YRC Series CE marking Supporting Supplement Manual
Contents
1. 2 3 Wiring safety points Zn OE 2 4 Start up and maintenance safety points _ Be 2 5 Safety precautions during robot operation _ Precautions for disposal _ A 3 Safety measures for robots 3 1 Safety measures for SCARA type robots 4 Motor overload precautions 5 i 5 5 5 Warning labels and marks 5 1 Warning labels 5 2 Warning marks 6 Industrial robot operating and maintenance personnel 7 Make daily and periodic inspections 1 Safety information Before using the OMRON robot controller be sure to read this manual and related manuals and follow their instructions to use the robot controller safely and correctly Warnings and cautions listed in this manual relate to OMRON robot controllers To ensure safety of the user s final system that includes OMRON 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 OMRON robots and controllers safely and correctly be sure to comply with the safety instructions and precautions described in this chapter 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 This2. SRL2 Safety relay unit G9SX BC202 OMRON SRL3 Safety relay unit G9SA 501 OMRON KAI to 5 2 18 3 2 3 Category 2 A safety circuit configuration example of category 2 1s shown below Category 2 safety circuit example KM1 PI ACIN M g I 1 AC OUT N1 O O N Reset switch PA S1 D O A AUTO SERVICE Maintenance switch lt AJ O D putt ET OTT Seres de O Service 2 SRL1 ba rane S2 Input 2 Dd Input3 __ 9 x Door switch Pa S3 Inputi _ x Da S9119S Enable 11 SAFETY E E STOP24V pi E STOPRDY ER MPRDY 1 Bi N COM Service 1 Be SERVICE DIO2 L1 A2 1731 Service 2 O P COM External emergency stop PU S4 Input EN 121 ha S14 T22 S24 SAFETY _ 24V PB emergency stop pi Input 1 to un PB emergency stop Input 2 A Output 1 24V PB enable u Enable 11 PB enable Input 2 Output 1 24V GND 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power Parts list Type No Reset switch A22 series OMRON Key selector switch A22 TK series OMRON Safety door switch D4 series OMRON Emergency stop switch A22E series OMRON Contactor mirror contact LC1 D18 Schneider Electric Safety relay G7SA 3A1B OMRON Socket for safety relay P7SA 10F ND OMRON Safety relay unit G9SX GS226 OMRON Safety relay unit G9SX BC202 OMRON 2 19 lt lt AJ O S9119S 3 2 4 Overview of circuit oper
3. Particularly important cautions for handling and operating the robot and controller are described below Additional cautions are also described in each chapter Be sure to comply with those instructions to ensure safety 2 1 System design safety points DANGER A e OMRON ROBOT CONTROLLERS AND ROBOTS ARE DESIGNED AND MANUFACTURED FOR GENERAL PURPOSE INDUSTRIAL EQUIPMENT THEY SHOULD NOT BE USED IN THE FOLLOWING APPLICATIONS e MEDICAL EQUIPMENT OR SYSTEMS WHICH WILL AFFECT HUMAN LIFE e EQUIPMENT DESIGNED TO CARRY OR TRANSPORT PERSONS e EQUIPMENT OR SYSTEMS WHICH WILL SERIOUSLY AFFECT SOCIETY OR PUBLIC POLICY e USE IN ENVIRONMENTS SUBJECT TO VIBRATION SUCH AS VEHICLES AND SHIPS e EACH ROBOT CONTROLLER HAS AN EMERGENCY STOP INPUT TERMINAL TO TRIGGER EMERGENCY STOP USING THIS TERMINAL CONFIGURE A SAFETY CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL WORK SAFELY WARNING A e TO CHECK THE OPERATING STATUS OF THE ROBOT CONTROLLER REFER TO THIS MANUAL AND RELATED USER S MANUAL BUILD THE SYSTEM INCLUDING THE ROBOT CONTROLLER SO THAT IT WILL ALWAYS WORK SAFELY e INSTALL A SIGNAL LIGHT SIGNAL TOWER ETC ATAN EASY TO SEE POSITION SO THAT THE OPERATOR WILL KNOW THE STOP STATUS OF THE ROBOT TEMPORARY STOP EMERGENCY STOP ERROR STOP ETC N CAUTION e Do not bundle control lines or communication cables together or in close contact with the main power supply circuit or power lines Asa general rule separate them by at least 100mm Fa
4. damage the connector or cables and poor cable contact may cause equipment malfunctions Do not modify the cables and do not place any heavy object on them Handle them carefully to avoid damage Damaged cables may cause malfunction or electrical shock If there 1s a possibility that the cables connected to the robot controller may be damaged protect them with a cover etc Do not apply excessive loads or impacts to the connectors when making cable connections The connector pins may become bent or the internal PC board may be damaged When disconnecting the cable from the robot controller detach by gripping the connector itself and not by tugging on the cable Loosen the screws on the connector 1f fastened with the screws and then disconnect the cable Detaching by pulling on the cable itself may damage the connector or cables and poor cable contact may cause equipment malfunctions Start up and maintenance safety points DANGER NEVER ENTER THE ROBOT S WORKING ENVELOPE WHILE THE ROBOT IS OPERATING OR THE MAIN POWER IS TURNED ON FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH INSTALL A SAFETY ENCLOSURE OR A GATE INTERLOCK WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT S WORKING ENVELOPE WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE ROBOT MOVEMENT RANGE SUCH AS FOR TEACHING OR MAINTENANCE INSPECTION TASKS ALWAYS CARRY THE PROGRAMMING BOX WITH YOU SO THAT YOU CAN I
5. manual describes safety precautions and operating points using the following symbols and signal words DANGER DANGER INDICATES AN IMMINENTLY HAZARDOUS SITUATION WHICH IF NOT AVOIDED WILL RESULT IN DEATH OR SERIOUS INJURY DEATH OR SERIOUS INJURY CAUTION CAUTION indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury or damage to the equipment or loss of data NOTE WARNING A WARNING INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH IF NOT AVOIDED COULD RESULT IN H Explains key points in the operation in a simple and clear manner Use any of the following approaches to this manual when installing operating and adjusting the OMRON robot and or controller so that you can quickly refer to this manual when needed 1 Keep the printed version of this manual available for an additional fee handy for ready reference 2 View the CD ROM version of this manual on your PC screen 3 Print out the necessary pages of this manual from the CD ROM and keep them handy for ready reference To use OMRON robots and controllers safely and correctly always comply with the safety rules and instructions Please note however this supplementary 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 1 SPINS JOS SPINS Ajejos 2 Particularly important cautions
6. the catalog number on the front cover manual Cat No I1156E EN 01 Revision code The following table outlines the changes made to the manual during each revision 01 August 2010 Original production 02 December 2012 Minor changes OMRON Authorized Distributor Cat No 1154E EN 02 Note Specifications subject to change without notice Printed in Europe
7. used to perform work using the PB within the safety enclosure of the robot system This mode is enabled only when the controller is set to SAFE mode The CE marking compliant controllers are set to SAFE mode at the time when they are shipped N CAUTION The CE marking compliant controllers are always set to SAFE mode Basic operation mode lt AJ O Basic operation modes SERVICE mode S9119S DI DO MANUAL PROGRAM SYSTEM monika UTILITY mode mode mode moe mode SERVICE mode includes AUTO and MANUAL modes in the basic operation mode and is selected by opening turning OFF the DI02 contact SERVICE mode input Normal mode is maintained as long as the DIO2 contact is closed ON If a serial I O option board is installed SERVICE mode is entered when either one of SIO2 or DIO2 is open OFF Normal mode is entered only when both SI02 and DIO2 contacts are closed When the DIO2 contact is open OFF the controller is in SERVICE mode with the operation level operating speed limit and exclusive control of the operating devices specified by the SERVICE mode parameters The following functions can be selected in SERVICE mode 1 Robot is controlled only by PB operation 2 Automatic operation is prohibited 3 Robot operating speed is set to below 3 of the maximum speed 4 Robot operation is possible only by hold to run control The Hold to Run function allows the robot to move including program executi
8. ALSO BE A CAUSE OF INJURY e INSTALL THE ROBOT CONTROLLER IN A STABLE LEVEL LOCATION AND SECURE IT FIRMLY AVOID INSTALLING THE ROBOT CONTROLLER UPSIDE DOWN OR IN A TILTED POSITION e PROVIDE SUFFICIENT CLEARANCE AROUND THE ROBOT CONTROLLER FOR GOOD VENTILATION POOR VENTILATION MAY CAUSE MALFUNCTION BREAKDOWN OR FIRE e NEVER DIRECTLY TOUCH THE CONDUCTIVE SECTIONS AND ELECTRONIC PARTS OTHER THAN THE CONNECTORS ROTARY SWITCHES AND DIP SWITCHES ON THE OUTSIDE PANEL OF THE ROBOT CONTROLLER e SECURELY TIGHTEN THE SCREWS ON THE L SHAPED BRACKETS TO INSTALL THE ROBOT CONTROLLER IF NOT SECURELY TIGHTENED THE SCREWS MAY BECOME LOOSE CAUSING THE CONTROLLER TO DROP e SECURELY INSTALL EACH CONNECTION CABLE CONNECTOR INTO THE RECEPTACLES OR SOCKETS POOR CONNECTIONS MAY CAUSE EQUIPMENT MALFUNCTIONS gt 2 2 3 A A 2 4 A A Wiring safety points WARNING ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING WORK FAILURE TO SHUT OFF ALL PHASES MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE CAUTION Make sure that no foreign matter such as cutting chips or wire scraps enter the robot controller Malfunctions breakdown or fire may result if they have entered Always store the cables connected to the robot controller in a conduit or clamp them securely in place If the cables are not stored in a conduit or properly clamped excessive play or movement or mistakenly pulling on the cable may
9. CE marking SUPPORTING SUPPLEMENT MANUAL General Contents Introduction i 1 Safety information 1 2 Particularly important cautions 2 2 1 System design safety points ocoocccccccccccccccccccocnncnncnncnncancnnnnnnnnnannannnnnnns 2 PA E A ee ee 2 22d eo ee cae ae ere E Serer als 3 2 4 Start up and maintenance safety points sccesceeeceeeceesceeaceeaceeaceeaees 3 2 5 Safety precautions during robot operation ooococccccccccccccccccccccccccnannnnnnns 4 2 6 De Precaulions loralsposals yt cence ee 4 3 Safety measures for robots 5 3 1 Safety measures for SCARA type robots _ 222244 0un nnnnnnnnn nn ann nun nn nnnnnn nn 5 4 Motor overload precautions 5 5 Warning labels and marks 5 A elo lalo ADES AA E E E E E ase eee ee 5 5 2 VE ye LA LALO MALO y Se E E E meee eee 6 6 Industrial robot operating and maintenance personnel 6 7 Make daily and periodic inspections 6 1 CE Marking 1 1 2 Safety standards 1 1 2 1 Cautions regarding compliance with EC Directives ooocoococoococooco o 1 1 2 2 Applicable EC Directives and their related standards 0 1 2 2 3 ROBOTS SUDIOCIT TO CE Marking aa es eres ne dies 1 2 2 4 Cautions regarding the official language of EU countries 1 2 3 Usage conditions 1 3 1 System overview 2 1 12155 O 2 1 KIA elias celine elie A A aaa 2 1 2 Control system configuration usz urennnnenn nenne nennen nun nn n
10. CH THE ROBOT CONTROLLER AND ROBOT DURING OPERATION SOME PARTS IN THE ROBOT CONTROLLER OR ROBOT ARE HOT DURING OPERATION TOUCHING THEM MAY CAUSE BURNS DO NOT HANDLE OR OPERATE THE ROBOT CONTROLLER OR PROGRAMMING BOX WITH WET HANDS TOUCHING THEM WITH WET HANDS MAY RESULT IN ELECTRICAL SHOCK OR BREAKDOWN IMMEDIATELY TURN OFF POWER IF UNUSUAL ODORS NOISE OR SMOKE ARE NOTICED DURING OPERATION CONTINUOUS OPERATION UNDER SUCH A CONDITION MAY RESULT IN ELECTRICAL SHOCK FIRE OR BREAKDOWN STOP USING AND CONTACT OUR SALES OFFICE OR SALES REPRESENTATIVE 3 lt SPINS Jejos SPINS Jejos DO NOT DISASSEMBLE OR MODIFY ANY PART IN THE ROBOT CONTROLLER AND PROGRAMMING BOX DO NOT OPEN ANY COVER FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ELECTRICAL SHOCK BREAKDOWN MALFUNCTION INJURY OR FIRE IF A COMPONENT USED IN THE ROBOT OR CONTROLLER NEEDS TO BE REPLACED OR REPAIRED ALWAYS FOLLOW THE INSTRUCTIONS FROM OMRON INSPECTION AND MAINTENANCE OF THE CONTROLLER OR ROBOT BY ANY PERSON WHO DOES NOT HAVE THE REQUIRED KNOWLEDGE AND EXPERTISE IS DANGEROUS AND MUST BE AVOIDED WHEN PERFORMING MAINTENANCE OR INSPECTION OF THE ROBOT CONTROLLER UNDER OUR INSTRUCTIONS WAIT AT LEAST 30 MINUTES FOR THE YRC SERIES AFTER TURNING THE POWER OFF SOME COMPONENTS IN THE ROBOT CONTROLLER MAY BE HOT OR STILL RETAIN A HIGH VOLTAGE SHORTLY AFTER OPERATION SO BURNS OR ELECTRICAL SHOCK MAY OCCUR IF THOSE PARTS ARE TOUCHED DURING STARTUP OR MAINTENANCE WORK DISPLAY A
11. L3 Safety relay unit G9SX BC202 OMRON SRL4 Safety relay unit GISA GS501 OMRON KAI to 5 2 17 lt 3 2 2 Category 3 A safety circuit configuration example of category 3 1s shown below Category 3 safety circuit example ACIN ACOUT N1 Reset switch S1 Di O A AUTO SERVICE lt Maintenance switch AJ ia y EN na BEE oo 7 npu i Service 2 SRL1 L1 O S2 Input 2 Ba M1 a pan fon fore B D Input 3 C Y Door switch Pal Input 1 BE P a EEE AP 3 Input 2 p nal Enable 11 Enable 12 Enable 21 Enable 22 SAFETY E E STOP24V Be E STOPRDY hi MPRDY 1 1 N COM Service 1 Q SERVICE DIO2 Service 2 O P COM External emergency stop PU Input 1 S4 Input 2 e PB emergency stop OUT PB emergency stop Output 1 Input 1 rte Sn ol I Input 2 PB enable i PB enable Input 1 6 1 BE Output 1 T21 3 Input 2 S a Output 2 123 Enable 11 ml Enable 12 Pd 2 Enable 21 a Enable 22 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power Parts list Type No Reset switch A22 series OMRON Key selector switch A22 TK series OMRON S3 Safety door switch D4 series OMRON S4 Emergency stop switch A22E series OMRON KMI 2 Contactor mirror contact LC1 D18 Schneider Electric Safety relay G7SA 3A1B OMRON Socket for safety relay P7SA 10F ND OMRON SRL1 Safety relay unit G9SX GS226 OMRON
12. MMEDIATELY STOP THE ROBOT OPERATION IN CASE OF AN ABNORMAL OR HAZARDOUS CONDITION INSTALL AN ENABLE DEVICE IN THE EXTERNAL SAFETY CIRCUIT IS NEEDED ALSO SET THE ROBOT MOVING SPEED TO 3 OR LESS FAILURE TO FOLLOW THESE INSTRUCTIONS MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH CHECK THE FOLLOWING POINTS BEFORE OPERATING THE ROBOT e NO ONE IS WITHIN THE ROBOT S WORKING ENVELOPE e THE PROGRAMMING BOX IS AT THE SPECIFIED POSITION e THERE IS NO ABNORMAL STATE IN THE ROBOT AND RELATED DEVICES WARNING ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY OPERATE THE ROBOT OPERATION BY ANY PERSON WHO HAS NOT RECEIVED THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED THE ROBOT AND ROBOT CONTROLLER ARE NOT DESIGNED TO BE EXPLOSION PROOF DO NOT USE THEM IN LOCATIONS EXPOSED TO INFLAMMABLE GASES GASOLINE OR SOLVENT THAT COULD CAUSE EXPLOSION OR FIRE FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH OR LEAD TO FIRE DO NOT TOUCH ANY ELECTRICAL TERMINAL OF THE ROBOT CONTROLLER DOING SO MAY CAUSE ELECTRICAL SHOCK OR EQUIPMENT MALFUNCTIONS ALWAYS CONNECT THE ROBOT AND ROBOT CONTROLLER IN THE CORRECT COMBINATION USING THEM IN AN INCORRECT COMBINATION MAY CAUSE FIRE OR BREAKDOWN ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE CLEANING OR TIGHTENING THE TERMINAL SCREWS FAILURE TO SHUT OFF ALL PHASES MAY CAUSE ELECTRICAL SHOCK PRODUCT DAMAGE OR MALFUNCTIONS DO NOT TOU
13. N EASY TO UNDERSTAND SIGN OR MESSAGE ON THE PROGRAMMING UNIT OR OPERATION PANEL TO PREVENT ANYONE OTHER THAN PERSONNEL FOR THAT WORK FROM MISTAKENLY OPERATING A START OR SELECTOR SWITCH IF NEEDED TAKE OTHER MEASURES SUCH AS LOCKING THE COVER ON THE OPERATION PANEL DECIDE ON WORK INSTRUCTIONS IN CASES WHERE PERSONNEL MUST WORK WITHIN THE ROBOT S WORKING ENVELOPE TO PERFORM STARTUP OR MAINTENANCE WORK MAKE SURE THE WORKERS KNOW THESE WORK INSTRUCTIONS WELL N CAUTION e When using ferrite cores for noise elimination fit them to the power cable as close to the robot controller and or the robot as 25 possible to prevent malfunctions due to noise Back up the robot controller internal data in an external storage device The robot controller internal data programs point data etc may be lost or deleted for unexpected reasons Always make a backup of the internal data Do not use thinner benzene and alcohol to wipe clean the surface of the programming box The surface sheet may be damaged or printed letters or marks might be erased Use a soft dry cloth and gently wipe the surface Do not use a hard or pointed object to operate the keys on the programming box Malfunction or breakdown may result if the keys are damaged Use your fingers to operate the keys Do not insert any SD memory card other than specified into the SD memory card slot of the programming box Malfunction or breakdown may result if a wrong memory card is used Do not
14. SERVICE mode parameters Refer to the next section for the SERVICE mode parameter settings DAA 1 43 SERVICE mode parameter settings There are the following three parameters for SERVICE mode 1 SERVICE mode level 2 Operating speed limit during SERVICE mode S9119S 3 Operation device control during SERVICE mode These parameter settings determine the operation level operating speed limit and exclusive control of the operation devices during SERVICE mode Even after editing the SERVICE mode parameters the present settings still remain enabled until the controller power is turned off unless the edited parameters are saved For how to set the SERVICE mode parameters refer to the controller user s manual WARNING A CHANGING THE SERVICE MODE PARAMETERS FORM THEIR DEFAULT SETTINGS IS LIKELY TO INCREASE THE RISK TO PERSONNEL OPERATING OR MAINTAINING THE ROBOT THESE PARAMETERS CAN BE CHANGED IF THE CUSTOMER ASSUMES RESPONSIBILITY BUT EXTRA CAUTION SHOULD BE TAKEN TO ENSURE SAFETY 2 7 lt lt AJ O S9119S A SERVICE mode level The SERVICE mode level can be selected to enable or disable the Hold to Run function and to permit or prohibit the operation in AUTO mode The Hold to Run function allows the robot to move including program execution only during the time that the PB operation key Setting Hold to Run function AUTO mode operation 1s kept pressed Level 0 Disabled Permitted Level 1 Enabled Pe
15. ation This section describes an overview of the circuit operation for each safety circuit configuration example shown in the previous sections 1 During AUTO mode The main power is supplied only when the enable switch is disabled the controller is in a normal state MPRDY is ON with no internal alarms occurring and also all the following conditions are met Conditions e Maintenance mode switch is in AUTO M1 open M2 closed e Door switch s NC contact is closed e External emergency stop button s NC contact is closed e PB emergency stop button s NC contact is closed N CAUTION Connect the PB terminator or PB to the PB connector on the controller front panel If the PB connector on the controller front panel is open an emergency stop occurs 2 During maintenance The main power is supplied only when the door switch is disabled the controller is in a normal state MPRDY is ON with no internal alarms occurring and also all the following conditions are met Conditions e Maintenance mode switch is in SERVICE M1 closed M2 open e External emergency stop button s NC contact is closed e PB emergency stop button s NC contact is closed e PB enable switch s NO contact is closed N CAUTION Always disconnect the PB terminator from the PB connector on the controller front panel and connect the PB to the PB connector 2 20 Revision history A manual revision code appears as a suffix to
16. ave the skills needed to perform the job correctly and safely They must read the user s manual carefully to understand its contents before attempting the robot operation Tasks related to industrial robots teaching programming movement check inspection adjustment repair etc must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots 7 Make daily and periodic inspections Always make sure that daily and periodic inspections are performed and make a pre work check to ensure there are no problems with the robot or related equipment If a problem or abnormality is found then promptly repair it or take other measures as necessary OPTA CE MARKING Contents 1 CE Marking 2 Safety standards 2 1 Cautions regarding compliance with EC Directives 1 1 2 2 Applicable EC Directives and their related standards _ 1 2 2 3 Robots subject to CE Marking Tre 1 2 2 4 Cautions regarding the official language of EU countries 1 2 3 Usage conditions 1 CE Marking This section provides a basic description of how the YRC series comply with CE marking Differences in the basic specifications between CE marking compliant controllers and standard controllers are as follows MW Main specifications of CE Marking compliant controller CE Marking compliant controller Service mode Provided PB Programming box ae enable switch compatibl
17. cted to the protective earth 3 Refer to the PB connector input output signal table for the wiring diagram from the PB 2 3 1 3 Programming box PB The programming box PB is a hand held unit specifically designed to connect to the controller in order to perform various operations The PB allows all operations including manual operation of the robot programming and editing teaching and parameter setting 1 3 1 Part names and functions The PB has an emergency stop button and an enable switch The contact outputs of these can be used to connect to the emergency stop circuit of the entire equipment via the SAFETY connector on the controller The PB also has a selector switch which can be used according to the customer s specifications and applications PB Programming Box 1 Display liqui isplay liquid crystal screen ee rear side lt AJ O PB Progr kinming Box S9119S e MAA E His ROBOT INS UTILITY era L DEL H sa alan pancara al aaa Elalsiel zialalal Zz colla 2 el as oo OMRON 3 Emergency stop button 2 Sheet key 5 Enable switch e 6 PB Connector Main Functions Part name Function Display liquid This is a liquid crystal display LCD with 40 characters x 15 lines showing various types of information crystal screen The screen brightness is adjustable Specie These keys are used to operate a robot or input prog
18. duction E Machinery Directive E 2006 42 EC E E N ISO10218 1 Robots and robotic devices Safety requirements for industrial robots Part 1 Robots N60204 1 Safety of machinery Electrical equipment of machines Part 1 General requirements N 55011 Industrial scientific and medical equipment Radio frequency disturbance characteristics EMC Directive Limits and methods of measurement 2004 108 EC EN 61000 6 2 Electromagnetic compatibility EMC Part6 2 Generic standards Immunity for industrial environments 2 3 Robots subject to CE Marking O m S gt AJ S z This CE marking manual is applied to the following robot series Controller Robot Name YRC SCARA type robots XG series X series XC XG tiny series XC series XS series XP series 2 4 Cautions regarding the official language of EU countries For equipment that will be installed in EU countries the language used for the manuals warning labels operation screen characters and CE declarations is English only Warning labels only have pictograms or else include warning messages in English In the latter case messages in Japanese or other languages might be added gt 1 2 3 Usage conditions The following description gives major operating conditions for OMRON robot series products e EMC Electromagnetic compatibility OMRON robot series products are designed for use in industrial environments Applicable de
19. e cable and connector Along with the input output signals for the programming box the PB connector includes signals used to configure an external safety circuit and so changing or modifying the cable and connector is very dangerous e Always configure an external safety circuit by using the SAFETY connector Although the PB has an emergency stop button and an enable switch they do not function independently because the controller is designed on the assumption that an external safety circuit is configured MW YRC robot controller Each pin of the PB connector on the PB is connected to each pin of the SAFETY connector and PB SEL connector lt AJ O Pin to pin connections are as follows PB connector Connector Connected connector e pin No pin No Emergency stop contact E STOPIN1 Line 1 E STOPIN2 Emergency stop contact E STOPIN3 Eee Connected to E STOPIN4 SAFETY connector LCKIN1 LCKIN2 S9119S Enable contact Line 1 Enable contact Line 2 Connected to PB SEL connector Selector switch Circuit diagram Emergency stop Enable Selector SAFETY Pa D 173 13 157 Be B41 ol p als O Da ate tela ol m AO lA Pa ae Ee Pa gt CO PA DA Apo x LA S dl a na PB SEL 0 0 RA RA 2 5 1 4 SERVICE mode This section describes SERVICE mode 1 4 1 What is SERVICE mode SERVICE mode is
20. e specifications ONDIAVI JD 2 Safety standards 2 1 Cautions regarding compliance with EC Directives The OMRON robot robot and controller is not in itself a robot system The OMRON robot is just one component that 1s incorporated into the customer s system built in equipment and we declare that OMRON robots conform to the EC Directives only within the scope of built in equipment This does not therefore guarantee that OMRON robots conform to EC Directives in cases where the robot is used independently Customers who incorporate a OMRON robot into their final system which will be shipped to or used in the EU should therefore verify that the overall system is compliant with EC Directives e Differences between OMRON robots robot and controller and robot systems A OMRON robot robot and controller is just one component in a robot system and is not in itself a robot system This is because a OMRON robot does not include the end effector s or any equipment devices or sensors required for the robot to perform its tasks as defined in Industrial Robot system of the ISO 10218 1 2011 Standard Clause 3 11 1 1 lt 2 2 Applicable EC Directives and their related standards The tables below show directives and related standards applied to OMRON robots MW YRC robot controller EC Directive Related Standards N ISO12100 Safety of machinery General principles for design Risk assessment and risk re
21. fies the requirements of the category that meets PLr 3 Calculate the safety circuit s performance level PL from the MTTFd DCavg and CCF of the devices used for the safety circuit and then make sure that the calculated PL 1s equal to or higher than the performance level PLr required of the safety circuit PLr lt PL In the customer s final system the performance level PLr required of the safety circuit should be determined by means of risk assessment and then the safety circuit with the corresponding performance level PL should be configured e Safety parts subject to performance level calculation The table below shows the safety parts and B10d reference values N CAUTION Please obtain the latest information from the parts manufacturers Emergency stop button XA1E BV302R IDEC 1x10 PB Enable switch HE2B M200PB IDEC 1x10 2 14 32 Circuit examples for the YRC The following shows category specific safety circuit configuration examples for the YRC Customers should install the appropriate safety measures for their system by referring to these safety circuit configuration examples in order to use the robots more safely The example shown here provide the following input output signals Reset switch maintenance mode switch door switch and external emergency stop Programming box emergency stop output and enable output CAUTION The controller status output signals of the paralle
22. finition relating to the EMC Directive Refer to the EN61000 6 2 Standard Clause 1 Scope In order to conform to the EMC Directive the customer must evaluate the finished product entire system and take necessary countermeasures Refer to EMC countermeasures for single units of OMRON robots which are described in the next chapter in this manual e Installation conditions e Protective structure OMRON robots are classified as built in equipment and have a Class I protective structure against electrical shock ONDIAVI JD The robot and controller must therefore be grounded properly to prevent possible electrical shock For details refer to the controller user s manual and the robot user s manual e Enclosure The robot controller case is not designed as an enclosure that conforms to the EN60204 1 Standard Suitable protection should therefore be provided to prevent the danger of electrical shock due to inadvertent contact and ambient environment problems dust water etc e Insulation co ordination Regarding insulation co ordination OMRON robots and controllers are designed to meet the following conditions Overvoltage category II Pollution degree 2 Take proper countermeasures as needed if the robot or controller is used in environments more severe than these levels e Explosion proof e OMRON robots and robot controllers are not designed to meet explosion proof specifications Do not use them in environments exposed to
23. flammable gases gasoline or solvents which could cause explosion or fire 1 3 lt PTA YRC series Contents System overview System overview Main system configuration Control system configuration Basic configuration Power supply and emergency stop system circuit configuration Programming box PB Part names and functions PB connector SERVICE mode What is SERVICE mode Flow for enabling the SERVICE mode functions SERVICE mode parameter settings 2 EMC countermeasure examples 2 6 2 7 2 7 2 1 ll 22 3 YRC robot controller Configuration Countermeasure components 2 9 2 9 2 10 cwl A2 321 322 323 3 2 4 External safety circuit examples Performance level Circuit examples for the YRC Category 4 Category 3 Category 2 Overview of circuit operation 2 14 2 15 2 17 2 18 2 19 2 20 1 System overview 1 1 System overview The YRC series controllers are designed for use with a SCARA robot Applications also include various inspection instruments sealers and spray equipment utilizing linear and circular interpolation 1 1 1 Main system configuration EW YRC robot controller Example R6YXG500 All the axes on the robot controller are used as the main robot axes lt AJ O System for controlling one robot S9119S omron y JN fot OMRON robot PC External device PLC etc Ex
24. g on installation conditions 2 1 2 1 1 A Configuration CAUTION YRC robot controller The following description and circuits are typical countermeasures used when the robot and controller are tested under OMRON lt AJ O S9119S As shown in the following figure the ferrite cores and noise filter on the controller side should be placed as close to the controller body as possible The ferrite cores on the robot side should be placed as close to the robot body as possible Typical component layout for EMC countermeasures Power supply 200 to 230V Ground Meaning of symbols Noise filter Ferrite core Ferrite core Ferrite core Ferrite core Ferrite core Ferrite core Hosmasol Ferrite core STD DIO OP DIO NETWORK PB NF2020A UP SOSHIN ELECTRIC CO LTD ZCAT3035 1330 TDK ZCAT2132 1130 TDK ZCAT2032 0930 TDK TFT 274015S Takeuchi Kogyo Co Ltd SFT 72SNB 026K Takeuchi Kogyo Co Ltd 1 turn 2 turns NN AL X NS ZN Robot series NS A SCARA MI MS X x EI 7 LI network Aa 1001 o I E H e Rs 232C X Regenerative unit External safety circuit 2 9 lt 2 1 2 Countermeasure components E Surge absorber The YRC can be used without an external surge absorber However to further enhance surge resistance install a surge absorber on the AC power line A recommended surge absorber is shown below e Recommended
25. ilure to follow this instruction may cause malfunctions due to noise 2 2 Installation safety points WARNING A e ALWAYS GROUND THE GROUND TERMINAL OF THE POWER TERMINAL BLOCK TO AVOID ELECTRICAL SHOCK e SECURELY INSTALL THE CONNECTORS INTO THE ROBOT CONTROLLER AND WHEN WIRING THE CONNECTORS MAKE THE CRIMP PRESS CONTACT OR SOLDER CONNECTIONS CORRECTLY USING THE TOOL SPECIFIED BY THE MANUFACTURER e ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR WIRING WORK FAILURE TO SHUT OFF ALL PHASES MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE e OMRON ROBOTS AND ROBOT CONTROLLERS ARE NOT DESIGNED TO BE EXPLOSION PROOF DO NOT USE THEM IN LOCATIONS EXPOSED TO INFLAMMABLE GASES GASOLINE OR SOLVENT THAT COULD CAUSE EXPLOSION OR FIRE FAILURE TO OBSERVE THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH OR LEAD TO FIRE e USE THE ROBOT CONTROLLER WITHIN THE ENVIRONMENT SPECIFICATIONS LISTED IN THIS MANUAL USING THE CONTROLLER IN AN ENVIRONMENT OUTSIDE THE SPECIFICATION RANGE MAY CAUSE ELECTRICAL SHOCK MALFUNCTIONS PRODUCT DAMAGE OR DETERIORATED PERFORMANCE e INSTALL THE ROBOT CONTROLLER AND PROGRAMMING BOX AT A LOCATION OUTSIDE THE ROBOT S WORKING ENVELOPE YET WHERE IT IS EASY TO OPERATE THE ROBOT AND VIEW ITS MOTION e INSTALL THE CONTROLLER IN LOCATIONS WITH ENOUGH SPACE TO PERFORM WORK TEACHING INSPECTION ETC SAFELY LIMITED SPACE NOT ONLY MAKES IT DIFFICULT TO PERFORM WORK BUT CAN
26. is manual keep it in a safe easily accessible place so that it can be referred to when needed e This manual should be used with the robot and controller and considered an integral part of them e When the robot and controller are moved transferred or sold send this manual to the new user along with the robot and controller Be sure to explain to the new user the need to read through this manual e Specifications of the robot and controller models other than standard models may be omitted in this manual In that case refer to the specifications of standard models e For details on specific operation of the robot controller refer to the user s manuals that come with the robot controller e The contents of this manual are subject to change without prior notice e While every effort has been made to ensure the contents of this manual are correct please contact us 1f you find any part of this manual to be unclear confusing or inaccurate e 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 OMRON EUROPE B V Safety Guide Contents 1 Safety information 2 Particularly important cautions 2 2 1 System design safety points 2 2 Installation safety points _
27. is manual carefully and follow the instructions Connectors have a particular orientation so insert each connector in the correct direction 5 lt SPINS A48 DS SPINS Ajejos 5 2 Warning marks The following warning marks are shown on the controller To use the OMRON robot and controller safely and correctly be sure to observe the instructions and caution of the marks 1 Electric Hazard mark This mark indicates that a high voltage is present This mark warns you of possible electrical shock Do not touch the terminal block and connectors to avoid electrical shock 2 CAUTION mark This label means that important information you must know is described in the manual Before using the controller be sure to read this manual carefully When in particular configuring an external safety circuit or connecting a power supply to the controller read this manual carefully and follow the instructions Connectors have a particular orientation so insert each connector in the correct direction 3 High Temperature Hazard mark Indicates that the area around this mark may become very hot Heatsinks and regenerative unit become hot during and shortly after operation Do not touch them to avoid burns 6 Industrial robot operating and maintenance personnel Operators or persons who handle the robot such as for teaching programming movement check inspection adjustment and repair must receive appropriate training and also h
28. l I O and serial I O such as A Overall connection diagram with enable switch O t O Rese TT ae LE Maintenance Se Door 31 18 External st o emergency stop Ll TU OUT O SERVICE DIO2 P COMDI Wiring to check whether controller IL 11 P COM is normal when using alarm to shut 2 MPRDY off main power PAM 2 MPRDY ae a qt sat Status O Y N COMDI DUDA 13 ESTOP2WV gt Internal 24V DO 14 E STOPRDY E STOP A EA Wiring to check whether controller is i normal when not using alarm to shut A i off main power en En J i a 24V GND GND SL 6ND Li COMMON ai een CPU_OK contact A normally open 24V P COMDI GND S PNP specifications Input output signals alarm signals should be monitored by the host device Controller Enable Emergency stop N COMDI 2 15 lt AJ O S9119S lt AJ O S9119S 2 16 Reference Connection diagram without enable switch category B NIA PNP specifications e Emergency stop External N Y emergency circuit O SAFETY Bae p BEE 2 E A gt AUTO SERVICE Maintenance switch IN 1 SERVICE DIO2 pu Q PE eo gt 11_P COM i MPRDY Status N COMDI GE E STOP24V Internal 24V pam 14 E STOPRDY E STOP de Status 24V GND GND COMMON CPU_OK contact A normally open P COMDI N COMDI Y Input output signa
29. leave the SD memory card inserted into the programming box Doing so may cause malfunction or breakdown Insert the SD memory card into the programming box only when making a data backup or loading the backup data Safety precautions during robot operation DANGER A e NEVER ENTER THE ROBOT S WORKING ENVELOPE WHILE THE ROBOT IS OPERATING OR THE MAIN POWER IS TURNED ON FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH INSTALL A SAFEGUARD SAFETY ENCLOSURE OR A GATE INTERLOCK WITH AN AREA SENSOR TO KEEP ALL PERSONS AWAY FROM THE ROBOT S WORKING ENVELOPE WHEN IT IS NECESSARY TO OPERATE THE ROBOT WHILE YOU ARE WITHIN THE ROBOT MOVEMENT RANGE SUCH AS FOR TEACHING OR MAINTENANCE INSPECTION TASKS ALWAYS CARRY THE PROGRAMMING BOX WITH YOU SO THAT YOU CAN IMMEDIATELY STOP THE ROBOT OPERATION IN CASE OF AN ABNORMAL OR HAZARDOUS CONDITION INSTALL AN ENABLE DEVICE IN THE EXTERNAL SAFETY CIRCUIT AS NEEDED ALSO SET THE ROBOT MOVING SPEED TO 3 OR LESS FAILURE TO FOLLOW THESE INSTRUCTIONS MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR DEATH WARNING A e ONLY PERSONNEL TRAINED IN SAFETY AND ROBOT OPERATION MAY OPERATE THE ROBOT OPERATION BY ANY 2 6 PERSON WHO HAS NOT RECEIVED THE PROPER TRAINING IS VERY DANGEROUS AND MUST BE AVOIDED Precautions for disposal N CAUTION e When disposing of this product discard it as industrial waste Take appropriate measures in compliance with legal regulations in your c
30. ls 3 2 1 Category 4 A safety circuit configuration example of category 4 1s shown below Category 4 safety circuit example L1 ACIN AC OUT N1 O Reset switch P S1 ry C B AUTO SERVICE Maintenance switch lt 22 AJ gt O 1 ws Service 1 mi L2 L1 S2 Input2 Bam Mi O EJE Input 3 o O Door switch Y a Input 1 a a EM 3 Input 2 al 2 Bg Enable 11 Enable 12 Enable 21 Enable 22 SAFETY 42 5 E STOP24V Be E STOPRDY Be MPRDY 1 Bi N COM 24V Service 1 pe SERVICE DIO2 SRL2 Service 2 O P COM External emergency stop L2 L1 A2 131 Pa T11 S14 Input L m PT 524 5 534 Input2 ETD ri OUT PB emergency stop El SAFETY PB emergency stop pg Output 1 Input 1 A Output 2 Input 2 ns PB enable PB enable Input 1 Z ma ET NA Y Output 1 ee TE A UOUOUOUOUOOOOOOOOSOSOSODG Input 2 ES E E Output 2 Y Enable 11 u Enable 12 24V O K Enable 21 GND Es 44 Enable 22 1 Wiring to check whether the controller is normal when using an alarm to shut off the main power Parts list Type No Reset switch A22 series Key selector switch A22 TK series Safety door switch D4 series S4 Emergency stop switch A22E series OMRON KM1 2 Contactor mirror contact LC1 D18 Schneider Electric Safety relay G7SA 3A1B OMRON Socket for safety relay P7SA 10F ND OMRON SRLI Safety relay unit G9SX GS226 OMRON SRL2 Safety relay unit G9SX AD322 OMRON SR
31. nal outline 90 1 lt AJ O S9119S Ferrite Plastic case Clamped state unit mm e Recommended ferrite core 5 Manufacturer Takeuchi Kogyo Co Ltd Type No SFT 72SNB 026K Dimensional outline 61 3 Ferrite Plastic case Clamped state RO op unit mm 2 13 3 External safety circuit examples This section describes category specific safety circuit configuration examples using the PB Customers should install the appropriate safety measures for their system by referring to the circuit example for each controller in order to use the robots more safely 3 1 Performance level To comply with the machinery directives the performance level PL required of the safety circuit must be evaluated Performance levels PL are determined by the following parameters e Major factors that determine performance levels l Category 2 MTTFd Mean Time To Dangerous Failure lt AJ O 3 DCavg Average Diagnostic Coverage 4 CCF Common Cause Failure Checklist score gt 65 Please obtain the data on each component from the component manufacturer S9119S The performance level PL of a safety circuit is determined by the following flow e Flow for determining performance levels 1 Determine the performance level PLr required of the safety circuit by means of risk assessment 2 Configure the safety circuit that satis
32. on only during the time that the PB operation key is kept pressed In SAFE mode setting therefore the operations in AUTO mode and MANUAL mode differ from those in normal mode depending on the SERVICE mode parameter settings WARNING A RESTRICTION ON THE ROBOT MOVING SPEED IS NOT A SAFETY RELATED FUNCTION TO REDUCE THE RISK OF COLLISION BETWEEN THE ROBOT AND WORKERS THE USER MUST TAKE THE NECESSARY PROTECTIVE MEASURES SUCH AS ENABLE DEVICES ACCORDING TO RISK ASSESSMENT BY THE USER NOTE e The robot pauses when the SERVICE mode input is changed during program operation or jog movement e The NPN PNP specifications for DIO2 are determined as follows YRC Determined by STD DIO setting e Current capacity of at least 7mA is required for DIO2 input e When the YRC controller is set to SAFE mode it always enters the SERVICE mode state unless power is supplied to STD DIO from the external 24 V power supply To cancel this state by software set the Watch on STD DIO DC24V parameter to INVALID gt 2 6 1 4 2 Flow for enabling the SERVICE mode functions e Controller is set to SAFE mode e SERVICE mode parameters have been set e Open turn OFF the DIO2 contact If a serial I O option board is installed SERVICE mode is entered when either one of SIO2 or DI02 is open OFF e Controller enters SERVICE mode with the operation level operating speed limit and exclusive control of the operation devices specified by the
33. ountry or entrust its proper disposal to a company authorized to handle industrial waste 3 Safety measures for robots 3 1 Safety measures for SCARA type robots 1 Safety measures during transportation To ensure safety use the eyebolts that come with the robot Refer to the robot user s manual for details 2 Protective measures against electrical shock Use the protective ground terminal to ensure safety Refer to the robot user s manual for details 4 Motor overload precautions Since abnormal operation such as overload of the motor is detected by software the controller parameters must be set correctly to match the motor type used in the robot connected to the controller Prior to shipping the controller parameters are preset to match the robot model to be used However please check the robot model again when connecting it to the controller 5 Warning labels and marks 5 1 Warning labels The warning labels shown below are affixed to the controller To use the OMRON robot and controller safely and correctly be sure to observe the instructions and caution on the labels 1 Read Instruction Manual label READ INSTRUCTION MANUAL This label means that important information you must know is described in the manual Before using the controller be sure to read this manual carefully When in particular configuring an external safety circuit or connecting a power supply to the controller read th
34. rams eet keys x The sheet keys are classified into 3 main types function keys control keys and data keys Pressing this button during operation immediately stops robot movement This is a contact B normally Emergency stop E closed type switch The XA1E BV302R made by IDEC is used button This switch can be used as needed by wiring to the PB SEL connector on the YRC Selector switch Turning on this switch opens the contact and turning it off closes the contact The switch ON OFF function is disabled if not wired This is a 3 position switch designed in consideration of safety Pressing this switch to the middle position only enables robot operation This switch is disabled when LOCKIN1 to 4 of the SAFETY connector are not wired Configure an external safety circuit so that the state of this switch determines the robot operating state as Enable switch follows Switch released Emergency stop state Switch in middle position Operable state Switch pressed Emergency stop state The HE2B M200PB made by IDEC is used EA PB connector Use this connector to connect the PB programming box to the robot controller 1 3 2 PB connector The PB has an emergency stop button and an enable switch The contact outputs of these can be used to connect to the emergency stop circuit of the entire equipment via the SAFETY connector on the controller This section describes signal connections CAUTION A e Do not change or modify th
35. rmitted Level 2 Disabled Prohibited Default setting Limitations on operating speed during SERVICE mode The maximum robot operating speed can be specified i lt 3 Robot operating speed is limited to below 3 of maximum speed lt 100 Robot operating speed is not limited Default setting Operation device control during SERVICE mode The operation device can be specified l PB Only PB operation is enabled PB DI PB and dedicated input are enabled PB COM PB and online commands are enabled ALL PB dedicated input and online command operation device are enabled Default setting CAUTION Dedicated input is SI when a serial board is connected 23 EMC countermeasure examples Regarding EMC Directive the customer s final product entire system including the OMRON robot must provide the necessary countermeasures We at OMRON determine a model for single units of OMRON robots controller robot and peripheral device and verify that it complies with the relevant standards of EMC Directive In order to ensure the customer s final product entire system complies with EMC Directive the customer should take appropriate EMC countermeasures Typical EMC countermeasures for a single unit of OMRON robot are shown for reference A CAUTION installation conditions When the robot and controller are used while installed in the customer s system the actual test results may differ dependin
36. surge absorber Manufacturer SOSHIN ELECTRIC CO LTD Type No LT C12G801WS Dimensional outline lt AJ O Status indicator Green Normal Red Abnormal S9119S Wire line Wire earth Black Green Yellow do 2 D N gt 22 5 10 3 0 Y 38 1 0 unit mm 2 10 HM Noise filter Always install an external noise filter on the AC power line A recommended noise filter is shown below e Recommended noise filter Manufacturer SOSHIN ELECTRIC CO LTD Type No NF2020A UP Dimensional outline R2 25 Length 6 lt AJ O 6 M4 S9119S Input terminal Case Name plate Output terminal Earth terminal unit mm 2 11 lt MW Ferrite core Install ferrite cores according to the customer s final product entire system Recommended ferrite cores are shown below e Recommended ferrite core 1 Manufacturer TDK Type No ZCAT3035 1330 Dimensional outline 39 021 lt AJ O S9119S unit mm e Recommended ferrite core 2 Manufacturer TDK Type No ZCAT2132 1130 Dimensional outline 36 0 1 20 5 1 11 0 1 unit mm e Recommended ferrite core 3 Manufacturer TDK Type No ZCAT2032 0930 Dimensional outline unit mm 2 12 e Recommended ferrite core 4 Manufacturer Takeuchi Kogyo Co Ltd Type No TFT 2740158 Dimensio
37. ternal emergency stop circuit Emergency stop button Safety relay Safety door switch etc 2 1 lt lt AJ O S9119S 1 2 Control system configuration 1 2 1 Basic configuration The basic block diagram of the YRC robot controller system 1s shown below EW YRC basic block diagram Basic block diagram gt 22 Fr Oo Z DRIVER POWER gt G as U a N IS lt CN10 MOTOR XM N1 YM DRIVER 2 Y ZM mW Q J RM NA N2 ROB I O XY BATT XY ROB I O ZR ql DRIVER 1 SAFETY vs PB SEL CPU BOARD KS COM ALD PZA E Y I 1 2 2 Power supply and emergency stop system circuit configuration The control system s power supply system and emergency stop system circuit block diagram are shown below Power supply and emergency stop circuit block diagram Emergency stop button Selector switch CONTROL i CIRCUIT BLOCK E D POSITION Enable lt BACKUP switch AJ CIRCUIT O ROBOT I O men YN ee SAFETY 3 D A MOTOR D MOTOR RELAY Y DRIVE MOTOR CIRCUIT External emergency stop circuit User equipment DC280V REALY2 GND MOTOR CIRCUIT AC200 to 230V IN MAIN L N L1 CONTROL E common me gt t 3 N1 1 POWER CIRCUIT BLOCK YRC robot controller 1 The input power and each control power are insulated by the insulated transformer 2 The OV line for the 3 6VDC 5VDC 12VDC and 24VDC is not conne
38. un nenn nennen nn 2 2 EA BA O A cnn ec crn meet arcnree 2 2 1 2 2 Power supply and emergency stop system circuit Configuration c eesereeeneennnen 2 3 EU ole ell PB a sae eee ree ten eaten ee 2 4 ES a S ICC ons ee 2 4 oe EP BEC Ola SG a 2 5 EAE SERVICE MOde naaa ee mama E year emi yee ac Maer arian acter 2 6 AMS SERVIC EMOCE ee 2 6 LAZ Slow fOrcnebling ine SERVICE MOJ A San 2 7 SO o A se ee 2 7 2 EMC countermeasure examples _ 2 9 2a VRC TODO MO A ee ade 2 9 AE are 2 9 2 226 A A sa ee ee oietiore telat wees rise 2 10 3 External safety circuit examples 2 14 Soll O see ne eine 2 14 3 2 Circuit examples for INO YRC coccion once coed tees nee nennen nee een 2 15 32 WC o ee 2 17 3 220 JE CON A oe ee rete E eae ae me ere tena tite 2 18 BO WC GE GOLA aerate o c Set ues em ever Mee ene 2 19 So 2 A OVE VIEW Ole Cll CUNE CNG Clin mere ae arrears ee 2 20 Introduction Thanks for purchasing the OMRON robot controller YRC This manual describes the CE marking for the YRC When shipping the YRC to Europe or when using 1t in Europe always read this manual thoroughly to use the controller correctly This manual describes only the items related to CE marking For operations and programming of the robot controller refer to the user s manuals that come with the robot controller For information on the warranty also refer to the user s manual that come with the robot controller Even after reading th
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