2.1 System Setting System Setting Command 1) System Configuration — Fot the YASNAC-MRC start-up, it is necessary for the parameter values to be set and included in the robot system structure. This is called system configuration. On this screen, system items may be selected from the menu while the system parameters are automatically set. 2) File Initialization — All files can be initialized. (It is recommended- that the system configuration be completed first.) 3) ROM le Initialization — All ROM files can be _ initialized. (It is recommended that the system configuration be completed first.) 4) SYSCON Internal Data Initialization —- All files can be initialized. (It is recommended that the system configuration be completed first.) Hc9400528System Setting Screen 4) Upon Maintenance Mode start-up, system setting is selected. Maintenance Mode Bystem Setting ‘System Version Verification Hardware Diagnosis Select by 4 u key / Press pressing . 2) On the system setting screen, selection can be made by moving to desired option on the console, then Maintenance Mode ROM File Initialization SYSCON Internal Data Initialization selectby {} 4) key/ Press to returm * Even if File , ROM File, or System Configuration Initialization has been selected, the screen may not appear. System Configuration “Initialization “ must be executed. Hes400s282.2 System Configuration Outline The following functions are for system configuration. 1) Initialization Automatic setting of system parameters and all file initializations are executed. System configuration settings are recorded in CMOS memory. Initialization must be executed prior to YASNAC-MRC start- up. 2) Adjustments / Edit System configuration setting may be changed, System parameters are automatically set when initializing. Edit may be made when the following conditions occur. > Addition of external axis > Application upgrades > Addition of 1O module > Addition of sensor circuit board 3) Display System configuration setting status can be verified. Listed below are items that can be set during system configuration. > Primary language > Secondary language > Robot, base, station control axes > Robot types > Base and all axis motor types > Station and all axis motor types > Application selection > CIO ladder > Robotic application > 10 module > Sensor functions > Robot application and sensor circuit board >OP > CMOS memory Hc9400528System Configuration Screen When maintenance mode is executed, the following screens will be displayed. Maintenance Mode System Setting ‘System Version Verification Hardware Diagnosis select by {}{} key/ Press to return Once system configuration is performed, select “System Settings” and press . System Setting lem Configuration File Initialization ROM File Initialization setectby {}{ key/ Press 10 to return Selection may be made after system configuration initialization has been performed. On the system setting screen, select “System Configuration” and the following ‘screen will appear. System Configuration [initialization 5 Edit /Mopi Fy Display Select by {}{ key/ Press to return Hes400528a4 ation Once system configuration has_begun, “Initialization” is executed according to the following steps. For every screen, a setting is selected and is pressed. The next screen will automatically appear. However, depending on the system axis structure screen, the Machine Type selection and motor selection screen item definitions are given. If is pressed, the settings become invalid and returns to the in” screen. Once System Configuration “Initialization has been selected, Primary Language Screen Secondary fangudge Screen Control Axis Structure Screen Machine Type Seléction Bcreen (Robot #1) Machine Type Seldction Bcreen (Robot #2) Machine Type Setection| Screen (Base#1) Motor Selectidn Scr¢en (Base #2) Machine Type Sek Machine Type Sel Motor Select Motor Sele Machine Type S Motor Selecti CMOS Merbbry Screen Verification Screen End (Retum to system configuration screen) Hcs4005281. Primary & Secondary Lanquage Selection Screen 12 On the system configuration screen, select “Initialization”, and the following screen will appear. Primary Lanquage Japanese English < Available Languages are displayed. Selectby {} 4) key/ Press to retum Once the primary language is selected, press and the next screen appears. Secondary Lanquag Japanese English 5 < Available Languages are displayed. selectby {} 4) key/ Press to return Once the secondary language is selected, press and the Control Axis Structure screen will appear. 2. Control Axis Structure Screen Control Axis Structure # of Robots 2 Base #1 “no. yes Base #2 no | yes # of Stations m0|123456 select by {} 4) key/ Press to return ‘Select the number of robots, base existence, number of stations and press , the Machine Type Selection Screen will appear. An error will be generated if an abnormal combination is selected. Hc94005283. Machine Type Selection Screen (Robot) 13 Machine Type Selection Robot #1 >" K6-A30 K60C-10 * ~ K10-A00 K100-A00 * “ K10SB K100C-A10 7 K30-A00 _* * * K60-A00 7 7 Seieiez BQute” < Robot type that is recorded in the ROM is displayed. After the robot type is selected, press . (Same for robot #2) 4. Machine Type Selection Screen (Base, Station) Machine Type Selection Base # >* RectX] RectXYZ * : RectY * : e Retz * 7 e Rect-XY * j e Rect-xz * a Rect-YZ * ° i Selectby (}{) key/ Press to return Rect-X:Retangular X axis Rect-Y:Retangular Y axis Rect-Z:Retangular Z axis Rect-XY:Retangular XY axis Rect-XZ:Retangular XZ axis, Rect-YZ:Retangular YZ axis, XYZ:Retangular XYZ, After the base type is selected, press , and the Motor Selection Screen will appear. (same for base #2) If the number of axes exceeds 21, an error will be generated. Machine Type Selection a >* Fum-1] Rect-XZ Turn-2 Rect-YZ Rect-x Rect-XYZ * 7 RectY = * - a Rect-z : a co Rect-xY ~* J . Select by key / Press 4o fetum, Turn - 1: Rotational Axis #1 Turn - 2: Rotational Axis #2 After the station type is selected, press , and the Motor Selection Screen will appear. (same for stations # 2- 6) If the number of axes exceeds 21, an error will be generated. Hc94005285. Motor Selection Screen (Base & Station) 14 The following screen will appear when selecting the motor type for the base and station. Motor Selection < You may choose the Base #1__> Rect-X Axis p41 group name, number USADED-13-YR21 USAPEM-07-YR42 and axis number. USADED-1eYRat USADED-22-YRaa & Motor types recorded USAREM-02CYR22 USASEM-08-YR61 ear AStion ie cence USAPEM-07-YR11 USADED-22-YR41 USAREM-01-YR41 USASEM-08-YR71 and the next screen will appear. Selectby {4} key/ Press =CANCEL> to return After the motor is selected, press and the next Motor Axis Screen will appear. 6. Application Selection Screen When selecting the motor type for the base and station, the following screen will appear. Application Selection < Applications appear : on one screen. Handling 7 ‘Spot S > If the desired Multipte : application does not Tool-less e appear, with the Arc + Arc : item selection key until Select by key / Press the application is ¢6 return present. After the application is selected, press and the CIO Ladder Screen will appear. 7. CIO Ladder Screen ‘clo Ladder < Applications appear . on one screen. Bene bt) 5 After the CIO Ladder Muttipie e application is selected, Toolless . press and the eee - Application Setting ‘Select by key / Press Screen will appear. t9 return He94005288. Robot Application Screen 15 After the application type is selected the following screen will appear. Robot Application < If application #1 is Robot #1 selected, Application #2 Application 1 inuse] not inuse | options will not appear. Application 2 inuse not inuse Robot #2 ‘Application 4 inuse. not in use Application 2 inuse not in use Select by QQ key / Press SGANGEL~Ho vetum After the setting is selected, press and the IO Module Screen will appear. 9. 1O Module Screen 10 Modui Circuit Board Display Slot 1 DIo16 M001 DIO32 Slot 2 DIOs2 Mioo2 DIO32 Slot 3 Not available M003 DIO16 Slot 4 Not available M1004 DI024 Slot 5 MEW01-1 Digits indicate} Select by {} ) key / Press number of 0 rétum welds After the 10 module ___ status is verified, press and the CMOS Memory Screen will appear. Depending on the IO Module Settings, it is not always possible for automatic selection. If this is the case, “Automatic Setting Disabled” will appear. 10.. Sensor Function Screen ‘Sensor Function < When the sensor circuit board is Sensor1 >COM-ARC OFF its function Sensor 2 > Not available °F* is displayed also. Select by (}{) key / Press to retum Although displayed, once the sensor circuit board is verified, press and the next screen will appear. Hce40052811. Robot Application Sensor Circuit Board Screen 16 Robot Application Sensor Circuit Board Robot #1 Sensor 1 in.use notinuse || If robot #2 is not oan a ce ea einen present, nothing is displayed. After the settings are selected, press and CMOS Memory screen will appear. 12. OP Setting Screen oP ate 1FO2 >2 OP >3 Primary Language > Japanese >a Secondary Language > English op Bxailable] Not Available select by}. key/ Press SCANCEL> {8 rotum 4* If there is not a MIFO2 circuit board, then “not available” will appear 2" When OP is not connected, “not available” will appear 3° If OP is “available” the internalized language in the ROM will be displayed. 4" if OP is “available”, its options will be displayed. Although displayed, once the MIF02 and OP connection are verified, press , and CMOS Memory Setting Screen will return. * If OP is disconnected from the system, select “not available”. If the Primary and Secondary Language Setting Screen (Refer 3.1) that is not in the OP ROM is selected, an error will be generated. Hcsao0s2813. CMOS Memory Screen GMOS Memory Available Memory > 256 KB Artificial Memory > 256 KB HS onpne ey Press to return 17 CMOS Memory Standard 256 KB MMMo1-2 1MB MMMo1-3 2MB MMMo1-4 3 MB Although displayed, after the CMOSartificial 14. Verification Screen memory is verified, Press and the Verification Screen will appear. System Configuration Execute Initialization Proceed? pyes no Select by <—, —> key / Press to'return initialized and System Configuration Screen Initialization Adjustments/Edit Display Select by 0) J) key/ Press Seance O Suu If “yes” is selected, press , then CMOS memory contents are returns. If “no” is selected, then CMOS memory contents may not be changed. Initialization is complete. Return Rotary SWitch Setting to “0” and turn power on. HC9400528Edit 18 To change the individual system settings after the system configuration “initialization” has been executed, select “Change/ Adjustment”. ‘System Configuration < Edit can be made after alization” has been executed. Initialization je a Display Select by {} J) key/ Press Beech If there are system alterations, selected “Edit/ Adjustments” on the system configuration screen. Edit guage || Sensor Function ‘Control Axis oP Application Custom Option 10 module o Select by {) {key / Press to return Once the item to be changed is selected, press and the screen to alter each selected tem will appear. 41. Lanquage Edi Primary and Secondary Languages are changed on the Language screen. * Must execute “initialization” screens. Hes400528