module or motor drew excessive current.
Action Lighten the load on the robot.
17.905 : Resolver wire breakage

Code : &H0011 &H0389
a. The resolver signal wire is broken.
Meaning/Cause b. The motor malfunction occurred.
c. The controller malfunction occurred.
a. Replace the ROB I/O cable.
Action b. Replace the motor.
c. Replace the controller.
17.906 : ABS. mixing error 2

Code : &H0011 &H038A
Meaning/Cause The position data count is not consistent while the controller power is on.
• Replace the ROB/IO cable.

Action
17.910 : Position deviation error

Code : &H0011 &H038E
b. The motor acceleration is excessive.
c. The system generation setting is incorrect.
Meaning/Cause d. The motor cable wiring is broken or wiring is incorrect.
e. The vertical axes electromagnetic brake is defective.
f. Wiring is incorrect or disconnected on the vertical axes electromagnetic brake.
g. The SAFETY connector is not used correctly.
b. Lower the motor acceleration.
c. Redo the system generation.
d-1. Wire the motor cable correctly.
Action
d-2. Replace the motor cable.
e. Replace the vertical axes electromagnetic brake.
f. Replace the ROB I/O cable.
g. Do not use 24 V DC from the SAFETY connector as power source for external loads.
A-61
17.911 : Velocity deviation error
Code : &H0011 &H038F
A Meaning/Cause
b. The motor acceleration is excessive.
c. The system generation setting is incorrect.
d. The motor cable wiring is broken or wiring is incorrect.
e. The vertical axes electromagnetic brake is defective.
f. Wiring is incorrect or disconnected on the vertical axes electromagnetic brake.
Troubleshooting

b. Lower the motor acceleration.
c. Redo the system generation.
Action d-1. Wire the motor cable correctly.
d-2. Replace the motor cable.
e. Replace the vertical axes electromagnetic brake.
f. Replace the ROB I/O cable.
17.912 : Current deviation error

Code : &H0011 &H0390
a. The motor cable wiring was broken.
Meaning/Cause
b. The controller was defective.
a. Replace the motor cable.
Action
b. Replace the controller.
17.913 : Dual position deviation error

Code : &H0011 &H0391
On a dual-drive axis, the position differential between the main axis and sub axis is too large.
Meaning/Cause a. Friction in the robot drive section is too large.
b. The motor brake wiring is broken.
a. Check the drive sections for assembled condition and lubrication to ensure smooth movement.
Action
b. Check that the motor brake works properly.
17.914 : Overspeed
Code : &H0011 &H0392
a. The robot drive unit was pushed by external force and its speed exceeded the specified value.
Meaning/Cause
b. The system generation setting is incorrect.
a. Remove the external force.
Action
b. Re-perform the system generation.
17.915 : Motor over current

Code : &H0011 &H0393
Meaning/Cause
b. Decrease load on motor.
A-62
17.916 : Feedback error1
Code : &H0011 &H0394
Meaning/Cause
Action
Wiring of the motor cable or ROB I/O cable is incorrect.
• Rewire the motor cable or ROB I/O cable correctly.

• Replace the motor cable or ROB I/O cable.
A
Troubleshooting
17.920 : EMG. stop Input error
Code : &H0011 &H0398
a. The driver unit malfunctioned by external noise.
Meaning/Cause
b. The controller is defective.
a. Turn the power off and then on again.
Action
17.921 : Reference velocity error

Code : &H0011 &H0399
Meaning/Cause
Action
17.922 : Command error

Code : &H0011 &H039A
Meaning/Cause
Action
17.923 : Parameter data error

Code : &H0011 &H039B
Meaning/Cause
Action
17.990 : Watchdog error 1

Meaning/Cause
Action
17.991 : Watchdog error 2

Meaning/Cause
Action
17.992 : System error 1

Code : &H0011 &H03E0
Meaning/Cause Error occurred in software for driver unit.
A-63
Code : &H0011 &H03E1
A Meaning/Cause
Action
Error occurred in software for driver unit.

Troubleshooting

Code : &H0011 &H03E2

Code : &H0011 &H03E3
17.996 : Mode error 1

Code : &H0011 &H03E4
17.997 : Mode error 2

Code : &H0011 &H03E5
17.999 : Undefined
Code : &H0011 &H03E7
Meaning/Cause Undefined system error.
[19] Alarm related to the YC-Link/E
19.400 : YC/E slave connecting retr y

Code : &H0013 &H0190
Meaning/Cause The YC-Link/E slave is retrying the connection establishment with the master.
Action Please wait while retrying the connection.
19.500 : YC/E master port open fail

Code : &H0013 &H01F4
The communication port of the YC-Link/E master board does not open within a certain period of
Meaning/Cause
time (about 20 seconds).
• Check that the master and slave are connected with the cables.
Action
• Check the slave power is turned on.
A-64
19.501 : YC/E communicate initialize fail
Code : &H0013 &H01F5
Meaning/Cause The communication failed in the initialization process of the YC-Link/E connection.
• Restart the controller.

A
Action • Take noise preventive measures.
• Replace the slave option board.
Troubleshooting
19.502 : YC/E slave port wrong
Code : &H0013 &H01F6
Meaning/Cause The IN port and OUT port of the YC-Link/E slave are used incorrectly.
• Check the connection.

Action
• Reconnect the cable into the correct port.
19.800 : YC/E send data checksum error

Code : &H0013 &H0320
Meaning/Cause The checksum error occurred in the data sent from the YC-Link/E master.
• Check the cable connection.

• Replace the cable.
Action
• Take noise preventive measures.
19.801 : YC/E receive data checksum error

Code : &H0013 &H0321
Meaning/Cause The checksum error occurred in the data received by the YC-Link/E master (Host check).

Action
19.802 : YC/E working counter error

Code : &H0013 &H0322
a. The YC-Link/E master could not send the data correctly.
Meaning/Cause
b. The slave could not receive the data correctly.
Action • Replace the cable.
• Replace the master board and slave board.
19.805 : YC/E master receive checksum error

Code : &H0013 &H0325
Meaning/Cause The checksum error occurred in the data received by the YC-Link/E master. (Master check)

Action
19.900 : YC/E master board watchdog error

Code : &H0013 &H0384
Meaning/Cause The data was not sent from the master board of the YC-Link/E for a certain period of time.
• Check the LAN cable for disconnection.

• Replace the master board.
A-65
19.901 : YC/E master interrupt fail
Code : &H0013 &H0385
A Meaning/Cause
The master board of the YC-Link/E could not receive the data from the HOST CPU for a certain
period of time.
Troubleshooting
19.902 : YC/E master data send fail

Code : &H0013 &H0386
Meaning/Cause The master board of the YC-Link/E could not send the data for a certain period of time.

19.903 : YC/E master data receive fail

Code : &H0013 &H0387
The return of the data packet sent from the master board of the YC-Link/E could not be
Meaning/Cause
received for a certain period of time.
19.904 : YC/E master send data destroy

Code : &H0013 &H0388
The return of the data packet sent from the master board of the YC-Link/E was different from its
Meaning/Cause
sent status.
Action
19.905 : YC/E master receive data destroy

Code : &H0013 &H0389
Meaning/Cause The format of the data received by the master board of the YC-Link/E was faulty.

Action
19.906 : YC/E invalid slave exist

Code : &H0013 &H038A
Meaning/Cause Slave that cannot be used exists in the slaves of the YC-Link/E.
Action Remove the inapplicable slave.
19.907 : YC/E slave unconformity

Code : &H0013 &H038B
The controller mode setting on the master controller of the YC-Link/E is different from that on
Meaning/Cause
the slave controller.
Action Replace the controller.
A-66
19.908 : YC/E slave config mismatch
Code : &H0013 &H038C
Meaning/Cause
Action
The number of controllers set in the master of the YC-Link/E is different from the number of
actually connected controllers.
Change the parameter setting or turn off the power, and turn it on again after matching the
A
number of slaves to the setting.
Troubleshooting
19.909 : YC/E slave power low
Code : &H0013 &H038D
Meaning/Cause The control power voltage of the YC-Link/E slave dropped.
Check the power supply of the slave, and turn off both the master and slave, and turn them on
Action
again.
19.910 : YC/E system power turn on again

Code : &H0013 &H038E
The slave of the YC-Link/E does not communicate. Only the master might be turned off, and
Meaning/Cause
then it might be turned on again.
Action Turn off all the controllers that are connected with the YC-Link/E, and turn them on again.
19.920 : YC/E master slave loose connection

Code : &H0013 &H0398
Meaning/Cause The connection between the master and slave of the YC-Link/E has broken.

Action
19.993 : YC/E master fatal error

Code : &H0013 &H03E1
Meaning/Cause An unknown error occurred in the YC-Link/E.
[20] Alarm related to the iVY2 system
20.100 : Vision Camera channel out of range

Code : &H0014 &H0064
Meaning/Cause The specified camera channel number is out of range.
Action Change to a correct camera channel number.
20.101 : Vision Target number out of range

Code : &H0014 &H0065
Meaning/Cause The specified model number is out of range.
Action Change to a correct model number.
20.102 : Vision Calibration number out of range

Code : &H0014 &H0066
Meaning/Cause The specified camera calibration number is out of range.
Action Change to a correct camera calibration number.
A-67
20.103 : Vision Memor y number out of range
Code : &H0014 &H0067
A Meaning/Cause
Action
The specified memory number is out of range.
Change to a correct memory number.

Troubleshooting
20.104 : Vision File name number of characters error

Code : &H0014 &H0068
Meaning/Cause The number of characters in the file name is out of range.
Action Change to a correct file name.
20.105 : Vision array number out of range

Code : &H0014 &H0069
Meaning/Cause The specified array number is out of range.
Action Change to a correct array number.
20.106 : Vision task number out of range

Code : &H0014 &H006A
Meaning/Cause The specified task number is out of range.
Action Change to a correct task number.
20.107 : Vision Light channel out of range

Code : &H0014 &H006B
Meaning/Cause The specified light channel number is out of range.
Action Change to a correct light channel number.
20.108 : Vision data out of range

Code : &H0014 &H006C
Meaning/Cause The specified data value is out of range.
Action Change to a correct data value.
20.120 : Vision calibration error

Code : &H0014 &H0078
An error occurred during camera calibration.
Meaning/Cause a. The fiducial mark was not detected.
b. The fiducial mark is outside the camera's field of view.
• Make sure that the fiducial mark is registered.
Action • Make sure that the fiducial mark is correctly recognized.
• Check the camera calibration settings.
20.121 : Vision Calibration Robot type error

Code : &H0014 &H0079
Meaning/Cause The camera calibration setting is not corresponded to the robot type.
Action Change the camera calibration setting.
A-68
20.122 : Vision Calibration Calculate error
Code : &H0014 &H007A
Meaning/Cause
Action
The camera calibration calculation was failed.
• Change the camera calibration movement range.

A
• Confirm the point data for creating the camera calibration data.
Troubleshooting
20.123 : Vision Calibration Setting error
Code : &H0014 &H007B
Meaning/Cause The specified camera calibration setting is not suitable for the specification.
Action Change the camera calibration.
20.300 : Vision not installed

Code : &H0014 &H012C
The iVY2 unit is not connected.
a. The iVY2 unit is not connected.
Meaning/Cause
b. The iVY2 unit is disabled.
c. The iVY2 unit has malfunctioned.
a. Verify that the iVY2 unit is connected correctly.
Action b. Enable the iVY2 unit's enable/ disable parameter.
c. Replace the iVY2 unit.
20.301 : Vision edit mode error

Code : &H0014 &H012D
The iVY2 unit is in Edit mode.
Meaning/Cause
Support software (for controller or for vision system) is connected in Edit mode.
• Disconnect Support software (for controller or for vision system).
Action
• Change the Support software (for controller or for vision system) connection to Monitor mode.
20.302 : Vision not ready

Code : &H0014 &H012E
Meaning/Cause The iVY2 unit is starting up.
Verify that the iVY2 unit's status LED (green) has changed from flashing to lit before you
Action
perform operations.
20.303 : Vision camera disconnected

Code : &H0014 &H012F
The camera cannot be detected correctly.
a. The camera cable may be broken or disconnected.
Meaning/Cause
b. The camera channel is not assigned.
c. The camera has malfunctioned.
a. Check the camera cable connection.
Action b. Check the camera channel.
c. Replace the camera and cable.
20.304 : Vision no pattern data

Code : &H0014 &H0130
A model is not registered for the specified model number.
Meaning/Cause a. Model registration has not been performed.
b. There is a mistake in the specified model number.
a. Perform model registration.
Action
b. Change the specified model number.
A-69
20.305 : Vision mismatch between image and pattern
Code : &H0014 &H0131
A Meaning/Cause
Action
The specified camera does not match the model image size.
• Check the specified model.

• Check the number of screen pixels for the specified camera.
Troubleshooting
20.306 : Vision calibration not set

Code : &H0014 &H0132
Meaning/Cause There is a mistake in the specified camera calibration number.
• Specify a different camera calibration number.

Action
• Perform camera calibration settings.
20.307 : Vision memor y image doesn't exist

Code : &H0014 &H0133
Meaning/Cause There is no image in the specified memory number.
• Register an image in the memory number that you specify.

Action
• Execute the "VCAPTURE" command and "VSEARCH" command.
20.308 : Vision no result data

Code : &H0014 &H0134
a. The specified result array number is incorrect.
Meaning/Cause b. Search has not been executed.
c. No workpiece was detected.
a. Specify a different result array number.
Action b. Execute search.
c. Check the model setting so that the workpiece is detected.
20.309 : Vision search timeout

Code : &H0014 &H0135
The search ended in a timeout.
Meaning/Cause a. The fiducial mark was not detected.
b. The fiducial mark is outside the camera's field of view.
a. Change the timeout setting parameter of the specified model.
Action
b. Change the model setting of the specified model. (Refer to the iVY2 manual for details.)
20.310 : Vision memor y full

Code : &H0014 &H0136
Meaning/Cause The iVY2 unit has no free memory capacity.
Action Read the image data, and delete unneeded data from the iVY2 unit.
20.311 : Vision not execute search

Code : &H0014 &H0137
Meaning/Cause Search was not executed.
Action Execute a search command ("VSEARCH", "VSEARCHS", "VSEARCHR", "VSEARCHM").
20.312 : Vision command running

Code : &H0014 &H0138
Meaning/Cause A vision command is currently running.
Action Wait for the vision command to finish before executing.
A-70
20.313 : Vision camera FOV mismatch
Code : &H0014 &H0139
Meaning/Cause
The number of screen pixels of the specified camera and the camera calibration data do not
match.
• Specify a different camera number.
A
Action • Specify a different camera calibration number.
• Correct the camera calibration data.
Troubleshooting
20.314 : Vision trigger timeout
Code : &H0014 &H013A
a. The trigger timeout setting is too short.
Meaning/Cause b. There is a problem with the wiring of the camera H/W trigger input cable.
c. The camera H/W trigger input cable is broken.
a. Check the setting of the "trigger timeout" camera parameter.
Action b. Check the wiring and connection of the camera H/W trigger input cable.
c. Check whether the camera H/W trigger input cable might be broken.
20.315 : Vision camera parameter set error

Code : &H0014 &H013B
Meaning/Cause Setting the camera parameters failed.
• Specify a different parameter value.

Action
• Check the state of the iVY2 unit.
20.316 : Vision light parameter set error

Code : &H0014 &H013C
Meaning/Cause Setting the light parameters failed.
• Specify a different parameter value.

Action
• Check the state of the iVY2 unit.
20.317 : Vision unit version mismatch

Code : &H0014 &H013D
Meaning/Cause The iVY2 unit version is not corresponded.
Action Update the iVY2 unit.
20.380 : Vision system error

Code : &H0014 &H017C
Meaning/Cause A problem has occurred with the iVY2 unit.
20.381 : Vision capture timeout

Code : &H0014 &H017D
Meaning/Cause Capturing the image failed.
Action Check the wiring and connection of the camera cable.

Code : &H0014 &H017E
A-71
Code : &H0014 &H017F
A Meaning/Cause
Action
A problem has occurred with the iVY2 unit.

Troubleshooting
Code : &H0014 &H0180

Code : &H0014 &H0181

Code : &H0014 &H0182

Code : &H0014 &H0183
20.399 : Vision system software error

Code : &H0014 &H018F
20.400 : Vision EtherNet link error

Code : &H0014 &H0190
a. The cable is broken, or the connector is disconnected.
Meaning/Cause
b. 24 VDC power is not being supplied to the iVY2 unit, or it has stopped operating.
a. Replace the cable or connect the connector correctly.
Action
b. Restart the iVY2 unit.
20.401 : Vision EtherNet connection timeout

Code : &H0014 &H0191
Meaning/Cause iVY2 Ethernet communication has timed-out.
A-72
20.402 : Vision EtherNet system error
Code : &H0014 &H0192
Meaning/Cause
Action
A problem has occurred with iVY2 Ethernet communication.

A
20.500 : Vision DC24V disconnected
Troubleshooting
Code : &H0014 &H01F4
24 VDC is not being supplied.
a. 24 VDC is not being supplied.
Meaning/Cause
b. There is a problem with the 24 VDC wiring.
c. The 24 VDC cable is broken.
a. Check the 24 VDC status.
b. Check the24 VDC wiring.
Action
c. Check whether the 24 VDC cable might be broken.
* Use alarm reset to restart the iVY2 unit.
20.700 : Vision initialize error

Code : &H0014 &H02BC
Meaning/Cause An error occurred while initializing the iVY2 unit.
• Check the wiring of the camera and lighting.

Action • Restart the iVY2 unit.
20.701 : Vision renew parameter error

Code : &H0014 &H02BD
Meaning/Cause Synchronization with the iVY2 unit's parameters failed.
• Check the status of the iVY2 unit.

Action • Re-synchronize with the iVY2 unit.
* Use alarm reset to re-synchronize with the iVY2 unit.
20.702 : Vision camera parameter init error

Code : &H0014 &H02BE
Camera parameter initialization failed.
a. The structure of the connected camera was changed.
Meaning/Cause
b. The camera cable is broken or the connector is disconnected.
c. The camera has malfunctioned.
a. Check the camera parameter settings.
Action b. Connect the cable and connector.
c. Replace the camera.
20.703 : Vision light parameter init error

Code : &H0014 &H02BF
Meaning/Cause Lighting parameter initialization failed.
Action Check the lighting parameter settings.
20.704 : Vision abnormal temperature error

Code : &H0014 &H02C0
Meaning/Cause The iVY2 unit's temperature has risen beyond approximately 90 °C.
• Improve the installation conditions.

• Check that the cooling fan is working correctly.
Action
• Replace the iVY2 unit.
A-73
20.705 : Vision system thermal shutdown
Code : &H0014 &H02C1
A Meaning/Cause The iVY2 unit shut down automatically because of high temperature.
•
•
Improve the installation conditions.
Check that the cooling fan is working correctly.
Action
Troubleshooting
20.706 : Vision file error

Code : &H0014 &H02C2
Meaning/Cause The iVY2 unit's memory is damaged.
• Connect with the iVY2 Studio and execute Recovery mode.

Action
20.750 : Vision system status error



Code : &H0014 &H0F0

Code : &H0014 &H02F1

Code : &H0014 &H02F2

Code : &H0014 &H02F3
A-74
Code : &H0014 &H02F4
Meaning/Cause
Action
A problem has occurred with the iVY2 unit.

A
20.900 : Vision CFastcard doesn't exist
Troubleshooting
Code : &H0014 &H0384
Meaning/Cause The CFast card is not connected.
[21] Serious alarm related to software
21.900 : System error (EXCEPTION)

Code : &H0015 &H0384
Meaning/Cause Software error occurred.
21.903 : System error (TaskID)

Code : &H0015 &H0387
21.912 : System error (RTOS)

Code : &H0015 &H0390
21.915 : System error (NULL access)

Code : &H0015 &H0393
21.999 : System error (UNDEFINED)

Code : &H0015 &H03E7
A-75
[22] Serious alarm related to hardware
A
22.504 : Abnormal drop in voltage
Code : &H0016 &H01F8
a. Output voltage for motor power supply dropped below 140V.
b. Power supply has insufficient capacity.
Meaning/Cause
c. The vertical axes electromagnetic brake is defective.
Troubleshooting

a. Check the power supply voltage.
b-1. Check if supply voltage drops during robot operation.
b-2. Lower the robot duty cycle.
Action
c. Replace the vertical axes electromagnetic brake.
d-1. Do not supply 24 V DC to the SAFETY connector from external source.
d-2. Do not use 24 V DC from the SAFETY connector as power source for driving external loads.
22.507 : Driver over heat

Code : &H0016 &H01FB HOST Ver. V1.36,R0269 or earlier Refer to "4.4 Version" in Chapter 6
Meaning/Cause The driver unit temperature increased to approximately 60 °C or more.
• Improve the installation environment.

• Check that the cooling fan operates correctly.
Action • Replace or clean the cooling fan filter.
• Decrease the robot duty cycle to reduce the amount of heat generated.
22.508 : Regen. over heat

Code : &H0016 &H01FC HOST Ver. V1.36,R0269 or earlier Refer to "4.4 Version" in Chapter 6
Meaning/Cause The regenerative unit heated up abnormally.

22.509 : Internal 24V power abnormal

Internal 24V-power voltage dropped.
a. The SAFETY connector wiring was incorrect.
Meaning/Cause
b. The brake cable was short-circuited.
c. The controller malfunctioned.
a. Perform the wiring of the SAFETY connector correctly.
Action b. Replace the robot cable.
22.511 : Fan stop error

Power was not supplied to the controller cooling fan.
a. The controller cooling fan cable wiring was broken.
b. ROB I/O cable was short-circuited.
Meaning/Cause
c. The controller malfunctioned.
d. Error occurred in the controller cooling fan.
e. The controller cooling fan malfunctioned.
a. Replace the controller cooling fan cable.
b. Replace the ROB/IO cable.
Action
d, e. Replace the controller cooling fan.
A-76
22.516 : Controller over heat
Code : &H0016 &H0204 HOST Ver. V1.36,R0269 or earlier Refer to "4.4 Version" in Chapter 6
Meaning/Cause The environmental temperature inside the controller increased to approximately 60 °C or more. A
Action • Check that the cooling fan operates correctly.
Troubleshooting
22.600 : Motor power off
Code : &H0016 &H0258
Meaning/Cause The main power voltage dropped in the servo on or servo off status.
Action Check that the main power is input.
22.800 : Control power off

Code : &H0016 &H0320
a. The AC supply voltage of control power supply dropped below 85% of rated voltage.
Meaning/Cause
b. The power source has insufficient capacity.
a-1. Check the AC supply voltage.
Action a-2. Check if supply voltage drops during robot operation.
b. Lower the robot duty cycle.
c CAUTION
This error always occurs when the power is cut off.
22.807 : Driver over heat

Code : &H0016 &H0327 HOST Ver. V1.37,R0270 or later Refer to "4.4 Version" in Chapter 6
Meaning/Cause The driver unit temperature increased to approximately 60 °C or more.

22.808 : Regen. over heat

Meaning/Cause The regenerative unit heated up abnormally.

22.816 : Controller over heat

Meaning/Cause The environmental temperature inside the controller increased to approximately 60 °C or more.

Action • Check that the cooling fan operates correctly.
A-77
22.901 : CT type mismatch
Code : &H0016 &H0385
A Meaning/Cause
Action
The correct current sensor controller is not used for the set robot.
Replace the current sensor controller with a correct one.
22.902 : Position sensor type mismatch

Troubleshooting
Code : &H0016 &H0386
Meaning/Cause The correct position sensor is not set for the set robot correctly.
22.903 : Driver unit disconnected

Code : &H0016 &H0387
Meaning/Cause The CPU unit did not recognize the driver unit.
22.904 : Driver2 board disconnected

Code : &H0016 &H0388
Meaning/Cause The CPU unit did not recognize the driver 2 board.
22.905 : Abnormal over voltage

Code : &H0016 &H0389
a. Output voltage for motor power supply exceeded 420 V.
b. The regenerative unit safety device triggered due to temperature rise in regeneration
Meaning/Cause damping resistor.
c. The regenerative unit is defective.
• Check the power supply voltage.
Action • Lower the robot duty cycle.
• Do not supply 24 V DC to the SAFETY connector from external source.
22.906 : Break 24V power abnormal

Code : &H0016 &H038A
The brake power voltage dropped.
a. Power was not supplied to BK 24 V.
Meaning/Cause
b. Brake cable was short-circuited.
c. Controller malfunctioned.
a. Supply the brake power.
Action b. Replace the robot cable.
A-78
[26] Alarm related to the gripper
A
26.97 : Undefined gripper type number
Code : &H001A &H0061
Meaning/Cause The specified type number gripper does not exist.
Action Input the correct gripper number.
Troubleshooting
26.98 : Gripper overlap assign
Code : &H001A &H0062
a. A different gripper in an option slot for which generation settings were already made was
registered.
Meaning/Cause
b. A different option slot to a gripper for which generation settings were already made was
assigned.
a. Change the option slot number.
Action
b. Stop making gripper settings.
26.99 : Gripper undefined error

Code : &H001A &H0063
Meaning/Cause Undefined error was detected on the gripper control board.
26.332 : Gripper soft limit over

Code : &H001A &H014C
Meaning/Cause The operating position exceeds the software limit value specified by the parameter.
• Change the operating position to be within the software limit.

Action • Change the software limit value.
• Change the limit width.
26.336 : Gripper ser vo off

Code : &H001A &H0150
Meaning/Cause A movement command was executed in the servo OFF status.
Action Turn the servo ON.
26.337 : Gripper stop signal on

Code : &H001A &H0151
It was attempted to execute the program or move the gripper while the gripper's stop signal was
Meaning/Cause
ON.
26.350 : Gripper data error

Code : &H001A &H015E
Option data such as a movement command sent to the gripper control board exceeds the input
Meaning/Cause
range.
A-79
26.351 : Gripper type error
Code : &H001A &H015F
A Meaning/Cause
Action
The gripper generation is set using an undefined type number.

Troubleshooting
26.395 : Gripper type isn't assigned

Code : &H001A &H018B
Meaning/Cause The gripper type number is not assigned.
Action Use system generation settings to assign the gripper type number.
26.396 : Gripper cannot get error

Meaning/Cause Obtaining an error generated by the gripper itself failed.
26.397 : Gripper disconnected

Code : &H001A &H018D
a. The specified gripper is not connected.
Meaning/Cause
b. Generation is incomplete for the specified gripper.
a. Connect the gripper.
Action
b. Make gripper settings.
26.398 : Illegal gripper no

Meaning/Cause A gripper number outside the range from 1 to 4 was specified.
Action Specify a gripper number between 1 and 4.
26.399 : Gripper timeout error

Code : &H001A &H018F
Meaning/Cause Execution of a command sent to the gripper control board ended in timeout.
26.435 : Gripper origin incomplete

Code : &H001A &H01B3
Meaning/Cause Return-to-origin has not been performed.
Action Perform return-to-origin so that the gripper is in the return-to-origin complete status.
26.604 : Gripper 24V power supply voltage low

Meaning/Cause The 24 V DC power supply voltage is less than 80% of the rated value.
Check the power supply capacity, and if it is insufficient, adjust the power supply voltage to be
Action
within the rated range.
A-80
26.608 : Gripper 24V power off
Code : &H001A &H0260
A
a. The 24 V DC power supply is not wired.
Meaning/Cause b. The 24 V DC power supply is not being provided.
c. The 24 V DC power supply cable is disconnected.
a. Check the wiring of the 24 V DC power supply.
Action b. Check the 24 V DC power supply.
c. Check the 24 V DC power supply cable.
Troubleshooting
26.612 : Gripper over voltage
Code : &H001A &H0264
The 24 V DC power supply voltage is greater than 130% of the rated value.
Meaning/Cause a. Power supply voltage increased due to regeneration
b. The DC24V power supply voltage is incorrect.
a. Decrease the duty of the mechanism.
Action
b. Check the 24 V DC power supply voltage and adjust it to be within the rated range.
26.801 : Gripper over load

Code : &H001A &H0321
Motor overload
a. Motor is defective.
Meaning/Cause b. Parameters are incorrect.
c. Power supply line capacity is insufficient.
d. Excessive friction within the mechanism itself.
a. If there are problems such as excessively heavy motion when moving the motor manually,
replace the motor.
b. Initialize the parameters.
Action c. Check the power supply capacity, and if it is insufficient, adjust the power supply voltage to
be within the rated range.
d. Check the moving parts of the mechanism for heavy motion. If motion is excessively heavy,
make readjustments.
26.802 : Gripper over current

Code : &H001A &H0322
Motor over current
a. Motor wiring is shorted.
Meaning/Cause
b. Gripper control board is defective.
c. Parameters are incorrect.
a. Test the conductivity of the motor wiring, and if a fault is found, replace the motor.
Action b. Replace the gripper control board.
c. Initialize the parameters.
26.803 : Gripper machine reference over

Code : &H001A &H0323
The encoder Z-phase position deviated from the initial value stored in the controller.
• The gripper main body was replaced.
• A finger was replaced with the origin set to the close side.
• The CPU board of the controller was replaced.
Meaning/Cause
• The CPU software version of the controller was changed.
• An obstacle was struck while returning to the origin point.
• The encoder Z-phase has broken or has malfunctioned.
• The gripper drive section or transmission section has malfunctioned.
• Perform return-to-origin again.
Action • Remove the obstacle and perform return-to-origin again.
• Replace the gripper main body.
A-81
26.806 : Gripper position deviation error
Code : &H001A &H0326
A Meaning/Cause
a. Mechanical lock occurred in the gripper drive section.
b. Motor cable is broken or wired incorrectly.
c. Parameters are incorrect.
a. Check the gripper drive section for mechanical lock.
Action b. Check the motor cable and encoder cable connections.
c. Initialize the parameters.
Troubleshooting
26.807 : Gripper internal fault

Code : &H001A &H0327
Meaning/Cause Error occurred within the gripper control board.
26.809 : Gripper watchdog error

Code : &H001A &H0329
Meaning/Cause The software input a runaway state due to external noise.
26.810 : Gripper feedback error 1

Code : &H001A &H032A
a. External force caused the finger to overrun the software limit.
Meaning/Cause
b. External noise caused the encoder to miscount.
a. Turn on the power and check that no external force is applied to the finger, and perform
Action return-to-origin.
26.811 : Gripper encoder wire breakage

Code : &H001A &H032B
a. The encoder cable is disconnected.
Meaning/Cause
b. The guide block is locked.
a. Check the encoder cable connection.
Action
b. Unlock the guide block.
26.814 : Gripper current deviation error

Meaning/Cause The motor cable is broken or wired incorrectly.
Action Check the motor cable connection.
26.899 : Gripper parameter send fail

Code : &H001A &H0383
Meaning/Cause Sending the gripper parameter to the gripper control board failed.
A-82
[28] Alarm related to the driver I/F
A
28.900 : Driver version mismatch
Code : &H001C &H0384
Meaning/Cause The software version of the driver unit was not appropriate.
Action Update the software version of the driver unit.
Troubleshooting
28.902 : DMA transfer timeout
Code : &H001C &H0386
Meaning/Cause Time-out occurred in the communication process between the CPU unit and driver unit.
28.903 : Driver interrupt timeout

Code : &H001C &H0387
Meaning/Cause Time-out occurred in the communication process between the CPU unit and driver unit.
28.904 : RTOS fail

Code : &H001C &H0388
28.905 : Send checksum fail

Code : &H001C &H0389
Meaning/Cause The driver unit received abnormal data.
28.906 : Receive checksum fail

Meaning/Cause The CPU unit received abnormal data.
28.999 : Driver I/F undefined error

Code : &H001C &H03E7
Undefined errors were detected in the communication process between the CPU unit and driver
Meaning/Cause
unit.
A-83
5. Warning number
A
The 7-segment LED on the front of the controller displays “ + warning number ” for 2 seconds when a warning
occurs. After that, warning numbers and normal display are displayed alternately at 1-second intervals.
Warning Axis operation LED

Type History Reset method Example
number in case of error display
General Warning
Troubleshooting
c1 to c99 - - Remove the warning cause. Overload warning

warning Status
[Warning meaning display format]
Warning number
Warning message
c1 : Right arm selected
Meaning/Cause
Action
Shows the measures to reset or avoid the warning
Shows the warning meaning and the cause of the warning occurrence.
[ c] Warning
c1 : Right arm selected
Meaning/Cause On SCARA type robots, the arm uses the right-handed system for starting interpolation movement.
• Stop the axis immediately when the robot moves unexpectedly.

Action
• Operate carefully when the robot moves as expected.
c2 : Left arm selected
Meaning/Cause On SCARA type robots, the arm uses the left-handed system for starting interpolation movement.
• Stop the axis immediately when the robot moves unexpectedly.

Action
• Operate carefully when the robot moves as expected.
c3 : Jogging speed limited
Meaning/Cause The speed is limited since the robot is within the jogging speed limited range.
Action The speed limit is released if the robot goes out the range.
c20 : CC-Link initial data fail
Meaning/Cause The CC-Link initial data process had not been performed yet.
Action Perform the CC-Link initial data process.
c40 : Vision abnormal temperature
Meaning/Cause The iVY2 unit temperature rose over 80 °C.

Action • Check if the cooling fan works normally.
A-84
c41 : Vision fan error
Meaning/Cause The number of fan rotation of the iVY2 unit dropped 4700 rpm or less.
Action
• Check if the cooling fan is stuck with dust, etc.
• Check the cooling fan connector.
• Replace the cooling fan.
A
c42 : Vision memor y life warning
Troubleshooting
Meaning/Cause The iVY2 unit CFast card is reaching the end of its lifespan.
Backup iVY2 unit data and then replace the CFast card. Restore the backup data after replacing
Action
the CFAST card.
c50 : Memor y backup batter y low
Meaning/Cause The memory battery voltage dropped.
Action Replace the memory battery.
c70 : Motor overload
Meaning/Cause The motor was overloaded. Alarm might occur.
Action Reduce the load to the motor.
c71 : Driver overload
Meaning/Cause The driver was overloaded. Alarm might occur.
Action Reduce the load to the driver.
c72 : Motor over current
Meaning/Cause The motor drew excessive current. Alarm might occur.
Action Reduce the load to the motor.
c73 : Absolute batter y low voltage
Meaning/Cause The ABS battery voltage was 3.1 V or less.
Action Replace the ABS battery.
A-85
6. Alarm messages related to the programming box
A
If a hardware or software error occurs in the programming box, relevant message appears on the screen.
NO PANEL DATA
Meaning/Cause : Screen data could not be downloaded during upgrading.
Action : Perform the upgrading again.
Troubleshooting
Receiving Error.
Meaning/Cause : Error occurred during data receiving.
Specified communication was not performed within the specified period of time.
Action : Check the communication cable for abnormality.
Check that the connector is inserted correctly.
Sending Error.
Meaning/Cause : Error occurred during data sending.
CTS signal did not turn on for 5 seconds during data sending.
Receiving timeout.
Meaning/Cause : Error occurred during data receiving.
Specified communication was not performed within the specified period of time.
NG=xx.xxx
Meaning/Cause : Alarm occurred in the controller.
Action : Check the alarm contents and perform the alarm reset.
No breakpoint set.
Meaning/Cause : Break point was not set in the program debug.
Action : Set a break point.
USB IO ERROR
Meaning/Cause : USB memory device was not supported.
Action : Replace the USB memory device with a correct one.
USB Not Connect

Meaning/Cause : USB memory device was not connected or a device other than the USB memory device was
connected.
Action : Connect the USB memory device correctly.
Bad Format
Meaning/Cause : Format of the USB memory device was incorrect.
Action : Change the format of the USB memory device to FAT16 or FAT32.
Not FAT16 Format

Meaning/Cause : Format of the USB memory device was NTFS.
Action : Change the format of the USB memory device to FAT16 or FAT32.
A-86
This declaration might not be the latest version.
If the latest version is required, please contact your distributor.
Revision record
Manual version Issue date Description

Ver. 1.01 Sep. 2014 First edition
Ver. 1.32 May 2018 "Safety Instructions" updated. Clerical error corrections, etc.
Ver. 1.34 Oct. 2018 Descriptions on EtherCAT added.
Ver. 1.35 Jan. 2019 Error output example added to “10.7 I/O parameters” in Chapter 7.
Clerical error corrections, etc.
Ver. 1.36 Feb. 2019 "Partial Permission" added to "6. execution level" in Chapter 7.
Ver. 1.37 Feb. 2019 "9.708: Work data destroyed" added to Troubleshooting.
Ver. 1.38 July 2019 Addition of Chapter 4 "Emergency stop contact monitor".
Ver. 1.39 July 2019 <WEIGHTG> added to Robot parameters, etc.
Ver. 1.40 Sep. 2019 <INROFST> added to Robot parameters, etc.
Ver. 2.00 Oct. 2019 "Safety Instructions" separated. "RCX320" added.
Ver. 2.01 Dec. 2019 PBX terminator changed.
Recommended parts name for safety power supply circuit added.
Ver. 2.02 Apr. 2020 Addition of Functions; double-carrier collision prevention,
real time output and SIOW area extension.
Ver. 2.03 Apr. 2020 Clerical error corrections
Ver. 2.04 Apr. 2021 Disuse of Regenerative connector for RCX340,
Addition of alarm classification number for DO03 output,
Absolute battery model number changed, error correction, etc.
Ver. 2.05 June 2021 Descriptions changed to comply with EU Directive.
Ver. 2.06 Sep 2021 Addition of Notice for complying with standards and directives
to "1.3 Connection example combining the programming box with
external emergency stop circuit" in Chapter 5.
Ver. 3.00 Jan. 2022 Collection of user's and operation manuals in one volume
User’s Manual
RCX 3 Series
4-axis/2-axis Robot Controller
Jan. 2022
Ver. 3.00
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.
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, Kita-ku, Hamamatsu, Shizuoka, 433-8103, Japan
https://global.yamaha-motor.com/business/robot/ YAMAHA MOTOR CO., LTD.

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Original instructions

YAMAHA 4-AXIS/2-AXIS ROBOT CONTROLLER

RCX 3 Series User s Manual

Ver. 3.00 E133

Important information before reading this manual

Overview of the RCX 3 series iii

Chapter 1 Using the robot safely

2. Emergency stop 1-3

3. Power-ON procedures 1-5

4. Usage environments 1-6

Chapter 2 System overview

2. Name of each part and control system 2-4

3. Optional devices 2-8

3.2 Basic key operation 2-8

4. Basic sequence from installation to operation 2-9

2. Installing the robot controller 3-2

3. Connecting to the power 3-4

4. Connecting the absolute battery 3-10

5. Robot connections 3-11

6. Connecting the programming box 3-12

7. I/O connections 3-13

8. Connecting the regenerative apparatus 3-14

9. Connecting brake power supply RCX340 3-15

10. Precautions for cable routing and installation 3-16

11. Checking the robot controller operation 3-18

2. The RCX robot controller 4-2

3. Programming box 4-4

4. Operation key 4-6

5. Hierarchy structure 4-10

6. Servo operation 4-19

7.1.1 Jog movement in return-to-origin complete status 4-23

8. Point trace 4-27

9. Automatic operation 4-34

10. Origin return 4-45

10.3 Return-to-origin procedure 4-49

11. Dual offset 4-54

2. Program editing 5-9

3. Shift coordinates 5-19

4. Hand definitions 5-28

5. Work definitions 5-37

6. Pallet definitions 5-41

8. Area check output 5-75

8.1 Setting area check output 5-75

9. Standard coordinates 5-78

10. General Ethernet port (GEP) setting 5-87

11. Calibration 5-87

12. Collision prevention for double-carriage 5-88

Chapter 6 Controller system settings

5. USB memory operation 6-5

6. Execution level 6-7

7. Safety setting 6-8

2. Current position display 7-1

3. I/O status display 7-2

4. Task driving state 7-5

5. Current monitor 7-6

Chapter 8 I/O interface

1.11.1 From the controller power on to servo on 8-13

3. Caution items 8-19

Chapter 9 SAFETY I/O interface