RCX3 User Manual

Original instructions
YAMAHA 4-AXIS/2-AXIS ROBOT CONTROLLER
RCX 3 Series User’s Manual
RCX340/RCX320
EUR819C201
Ver. 2.01 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
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 I/O interface

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

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

1. Overview 6-1
1.1 Communication overview 6-1
1.2 ONLINE and OFFLINE modes 6-2
1.3 Character code 6-3
2. RS-232C 6-4
2.1 Connectors and cables 6-4
2.2 Communication specifications 6-5
2.3 Connections 6-5
2.4 Communication parameter setting 6-6
2.5 Communication flow control 6-7
2.5.1 Flow control during transmit 6-7
2.5.2 Flow control during receive 6-7
2.6 Other caution items 6-8
3. Ethernet 6-9
3.3 Connections 6-12
3.4 Parameter setting on controller (server) 6-13
3.4.1 Setting the communication mode and parameters 6-14
3.4.2 Initializing communication parameters 6-14
3.5 System setting on personal computer (client) 6-15
3.5.1 Setting the TCP/IP protocol 6-15
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User’s Manual
3.6 Connection check using "Ping" 6-16

3.7 Communication example using "TELNET.EXE" 6-17
3.8 Appendix 6-18
3.8.1 Example of network system configuration 6-18
3.8.2 Glossary 6-21
4. General Ethernet port (GEP) 6-23

4.1 GEP parameter setting 6-23
4.2 GEP parameter setting method 6-24
4.3 Initializing communication parameters 6-25
Chapter 7 Controller system settings

1. Overview 7-1
2. History 7-1
3. Check 7-2
4. Property 7-2
4.1 Robot information 7-2
4.2 Option information 7-3
4.3 Clock 7-3
4.4 Version 7-3
4.5 Configuration 7-4
5. USB memory operation 7-4

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

6.1 Changing the access level 7-6
7. Safety setting 7-7
8. Initialize 7-8
8.1 Initializing the data 7-8
8.2 Setting the clock 7-9
9. Generation 7-10
10. Parameters 7-10

10.1 Parameter setting conditions 7-10
10.2 Setting the parameters 7-10
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User’s Manual
10.3 Parameter list 7-12

10.4 Controller parameters 7-16
10.5 Robot parameters 7-19
10.6 Axis parameters 7-22
10.7 I/O parameters 7-30
10.8 Option board related parameters 7-32
Chapter 8 Periodic inspection

1. Before carrying out work 8-1
2. Maintenance parts 8-1
3. Periodic inspections 8-2

3.1 Daily inspections 8-2
3.2 Three-month inspections 8-3
4. Replacing the absolute battery 8-3
5. Replacing the memory battery 8-4
Chapter 9 Specifications
1. Controller 9-1
1.1 Specifications 9-1
1.2 Basic functions 9-3
1.3.1 RCX340 9-4
1.3.2 RCX320 9-4
2. Programming box 9-5

2.1 Basic specifications 9-5
3. Regenerative unit 9-6

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
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User’s Manual
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-18
[ 4] Alarm related to the data input A-20
[ 5] Alarm related to the syntax of the robot language (compile) A-21
[ 6] Alarm related to the robot language execution A-28
[ 9] Alarm related to the memory A-38
[10] Alarm related to the environment and general hardware A-41
[12] Alarm related to the option board A-44
[14] Alarm related to the communication A-52
[17] Alarm related to the motor control A-55
[19] Alarm related to the YC-Link/E A-61
[20] Alarm related to the iVY2 system A-64
[21] Serious alarm related to software A-72
[22] Serious alarm related to hardware A-73
[26] Alarm related to the gripper A-76
[28] Alarm related to the driver I/F A-80
5. Warning number A-81

[ c] Warning A-81
6. Alarm messages related to the programming box A-83
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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
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
The following manuals are included in the disk that comes supplied with the YAMAHA robot or controller.
Safety Countermeasures
Safety instructions
Describes the method of safe and correct operation for controller and robot.
Controller
Operator’s manual
Describes robot operation and standard parameters.
User’s manual; this manual
Describes how to install, connect, and set the controller.
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
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 compliance, refer to the "Safety standards application guide".
Additionally, to make the system applicable to the CE marking, see the 'Specifications' in this manual.
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 the operator’s manual.
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

2.1 Emergency stop release and alarm reset 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 5, "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 5, "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 the RCX 3 series operator’s manual 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 4 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 the RCX 3 series operator’s manual for details about servo on operation.
6 Perform return-to-origin.
Refer to the RCX 3 series operator’s manual 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 8 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
3.2 Basic key operation 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 the RCX 3 series operator's manual.
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 4, "I/O interface" for details on expansion I/O boards.
2-8
4. Basic sequence from installation to operation
OP … Operator’s manual
Basic procedure Refer to:
Installation, connection and wiring
Install the controller. Chapter 3 1. Transport, unpacking
~
10. Precautions for cable routing
and installation
• Ground the controller.
• Make cable and connector connections.
• Configure an emergency stop circuit. Chapter 4 I/O interface
Refer to each serial I/O user's manuals
System overview
When a serial I/O board is installed: for details.
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 7 Controller system settings
Robot type check
the robot that is actually connected. 10.5 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. 10.6 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 OP

the controller. Chapter 3 5. Return-to-origin
* 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 7 Controller system settings
Data setting
OP
Point data editing Create or edit point data according to the robot operation. Chapter 4 1. Point editing
Create programs according to the robot operation. OP 2. Program editing

Programming * Programming is not necessary when the program such as Chapter 4 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.
OP
Chapter 3 4. Automatic operation
Operation
OP
Start operation. Chapter 3 4. 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
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.
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.
3-9
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 8 “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 4, "I/O interface" or Chapter 5,
"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 "10.8 Option board
related parameters" in Chapter 7 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 I/O interface

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

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 4
NOTE
The dedicated inputs are limited to ensure the safety during manual operation of the robot.
Specifications Connector name Connector type number Wire thickness
I/O interface
Connector shell: KBH-M4425-00
Dedicated 8
Input
General-purpose 16
Standard
STD.DIO
specifications
Dedicated 9
Output AWG30 to 24
General-purpose 8
Connector plug: KBH-M4424-00
Input 24 (Max. 96)
Expanded
EXP.DIO
specifications
Output 16 (Max. 64)
■ ■ Parallel I/O board
Power connector
Parallel I/O connector
4-1
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
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.
I/O interface
•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
Terminal 1
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.
4-2
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
4
1. Push the finger operation lever 2. Insert the electric wire all the way 3. Release the operation lever.
I/O interface
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.
4-3
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
4
8 DI 20 General-purpose input 20
I/O interface
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.
26 DI 12 Dedicated input: Automatic operation start
28 DI 14 Dedicated input: Return-to-origin (for INC axis)
29 DI 15 Dedicated input: Program reset input
30 DI 16 Dedicated input: Alarm reset input
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
4-4
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
4
16 --- --- --- --- Reserved
17 --- --- --- --- Reserved
18 DO 10 DO 30 DO 50 DO 70 General-purpose output 10,30,50,70
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.
4-5
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
4
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
I/O interface
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
DI41 DI45
purpose input purpose input General-
6 31 General-
− Do not use. DI47 purpose input General-
DI50 DI61
9 DI51 34 DI62
DI52 DI63
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
4-6
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
4
I/O interface
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".
4-7
1.7 Typical input signal connection
External DC24V
power
supply 4.7kΩ
DC24V
DI
DI Logic Internal
circuit circuit
DI
CHK1
CHK2
4 GND
I/O interface
DC24V
DI 3.6kΩ
DI Logic Internal
750Ω circuit circuit
DI
External CHK1
power
supply CHK2
DC24V
GND
4-8
1.8 Typical output signal connection
DC24V
DO
Load
Internal Logic DO
circuit Load
circuit
DO
Load
External
power
4
supply
DC24V
GND
c CAUTION
I/O interface
• 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 Logic
circuit DO
circuit Load
DO
Load
GND
c CAUTION
For the PNP specifications, do not short-circuit DO and GND. Otherwise, this may cause the circuit to break.
4-9
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.
4 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
I/O interface
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".
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
(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).
4-10
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
4
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"
I/O interface
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.
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.
4-11
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
4 This output turns on in the following cases.

1) When the emergency stop input contact is open in the servo on status.
2) When a driver unit detects a serious malfunction such as an overload.
3) When the host CPU has stopped due to a serious abnormality or other causes.
4) When the battery is not connected.
I/O interface
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.
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.
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.
4-12
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
4
on
Emergency stop
off
Alarm reset input on

DI16 off
Servo ON input on
I/O interface
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 5, "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.
c) Emergency stop input turns on.
d) Servo ON input turns on.
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.
4-13
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
4 Servo ON input
DI01
on
off
on
MP RDY*
(SAFETY connector) off
I/O interface
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.
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

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.
4-14
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
4
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.
I/O interface
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.
* 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
of DI14 and DI17, refer to "1.9 Dedicated input signal description" in this Chapter.
4-15
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
4
off
100 ms
or more
a) b) c) d) e) f)
Program reset
I/O interface
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.
4-16
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.
4
c) Automatic operation start input turns off after checking that the robot program-in-progress output turns on.
Program stop process by stop input
I/O interface
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.
c CAUTION
If the program execution is stopped halfway by the stop input, it is executed again from the command that stops
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.
4-17
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
4
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.
I/O interface
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
■ When the online commands @RESET, @INIT PGM, @INIT MEM, or @INIT ALL were executed.
■ When the HALTALL statement was executed in the program.
4-18
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)
4
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
I/O interface
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.
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
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.
4-19
1. SAFETY I/O interface overview 5-1

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

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.
5-1
1.3 Connection example combining the programming box with
external emergency stop circuit
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

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
5
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
5-2
1.3.2 Connection example of controller with CE specifications and PBX-E
ACIN
L L To main
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
5
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".
5-3
1.4 Connections example of dedicated input signal
1.4.1 Emergency stop inputs (E-STOP RDY*, E-STOP COM*)
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
5 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.
5-4
1.5 Connection example of dedicated output signal
1.5.1 Emergency stop contact outputs (E-STOP*1, E-STOP*2)
PBX-E Controller
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.
5
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.
5-5
1.5.3 Motor power ready outputs (MP RDY*+, MP RDY*-)
300 mAmax
MP RDY1+
DC30 Vmax
MP RDY1-
300 mAmax Load
MP RDY2+
DC30 Vmax
DC24V
MP RDY2-
Load
5
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.
5-6
Chapter 6 External communication interface
1. Overview 6-1
1.1 Communication overview 6-1
1.2 ONLINE and OFFLINE modes 6-2
1.3 Character code 6-3
2. RS-232C 6-4
2.3 Connections 6-5
2.4 Communication parameter setting 6-6
2.5 Communication flow control 6-7
2.5.1 Flow control during transmit 6-7
2.5.2 Flow control during receive 6-7
2.6 Other caution items 6-8
3. Ethernet 6-9
3.3 Connections 6-12
3.4 Parameter setting on controller (server) 6-13
3.4.1 Setting the communication mode and parameters 6-14
3.4.2 Initializing communication parameters 6-14
3.5 System setting on personal computer (client) 6-15
3.5.1 Setting the TCP/IP protocol 6-15
3.6 Connection check using "Ping" 6-16
3.7 Communication example using "TELNET.EXE" 6-17
3.8 Appendix 6-18
3.8.1 Example of network system configuration 6-18
3.8.2 Glossary 6-21
4. General Ethernet port (GEP) 6-23

4.1 GEP parameter setting 6-23
4.2 GEP parameter setting method 6-24
4.3 Initializing communication parameters 6-25
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)
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.

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. 6
n NOTE
All online commands can be used only when the controller is in the AUTO mode and the control authority is
External communication interface

released externally.
When the controller is not in the AUTO mode, some commands, such as "@MOVE", cannot be executed.
6-1
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.
• 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.
6 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 support software "RCX-Studio Pro".
Therefore, when connecting the controller using the support software, be sure to put the controller in the
ONLINE mode.
6-2
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 STOP XOFF # 3 C S c s
-4 $ 4 D T d t
-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
-F
.
/
>
?
N
O
^ n
o
~
6
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.
6-3
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.
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.
6 ■ ■ 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.
6-4
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 CR, [CRLF]
Flow control None, [XON/XOFF], RTC/CTS
Receive buffer 1024 bytes
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 6
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
6-5
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
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.
6 ■ ■ 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.
6-6
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 Temporarily stops transmission when XOFF is sent from the other party. Resumes transmission when XON is sent.
2: RTS/CTS Stops transmission while CTS is OFF.
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
6
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.
6-7
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.
• 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
6
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.
6-8
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
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.
6
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.
6-9
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
5 2 TD-
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.
6
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.
6-10
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)
UTP cable (non-shielded twist pair cable) or STP cable (shielded twist pair cable)
Cable specifications
applicable to category 5 or higher
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 support software "RCX-Studio Pro".
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
6
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 the RCX-Studio Pro manual for details on how to set the IP address.
6-11
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.
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
6 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.
6-12
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
Set value: ONLINE, OFFLINE

1 LINE ONLINE Sets the communication mode with the computer (ONLINE/OFFLINE).
The online command can be executed only in the ONLINE mode.
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
6
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.
6-13
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.

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
6
• 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 "RCX-Studio Pro".
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
6-14
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
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

6
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
6-15
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.
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
6
(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
6-16
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

[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) 6

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.
6-17
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.
■ ■ 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
6
Controller 1 192.168.0.3 255.255.255.0 192.168.0.1
6-18
Multiple controllers are controlled by performing the cascade connection of the hubs.
Hub
1 2 3 4 5 6 7 8
Cross cable
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
6
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
6-19
Factory 2
Internet
Factory 1
Router
Head office
Router
Hub
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
Hub
6
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).
6-20
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.
■ ■ 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.
6
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
6-21
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)
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.
6 ■ ■ 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.
6-22
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.
• 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
6
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.
6-23
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.
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.
6
editing.
Step 3 Creating new GEP
6-24
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
n NOTE
Press the ESC key or select [CANCEL] and press the ENTER key to return to the previous screen without
6
initialization.
6-25
Chapter 7 Controller system settings
1. Overview 7-1
2. History 7-1
3. Check 7-2
4. Property 7-2
4.1 Robot information 7-2
4.2 Option information 7-3
4.3 Clock 7-3
4.4 Version 7-3
4.5 Configuration 7-4
5. USB memory operation 7-4

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

6.1 Changing the access level 7-6
7. Safety setting 7-7
8. Initialize 7-8
8.1 Initializing the data 7-8
8.2 Setting the clock 7-9
9. Generation 7-10
10. Parameters 7-10

10.1 Parameter setting conditions 7-10
10.2 Setting the parameters 7-10
10.3 Parameter list 7-12
10.4 Controller parameters 7-16
10.5 Robot parameters 7-19
10.6 Axis parameters 7-22
10.7 I/O parameters 7-30
10.8 Option board related parameters 7-32
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.
2. Histor y
When selecting [System] - [History] from the initial

7
■ "HISTORY" screen
screen, the "HISTORY" screen will appear.
The "HISTORY" screen displays five past alarm
Controller system settings

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.
• 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.
7-1
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.
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

7 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
7-2
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.
4.3 Clock
7
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.
7-3
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.
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.
7 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.
7-4
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.
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.
5.2 Loading the data

7
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.
7-5
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
• When any of the following conditions arises, the access level is forcibly set to "Level 0".
1. All of the data are initialized. (Refer to "8. Initialize" in this Chapter.)
2. The alarm message "9.723: Controller status data destroyed" appears.
• 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
[Execution Level], and then press the ENTER key. The "ACCESS LEVEL" screen will appear.
7 2 Input the access level to set.

Input the access level and press the ENTER
key. Select [SET] and press the ENTER key.
Step 2 Setting the ACCESS LEVEL
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
1 Press the F1 key (CHANGE PW) on Step 2 Changing the password

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,
and then press the ENTER key.
Input the current password.
7-6 Input a new password (two locations).

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.
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.
7-7
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.
Valid keys Menu Function
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.
7 PLT
ION
Deletes the pallet definition data.
Deletes the I/O name data.
LOG Deletes the alarm history data.

CLOCK Sets the clock.
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.
7-8
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.
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
7
the ENTER key to cancel the initialization
process.

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.
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.
7-9
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.
10. Parameters
There are six kinds of parameters available; controller setting related parameters, robot operation related
parameters, axis related parameters, control related parameters, I/O related parameters, and option board
related parameters.
When selecting [Edit] - [Parameter] from the initial screen, the "PARAMETER" screen will appear.
10.1 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.
7
• The robot or axis transfer 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
controller 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.
10.2 Setting the parameters

The robot operation and controller setting related parameters are set.
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.
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.
7-10
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.*
Returns to the previous screen.
* 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.
Press the F1 key (EDIT) to select.
"PARAMETER>CONT" screen "PARAMETER>ROBOT" screen "PARAMETER>AXIS" screen
"PARAMETER>DRIVER" screen "PARAMETER>IO" screen "PARAMETER>OPTION" screen

7

* The screen 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.
Returns to the previous screen.
3 Press the ESC key to exit the parameter editing.

7-11
10.3 Parameter list
■ ■ Controller parameters
For details about parameters, refer to "10.4 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
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
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.
7
*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 "10.5 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 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 *2 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
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 %
7-12
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.
*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 "10.6 Axis parameters" in this Chapter.
+ 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
7
OUT position OUTPOS 1 to 9999999 2000 pulse
CONT pulse CONTPLS 0 to 9999999 0 pulse
Arch pulse 1 ARCHP1 0 to 9999999 9999999 pulse
Arch pulse 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
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
7-13
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 "10.7 I/O parameters" in this Chapter.
Name Identifier Setting range Initial value
DO output at emergency stop EMGCDO 0: IO_RESET, 1: IO_HOLD 1
Error output (DO & SO)* ERPORT 0 to 0277 (Octal) 0
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
7
* New setting values will be valid after turning off and on the power.
■ ■ Option parameters
For details about parameters, refer to "10.8 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 ✔
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 ✔
7-14
Initial Separate
Name Identifier Setting range
value manual
EtherNet/IP DHCP enable EIPDHCP 0: INVALID, 1: VALID 0 ✔
EtherCAT Device ID ECTDEVID 0 to 65535 0 ✔
iVY2 Unit enable* IVYENBL 0: INVALID, 1: VALID 1 ✔
iVY2 Monitor Mode DISPMODE 0, 1, 2, 3 0 ✔
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.
7-15
10.4 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
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.
■ ■ 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.
7
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.
7-16
■ ■ 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.
■ ■ 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.
Setting Meaning
0: INVALID The program reset is not performed.
1: VALID The program reset is performed.
7
■ ■ 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.
7-17
■ ■ 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
■ ■ 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.
7
■ ■ 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
initialized, "1: HOLD ALL" is set.
Setting Meaning
0: HOLD The program with the break point stops.
1: HOLD ALL All the programs stop.
7-18
10.5 Robot parameters
■ ■ Tip weight (kg) ‹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, YK180X, 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.
• 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)
■ ■ Tip weight (g) ‹WEIGHTG›

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,
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.
7
• 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)
7-19
■ ■ 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
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 Axis 4 operation Axis 5 cancel Axis 6 cancel
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-
7
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.
7-20
■ ■ 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.
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.
■ ■ MOVE L coef. for SCARA ‹CPACRAT›

This parameter sets the acceleration/ deceleration at linear interpolation, circular interpolation and PATH movement of
7
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.
7-21
10.6 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›

This parameter sets the acceleration/ deceleration during robot movement 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.
7 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.
7-22
■ ■ 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›

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
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
7
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, the value unique to the model is set.
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
the next command execution 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.
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.
7-23
■ ■ 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 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)
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.
c CAUTION
The tracking of the arch motion may vary depending on the movement speed. Check the interference check at
actual robot operation speed.
7 ■ ■ 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.
■ ■ 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.
7-24
■ ■ 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.
n NOTE
When the tip swings during acceleration of the manual movement, decrease this value to suppress the swing.
■ ■ Origin speed 1 ‹ORGVEL1›

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.
7
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.
7-25
■ ■ 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. Refer to the RCX 3 series operator's manual for details. When this parameter is
initialized, "0" is set.
c CAUTION
This parameter is used only for the robots which are prepared to use dual offset function.
■ ■ Origin method ‹ORGMTD›

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
7
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.

7-26
■ ■ 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.

■ ■ 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.
Setting Meaning
0: NORMAL Normal mode without movement after performing return-to-origin
1: NORMAL (MOVE) Normal mode
2: DIST
3: DIST (MOVE)
Mode for shortening moving distance without movement after performing return-to-origin
Mode for shortening moving distance 7

4: DIR Mode for operation in the specific direction without movement after performing return-to-origin
5: DIR (MOVE) Mode for operation in the specific direction

6: CHECK Check mode without movement after performing return-to-origin
7: CHECK (MOVE) Check mode
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.
7-27
■ ■ 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
R-axis offset pulse Y-axis offset pulse
Tip tool
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
7
are set.
7-28
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)
PXYX
Axis 1 Direction to move to the motor side
FXYX
FXYBX
Axis 1
XY-axis
Arm variations A1 , A2 Move to the non-motor side
XY-X
7
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".
7-29
10.7 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. When this parameter is initialized, "0" is set.
Example: Set "0027" for inputting to DO27.
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.
• 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.
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.
7 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.
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.
■ ■ 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.
7-30
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
0: INVALID Remote command cannot be used.
1: VALID Remote command can be used.
■ ■ 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
7
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.
7-31
■ ■ 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.
10.8 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.
7
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

Option board configuration 2: General-purpose parallel I/O board 1

4: General-purpose parallel I/O board 2
Parallel I/O ID setting 3214
DI0 to DI3, DO0 to DO2 Dedicated parallel I/O board
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
7-32
■ ■ 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
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›

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:
7
• 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.
7-33
■ ■ 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
2 500kbps
3 Auto
■ ■ 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).
7 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".
7-34
■ ■ 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
■ ■ 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
7
2 Latest and previous
3 Latest and latest NG

■ ■ 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.
7-35
Chapter 8 Periodic inspection
1. Before carrying out work 8-1
2. Maintenance parts 8-1
3. Periodic inspections 8-2

3.1 Daily inspections 8-2
3.2 Three-month inspections 8-3
4. Replacing the absolute battery 8-3
5. Replacing the memory battery 8-4

1. Before carr ying out work
8
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".
Periodic inspection
2. Maintenance par ts
■ ■ Consumable parts
Part name Part No. Remarks
RCX340 KCX-M427G-00
Fan filter 5 pieces / bag
RCX320 KDK-M427G-00
Absolute battery KCA-M53G0-01 3.6 V 2750 mAh
Memory battery KAS-M53G0-01 3.0 V 850 mAh
8-1
3. Periodic inspections
8 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

Periodic inspection
w WARNING
• Turn off the power source when performing inspections.
• 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.
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.
8-2
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.
8
Step 1 Removing the filter cover
1 Remove the filter cover.
Periodic inspection
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
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.
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.
8-3
5. Replacing the memor y batter y
8
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.
Periodic inspection
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.
• 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.
■ ■ 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
8-4
Chapter 9 Specifications
1. Controller 9-1
1.1 Specifications 9-1
1.2 Basic functions 9-3
1.3.1 RCX340 9-4
1.3.2 RCX320 9-4
2. Programming box 9-5

3. Regenerative unit 9-6

1. Controller
1.1 Specifications
RCX340 RCX320
9
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)
Specifications
Power supply voltage Single phase 200 to 230 V AC ±10%, 50/60 Hz
4 axes maximum 2 axes maximum

(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)
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)
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)
9-1
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
9 Protection class
Standard
I
Dedicated input 8 points, dedicated output 9 points

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
specifications (Max. 4 boards, NPN/PNP specifications)

CC-Link board
Version 1.1/2.0
Remote I/O
DeviceNet board
Dedicated I/O: 16 points each
EtherCAT board General-purpose I/O: 96 points each
EtherNet I/P board Remote register

PROFIBUS board I/O: 16 words each
Option board*
PROFINET board
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, 2750 mAH/axis Backup retention time: about 1 year
PC software RCX-Studio Pro RCX-Studio Pro (Ver.2.4.1 or later)
*The number of the option board slots which can be attached is max.4.
9-2
1.2 Basic functions
Function Description
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.)
9
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.
Specifications
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)

Array variables (integer variables, real variables, character variables)
Variables Point variables
Shift variables
I/O variables etc.
Arithmetic operators (+, -, *, /, MOD)

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
9-3
1.3 External view
1.3.1 RCX340
9
10.5 355 3-φ5.5
Specifications
195
225
213
5.5
130 22.5 155 155
1.3.2 RCX320
9.5 213 2-φ5.5

225
213
195
5.5
130
29 155
9-4
2. Programming box
2.1 Basic specifications
Item PBX PBX-E
9
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
Specifications
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 5 m or 12 m(Select either)
Weight 440 g (excluding the cable) 460 g (excluding the cable)
2.2 External view
141
17 84 45
245
Enable switch
135
*Only PBX-E
9-5
3. Regenerative unit
3.1 Basic specifications
Power Supply Input 254 to 357 V DC (Controller DCBUS Connecting)
9 Connector
Working Temperature
Regenerative unit connector (for unit connection and extension)
0 to 40 °C
Working Humidity 35 to 85% RH (No Condensation)

Installation
Specifications
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
Dimensions 62.5 × 180 × 110 mm
Weight 1450 g
Protective Construction / Rating IP20 / Class 1
3.2 External view
4-M4 110 100

Tapped hole 100
5
4.
φ
2-
180
164
164
25
2.
R
2-
62.5
9-6
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-18
[ 4] Alarm related to the data input A-20
[ 5] Alarm related to the syntax of the robot language (compile) A-21
[ 6] Alarm related to the robot language execution A-28
[ 9] Alarm related to the memory A-38
[10] Alarm related to the environment and general hardware A-41
[12] Alarm related to the option board A-44
[14] Alarm related to the communication A-52
[17] Alarm related to the motor control A-55
[19] Alarm related to the YC-Link/E A-61
[20] Alarm related to the iVY2 system A-64
[21] Serious alarm related to software A-72
[22] Serious alarm related to hardware A-73
[26] Alarm related to the gripper A-76
[28] Alarm related to the driver I/F A-80
5. Warning number A-81

[ c] Warning A-81
6. Alarm messages related to the programming box A-83

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 code Type History Reset method Example
in case of error display
A 0
1 to 99
Correct
Message
-
-
Not
-
Restart operation
-
HALT, HOLD, Break point,
Key release
100 to 199 displayed CPU start
Individual
Troubleshooting
200 to 399 Restart No point

Operation operation stop corresponding
error
400 to 499 operation Interlock
Operation stop
500 to 599 External PIO24V off, SIO link error
Save
600 to 699 error Servo brake Emergency stop, Main power off
Display Reset command
700 to 799 Operation stop Fan error
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
[ 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.
2.306 : Movable range cal. failed

Code : &H0002 &H0132
a. Preset calculation for the movement path setting is not functioning.
Meaning/Cause
b. The current position is not within the movement range.
a. Change to the correct movement point.
Action
b. Change the current position to within the movement range.
A-12
2.307 : Overlap soft limit
Code : &H0002 &H0133
Meaning/Cause
Action
On SCARA type robots, the total of the absolute values of the X or Y-axis plus soft limit and
minus soft limit becomes the value to move the arm one or more rotation.
Set the soft limit values so that the arm movement range becomes one rotation or less.
A
Troubleshooting
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.
2.319 : Cannot move (RIGHTY to LEFTY)

Code : &H0002 &H013F
The interpolation movement to the target point whose hand system is set to "LEFT" was
Meaning/Cause
attempted when the hand system is set to "RIGHT" on the SCARA type robots.
Action Check the current hand system and hand system flag of the point data.
A-13
2.320 : Cannot move (LEFTY to RIGHTY)
Code : &H0002 &H0140
A
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.
Troubleshooting
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.
2.331 : Circular arc radius too small

Code : &H0002 &H014B
Meaning/Cause The "MOVE C" command radius is less than 0.1 mm.
Action Change the "MOVE C" command to 0.1 mm or more for circular arc radius.
A-14
2.332 : Circular arc radius too large
Code : &H0002 &H014C
Meaning/Cause
Action
The "MOVE C" command radius exceeded 5000 mm (5 meters).
Change the "MOVE C" command to within 5000 mm (5 meters) for circular arc radius.
A
2.333 : Too low speed
Troubleshooting
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.
2.339 : Start position changed by other task

Code : &H0002 &H0153
Meaning/Cause The start position was changed by other tasks.
Action Check the start position of the target task and change the position as needed.
A-15
2.340 : Target position changed by other task
Code : &H0002 &H0154
A Meaning/Cause
Action
The target position was changed by other tasks.
Check the target position of the target task and change the position as needed.
2.341 : Illegal axes (R axis shift exist)

Troubleshooting
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.
2.347 : Not tracking status

Code : &H0002 &H015B
Meaning/Cause "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
Action
"CTMOVE" command.
A-16
2.348 : Over tracking area
Code : &H0002 &H015C
Meaning/Cause
• The robot cannot be operated since the elements of position monitoring queue specified by
"CTMOVE" command was out of the work area.
• The elements of position monitoring queue in following moved out of the work area.
A
• 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.
Troubleshooting
• 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.
2.700 : System error (EXCEPTION)

Code : &H0002&H02BC
Meaning/Cause Error occurred in software.
Action Contact your distributor.
2.701 : System error (Robot Type)

Code : &H0002&H02BD
2.702 : System error (Robot No)

Code : &H0002&H02BE
2.703 : System error (Axis No)

Code : &H0002&H02BF
A-17
2.704 : System error (Arm Type)
Code : &H0002&H02C0
A Meaning/Cause
Action
Error occurred in software.
Contact your distributor.
2.705 : System error (OPTION)

Troubleshooting
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
[ 3] Alarm related to the program file operation
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.)
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.
A-18
3.204 : Writing prohibited
Code : &H0003 &H00CC
Meaning/Cause
Action
The specified program is write-protected.
Make the program not write-protected.

A
Troubleshooting
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.
3.219 : Illegal program no

Code : &H0003 &H00DB
Meaning/Cause A program number exceeding 1 to 100 was set.
Action Specify a program number between 1 and 100.
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.
A-19
3.237 : Program has been already loaded
Code : &H0003 &H00ED
A Meaning/Cause
Action
The program that is already in the executable status was loaded.
−−−
Troubleshooting
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.
4.204 : Undefined robot number

Meaning/Cause The specified robot number does not exist.
Action Input a correct robot number.
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

a. Invalid data was input.
Meaning/Cause
b. Invalid data was input in the area check output port number.
Action Input a port number that can be used
A-20
4.208 : Parameter range error
Code : &H0004 &H00D0
Meaning/Cause
Action
The parameter to set exceeds the range that can be input.
Set the parameter within the range that can be input.

A
Troubleshooting
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.
4.213 : Undefined controller number

Code : &H0004 &H00D5
Meaning/Cause The specified controller number does not exist.
Action Input a correct controller number.
4.214 : Undefined motor number

Code : &H0004 &H00D6
Meaning/Cause The specified motor number does not exist.
Action Input a correct motor 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.
A-21
5.202 : Data error
A Meaning/Cause
Action
The input data format is incorrect.
Use a correct data format.
5.203 : Number error

Troubleshooting

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.
• Change to the correct number of digits (places).
Action
• Specify the Cartesian coordinate point data of up to 3 decimal places.
5.207 : Illegal axis name

Meaning/Cause The input robot axis name is incorrect.
Action Input a correct axis name.
5.208 : Illegal order

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.
A-22
5.214 : Type mismatch
Code : &H0005 &H00D6
A
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.
Troubleshooting
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.
5.218 : NEXT without FOR

a. There is no "FOR" statement corresponding to the "NEXT" statement.
Meaning/Cause
b. "NEXT" command was executed without executing "FOR" command.
a-1. Delete the "NEXT" statement.
Action a-2. Add "FOR" statement corresponding to the "NEXT" statement.
b. Confirm execution of "FOR" command.
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

Code : &H0005 &H00DD
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.
A-23
5.222 : IF without ENDIF
Code : &H0005 &H00DE
A Meaning/Cause
Action
There is no "ENDIF" statement corresponding to the "IF" statement.
• Delete the "IF" statement.

• Add "ENDIF" statement corresponding to the "IF" statement.
Troubleshooting
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.
5.226 : Duplicated variable

Code : &H0005 &H00E2
Meaning/Cause 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
Action
valuables.
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.
A-24
5.230 : Undefined identifier
Code : &H0005 &H00E6
Meaning/Cause
Action
An undefined identifier was used.
Define the undefined identifier.

A
Troubleshooting
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.
5.234 : Too many dimensions

Code : &H0005 &H00EA
Meaning/Cause An array exceeding 3 dimensions was declared.
Action Change array to within 3 dimensions.
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.
A-25
5.239 : Illegal identifier
A Meaning/Cause
Action
A reserved word was used as an identifier.
Use an identifier name other than a reserved word. Refer to the programming manual.
Troubleshooting
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.
5.243 : Illegal direct

Code : &H0005 &H00F3
Meaning/Cause The command cannot be executed independently.
• Change the execution according to program.

Action
• Change it to a command that can be executed independently.
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.)
A-26
5.247 : CASE without SELECT
Code : &H0005 &H00F7
Meaning/Cause
Action
There is no "SELECT" statement corresponding to the "CASE" statement.
• Delete the "CASE" statement.

• Add a SELECT statement corresponding to the "CASE" statement.
A
Troubleshooting
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.
5.251 : Illegal command line

Code : &H0005 &H00FB
Meaning/Cause The command cannot be executed since it is between "SELECT" and "CASE" statements.
Action Delete the command between "SELECT" and "CASE" statements.
5.252 : Command doesn't exist

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.
A-27
5.255 : ELSEIF without ENDIF
Code : &H0005 &H00FF
A Meaning/Cause
Action
There is no "ENDIF" statement corresponding to the "ELSEIF" statement.
• Delete the "ELSEIF" statement.

• Add an "ENDIF" statement corresponding to the "ELSEIF" statement.
Troubleshooting
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.
5.302 : EXIT SUB without SUB

Code : &H0005 &H012E
Meaning/Cause There is no "SUB" statement corresponding to the "EXIT SUB" statement.
• Delete the "EXIT SUB" statement.

Action
• Add a "SUB" statement corresponding to the "EXIT SUB" statement.
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.
A-28
6.203 : Division by 0
A
Meaning/Cause A command to divide by 0 was executed.
Action Change the command to divide by 0.
6.204 : Point doesn't exist
Troubleshooting
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.
6.206 : Subscript out of range

Meaning/Cause A subscript of an array variable has exceeded the declared range.
Action Change the subscript of array variable to within the defined range.
6.207 : RETURN without GOSUB

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.
A-29
6.211 : CUT without START
Code : &H0006 &H00D3
A Meaning/Cause
Action
The "CUT" command was executed for a task not executed by the "START" command.
Confirm the execution of "START" command.

Troubleshooting
6.212 : RESTART without START

Code : &H0006 &H00D4
Meaning/Cause The "RESTART" command was executed for a task not executed by the "START" command.
Action Confirm the execution of "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.
6.214 : Task number error

Code : &H0006 &H00D6
a. Task number is outside the range from 1 to 16.
Meaning/Cause 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.
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.
A-30
6.219 : SUB without CALL
Meaning/Cause
Action
The "SUB" command was executed without executing the "CALL" command.
Confirm the execution of "CALL" command.

A
6.220 : Not execute CALL
Troubleshooting
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.
6.226 : PATH without SET

Code : &H0006 H00E2
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.
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.
A-31
6.232 : ABS of MARK incomplete
Code : &H0006 &H00E8
A
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.
Troubleshooting
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.
6.234 : Port number error

Code : &H0006 &H00EA
• 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.
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.
A-32
6.251 : Stack underflow
Code : &H0006 &H00FB
A
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.
Troubleshooting
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.
6.253 : Illegal point no

Meaning/Cause The specified point number is out of the range; between 0 and 29999.
Action Specify a point number between 0 and 29999.
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.
A-33
6.259 : Illegal task no
Code : &H0006 &H0103
A Meaning/Cause
Action
The specified task number is out of the range; between 1 and 16.
Specify a task number between 1 and 16.
6.260 : Too many characters

Troubleshooting
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.
6.261 : Task stopped

Code : &H0006 &H0105
Meaning/Cause The task is in stop status.
Action Restart the task by "RESTART" statement.
6.262 : Task doesn't exist

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.
A-34
6.267 : Access level error
Code : &H0006 &H010B
Meaning/Cause
Action
The operation cannot be executed at the present access level.
Change the access level so that the operation can be executed.

A
6.270 : Can't calculate
Troubleshooting
Code : &H0006 &H010E
Meaning/Cause The position that cannot be calculated is taught during wizard.
Action Teach again at the correct position.
6.271 : Can't be in hand use

Code : &H0006 &H010F
Meaning/Cause The hand data to change is in use.
Action Release the setting of the robot and specify the correct hand setting.
6.272 : Can't be in shift use

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.
A-35
6.300 : Motor power off
Code : &H0006 &H012C
A Meaning/Cause
Action
The movement command was executed in the motor power off status.
Put the robot in the motor and servo on status.

Troubleshooting
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.
6.302 : Origin incomplete

Code : &H0006 &H012E
● 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.
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.
A-36
6.314 : Can't execute while ser vo on
Code : &H0006 &H013A
Meaning/Cause
Action
Writing in "ALL" or "PRM" files was attempted in servo on status.
Turn off the servo before writing files.

A
Troubleshooting
6.315 : ZR torque origin incorrect setting
Code : &H0006 &H013B
a. Simultaneous return-to-origin was performed while the ZR-stroke end method was set.
b. R-axis stack was not set for the Z-axis.
Meaning/Cause
c. Either Z or R-axis return-to-origin method was not set to the ZR-stroke end method.
d. Multiple Z-axis (or R-axis) return-to-origin methods were set to the ZR-stroke end method.
a. Set the return-to-origin order correctly. (Simultaneous return-to-origin cannot be performed.)
b. Set the R-axis stack correctly.
Action
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.
6.399 : 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-37
6.999 : Interpreter runtime system error
Code : &H0006 &H03E7
A Meaning/Cause
Action
Error occurred in software.
[ 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-38
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-39
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-40
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 was initialized.
Action Re-perform the gripper generation.
9.731 : Trace setting destroyed

Meaning/Cause Part or all of the trace setting was 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.
9.900 : Sys. generation destroyed

Code : &H0009 &H0384
Meaning/Cause Part or all of the system generation data has been destroyed.
Action Back up the current data, then send/load the data that is proper for the target robot and controller.
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.
A-41
10.205 : Illegal robot type
Code : &H000A &H00CD
A Meaning/Cause
Action
The specified robot type is incorrect.
• Check the robot type data.

• Back up the current data, then send/load the data that is proper for the target robot and controller.
Troubleshooting
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
10.214 : Undefined parameter found

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".
10.219 : Illegal axis type

Code : &H000A &H00DB
Meaning/Cause This axis type cannot be set.
• Check the axis setting.

Action • Back up the current data, then send/load the data that is proper for the target robot and controller.
10.223 : Axis disconnected

Code : &H000A &H00DF
Meaning/Cause No axis is set.
• Check the axis setting.

Action • Back up the current data, then send/load the data that is proper for the target robot and controller.
A-42
10.225 : Controller disconnected
Code : &H000A &H00E1
Meaning/Cause
Action
No controller is connected.
• Check the system generation data.

• Re-perform the system generation.
A
Troubleshooting
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
10.700 : Illegal safe mode

Code : &H000A &H02BC
Meaning/Cause The safe mode setting is incorrect.
Action Reset the safe mode.
10.701 : Real time clock data failed

Code : &H000A &H02BD
Meaning/Cause Gaining real time clock data failed.
Action Reset the real time clock.
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-43
10.901 : Illegal driver setting
Code : &H000A &H0385
A Meaning/Cause
Action
The driver configuration cannot be specified.

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".
12.203 : Tracking calibration incomplete

Code : &H000C &H00CB
Meaning/Cause Tracking function was executed with the robot or counter on which calibration was not executed.
• Execute calibration.
Action • Write the calibration data.
• Set the different calibration data at upstream and downstream positions.
A-44
12.204 : Tracking counter number error
Code : &H000C &H00CC
Meaning/Cause
Action
The specified counter number was neither 1 nor 2.
Specify the correct value.

A
12.205 : Tracking queue element number error
Troubleshooting
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.
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.
A-45
12.401 : Arm locked
Code : &H000C &H0191
A Meaning/Cause
Action
The arm was moved while the arm lock variable LO was ON.
Set the arm lock variable LO off.

Troubleshooting
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.
12.531 : CC-Link communication error

Code : &H000C &H0213
a. Error occurred on the cable for CC-Link system.
b. The communication setting of the CC-Link system is incorrect.
Meaning/Cause c. 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
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.
A-46
12.541 : DeviceNet link error
Code : &H000C &H021D
Meaning/Cause
a.
b.
c.
Error occurred on the cable for DeviceNet system.
The communication setting of the DeviceNet system is incorrect.
Power for communication is not supplied.
A
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
Troubleshooting
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.
12.552 : EtherNet/IP overtime error

Code : &H000C &H0228
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.
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.
A-47
12.562 : PROFIBUS overtime error
Code : &H000C &H0232
A
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.
Troubleshooting
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.
12.582 : Counter2 wire breakage

Code : &H000C &H0246
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.
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.
A-48
12.591 : EtherCAT link error
Code : &H000C &H024F
Meaning/Cause
a.
b.
c.
Error occurred in cable for EtherCAT system.
The communication setting of the EtherCAT system incorrect.
The master module power is turned off, or the PLC has stopped operating, or is broken.
A
d. The EtherCAT compatible module is breakdown.
a. Check for a break disconnection, wiring error, short circuit on the EtherCAT cable or the
Troubleshooting
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.
12.700 : Option board changed

Code : &H000C &H02BC
Meaning/Cause The option board configuration was changed.
Action Initialize the option board setting.
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.
A-49
12.706 : PIO board I/O stop
A Meaning/Cause
Action
a. PIO board power is turned off or has stopped operation.
b. The PIO board is broken.
a. Check if power for the PIO board is supplied normally.
b. Replace the PIO board.
Troubleshooting
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.
12.760 : CC-Link initialize error

Meaning/Cause Initializing the CC-Link option board failed.
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
A-50
12.763 : EtherNet/IP parameter mismatch
Code : &H000C &H02FB
Meaning/Cause
Action
Parameters set in the controller do not correspond to those set in the option board.
Initialize the EtherNet/IP option parameters.

A
Troubleshooting
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.
12.901 : PIO internal error

Code : &H000C &H0385
a. The PIO board cable is abnormal.
Meaning/Cause b. The PIO board power is turned off, or has stopped operation.
c. The PIO board is breakdown.
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.
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.
A-51
12.904 : SIO option board initialize error
Code : &H000C &H0388
A Meaning/Cause
Action
Initializing the SIO option board failed.

Troubleshooting
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.
14.212 : CMU is not ready

Code : &H000E &H00D4
Sending the data from controller failed because the receiving prohibition status of the external
Meaning/Cause
device continued for 10 or more seconds.
• Replace the communications cable.
Action
• Check that the flow control is normal in software processing for the external device.
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.
A-52
14.221 : No return code(C/R)
Code : &H000E &H00DD
Meaning/Cause
Action
a. The character string in 1 line exceeded 255 characters.
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.
A
b. Add a C/R code (0Dh) at the end of a single line.
Troubleshooting
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.
14.233 : Parameter error

Meaning/Cause The parameter exceeded the range that can be input.
Action Set the parameters within the range.
A-53
14.400 : Communicate disconnected
Code : &H000E &H0190
A
a. Error occurred on the external communication.
b. Overrun error or framing error occurred.
Meaning/Cause
c. External device power was turned on/off with connecting to the external device by the
communication cable.
• Prevent putting noise generation source close to the robot so as to improve the communication
environment.
Troubleshooting
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 option board.
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

14.505 : Break
Meaning/Cause Error occurred in external communication by RS-232C.
A-54
14.700 : Can't be initialized
Code : &H000E &H02BC
Meaning/Cause
Action
Initializing the communication port failed.
Check the communication port settings.

A
Troubleshooting
[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-55
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-56
17.800 : Motor overload
Code : &H0011 &H0320
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.
A
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
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-57
17.901 : Over voltage
Code : &H0011 &H0385
A 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.
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-58
17.911 : Velocity deviation error
Code : &H0011 &H038F
Meaning/Cause
b. The motor acceleration is excessive.
c. The system generation setting is incorrect.
A
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-59
17.916 : Feedback error1
Code : &H0011 &H0394
A 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.
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

Code : &H0011 &H03DE
Meaning/Cause
Action
17.991 : Watchdog error 2

Code : &H0011 &H03DF
Meaning/Cause
Action
17.992 : System error 1

Code : &H0011 &H03E0
Meaning/Cause Error occurred in software for driver unit.
A-60
Code : &H0011 &H03E1
Meaning/Cause
Action
Error occurred in software for driver unit.

A
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-61
19.501 : YC/E communicate initialize fail
Code : &H0013 &H01F5
A Meaning/Cause The communication failed in the initialization process of the YC-Link/E connection.
• Restart the controller.

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-62
19.901 : YC/E master interrupt fail
Code : &H0013 &H0385
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.
A
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.
19.908 : YC/E slave config mismatch

Code : &H0013 &H038C
The number of controllers set in the master of the YC-Link/E is different from the number of
Meaning/Cause
actually connected controllers.
Change the parameter setting or turn off the power, and turn it on again after matching the
Action
number of slaves to the setting.
A-63
19.909 : YC/E slave power low
Code : &H0013 &H038D
A Meaning/Cause
Action
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
again.
19.910 : YC/E system power turn on again

Troubleshooting
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.
20.103 : Vision Memor y number out of range

Code : &H0014 &H0067
Meaning/Cause The specified memory number is out of range.
Action Change to a correct memory number.
A-64
20.104 : Vision File name number of characters error
Code : &H0014 &H0068
Meaning/Cause
Action
The number of characters in the file name is out of range.
Change to a correct file name.

A
Troubleshooting
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.
20.122 : Vision Calibration Calculate error

Code : &H0014 &H007A
Meaning/Cause The camera calibration calculation was failed.
• Change the camera calibration movement range.

Action
• Confirm the point data for creating the camera calibration data.
A-65
20.123 : Vision Calibration Setting error
Code : &H0014 &H007B
A Meaning/Cause
Action
The specified camera calibration setting is not suitable for the specification.
Change the camera calibration.

Troubleshooting
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 • RCX-Studio Pro is connected in Edit mode.
• iVY2 Studio is connected in Edit mode.
• Disconnect RCX-Studio Pro or iVY2 Studio.
Action
• Change the RCX-Studio Pro or iVY2 Studio 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.
20.305 : Vision mismatch between image and pattern

Code : &H0014 &H0131
Meaning/Cause The specified camera does not match the model image size.
• Check the specified model.

Action
• Check the number of screen pixels for the specified camera.
A-66
20.306 : Vision calibration not set
Code : &H0014 &H0132
Meaning/Cause
Action
There is a mistake in the specified camera calibration number.
• Specify a different camera calibration number.

A
• Perform camera calibration settings.
Troubleshooting
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.
20.313 : Vision camera FOV mismatch

Code : &H0014 &H0139
The number of screen pixels of the specified camera and the camera calibration data do not
Meaning/Cause
match.
• Specify a different camera number.
Action • Specify a different camera calibration number.
• Correct the camera calibration data.
A-67
20.314 : Vision trigger timeout
Code : &H0014 &H013A
A Meaning/Cause
a. The trigger timeout setting is too short.
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.
Troubleshooting
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

Code : &H0014 &H017F
A-68
Code : &H0014 &H0180
Meaning/Cause
Action
A problem has occurred with the iVY2 unit.

A
Troubleshooting
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.
20.402 : Vision EtherNet system error

Code : &H0014 &H0192
Meaning/Cause A problem has occurred with iVY2 Ethernet communication.
A-69
20.500 : Vision DC24V disconnected
Code : &H0014 &H01F4
A
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.
Troubleshooting
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.
20.705 : Vision system thermal shutdown

Code : &H0014 &H02C1
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
A-70
20.706 : Vision file error
Code : &H0014 &H02C2
Meaning/Cause
Action
The iVY2 unit's memory is damaged.
• Connect with the iVY2 Studio and execute Recovery mode.

A
20.750 : Vision system status error
Troubleshooting


Code : &H0014 &H0F0

Code : &H0014 &H02F1

Code : &H0014 &H02F2

Code : &H0014 &H02F3

Code : &H0014 &H02F4
20.900 : Vision CFastcard doesn't exist

Code : &H0014 &H0384
Meaning/Cause The CFast card is not connected.
A-71
[21] Serious alarm related to software
A
21.900 : System error (EXCEPTION)
Code : &H0015 &H0384
Meaning/Cause Software error occurred.

Troubleshooting
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-72
[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 7
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 7
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-73
22.516 : Controller over heat
Code : &H0016 &H0204 HOST Ver. V1.36,R0269 or earlier Refer to "4.4 Version" in Chapter 7
A Meaning/Cause The environmental temperature inside the controller increased to approximately 60 °C or more.

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 7
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.

A-74
22.816 : Controller over heat
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
22.901 : CT type mismatch
Code : &H0016 &H0385
Meaning/Cause The correct current sensor controller is not used for the set robot.
Action Replace the current sensor controller with a correct one.
22.902 : Position sensor type mismatch

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-75
[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-76
26.351 : Gripper type error
Code : &H001A &H015F
Meaning/Cause
Action
The gripper generation is set using an undefined type number.

A
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-77
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-78
26.806 : Gripper position deviation error
Code : &H001A &H0326
Meaning/Cause
a. Mechanical lock occurred in the gripper drive section.
b. Motor cable is broken or wired incorrectly.
c. Parameters are incorrect.
A
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-79
[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-80
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-81
c41 : Vision fan error
Meaning/Cause The number of fan rotation of the iVY2 unit dropped 4700 rpm or less.
A Action
• Check if the cooling fan is stuck with dust, etc.
• Check the cooling fan connector.
• Replace the cooling fan.
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-82
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-83
Revision record
Manual version Issue date Description

Ver. 1.01 Sep. 2014 First edition
Ver. 1.20 May 2016 The specification of the regenerative shorting connector is
changed. Clerical error corrections, etc.
Ver. 1.30 Feb. 2018 Some alarm codes were changed depending on the host
software version in Troubleshooting "22 Serious alarm related to
hardware". The description regarding "Warranty" was changed.
Ver. 1.32 May 2018 "Safety Instructions" was updated. Clerical error corrections, etc.
Ver. 1.33 Aug. 2018 Descriptions on EtherCAT were added to Troubleshooting.
Ver. 1.34 Oct. 2018 Descriptions on EtherCAT were added. "Safety Instructions" was
updated. Clerical error corrections, etc.
Ver. 1.35 Jan. 2019 An error output example was added to “10.7 I/O parameters” in
Chapter 7. Clerical error corrections, etc.
Ver. 1.36 Feb. 2019 "Partial Permission" was added to "6. execution level" in Chapter 7.
Ver. 1.37 Feb. 2019 "9.708: Work data destroyed" was added to the Troubleshooting.
Ver. 1.38 July 2019 Updated the Safety Guide, Warranty, and Troubleshooting.
Descriptions were added to "Surrounding clearance" of "2.1
Installation conditions" and to "9. Connecting the brake power
supply" in Chapter 3. Addition of Chapter 4 "Emergency stop
contact monitor". Clerical error corrections, etc.
Ver. 1.39 July 2019 "Safety Instructions" was updated. Tip weight (g) <WEIGHTG>
was added to the robot parameters, etc.
Ver. 1.40 Sep. 2019 R axis inertia offset for SCARA <INROFST> was added to the
robot parameters, etc.
Ver. 2.00 Oct. 2019 "Safety Instructions" was separated.
Controller "RCX320" was added.
Ver. 2.01 Dec. 2019 The type name of PBX terminator was changed.
The recommended parts name for safety countermeasure on the
circuit of the power supply was added.
User’s Manual
RCX 3 Series
4-axis/2-axis Robot Controller
Dec. 2019
Ver. 2.01
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, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan
Tel. 81-53-525-8250 Fax. 81-53-525-8378
Robot manuals can be downloaded from our company website.

Please use the following for more detailed information.
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. 2.01 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

Chapter 4 I/O interface

3. Caution items 4-19

Chapter 5 SAFETY I/O interface

Chapter 6 External communication interface

3.6 Connection check using "Ping" 6-16

4. General Ethernet port (GEP) 6-23

Chapter 7 Controller system settings

5. USB memory operation 7-4

6. Execution level 7-6

7. Safety setting 7-7

10. Parameters 7-10

10.3 Parameter list 7-12

Chapter 8 Periodic inspection

2. Maintenance parts 8-1

3. Periodic inspections 8-2

4. Replacing the absolute battery 8-3

5. Replacing the memory battery 8-4

2. Programming box 9-5

3. Regenerative unit 9-6

2. Acquiring the alarm information A-2

3. Troubleshooting checkpoints A-3

4. Alarm messages A-6

5. Warning number A-81

6. Alarm messages related to the programming box A-83

■ ■ This warranty does not cover any failure caused by:

■ ■ The following cases are not covered under the warranty:

Overview of the RCX 3 series iii

Important information before reading this manual

Signal words used in this manual

Important information before reading this manual

RCX340: 4-axis robot controller RCX320: 2-axis robot controller

Major features and functions are:

[1] When connecting the power supply to the robot controller

[2] When connecting the battery cable to the robot controller

[3] When connecting robot cables to the robot controller