Cc YASNAC MRC MAINTENANCE MODE OPERATOR’S MANUAL Before initial operation, read these instructions thoroughly, and retain for future reference. Y YASKAWA, TOE-C945-408CONTENTS eee SSeS ESSE 1 MAINTENANCE MODE 1.1 OPERATION MODES FOR MAINTENANCE 1.2 ONLINE MODE 4.3 SIMULATED ONLINE MODE 1.4 THERMOSTAT DIAGNOSIS MODE 1.5 MAINTENANCE MODE (JIG MODE) 1.6 MAINTENANCE MODE. (STANDARD MODE) 2 SYSTEM SETUP 24 SYSTEM SETUP INSYSTEM SETUP DISPLAY 2.2 SYSTEM CONFIGURATION OUTLINE ‘SYSTEM CONFIGURATION DISPLAY INITIALIZATION MODIFICATION DISPLAY OPERATION EXAMPLE 2.3 FILE INITIALIZATION MESELECTING FILES TO INITIALIZE MINITIALIZING PARAMETER FILES INITIALIZING CONDITION FILES INITIALIZING NAME FILES IINITIALIZING SYSTEM DATA FILES. INITIALIZING ClO LADDERS INITIALIZING OTHER FILES 2.4 INITIALIZATION OF ROM FILES IBSELECTING ROM FILES TO BE INITIALIZED INITIALIZING WELDING FILES 10 10 n 2 35 SS SSSAILsRR Ss 3 SYSTEM VERSION CHECK 61 9.1 SYSTEM VERSION CHECK SYSTEM VERSION CHECK DISPLAY 62. 3.2 BOARD ROM VERSION 63 3.3 SERVOPACK ROM VERSION * 63 4 ALARM OF ONLINE MODE AT POWER ON 66 4.1 OUTLINE 69 42 LIST OF PRE-ONLINE MODE ALARMS 69 4.3. ALARM DISPLAY n ALARMS CAUSED BY HARDWARE ERROR n ALARMS CAUSED BY CMOS ERROR 80 ALARMS CAUSED BY SYSTEM CONFIGURATION ERROR 82 OTHER ALARMS 86 5 MCP01 BOARD 7-SEGMENT LED DISPLAY 87 WMI-DIGIT ERROR CODE DISPLAY 88 §M4-DIGIT CODE REPEATED DISPLAY 88 APPENDIX 1 PP (PROGRAMMING PENDANT) MAINTENANCE 93 APPENDIX 2 PP ALARMS 107 APPENDIX 3 OP (OPERATION PANEL) MAINTENANCE (OPTION) 15 APPENDIX 4 ADDITIONAL MOUNTING OF (CMOS EXTENSION MEMORY 123 asses SreeSECTION 1 " MAINTENANCE MODE 1.1 OPERATION MODES FOR MAINTENANCE 1.2 ONLINE MODE. 1.3 SIMULATED ONLINE MODE 1.4 THERMOSTAT DIAGNOSIS MODE 1.5 MAINTENANCE MODE (JIG MODE) 1.6 MAINTENANCE MODE (STANDARD MODE)1.1 OPERATION MODES FOR MAINTENANCE a YASNAC MRC has five operation modes, which are selected by the rotary switch on the MCPO1 board. Set the switch to the desited position before turning ON power. Rotary Switch Positions and Operation Modes Postion Opsratien Mode Remarks © | Online mode 13 | Reserved 4 | Simulated ontine mode 5 | Thermosar diagnosis mode or shipping inspection only 6 | Maintenance moe ig mode) For sipping inspection only 7-—_| Maintenance mode (Standard mode) er _| Probibies 1.2 ONLINE MODE Select this mode for normal maintenance. For details of power ON process in this mode, refer to Par. 4, "ALARM OF ONLINE MODE AT POWER ON’ 1.3 SIMULATED ONLINE MODE Select this mode 10 perform operation check with no manipulator connected to the control panel. Power ON process in this mode mode, except that : + If an error occurs, the process sm imilar to that in standard online after notifying the error and the next step is started by depressing the [CANCEL] key. + Communication with the SERVOPACK and encoder is not performed. ~ Machine lock status is retained, + When the servo power is turned ON, contactor is tumed ON but the brake and the base lock are not released.uU U 1.4 THERMOSTAT DIAGNOSIS MODE ‘This mode is used exclusively for hardware diagnosis of the CPU rack at shipping inspection. 1.5 MAINTENANCE MODE (JIG MODE) ‘This mode is used exclusively for board check at shipping inspection. It is'similar to standard maintenance mode except that jig-requiring tests can be selected. 1.6 MAINTENANCE MODE (STANDARD MODE) Select this mode to set up or perform maintenance for the robot system. Set the rotary switch of the MCPO1 board to standard maintenance mode and tum ON power. The maintenance mode language select display appears. (This display does not appear in non-bilingual systems.) YASNAC-MRC ATNTENANCE MODE LANGUAGE Japanese ENGLISH | Select JAPANESE/ ENGLISH | ‘SEL BY = —>/CONFIRM BY J Depress [ENTER] after selecting either JAPANESE or ENGLISH to assure the lan- ‘guage mode Notes : 1. When JAPANESE is selected, the display is given in Japanese ; when ENGLISH is selected, itis in English. 2. ‘This display setting is validated only in the maintenance mode and has nothing to do with language 1 or 2 in the online mode.1.6 MAINTENANCE MODE (STANDARD MODE) (Cont'd) ‘When the language to be displayed is selected, the following maintenance mode dis- play appears. WATNTERANCE MODE as ‘SeTUR. SYSTEM. | ‘SYSTEM VERSION HAROWARE DIAGNOSTICS SBL BY 1 + /EXEC BY In standard maintenance mode, the following functions are available, (1) System setup : System configuration File initialization ROM file initialization (2) System version display : Board ROM version display SERVOPACK ROM version display (3) Hardware diagnosis Functions (1) and (2) are explained later in this manual. Using version VI. 600 or later, standard maintenance mode can be started up while having the rotary switch set to 0 (standard online mode) or 4 (simulated online mode) by the following steps. Start-up Procedure ‘Turn ON the controi power while holding down the CUSTOMER] key on the Programming Pendant. + Select either JAPANESE or ENGLISH on the language select display. + Enter the manufacturer ID on the user ID input display. + ‘The system starts up in the maintenance mode (standard mode). If power is tumed ON with the rotary switch set to 7, the maintenance mode (stan- dard mode) starts up unconditionally, as it did in former versions. ‘tr If a user ID is entered instead of the manufacturer ID, it starts up the customer maintenance mode, in which manufacturer-only functions are masked. For details, refer to the "CUSTOMER MAINTENANCE MODE OPERATION MANUAL" (TOE-C945-404.1).SECTION 2 " SYSTEM SETUP : | | UU ( u a 2.41 SYSTEM SETUP 8 WW SYSTEM SETUP DISPLAY 9 2.2. SYSTEM CONFIGURATION 10 OUTLINE 10 ‘SYSTEM CONFIGURATION DISPLAY n INITIALIZATION 2 © MODIFICATION 30 DISPLAY 35 OPERATION EXAMPLE 2 2.3 FILE INITIALIZATION 52 | CG WW SELECTING FILES TO INITIALIZE 52 ME INITIALIZING PARAMETER FILES 33 MEINTTIALIZING CONDITION FILES s4 INITIALIZING NAME FILES 7 MUINITIALIZING SYSTEM DATA FILES 7 MEINITIALIZING CIO LADDERS 38 WEINTTIALIZING OTHER FILES. 58 2.4 INITIALIZATION OF ROM FILES IW SELECTING ROM FILES TO BE INITIALIZED INITIALIZING WELDING FILES ees2.1 SYSTEM SETUP Four system setup functions are provided : (1) System Configuration In order to start up the YASNAC MRC, system parameters must be set up according to the robot system configuration, This procedure is called system configuration. System parameters are automatically set up by selecting menus and entering system specifications on the system configuration display. (2) File Initialization ; Various files can be initialized. (Before initializing files, system configuration must be completed.) (3) ROM File Initialization Various ROM files can be initialized. (Before initializing ROM files, system configu- ration must be completed.) (4) SYSCON Internal Data Initialization ‘SYSCON internal data can be initialized. (Before initializing the data, system config- uration must be completed.)li SYSTEM SETUP DISPLAY eee ‘Start up standard maintenance mode and select SETUP SYSTEM. WATNTENANCE MODE ~~ ‘SETUP. SYSTEM ‘SYSTEM VERSION. . WARDWARE DIAGNOSTICS " SEL BY FU 7aREC BY ENTERS On the system setup display, move the cursor to the process to be started, then depress ENTER ‘SETUP SYSTEN SYSTEM CONFIGURATION INITIALIZE PILES INITIALIZE ROM PILE INITIALIZE SYSCON INTERNAL DATA SELBY TT axe BY ENTERS RETURN BY UG | * If INITIALIZE FILES, INITIALIZE ROM FILE or INITIALIZE SYSCON INTERNAL DATA display does not appear after selecting from the menu, initial- CG ize the system configuration.2.2 SYSTEM CONFIGURATION 10 ‘Three system configuration functions are provided : (1) Initialization This function automatically sets up system parameters and initializes all files. System configuration settings are stored in CMOS memory. When starting up the YASNAC MRC, initialization of system configuration is required. {2) Modification ‘This function modifies system configuration settings. System parameters are automatically set up in the same way as in initialization. System configuration must be modified when : + External axes are added + Applications are changed. + VO modules are added. + Sensor boards are added. (3) Display System configuration settings can be checked on the display. System configuration items to be set up are + First language + Second language + Number of robots, bases, and stations (configuration of controlled axes) + Contactor connection + Robots types + Base axis specifications + Station axis specifications + Applications + C10 ladders ‘+ Application of robots + VO modules + Sensor functions + Use of sensor boards for robots ‘+ Operation panel + CMOS memory + CalendarSYSTEM CONFIGURATION DISPLAY When YASNAC MRC starts-up in standard maintenance mode, the display shown below appears. TMATNTENANCE MODE ‘SETUP: SYSTEM SYSTEM VERSION HARDWARE DIAGNOSTICS ‘SELBY 1 4 /ENEC BY When SYSTEM CONFIGURATION is selected following display appears. ‘SYSTEM CONFIGURATION INITIALIZE worry DISPLAY ‘SYSTEM CONPEGURATION | ‘SEL BY TU 7EKEC BY GNTERD RETURN BY INITIALIZE FILES and INITIALIZE ROM FILE ‘ean be selected only after system configuration is ini- tialized. in the SETUP SYSTEM display, the —> Any other than INITIAL- IZE can be selected only after execution of initializa- tion, 1"12 IALIZATION ‘When setting up system configuration for the first time, initialize it by the following procedure, (On any of the following displays, depress matically change to the next display. [ENTER] after setting. The display auto- Depressing [CANCEL] invalidetes the settings you have made and the initialization display appears again. Select "INITIALIZE" in the system configuration display. Language 1 Display Lan Display Applieion Display ClO Ladder Display + Robot Application Option + VO Module Display + ‘Sensor Function Display + Robot Application Sensor Board Display* + OP Display + CMOS Memory Display + Calendar Display Check splay + Completion (Retum to the system configuration display.) Display * Displayed only when the sensor board is provided.@ LANGUAGE 1 AND 2 DISPLAYS Select INITIALIZE on the system configuration display to call up the following display. LANGUAGE T STAPANESE + ENGLISH + + ' ’ + ' t ' + ’ ' [SEL BY 1 T= —/CONPTRW BY CENTERS RETURN BY > A list of selectable lan- ‘guages appears. Depress [ENTER] after selecting LANGUAGE 1, The following display appears. TANGUAGE 2 JAPANESE ‘ENGLISH + + ‘ ’ ' (__RETURN BY ‘SEL BY f= =/CONFIRW BY of selectable language appears. Depress [ENTER] after selecting LANGUAGE 2. The controlled axes configuration display appears. 13 iw)te INITIALIZATION (Cont'd) @ CONTROLLED AXIS DISPLAY In the controlled axis display, robot model selection and base/station setting are enabled. ‘The following shows the configuration of the controlled a Controlled Axis Display Configuration display. ‘Axes Configuration Display 4 Contactor Connection Display * 4 Select Machine Display (Robot 1) + Select Machine Display (Robot 2)* + Base/Station Setting Display* Note : According to the setting in the axes configuration display, only those marked with * in the above figure that require setting are displayed. ‘The following shows the configuration of the base/station setting display. Base/Station Setting Display Configuration Base 1 Setting Display Base Baal Display Station 1 seking Display Station 2 Seuing Display + Station 6 Setting Display 14To The setting displays of bases 1, 2 and stations 1 to 6 have the following configuration for each controlled axis group. (Common for bases 1, 2 and stations 1 to 6.) Select Machine Display 4 Axis Type Select Display * ‘Mechanism Specification Display (Ist Axis) 4 " } Mechanism Specification Display (Last Axis) ‘Motor Select Display (Ist Axis) + 4 Motor Select Display (Last Axis) c Motor Specification Display (Ist Axis) 4 + Motor Specification Display (Last Axis) * Omitted when TURN type model is selected in the select machine display. + Controlled axes configuration Base 1, base 2 providednot provided, number of stations ~ Contactor connection Select either contactor 1, 2 or 3 for each group axis. Model selection ‘With base axis : G Select either rectangle-X, -Y, With station axis : Select either tum-1 or -2. For the other models, select either universal-1, -2, -3, -4, 5 or -6. XY, -XZ, -¥Z or -KYZ. Axis type selection YU With tum-* : Selection is not needed (axis type is of tum.) With rectangle-* : Select either rectangle-B (ball screw) or rectangle-R & P (rack and pinion). With universal-* : Select either rectangle-B (ball screw), rectangle-R & P (rack and pinion) or tum. 15INITIALIZATION (Cont'd) SE + Specifications ‘When the type of the relevant axis is of ball screw, set the following items Deceleration ratio (numerator) Deceleration ratio (denominator) Ball screw pitch — (mim/f) ‘Working range (+) (mm) Working range (-) (mm) ‘When the type of the relevant axis is of rack & pinion, set the following items : Deceleration ratio (numerator) Deceleration ratio (denominator) PCD (mm) ‘Working range (+) (mm) Working range (-) (mm) ‘When the type of the relevant axis is of tur, set the following items : Deceleration ratio (numerator) Deceleration ratio (denominator) Working range (+) (deg) Working range (-) (deg) Offset (between axes 1 and 2) (mm) + Motor selection Select one from the motor model list on the display. + Motor specifications Set the following items : Rotating direction (forward/reverse) Maximum rotation speed (r/min) Accel/decel time (sec) ‘Load inertia ratio (1) Controlled Axes Configuration Display ‘AXES CONFIGURATION ROBOT COUNT = > The cursor position blinks. BASEL FE BASE OFF ON STATION COUNT “20 1-2 8 4 5 6 ‘SEL TEM BY 1 1 /SEL OPTION BY — => CONFIRM BY CENTER> /RETURN BY ‘Set up the number of robots, use of bases, and the number of stations. Then depress [ENTER] to call up the machine select display. If the group combination which has been made is not possible, an error occurs. 16TLL ttt (2) Contactor Connection Display i CONTACTOR CONNECTION CONTACTOR NUMBER novo : > The cursor position blinks. i anor? ——> Contactor No. 2 is set to BASEL robot 2 as default value. STATION ——> Only existing group axis is STATION displayed. STATIONS, ‘SEL ITEM BY f 4 /SEL OPTION BY <> CONFIRM BY /RETURN BY Depress [ENTER] after setting the contactor number connecting each group axis to call up the select machine display (robot). Note : This display is omitted when the controlled axis is composed of only one robot (without any base or station). (3) Select Machine Display (Robot) — A robot list (1 or 2 models) stored in ROM is displayed, SEL YF y= > /OUNFTRN BY ENTERS _RBTURN BY ‘Depress[ENTER] after selecting the robot (as well as robot 2). 17INITIALIZATION (Cont'd) 18 (4) Select Machine Display (Base) RECT-X : Rectangle X-axis type base RECT-Y : Rectangle Y-axis type base RECT-Z : Rectangle Z-axis type base RECT-XY : Rectatigle XY- axis type base RECT-XZ : Rectangle XZ-axis type base RECT-YZ : Rectangle YZ-axis type base RECPXYZ: Rectangle XYZ- axis type base >t RECT:X ——RECT-XY2 t SEL BY ¢ Y= —/CONFIRM BY Depress [ENTER] after selecting the robot model to call up the axis type display. (Do the same for base 2.) If the sum of axes exceeds 21, an error occurs.LC u Base Type Rectangle-X SESS CARTESIAN ARS “The base axis advance direction coincides withthe robot coordinate Xan, ‘Tho base axis advance diroction coin- ides wih the robot coordinate Yan. 4 CARTESIAN Z-AXIS ‘Tho base axis advance direction coincides withthe robot coordinate Z-axis. Rectangle-XY_ Rectangle-YZ ] ‘CARTESIAN V.AxIS ‘The base Is axis advance direction coineides withthe robot coordinate X-ans and the base 2nd als withthe robot coordinate Y-axis, ‘The base Ist axis advance direction coin- des with the robot coordinate Y-axis and ‘he base 2nd axis with the robot coordinate Zax Rectangle-XZ ‘fe CARTESIAN ARS CARTESIN ZAKS ‘The base {st axis advance direction coin ides with the robot cocedinate X-atls and the base 2nd axis wih the robot coordinate Zax, Rectangle-XYZ| ‘CARTESIAN LAX, CARTESIAN Y-AXIS ‘The base Ist axis advance direction coin- cides with the rb coordinate X-axis, the ‘aso 2nd auis withthe robot coordinate ¥- anis and the base 3rd axis with the robot coordinate Zax 19INITIALIZATION (Cont'd) ——— 20 (6) Select Machine Display (Station) WaCHTHE STATION ‘TURN UNI ‘TURN-2 wNlv-2 uNtv-3 UKIV-4 UKIV-5 uNIV-6 ‘SEL BY 1 }— —/CONFIRW BY RETURK BY TURN-1 : Rotation I-axis type station TURN-2: Rotation 2-axis type station UNIV-1: Universal 1-axis type station UNIV-2: Universal 2-axis type station ‘When any mechanism (rectangle axes, etc.) other than "TURN-1" and “TURN-2" is used as a station axis, select "UNIV". However, when "UNIV" is used, interpolation ‘operation (linear, circular) is not supported. Station Type Tumi STATION 187 AXS STATION 2ND AUS, (ROTATION TABLE} ‘STATION 1ST AXIS (NCLNATION Axis) Depress [ENTER] after selecting "TURN" specification setting display appears. ‘When the model tation, which ani is 10 be the 1st axis orto be the 2nd axis is Aeteraines depending on which axis it Tocatod aie beiom mos. For example, the figure 00 the left, the retain ible i inline by the itlintion therefore, the Inlination axis isan is that is mouated a the baton of te otation table so that is wo be the Itai. ‘The cotation able becomes the 2d axis type for the station, and the mechanism. Depress [ENTER] after selecting "UNTV" type for the station, and the axis type sclect display appears. If the sum of the axes exceeds 21, an error occurs,(6) Axis Type Display (Base, Station) @ Select RECT-* on the select machine (base) display. The following display appears. Axis Type Select Display (Rectangle Type) AXIS TYPE BASEL -> RECT-XY AXIS-ND. 1 RECE-B —RECT-RUP AKIS-NO.2 —RECR+8 —RECT-RAP |» The cursor position blinks. RECT-B : Rectangle axis (ball screw) RECT-R&P : Rectangle axis (rack & pinion) SEL ITEM BY 7 ¥7SEL OPTION BY << CONFIRM BY /RETURN BY Select RECT-B for the rectangle axis by ball screw mechanism and RECT-R & B for that by rack & pinion mechanism. @® Select TURN-# on the select machine (station) display @ Select UNIV-# on the select machine (station) display. The following display appears. Axis Type Select Display (Universal Type) IS TE STATIONL > UNIV-2 AXIS-NO 1 RECP+BRECT-RUP TURN AXIS-NO.2 —RECT-B—RECT-R&P TURN ‘The cursor position blinks. [> RECTB : Rectangle axis (ball screw) RECT-R&P : Rectangle (rack & pinion) ‘TURN : Rotation axis (When RECT is selected on SEL_TTBE BY 1 7/S6U OPTION BY = => the select machine dis- CONFIRM BY /RETURN BY RBCT-X MIS > L AXIS TYPE -> RECT-B —> Model, axis No. and axis type that are currently selected are displayed. —* The cursor position is dis- REDUCTION RATIO (NUMER) REDUCTION RATIO (DENOM) 1.000 played inversely. BALL SCREW PITCH 10. 000 aa/r MOTION RANGE. (++) 0.000 an MOTION RANGE (—) ‘SEL ITEM BY 1 ¥/INPUT MODE BY /RETURN BY Deceleration ratio : Set a value for numerator and denominator, respectively. (Example; Set 1.0 to numerator and 1.0 to denominator for wy Ball screw pitch : Set the moving distance for motor one rotation. (unit : mye) Working range : Set the operation limit position (plus and minus directions) when the home position is assumed to be 0. (unit: mm) Mechanical Specification Display (RECT-R & P Type) WEGHANICAL SPEC STATIONI => UNIV-2 AXIS > 2. | Model, axis No. and axis AXIS TYPE ~> RECT-RAP | type that are currently | selected are displayed. REDUCTION RATIO. (NUMER) 100° | —m®The cursor position is dis- REDUCTION RATIO (DENOM) 120, 000 played inversely. Peo 100, 000 am MOTION RANGE (+) 0.000 om MOTION RANGE (~) ‘SEL FTE BY TT 7INPUT MDE BY ALTER CONFIRM BY. /RETURN BY Deceleration ratio : Set a value for numerator and denominator, respectively. (Example : Set 1.0 to numerator and 120.0 to denominator for 1/120) PCD: Set the pinion diameter. (unit : mm) Working range : Set the operation limit position (plus and minus directions) when the home position is assumed to be 0. (unit : min)Mechanical Specification Display (Rotation Axis Type) NECHANTCAT, SPEC STATIONL => TURK-2 MIS > 1 AXIS TYPE -> TURN —> Model, axis No. and axis type that are currently selected are displayed. REDUCTION RATIO. (NUMER) 100° | —_» The cursor position is dis- REDUCTION RATIO (DENOM) 120.000 played inversely. NOTION RANGE (+) 0,000 deg MOTION RANGE (—) 0.000 dex ‘OFFSET (AXIS#1-#2) 0. 000mm ——> Displayed on the Ist axis display only when the model is of TURN-2 type. ‘SEL_TTEN BY fT 7INPUT MODE BY /RETURN BY Deceleration ratio : Set a value for numerator and denominator, respectively. (Example : Set 1.0 to numerator and 120.0 to denominator for 1120) ‘Working range : Set the operation limit position (plus and minus directions) when the home position is assumed to be 0. (unit: deg.) Offset : Setting is required only when the model is of TURN-2 type. Set the distance between the inclination axis (Ist axis) and the rotation table (2nd axis). (unit: mm) STATION 2NO AXIS (ROTATION TABLE} [STATION 1ST AXIS (RCLNATION 2x5) Depress [ENTER] after selecting the mechanism specifications to call up the display for the next axis. With the last axis, the motor select display appears. 23 osINITIALIZATION (Cont'd) eee ease ee rr CR eee 24 (8) Motor Display (Base, Station) Terminate the mechanical specification display. ‘The following display appears. ~ WOTOR Ee STATIONL > UNIV-2 AXIS > 1 AKIS TYPE — TURN UUSADED=13-¥R21 ‘USAPEN-O7-YR42 USASEM-02-YR32 USAREN-01-YR52 USADED-13-YR41 UsaDED-22-YR32 UsAREN-O2CYR22 ‘USASEN-08-YR61 USAPEM-O7-¥R11 ‘USADED-22-YR41 UUSAREM-01-YR41 ‘USASEN-O8-YR71 —> The group, machine, axis number, and axis type that are currently selected are displayed. “Le A motor list stored in ROM is displayed. ‘SEL WY T Y= —/SEL NEXT PAGE BY > Depress [MORE ]to display the next mode! list. Depress [ENTER] after selecting the motor type to call up the motor select display for the next axis. With the last axis, the motor specification setting display appears. (9) Motor Specification Display (Base, Station) ‘Select the motor type on the motor select display. NOTOR SPEC STATIONL = -> UNIV-2 AS > 1 AXIS TYPE -> RECT-ROP MACHINE TYPE -> USADED-13-YR21 ROTATION (FWD : 0 REV : 1) 0 ‘MOTOR WAX RPM 2000 rea ACCELERATION TINE 0.300 sec INERTIA RATIO 300 BY ALTER ‘CONFIRN BY /RETURN BY Rotating direction : Set the motor rotating direct ‘The following display appears, —> The set values retated to the axis that is currently select- ed are displayed, ——t The cursor position is dis- played inversely. ‘ion at which the current value increases in the plus direction, (The CCW direction viewed from the load side is to be the forward rotating direction.) ‘AC SERVOMOTORMaximum rotating speed : Set the maximum motor rotating speed. (unit : s/min) Accel/decel time : Set the value of the time in which the maximum speed is to be reached from the stop status in the range from 0.01 to 1.00 upon operating at the full link speed (100%). Load inertia ratio : 300 is sét with rectangle axis and 0 is set with rotation axis as an initial value. If any of the following faults occurs after verifi- cation of movement, take the corrective actions as described below. The robot moves unsteadily in the’ proceeding direction during operation. — Increase the load inertia ratio by 100 to verify the movement. Abnormal noise is generated from the motor at stop. + Decrease the load inertia ratio by 100 to verify the movernent. Depress [ENTER] after setting the motor specifications to call up the display for the next axis. With the last axis, the application display appears, @ APPLICATION DISPLAY ‘Terminate the controlled axis display. The following display appears. APL ae GENERAL PURPOSE | 7 > The list of applications is JIG-LESS (2-LASER displayed, ARC ARC LASER CUTTING HANDLING PAINT sor ‘ seat / spoT ' SELBY t 1 /CONFIR BY CENTER ——> If the list of applications is RETURN BY not contained on a single page, depress [MORE] to call up the next page of the list. Depress [ENTER ] after selecting applications to call up the following display.INITIALIZATION (Cont'd) et @ ClO LADDER DISPLAY CHO LADDER ane GENERAL PURPOSE ——> The list of ladders is dis- JIG-Less c2-LASER played. ARC + ARC LASER CUTTING HANDLING PAINT | seor ' SPOT / POT ' SEO T= /ONFIRN BY CENTERS — (RETURN BY | If the number of applica- tions has been set to 1, wor ae APPL 2 is not displayed PLL se erage yystem as only one ME eeeeeeerr eee eee robot, ROBOT 2 is not dis- SEL We BY {1 /SEL OPTION BY — => Played. CONFIRM BY_ENTER> /RETURN BY Depress [ENTER] after setting, ‘The neat display appears. U @ 10 MODULE DISPLAY TO wODULES Tae] Da waioor |oIO-x = Gu SLOT-L d10-16 peo suor-2 10-32 Moot [oto x | sor- NINE | suor-« NINE 4 jeeete AeWoL-L Number indicates point of contacts. (_COMPIR BY /RETURN BY Verify that the display matches the /O module implementation, then depress [ENTER to call up the following display. Automatic setup may or may not be availabic depending on the I/O module settings, If not, "AUTOMATIC SETTING IMPOSSI- BLE" is displayed. @ SENSOR FUNCTION DISPLAY ‘SENSOR FUNCTION ‘SENSOR BOARD 1 > COM-ARC —> If sensor boards are mount- ‘SENSOR BOARD 2 —> NONE ed, their functions are dis- played. CCONFIRY BY ENTE Verify that the display matches the sensor board implementation, then depress ENTER] to call up the following display. @ ROBOT SENSOR OPTION DISPLAY Depress [ENTER] on the sensor function display. ‘The following display appears only when the sensor board is mounted. ROBOT SENSOR OPTION Ropott SENSOR BOARD 1 USED NOT USED SENSOR BOARD 2 USED D Ropor SENSOR BOARD 1 USED. NOTUSED. SENSOR BOARD 2 USED —_NOT-USED _[P™ Not displayed unless sensor board 2 exists. —> Not displayed unless robot exists. SEL ITEM BY f 17SEL OPTION BY — > CONFIRM. BY /RETURN BY Depress, after setting. The following display appears. 27 5INITIALIZATION (Cont'd) @ OP DISPLAY i roe Sw en > ov 4 LANGUAGE 1 > aNESE 5 LANGUAGE 2 > ENGLISH oe se NOT USED | me #4 ‘SEL ITEM BY < > 7C RETURN BY *1 OFF when MIFO2 board does not exist. “2 OFF when OP is not connected. “3. The language incorporated into ROM of the operation panel is displayed only when the OP is connected. *4 Displayed only when OP is connected. Verify that the display matches the MIFO2 board and OP implementation, then depress [ENTER]to call up the following display. To disconnect the OP from the system, sclect NOT USED. Note : If the languages that have been selected on the first and second language select displays (Par. 3.1) are not stored in OP ROM, an OP language collation error is output @ CMOS MEMORY DISPLAY (COS MEMORY esa CMOS Menery | capaci AVAILABLE ~> 256K8 Mounted Sas _ HW CAPACITY -> 25648 or 2B Musioi- Bou Added | 3 MB CONFIRM BY /RETURN BY Depress [ENTER] after verifying that the display is the same as CMOS memory mounted status. The following display appears. 28@ CALENDAR DISPLAY CADENA : DATE = 190K OF —> Year, Month, Day CUck 12,34 —m Hour, Minute [SEL TTEM BY 4 7INPOT NODE BY /RETURN BY RETURN BY ‘The procedure above completes initialization. Reset the rotary switch to 0 and tum power OFF to ON again, 29 Hl30 MODIFICATION ‘To change part of system configuration after execution of initialization, select ‘SYSTEM CONFIGURATION INITIALIZE woney DISPLAY MODIFY] . Succeeding displays are the same as those that appeared in initialization procedure, except that current settings are displayed are on the former. |» MODIFY and DISPLAY can be selected only after initialization. ‘SEL BY 7 0 7EKEC BY For modifying the system configuration, select tion display. EANOUAGE: CUSTOMER OPTION CONTROLLED AXES CUSTOMER MECHANISM APPL + 10 MODULES ' ‘SENSOR FUNCTION ‘ e ' t + MODIFY] on the system configura- SEL BY 1 + 7EKEC BY Depress [ENTER] after selecting the item. Each item modification display appears.(1) Changing Languages Language 1 and 2 can be changed on the language displays. The displays are the same as those appeared in initialization procedure. (2) Changing Controlled Axes ‘To change controlled axes, perform the same procedure as that of initialization. * Note that all the robot, base, and station parameters (of all controlled axes groups) are initialized by the procedure. * When the controlled axes configuration is changed because of addition of base or station axes, the job data internal form is also changed. Therefore, job data initial- ization is required. Initialize the job data following the above-mentioned changing operation * When a set value such as working range is changed after addition of base or station axes, job data does not have to be initialized again since the controlled axes config- uration does not change. (8) Changing Application Application setting is changed in the following procedures. * The displays are the same as those appeared in Select APPL on the Modification Display. + Application Select Display 4 Robot Application Option Display 4 Completion (Return to the System Configuration Display.) Changing application settings will not initialize CIO ladders, Ini ‘on the file initialization display if necessary. (4) Changing YO Modules ‘The displays are the same as that which appeared in initialization procedure, except that after ENTER ]is depressed a message appears asking change. Return YES to the message and depress fo start automatic setting of the CIO parameters according to the current hardware implementation. If the parameters could not be set up, "AUTOMATIC SETUP IMPOSSIBLE" is dis- played, 31 ie)32 MODIFICATION (Cont'd) (5) Modifying Sensor Function ‘The displays are the same as those appeared in initialization procedure. Select SENSOR FUNCTION on the Modification Display. + Sensor Function Display Robot Application Sensor Display Verification of execution ‘Completion (Retum to the Modification Display.) (6) Modifying OP Setting ‘The display is the same as those appeared in initialization procedure, except that after [ENTER ] is depressed a message appears asking modification. Retum YES to the message and depress to start automatic setting of the sys- tem parameters according to the current hardware implementation.(7) Modifying Customer Option Select CUSTOMER OPTION on the modification display. The following display spears CUSTER OPTION ; EMOTE FUNCTION 10 wed Nor use coma USED NOT USED a ) ARC WELDING STANDARD” ENRANCED SEL ITEM BY f 4 7861 OPTION BY = + EXEC BY CENTER>/RETURN BY Depress [ENTER] after setting is modified. ‘The shown below. —> Displayed only when ARC WELDING is selected. neluding arctarc and jig- less) verification message is displayed as CUSTOMER OPTION REMOTE FUNCTION 10 USED NOT USED COMMAND USED NOT USED PP/PEOX USED NOT’ USED ARC WELDING ‘STANDARD ENHANCED INITIALIZE RELATED FILES [ARE YOU_SURE? ¥ No ‘SEL BY — —/CONFIR HY CENTER Depress [ENTER] after selecting YES in the verification message. ‘The system para- meter is changed according to the setting status of the display. Note : Only when the are welding function sett ing is modified, the welding starting condition file and ending condition file are initialized, When the COM-ARC function is validated, the arc welding function cannot be set to ENHANCED. 33 mMODIFICATION (Cont'd) (8) Modifying Customer Mechanism Select CUSTOMER MECHANISM on the modification display. The following dis- play appears. CUSTOMER NECHANTS ROOT: RopoTe SEL BY f 4 AXE BY TARTS OFFSET ROBOTL > K506-C30 OFFSET (K-DIRECTION) 0:00: m0 OFFSET (Y-DIRECTION) 260. 000 am OFFSET (ANGLE) 0.000 deg SEL TEN BY 7 1 7INPUT MODE BY —- Selectable only for models containing customer mecha- nism such as K506-C30, Select the ROBOT ! or ROBOT 2. The following display appears. Select the item to be modified by using[T lor land input the value to be in the numerical input mode. Depress [ENTER] after inputting the data. The data is set and the mode changes to previous mode.To display the system configuration status, select DISPLAY on the system configura- tion display. ‘SYSTEN CONFIGURATION INITIALILE wooly DISPLAY RETURN BY @ Language Display TANGUAGE LANGUAGE 1 -> ENGLISH LANGUAGE 2 > JAPANESE RETURN BY —> MODIFY and DISPLAY ‘can be selected only after execution of initialization. Depress [ENTER] after selecting an item. ‘The display of each item appears. 35DISPLAY (Cont'd) © Controlled Axes Display ‘The controlled axes setting status can be displayed on the following display. CONTROLLED AXES ‘CONTACTOR roBOT BASE STATION SEL BY 1 EXEC BY Depress [ENTER] after selecting a group. ‘The display of cach group appears. (1) Contactor Connection Display U “The displays are the same as those appeared in initialization procedure. (2) Robot Setting Status Display f ‘ROBOT | ROBOTL => KLO-A00 —> The model that is currently | moor? > NE set is displayed | | i CG RETURN BY (8) Base Setting Status Display TSE = CG BASEL > RECT-X — > The model that is currently BASE > NONE set is displayed. (The cursor position is dis- played inversely.) ‘SEL BY fF /DISP DETATL BY 36d (4) Display of Station Setting Status STATION a STATION ==> TUREL © STATION2 ==> NONE STATIONS ==> NON. STATIONS == > NONE STATIONS = -> NONE STATIONS ==> NONE Sal BY FV /DISP DBTATL BY ENTER RETURN BY Select a station number to call up the following ‘STATION | starioy, > uNiv-2 -AXTS-NO. L ->! RECT RAR AXTS-NO, 2 -> TURN AXIS-NO. 3 —> NONE AXTS-NO. 4 => NONE AXIS-NO, 5 —> NONE. AXIS-NO, 6 => ONE AXIS-NO.7 -> NONE AXIS-NO. 8 -> NONE ‘SEL BY + | /DISP DETAIL BY CENTERS Select an axis to call up the following display. STATION. -> UNIV-2 AXIS > 1 AXIS TYPE -> RECT-REP MECHANICAL SPEC: ‘MOTOR SPEC RETURN BY ARIS SPEC ‘SELBY U7OTSP DETATL BY CENTERS RETURN BY The model being set is dis- played. (The cursor position is displayed inversely.) splay —> The axis type being set is displayed. (The cursor position is dis- played inversely.) 37DISPLAY (Cont'd) 38 Mech: al Specification Display WECHANTCAT, SPEC STATION. => UNIV-2 MIS > 1 AKIS TYPE > RECT-RAP REDUCTION RATIO (NUMBER) 1.000 REDUCTION RATIO (DENOM) 120, 000, Peo 0.000 am MOTION RANGE C+) 0.000 om MOTION RANGE (~) 0.000 om RETURN BY play. ‘The following display appears. Motor Specification Display WOTOR SPEC STATION. — => UNIV-2 AIS > 1 AXIS TYPE ~> RECT-R&P MACHINE TYPE -> USADED-13-YR21 ROTATION (FWD : 0 REY : 1) 0 MOTOR MAX RPM 3000 rpm ACCELERATION TIME 0.300 sec INERTIA RATIO 300 RETURN BY © Application Display ‘SENSOR BOARD 1-> COM-ARC ‘SENSOR BOARD 2-> NONE Rosati SENSOR BOARD 1-> USED SENSOR BOARD 2-> NOT USED RosoT2, SENSOR BOARD {> NOT USED SENSOR BOARD 2-> USED ‘SENSOR FUNCTION RETURN BY . Depress [CANCEL] to retum to the display. —> The currently set value is displayed, Depress. after selecting the motor specification on the axis specification dis- ——»> The currently set value is displayed. ‘The application setting status can be observed on the application display. —> Not displayed unless appli- cation 2 exists. —> Not displayed unless robot exists.@ V0 Module ‘The 1/0 module setting status can be observed on the I/O module display. 10 MODULES are boas —r The cuiont parameter set é ti slor 3 NONE. ing status is displayed. slot 4 NONE i SLOT 5 weWL-L RETURN BY Depress [CANCEL] to retum to the display. @ Sensor Function Display ‘The sensor function setting status can be displayed on the sensor function display. ‘SENSOR FUNCTION ‘SENSOR BOARD 1-> COM-ARC ‘SENSOR BOARD 2-> NONE ROBOT 1 ‘SENSOR BOARD 1-> USED SENSOR BOARD 2-> NOT USED roBoT 2 ‘SENSOR BOARD 1-> NOT USED ‘SENSOR BOARD 2-> USED —> Not displayed unless robot exists. —*> Not displayed unless appli- cation 2 exists. RETURN BY DISPLAY (Cont'd) @op ‘The OP setting status can be displayed on the OP display. oF 1F02 > OK 1 oe > OK 2 LANGUAGE 1 -> JAPANESE 3 LANGUAGE 2 => ENGLISH . | | SED NOT USED 4 1 *1 OFF when MIFO2 board does not exist *2_ OFF when OP is not connected. 3. The language incorporated into ROM of the operation panel is displayed only CU when OP is connected *4 Displayed only when OP is connected Depress [CANCEL] to return to the display. @ CMOS Memory ‘The CMOS memory setting status can be observed on the CMOS memory display. Os MENORT AVAILABLE => 256KB HW CAPACITY => 256KB RETURN BY Go Depress [CANCEL] to return to the display. 40@ Customer Option ‘The customer option setting status can be observed on the customer option display. CUSTOMER OPTTON REMOTE FUNCTION 10 COvMMAND PP/PROX ARC WELDING USD NOT USED Use NOT“USED USED AGT: USED STANDARD ENHANCED RETURN BY Depress [CANCEL] to retum to the display. ‘@ Customer Mechanism ‘The customer mechanism setting status can be observed on the customer mechanism, display, aOPERATION EXAMPLE Initializing a Cooperative System In the example below, robot 1 is assigned to K30-A411 (KSOSX) for holding work- pieces and robot 2 to K6-A301 (K6S) for are welding. Se ‘Set the rotary switch to 7 and tum ON power. The following display appears. YASNAC-MRC MAINTENANCE MODE LANGUAGE JAPANESE ENGLISH SEL BY = —>/CONFIRM BY Select either JAPANESE or ENGLISH and depress [ENTER] . The following display appears. a EE SS Seay ‘Maintenance Mode Display ‘WATRTENANCE WODE ‘SETUP: SYSTEM. SYSTEM VERSION HARDWARE DIAGNOSTICS SELBY ¢ V7ENEC BY CENTERS Select SETUP SYSTEM to call up the following display. 42ESSE System Setup Display SETUP SYST = ‘SYSTEM CONFICURATION INITIALIZE FILES TNITIALIZE ROW FILE ‘SEL BY + V7ENEC BY Select SYSTEM CONFIGURATION to call up System Configuration Display SYSTEM CONFIGURATION IWETIALIZE wnnirY DISPLAY the following display. Ca eS Sse aaa SEL BY 1 /EXRC BY The list of selectable lan- ‘auages is displayed. RRR RHEE ~TANGLAGE 2 ARRANESE ENGLISH Peeery SEL BY 1 =~ —-7EKEC BY Depress after selecting LANGUAGE | to call up the following display. of selectable lan- guages is displayed. HERR EE SEL BY t= 7EKEC BY Depress [ENTER] after selecting LANGUAGE 2 to call up the following display.ee Controlled Axes Configuration Display ‘ARES CONFIGURATION opor COUNT 1 BASEL oe BASE OFF STATION COUT «12-345 6 ‘Set ROBOT COUNT to "2" (BASE-I and -2 : "OFF", STATION COUNT : “0") and depress [ENTER ]to call up the following display. 7 ‘Contactor Connection Display Rosati RowoT2 RETURN BY CONTACTOR CONNECTION ‘CONTACTOR NUMBER ¥ 1 ‘SEL BY FT /CONFIRM BY Select the mode! "K30-A41" for ROBOT 1, and depress [ENTER] . The ROBOT 2 machine display appears. SEL BY ft + /CNFIRN BY ENTER RETURN BY Select the model "K6-A30" for ROBOT 2 and depress [ENTER]. The following dis- play appears.aa Application Display PL = ARC GENERAL PURPOSE | Hostess (c02-LASER ARCHARE LASER CUTTING ‘ HANDLING PAINT 5 seoT :* oa SPOT/SPOT * CU SEL BY TV = ~/CONFIRIE BY Depress [ENTER ] after selecting JIG-LESS. The following display appears. u see CIO Ladder Display C0 LADDER ARC GENERAL PURPOSE JIG=LESS CO2-LASER ARCEARC LASER CUTTING HANDLING PAINT spot * SPOT/SPOT * SEL BY t = —/CONFIRM BY RETURN BY Depress [ENTER] after selecting JIG-LESS for CIO tadder application. The follow- ing display appears. 47DISPLAY (Cont'd) ee Robot Application Option Display ROBOT APPL. OPTION = ROBOT! APPL 1 = USED NOE USED ‘opoT2 APPL 1 USED NOT USED ‘SEL TTY BY f + /SEL OPTION BY ~ — CONFIRM BY /RETURN BY Set application 1 of robot 1 to NOT USED, application 1 of robot 2 to USED, and depress [ENTER]. The following display appears. 2 10 Module Display 10 wOOULES SLOT-1 vio16 SLOT-2 1032 SLOT-3 Ne sLor-4 NONE SLOT-5 WoL CONFIRM BY ENTER>/RETURN BY Verify that the display matches the I/O module implementation, then depress ‘The following display appears. 48Sensor Function Display ‘SENSOR FUNCTION ‘SENSOR BOARD 1 -> NONE ‘SENSOR BOARD 2 -> NONE CONFIRM BY /RETURN BY Verify that the display matches sensor board implementation, then depress The following display appears. Se OP Display CONFIRM BY /RETURN BY Verify that the display matches the IF02 board and OP connection, then depress ENTER]. The following display appears. 49 |DISPLAY (Cont'd) SSeS CMOS Memory Display (CHOS MEMORY AVAILABLE > 256KB HW CAPACITY -> 258KB CONFIRM BY /RETURN BY /RETURN BY Depress [ENTER] after setting date and time. The following display appears.‘System Configuration Execution Check Display ‘SYSTEM CONFTGURATTON 7) EXEC INITIALIZATION TARE YOO SURE? YW © ‘SEL BY = —>/CONPIRN BY ( Depress [ENTER after selecting "YES". The CMOS memory contents are initialized and the following display appears. SSS System Configuration Display ‘SYSTEM CONFIGURATION INETIALIZE MODIFY DISPLAY SEL BY f 4 /BXEC BY The above procedures complete initialization, GO HL }}©.LCmCOCCCCC ‘Tum the power OFF to ON. 512.3 FILE INITIALIZATION W@ SELECTING FILES TO INITIALIZE 52 ‘Select files to initialize on the file initiatization display before starting initialization. (2) To initialize parameter fites, refer to "Initializing Parameter Files”. (2) To initialize condition files, refer to “Initializing Condition Files”. (3) To initialize name files, refer to "Initializing Name Files ". (4) To initialize system data files, refer to "Initializing System Data Files". (5) To Initialize CIO ladders, refer to "Initializing CIO Ladders" (6) To Initialize other resources, refer to "Initializing Other Files”. (7) Ifeither ALL FILES or JOB DATA are selected, a message appears asking to ini- tialize them. Afier selecting YES, they will be initialized, TNITIALTZ® FILES ALL FILES —> Move the cursor to the files PARAVETER PILES to initialize then depress CONDITION FILES [ENTER], A message appears NAME FILES asking to initialize them. SYSTEM DATA FILES. After selecting YES, depress 308 DATA [ENTER]. ‘Then the selected CIO LADDER all be initial a files will be initialized. | SEL BY t | 7BXEC BY When the job data are initialized, the following files are also initialized. + Position variable data + User coordinate files * Robot calibration files * Tool calibration files _INITIALIZING PARAMETER FILES By selecting PARAMETER FILES on the file initialization display, the parameter file selection display appears. PARAMETER FILES aw eus: —> Move the cursor to the files to initialize then depress ENTER]. A message appears asking to initialize them. After selecting YES, depress[ ENTER |. Then the selected files will be ini- tialized, |Mf INITIALIZING CONDITION FILES Select CONDITION FILES on the file it file select display. : (1) If any of ALL FILES, TOOL FILE, USER COORDINATE FILE, WEAVING FILE or WRIST WEAVING AMPLITUDE FILE is selected, a message appears asking to initialize it. After selecting YES, the selected files will be initialized. (2) If OTHER FILE is selected, the condition file select display (other files) appears. ization display to call up the condition CoNOTTTOW FILES Move the cursor to the files — to initialize then depress ENTER]. A message appears asking to initialize them, After selecting YES, depress [ENTER]. Then the selected files will be ini- tialized. ALL PILES: TOOL FILE ‘USER COORDINATE FILE WEAVING FILE WRIST WEAVING AMPLITUDE FILE OTR FILE ‘SEL BY 1 4 7EXBC BY RETURN BY If OTHER FILE are selected on the condition file select display, the condition file select display (other files) shown below appears. (1) If either ALL FILES or CUTTING CONDITION FILE is selected, a message appears asking to initialize it. After selecting YES, the selected files will be ini- tialized. (2) If other options are selected, the corresponding file select display appears. CONDITION FILES Selectable only at arc appli- ALL RILES: cation Parent Selectable only at COM- (COM-ARC FILE ! ‘CUTTING CONDITION FILE ARC setting (02 LASER FILE Selectable only at laser cut- PAINT FILE ting application Selectable only at CO2 laser application ‘SEL BY ft $/EXBC BY RETURN BY Selectable only at painting applicationee Initializing Welding Files Select WELDING FILES on the condition file select display to call up the welding file select display. s WELDING FILES ACL PIRES ——> Move the cursor to the files WOLD MACHINE CHARACTERISTICS FILE to initialize then depress WELD MACHINE CHARACTERISTICS INIT FILE ENTER]. A message ARG START CONDITION PILE appears asking to initialize ARC QUIT CONDITION FILE them. After selecting YES, ‘ARC CONDITION AUXILIARY PILE depress [ENTER] . Then MULTI-LAYER WELD CONDITION FILE the selected files will be ini- tialized. SEL BY + 0 /EXBC BY Note : Multi-layer condition file is i only when CMOS extension memory is mounted. ABH iE ete SHER Sta EET Initializing COM-ARC Files Select COM-ARC FILE on the condition file select display to call up the COM-ARC file select display. CON-ARC FILE ALL: BILE: —> Move the cursor to the files CCOM-ARC CONDITION PILE to initialize then depress CON-ARC DATA FILE ENTER]. A message PHASE OFFSET DATA FILE-1 appears asking to initialize PHASE OFFSET DATA FILE-2 them. After selecting YES, PATH CORRECT CONDITION ILE depress [ENTER]. Then the selected files will be ini- tialized. SBL BY t 4 /EXEC BY RETURN BY_ 55 ~)INITIALIZING CONDITION FILES (Cont'd) 56 Meee Initializing CO2 Laser File Select CO2 LASER FILE on the condition file select display to call up the CO2 laser file select display. CG TASER FICE ALL:FILES —® Move the cursor to the files LASER PROCESSING CONDITION FILE to initialize then depress PIERCING CONDITION FILE ENTER] . A message ‘ULTRA PIERCING CONDITION FILE ‘appears asking to initialize CUTTNG CONDITION FILE them, After selecting YES, depress [ENTER]. Then the selected files will be ini- tialized. ‘SEL BY f+ /EXEC BY CENTERS RETURN BY Move the cursor to the files PAINT GUN FILE to initialize then depress PAINT CONDITION FILE ENTER]. A message appears asking to initialize them. After selecting YES, depress [ENTER]. Then the selected files will be ini- tialized. RETURN BY g z 2i INITIALIZING NAME FILES Select NAME FILES on the file initializing display to call up the name file select dis- play. Wa FILES ALL FILES: RESERVE JOB KAME FILE UNIVERSAL IN/OUT SIGNAL NAME FILE USER VARIABLE NAME FILE SEL BY ¥ 1 /ENEC BY Move the cursor to the files to initialize then depress ‘A message appears asking to initialize them. After selecting YES, depress[ ENTER] . Then the selected files will be ini- tialized. 57 iw)@ INITIALIZING ClO LADDERS Select CIO LADDER on the file initialization display to call up the CIO ladder select, display. (1) A list of applications is displayed on which the current selected application is dis- played inversely. (2) If the list is not contained on a single page, "DEPRESS MORE FOR NEXT PAGE" is displayed, : C10 LADDER ae GENERAL PURPOSE |» Move the cursor to the files, J1G-LESS (cO2-LASER to initialize then depress anceARC LASER CUTTING ENTER]. A message app- HANDLING PAINT ears asking to initialize sPoT * them. After selecting YES, ‘SPOT/SPOT * depress [ENTER]. Then the selected files will be ini- ‘SEL BY f+ /CONFIRW BY tialized. RETURN BY Wf INITIALIZING OTHER FILES Select OTHER FILE on the file initialization display to call up the other file select display. SSS SSS Select the files to initialize. OnMER FILE VISION FILE: CONVEYOR CHARACTERISTICS FILE INTERRUPT JOB TABLE > Move the cursor to the files to initialize then depress A message appears asking to initialize them. After selecting YES, depress [ENTER]. Then the selected files will be ini- tialized. SEL BY 1 4 7EKEC BY CENTER _RETURN BY Move the curso ta the files TEMPLATE FILE to initialize then depress SITUATION FILE ENTER]. A message ‘CALIBRATION PILE USER COORDINATE FILE IMAGE DATA FILE LINE FILE appears asking to initialize them. After selecting YES, depress [ENTER]. Then the selected files will be ini- aa tialized. ‘SEL BY + U7ENEC BY 59 i)2.4 INITIALIZATION OF ROM FILES W@ SELECTING ROM FILES TO BE INITIALIZED (1) To initialize WELDING FILES, refer to "Init Select files to be initialized on the ROM file initialization display and depress itializing Welding Files", (@) If ALL FILES are selected, a message appears asking to initialize them, After selecting YES, the selected files will be initialized. INITIALIZE ROM F ALLPILES WELDING FILES ‘Sel BY 1 1 EXEC BY CENTS RETURN BY Wl INITIALIZING WELDING FILES Select WELDING FILES on the ROM file init ing file select display. WELDING FILES ALL FILES: ARC START CONDITION GUIDE FILE ARC QUIT CONDITION GUIDE FILE —> Move the cursor to the files to initialize then depress ENTER]. A appears asking to i them. After selecting YES, depress [ENTER]. Then the selected files will be ini- tialized. alization display to call up the weld- > Move the cursor to the files to initialize then depress ENTER]. A message appears asking to initialize them. After selecting YES, SEL BY 4 /ENEC BY Select processing by using ‘SERVO-PACK VERSION FJ or [7] and depress v ENTER) seed [Sai ay tT 7exec BY (peur By 623.2 BOARD ROM VERSION Select BOARD ROM VERSION on the system version check display to call up the board ROM version display. TOARDS VERSION FRM -1, 0 = 1» Version of parameter ROM cP02->12.94. SieI->12.34/8.67 FP 1.28 is displayed. SHV SV2ONINE OP 123K sui sv80-N6 1F02->12. 31. | —e Version of board! ROMS are sue site asi displayed. asi sits asi way it ws She | Emerton ar cHOl>12.94_svA7 Snowe | Notows TFOL->12.34_RSRW >? | Bro on U2 bows Bink | Faamer nase Oo RETURN BY i * For SV, a ROM version is displayed in a format of DSP/monitor CPU. u 3.3 SERVOPACK ROM VERSION Select SERVO-PACK VERSION on the system version check display to call up the SERVOPACK ROM version display. sve1-2->000 sv¥i-32000 | Versions of SERVOPACK S¥#2-2-0000 $1#2-3-2000 ROMs are displayed SV88-2001 $4¥9-32NG SVE4-2-7N0NE SVE4-3->NONE S52 SVH5-3 Sv6-2 446-3 Tae Cc sir? SHI Comet oe Notewd Econ CPO oad RETURN BY Parner att Fa 899 63SECTION 4 . ALARM OF ONLINE MODE AT POWER ON 4.1 OUTLINE 66, 4.2. LIST OF PRE-ONLINE MODE ALARMS 0 43 ALARM DISPLAY 1 ALARMS CAUSED BY HARDWARE ERROR, n ALARMS CAUSED BY CMOS ERROR 80 ALARMS CAUSED BY SYSTEM CONFIGURATION ERROR 82 OTHER ALARMS 86 654.1 OUTLINE If the MRC system starts up in standard or simulated online mode, the following pro- cedure is executed immediately after power is turned ON. Provided that the entire procedure is completed normally, the system gets ready in either online mode. If an error occurs during the.startup procedure, an alarm display appears and the sys- tem stops. (In simulated online mode, the procedure can be restarted by depress- ing [CANCEL ].) Standard/Forced Online Mode Startup Procedure Power ON + (CPU response-ready status read (A-bus/S-bus CPU exchange) 4 CIO board presence check If failed — "0" display on 7-segment LED of MCPOI board PP data link setup If failed + "F" display on 7-segment LED of MCPO1 board + PP initial display + CMOS communication area clear + General-purpose output area 1 Parameter file sum check If failed = Alarm 200 (parameters lost) 4 CPU board insertion status check (on all CPUs) If failed > Alarm 10 (CPU board insertion error) + ‘A-bus shared RAM test (on MCPO1) If failed —> Alarm 60 (A-bus shared RAM error) 4 S-bus 2-port RAM test (on MCPO1) If failed + Alarm 80 (S-bus 2-port RAM error) + CPU communication test (on MCPO2, MIFOI, and MIFO2) If failed > Alarm 20 (CPU communication error) + OP data fink setup If failed + Alarm 20 (CPU communication error) + OP initial display 4 D-bus 2-port RAM test (on MCP02) If failed + Alarm 70 (D-bus 2-port RAM error) + tialization 66CMOS memory capacity collation If failed Alarm 310 (CMOS memory capacity collation error)| + Job File recovery + Job file sum check If failed — Alarm 220 (job management data lost) CIO ladder intermediate code sum check If failed + Alarm 230 (CIO ladders lost) + System configuration data sum check If failed + Alarm 210 (system configuration data lost) + ‘Axis board setting collation If failed -> Alarm 300 (system configuration data collation error)| Language collation If failed — Alarm 300 (system configuration data collation error)| + Application setting parameter collation check Tf failed —* Atarm 360 (application setting collation error) + CPU communication test (on all CPUs) If faited -> Alarm 20 (CPU communication error) + ROM test (on all CPUs) If failed ~+ Alarm 30 (ROM error) + Local RAM test (on all CPUs) If failed —+ Alarm 40 (local RAM error) + RTC test (on all CPUs) If failed + Alarm 50 (RTC error) + ‘A-bus shared RAM test (on MCPO1, MCPO2 and MIFO2) If failed + Alarm 60 (A-bus shared RAM error) . ‘ D-bus 2-port RAM test (on MSV) If failed + Alarm 70 (D-bus 2-port RAM error) 4 Parameter transmission (on MIFO1 and MSV) If failed ~+ Alarm 400 (parameter transmission error) 4 CIO parameter consistency check If failed > Alarm 330 (parameter error) ‘ 67