02 Robot Manual-20170706

Robot Manual
V/Ⅶ series[UL/CE]
CONTENTS
Safety UL-CE-NSAF-05
Operation COME-NOPE-06
Teaching - teaching on pallet - UL-CE-NTEG-03
Teaching - built in Oxpa-Qm - UL-CE-NTEA-05
Robot Sequense Commands UL-CE-NSEQ-07
Interface with PLC COME-NSTC-08
Maintenance COME-VMAI-08
Installation and adjustment –Mechanical- UL-CE-VINSM-06
Installation and adjustment –Electrical- UL-CE-VINSE-08
Trouble Shooting – Error Messages - UL-CE-NTRS-05
Memory Switches –GenV/Ⅶ- OS-NMSW-11
Version No. 2.09
Date of issue 2017.07.06
Okura Yusoki Co., Ltd.

UL-CE-NSAF-05
Robot Manual
-Original instructions-
Safety

History
Version (Date) Contents Page

01（2011.9.22） First edition
02（2013.1.25） Second edition
Addition of Updating history This page
03（2014.4.1） New provision is added. 1-2
Date update Last page
04（2015.01.22） Safety-related control system is added. 1-2
Addition of Updating history
This page
Description of safety instructions is added.
05（2017.07.06）
DoC for Ai1800 and Ai700 is added.
EC Declaration of Conformity of The Machinery
We hereby declare that to following products are in compliance with the requirements of the following EC
Directives:
Product: Robot Palletizer

Model: A1800V/A1800V-W/ A1800V-P/
A1600V/A1600V-W/ A1600V-P/ A1600V-PW/
A700V/A700V-P/
to which this declaration relates is in compliance with the EC Directive on the following standard(s).
Applicable EC Directive(s): Machinery Directive 2006/42/EC - Annex I

Low Voltage Directive 2006/95/EC
EMC Directive 2004/108/EC
Applicable Standard(s): EN775(ISO10218-1), EN563

ISO12100:2010
EN60204-1:2006
EN61000-6-4:2007/EN61000-6-2:2005(EMC)
The above product must not be put into service until the total system incorporating the product has been
declared to be in compliance with the provisions of all applicable directives.
Manufacture:
Name : Okura Yusoki Co., Ltd.
Address: 900 Furuouchi, Noguchi-cho, Kakogawa-shi, Hyogo 675-8675, Japan
Date:
Signature:
Ryoichi Okura, President
Representative who compile the relevant technical documentation in EU:

Name : Carlo Francois Diane Geens
Address: Vrijheidsstraat 7 B-2630 Aartselaar Belgium
Date:
Signature:
Carlo Francois Diane Geens
EC Declaration of Conformity for Machinery
We hereby declare that to following products:
Product: Robot Palletizer

Model: Manipulator 1) Ai1800 2) Ai700
Controller 1) RC1500 2) RC1600
Are in compliance with all the requirements of the EC Directive on the following standard(s).
Applicable EC Directive(s): Machinery Directive 2006/42/EC - Annex I

EMC Directive 2014/30/EU
Applicable Standard(s): ISO10218-1:2011

ISO12100:2010
EN60204-1:2006+A1
[EMC]
EN55011:2009+A1:2010(Group1, ClassA)( 20kVA)
EN61000-6-2:2005
The above products must not be put into service until the total system incorporating this product has been
declared to be in compliance with the provisions of all applicable directives.
Manufacture:
Name : Okura Yusoki Co., Ltd.
Address: 900 Furuouchi, Noguchi-cho, Kakogawa-shi, Hyogo 675-8675, Japan
Date:
Signature:
Ryoichi Okura, President
Representative who compile the relevant technical documentation in EU:

Name : Carlo Francois Diane Geens
Address: Della Faillelaan 38, B-2630 Aartselaar, Belgium
Date:
Signature:
Carlo Francois Diane Geens
WARNING
TO ALL PLANT PERSONNEL
THIS MACHINE IS
AUTOMATICALLY CONTROLLED.
IT MAY START AT ANY TIME!
NEVER WORK ON, CLEAN, SERVICE, OPEN OR REMOVE ANY

PROTECTIVE COVER, GUARD, GRATE, DOOR, OR
MAINTENANCE PANEL UNTIL THE POWER HAS BEEN TURNED
OFF AND LOCKED OUT.
AVOID PERSONAL INJURY BY TAKING

EVERY PRECAUTION!
SAFETY GUARDS
ARE PROVIDED FOR YOUR PROTECTION
NEVER OPERATE EQUIPMENT WITHOUT GUARDS INSTALLED
WARNING
TO AVOID SERIOUS BODILY INJURY OR DEATH, LOCKOUT THIS
MACHINE BEFORE PERFORMING ANY MAINTENANCE OR
SERVICE TO EQUIPMENT.
ALWAYS LOCKOUT THIS MACHINE AT THE MAIN CONTROL
PANEL, PNEUMATIC POWER INLET AND HYDRAULIC TANK (IF
APPLICABLE) BEFORE PERFORMING ANY MAINTENANCE OR
SERVICE TO EQUIPMENT.
Introduction
Thank you for purchasing a model from the Okura Robot Palletizer A series.
This manual is a guidebook to help you safely and correctly use your A Series Robot
Palletizer. It should be useful not only to beginners who are using an Okura Palletizer
for the first time, but also to experienced users, who can use this Manual to reconfirm
their knowledge. Please read this Manual carefully and use the Palletizer with a clear
understanding of its content.
NOTE
Unauthorized reproduction of part or all of the content of this manual is forbidden.
The content of this manual is subject to future change without prior notice.
Each A Series Robotic Palletizer is equipped with a variety of protective features.

However, an increased level of safety results when these safety precautions are
constantly reviewed and consistently followed.
IMPORTANT
Only AUTHORIZED PERSONNEL can operate, maintain the robot or work on
programming.
The definition of “AUTHORIZED PERSONNEL ” are those who have enough
knowledge or experience of robot operation and have also been trained to operate
the robot. They must also have been authorized by the employer.
Safety Instructions
Be sure that the following safety instructions are read, understood and
become a part of daily practice when operating or maintaining Okura
equipment. Help prevent personal injury and/or property damage.
1. Do not attempt to operate any machine until you understand how it functions. If you
are not certain after studying the manual, contact your local Okura office for assistance.
2. Never operate the machine unless all guards are in place and do not attempt to
make any protective device inoperative.
3. Never start a machine until you are certain that all personnel and foreign objects
are clear.
4. In cases where a machine cycles automatically, be sure everyone is aware of the

automatic cycling.
5. Check all protective switches and other protective devices daily to make sure they
operate correctly.
6. Never perform maintenance or repair work until you are sure the power is off at the
main control panel and cannot be turned back on without your knowledge (i.e.,
power is locked out).
7. Do not operate or perform maintenance or repair on a machine when taking any

kind of drug, sedative or when under the influence of alcohol or overly fatigued.
8. Never reach into moving parts to clear a jam of any type.
9. Do not wear loose clothing or jewelry of any kind which could get caught in moving
parts.
10. Keep the floor around the machine clean and free of obstructions and water. If
water is necessary at the machine, be sure to wear shoes that do not slip on wet
floors.
11. Always wear protective safety equipment in areas that require them.
12. Pay strict attention to all caution, warning, and danger signs.
13. Always use Okura recommended spare parts. Special grade bolts should be
replaced with special grade bolts. Learn the standard bolt grading system. Always
replace expansion bearings with expansion bearing, etc.
14. Do not enter the guarded area when the robot is in operation or in automatic mode.
ALWAYS PRACTICE SAFETY, if in doubt, check it out first.

Each A Series Robotic Palletizer is equipped with a variety of
protective features. However, an increased level of safety
results when these safety precautions are constantly
reviewed and consistently followed.
From a practical standpoint, the ultimate

responsibility for safeguarding employees
who work with robots lies with the users
themselves. The words “safe” and “safety”
are not absolutes. A safe system is one that is
well maintained and used as intended.
Equally important are well-trained personnel
with a safety conscious attitude.
Customer/Integrator Safety Responsibility
IMPORTANT
When changing/addition occurs for the robot or the controller, Okura provides
that information as needed.
System integrator should execute change/addition in accordance with that
information.
Safety Guards
It should install the safety guards in consideration of robot movement area in the system
footprint.
Teaching Pendant
It should verify that the enabling device and the emergency stop function work after
changing the teaching pendant.
Emergency Stop Button
It should verify that the emergency stop function work after changing or adding
emergency stop button.
Enabling Device
There is one enabling device on the teaching pendant.

Never ever add the enabling device.
Only the enabling device that the teaching pendant has is usable.
Risk Assessment
Each system is operated under unique conditions. It is ultimately the customer’s

responsibility to determine if the supplied robot/machinery/equipment is safe to
use. The customer must perform his own risk assessment to evaluate the safety
issues that impact his operation.
A risk assessment shall consider, but is not limited to:

1) The size, capacity, and speed of the robot and associated equipment
2) The anticipated tasks that will be required for continued operation
3) The anticipated failure modes
4) The hazards perceived by the customer and its employees during
these tasks and anticipated failure modes
5) The probability of the hazard occurring
6) The probable frequency for these hazards
7) The probable severity of injury if the hazards actually occurred
8) Any areas of noncompliance
9) The level of expertise of exposed personnel
Training Requirements
Basic operator training shall be brovided by the service technician at
the initial use. The owner of an A series robot shall ensure that any
person who programs, teaches, operates maintains, or repairs robots or
robot systems is trained and demonstrates the competence to safely
perform assigned tasks. (Competency may be established through
formal training, on-the-job training, or a combination of both.)
Training Program Content

Training appropriate to each assigned task should include, but not be limited to:
1) A review of applicable industry safety procedures
2) A review of applicable robot vendor safety recommendations
3) An explanation of the purpose of the robot system and its operation
4) An explanation of the specific tasks and responsibilities for each
person
5) A list (by name, location, and phone number) of contacts to call
when current circumstances exceed the ability and/or responsibility
levels of the trainee.
6) Identification of the recognized hazards associated with each task
7) Identification of, and appropriate responses to unusual operating
conditions
8) An explanation of the functions, limitations and design
characteristics of all system protective guards.
9) A procedure for performing functionality tests or otherwise ensuring
proper functioning of protective devices.
10)A procedure for the release of braking device.
11)Identify designated trainer to train new operators
Retraining Requirements
Personnel should be retrained in the event of operating system changes, or whenever

there is reason to believe that additional training is required.
Guarding Types
Protective guards supplied with the
robot/equipment/machinery are designed to provide
protective operation and to reduce the possibility of
personal injury and/or machine damage. It is
absolutely essential to keep all shields, guards and
protective devices in place before, during and after
machine operation. If a shield, guard or protective
device has been removed for any purpose, or is
damaged or missing, it must be repaired or replaced
BEFORE beginning any robot/equipment/machine
operation.
The following guidelines and descriptions will familiarize affected and authorized
personnel with the purpose and design of protective devices. Additional or special
guarding should be in accordance with acceptable customer specifications.
SAFEGUARDING MAY INCLUDE, BUT NOT BE LIMITED TO, PRESENCE-SENSING DEVICES,

BARRIERS, AWARENESS BARRIERS, AWARENESS SIGNALS, SIGNAGE, DESIGNATED
PROCEDURES AND TRAINING.
Fixed Enclosure/Perimeter Fencing/Barrier Guards
1) Provided to keep operating/maintenance personnel from areas of

potential danger during machine operation.
2) This type of guard is fastened to the machine or floor and requires
tool(s) for removal and replacement. Never alter the guard to allow
entry without the use of a tool.
3) Not normally opened or removed except to perform maintenance or
repair. Proper lockout procedures must be observed during time of
removal.
4) Lockout procedures must be observed when access to area is
necessary and must be in accordance with federal regulations.
Adjustable Barrier/Gate Guard/Access Door
1) Located at point of operation or where work is being performed.

2) Provided to keep operating/maintenance personnel from areas of
potential danger during machine operation.
3) Remains in place through positive connectors. Can be opened
without a tool.
4) Engages the Emergency Stop Circuit when opened. Never defeat
the function of this interlock circuit.
Belt/Pulleys, Chain/Sprockets, Gear Guards
1) Permanent, but with removable mounting.

2) Guarded in accordance with federal regulations
3) These guards must remain in place and should only be removed for
maintenance purposes after locking-out the machine
Safety-related control system

1) Protective and safety devices are connected to a safety rated
controller.
2) Safety circuit construction is Category 3 (control reliable) and meets
Performance Level d.
3) All e-stops and protective stop functions are stop category 0.
Protective Disconnects
1) Main Breaker located on panel-interrupts all electrical power to

machine for lockout capability.
2) Central air distribution filter/regulator/on-off located on the
machine-interrupts all supply pneumatic power to machine for
lockout capability.
Protective Signs/Labels
Example of Label
(Many Variations)
1) Located on and around various components included with the

robotic machinery. They highlight specific safety concerns. These
signs and labels vary in format and design.
2) Operators must become familiar with the location and meanings of
the signs and labels.
3) These signs and labels must remain in place. If damaged or
removed along with damaged equipment, they must be replaced by
the customer.
Conclusion
The preceding text presents comprehensive protective information and procedures
for using the robot/equipment/machinery. Operation and maintenance personnel
must use extreme caution when installing, inspecting, operating, repairing, and
maintaining this equipment. DO NOT attempt these functions without first initiating the
protective procedures stated in this text.
Keep in mind that as administrators, operators and maintenance personnel, you have
direct safety responsibility for your fellow employees. All affected co-workers must
receive safety training specific to this equipment. Each affected co-worker must
know where the operating and emergency stop controls are located, which machine
areas are potentially unsafe, and how to work safely around the machine. New
personnel should immediately be briefed on established plant safety practices. Both
affected and authorized personnel should set a good example for other employees
by following these practices.
In conclusion, it is each employer’s responsibility to implement federal and state plant

and safety procedures, and ensure that safe operating practices are followed when
operating and maintaining this machinery. This information is only a guide to Lockout
procedures, and is not intended as a complete program regarding your plant’s
individual needs and requirements.
For federal regulation assistance, contact the regional offices of the Occupational
Safety and Health Administration, and affiliated state agencies in your area.
Safety Instructions
GENERAL NOTICE
1. In this description of general rules for protective measure, the specific

countermeasure for safety required for the use of Robot is discussed, and general
matters for safety are not described.
2. The user of the robot must take protective measures for robot operation to prevent
an accident. Appropriate countermeasure must be taken such as instruction of
safety for users, and/or standard work instructions for operators.
3. The robot must not be used for applications other than defined in the specification
(i.e., approved weight, speed, operation range, and/or environment of use.)
Refer to the Operation Manual before using in order to prevent an accident.

A watchman must be present at trial runs in order to check proper operation procedure
and engage an emergency stop if necessary.
Safety Instructions
OPERATION
1. Operation of the robot must be done by personnel who have been trained and
authorized by the employer.
2. Operation of the robot must be done after checking if the guarded area is clear of
personnel.
Do not bypass or change any operation or safety devices.

To avoid unexpected operation of the robot activation by another individual the trapped
key must be removed from the control panel or the main power must be locked out.
When a robot's manual operation is required, please operate it from the control panel
outside of perimeter guarding.
Safety Instructions
Automatic OPERATION
After making program changes, make sure all personnel have left the perimeter
guarding area before initiating operation.
After teaching, perform the first operation check at low speed.
1. Check programming by repeating operations in AUTO mode.
Careful attention must be paid when the robot is standing in the status of waiting for
PGSEL. The robot may be called to execute a program at any time.
2. The following cases are failures of the robot, and require the robot to immediately stop
operation.
(1) The robot moves in an unexpected direction.
(2) The robot does not stop at the defined stop position or standby position.
Safety Instructions
MAINTENANCE
1. Maintenance of robots must be performed by authorized personnel only
2. Before the technician enters into the perimeter guarded area, stop the operation of
robot and other equipment. Perform lockout procedures.
Perform a daily check of all personnel safety devices, such as e-stops, door
interlocks, and light curtains.
3. When the power is “ON”, electrical connections must not be pull out or plugged in.
4. When maintenance operation is finished, checks must be performed by the

qualified person other than the maintenance performer. (Double check must be
made.)
5. For maintenance operation, do not use parts other than the parts specified by our
company. Do not reconstruct parts. Reconstruction of circuit (containing interlock)
concerning to the robot control must not be performed. If reconstruction is
required, consult our company in advance.
6. Take extra precaution before working inside the control panel. Capacitive devices
can hold a charge for a period of time after the main disconnect has been turned
off.
Table of Contents
1. SAFETY PRECAUTION............................................................. 1-1
1.1. GENERAL PRECAUTIONS ................................................................... 1-2
1.2. LABEL ........................................................................................... 1-3
1.3. PRECAUTION BEFORE DAILY OPERATION ............................................. 1-4
1.4. PRECAUTION FOR AUTOMATIC OPERATION ........................................... 1-7
1.5. PRECAUTION FOR EMERGENCY ........................................................... 1-8
1.6. PRECAUTION AT END OF OPERATION ................................................. 1-11
1.7. PRECAUTIONS DURING MAINTENANCE ............................................... 1-12
1.8. LOCK OUT PROCEDURE .................................................................... 1-13
1.9. ACCESS INTO PERIMETER GUARDING AREA.................................. 1-14
1.10. CERTIFICATIONS / QUALIFICATIONS................................................. 1-15
1.11. INITIAL TEST ............................................................................... 1-16
1.Safety Precaution
constantly reviewed and consistently followed.
Definition of operator
Only AUTHORIZED PERSONNEL can operate the robot.
The definition of “AUTHORIZED PERSONNEL” is described below:
The only personnel that can operate the robot and/or robot
system, are those who have enough knowledge or experience of
robot operation and have also been trained to operate the robot.
They must also have been authorized by the employer.
1-1
1.1. General Precautions
1) A series Robot Palletizer is for indoor palletizing or

depalletizing use only. Do not use this for any other use Manual
such as underwater, digging, construction, welding.
2) Read the entire Manual. Thoroughly review Manual and

Automatic Operation sections for critical step by step,
start-up, and shutdown procedures.
Helmet
3) Do not operate the machine when you do not feel normal, due to
illness, exhaustion, medication, distraction, etc.. Wearing
4) Never operate the system without wearing safe work clothes.
5) Always keep the area around the machine clean and free of dust,
foreign matter, etc.. When cleaning agents are used, wear
Shoes
shoes that will not slip.
Clean
6) Two or more operators, working on, at, around, or in the same
general vicinity at the same time, must maintain contact to
avoid potential danger.
7) Do not touch the inside of the controller unless absolutely

required for repairs or maintenance.
8) Never ever wash down robot and/or controller. That will cause
short-circuit.
9) Never ever work right under the robot arm to avoid unexpected accidents,
even if the main power is turned OFF.
1-2
1.2. Label
The following labels are attached on robot or controller for warning the existence of the
hazards. Do not remove or change these labels.
Observe these the warnings by the labels with descriptions.
No. label Meaning

1 High voltage
2 High temperature
1-3
1.3. Precaution Before Daily Operation
1.3.1. Precaution Before Daily Operation
Check the following items before switching on main power.
1. The robot looks intact, and is not being serviced or repaired.
2. Empty pallets must be placed in the correct position.
3. The robot arm position must be within the normal operating envelope.
4. Compressed air must be supplied at the prescribed pressure and volume, with
the prescribed capacity.
5. There are no personnel inside the perimeter guarding, and there are no
obstructions in the material conveyance path.
6. Do not use the robot overloaded or over-capacity condition.
7. Check the presence of the grease leakage of the joint of the robot body. Some
grease may leak within the first 100 hours of operation as part of the normal
process. Wipe off the grease if leakage occurs.
8. If the robot type is Ai1800 or Ai700, check if leaking grease from flange surface
of D and O axis.（※２）
４３１
1-4
1.3.2. Precaution when main breaker ON
Check the following items after turning on the Main power.
1. The main power lamp on the operation
panel must be lit.
2. Initializing starts on the panel display

and completed with the message shown
below. (It may take up to one minute to
finish initializing)
1-5
3. To initiate Auto mode, press the
abnormal reset button. The screen will
appear as shown.
Note
Pallet quantity shown will vary depending on your system.
1-6
1.4. Precaution for Automatic Operation
1.4.1. Before Automatic operation
1. Visually confirm that all personnel are Okay!

outside the perimeter guarding.
2. Switch motor Power On and visually

confirm that all axes remain still.
Press the Emergency Stop button. The
Motor Power indicator lamp must go out.
(Switch motor power on again after
returning the Emergency Stop button to its
original position, and press the Abnormal
Reset button.)
3. Move axes in manual operation to assure
correct operation.
Note: Manual operation speed is controlled to 250mm/sec or less.
1.4.2. During Automatic Operation
1. Absolutely never go inside the perimeter

guard during automatic palletizing
operations of the robot. Personnel must
not be within the robot’s perimeter guards
during normal product conveyance. Stay out !
2. During normal operation, authorized

personnel will sometimes enter the
perimeter guard to perform “minor
servicing”. To do so safely, stop the robot
by pressing the Stop Push-button. When
the robot arm has stopped motion, turn
motor power off, and follow your standard
factory safety measures before entering
perimeter guarding.
3. Determine the cause of abnormal noise.

Repair the problem before operating.
1-7
1.5. Precaution for Emergency
1.5.1. Emergency stop
1. If a dangerous situation occurs during

operation, and the robot or peripheral
equipment must be stopped immediately,
press the Emergency Stop Button. (red,
mushroom, locking type).
Note
The Emergency Stop Button locks if it is pressed. Reset it by turning the
button in the direction of the arrow to release the lock.
2. Never use the emergency stop button for

ordinary stopping. Use it only in
emergencies.
Note
Using the emergency stop on a regular basis creates an unsafe working
environment and shortens the machine service life.
3. If you must enter inside the perimeter

guard after an emergency stop, make sure
motor power is off, and follow your
standard factory safety measures before
entering perimeter guarding.
1.5.2. Abnormality handling
1. Abnormalities should be approached with

caution. If an abnormality occurs, check
for personnel, obstructions, or E-stop
activation BEFORE restoring motor power.
Abnormalities will create confusion for
operators because counter values may
change. When abnormalities occur, check
the counter values and compare them to
the actual work being performed.
Note
On the automatic mode menu, the step, layer, and quantity values are for
the next operation cycle.
2. Lightning may cause abnormalities in robot

operation. If possible, shut down the
robotic palletizer during extreme lightning
storms. Counter values will be maintained
in memory, but must be checked when
restarting.
1-8
1.5.3. Movement of robot without motor power
NOTE: This procedure must only be used in emergency situations!
Each robot arm axis motor brake can be released following the procedure below. If the
robot servo control system has trouble and it is necessary to move robot arm in an
emergency situation, follow the procedure below to move robot arm.
Note
Two or more personnel are required for this operation.
Brake release button is on touch panel (POD).
The directory to “Manual Brake Release” screen is located as follows.
Maintenance menu → Motor axis data → Manual Brake Release
1. Main Power must be On, and determine the axis you want to
operate.
2. E-stop pressed.(motor power OFF)
3. If the D or O axis need to be moved, hang
the belt(s) in the position(s) shown in the
figure below.
1-9
D-axis O-axis
WARNING
There is danger of natural fall by gravity if there isn't correct support.
Note: D-axis
The direction the arm moves after the brake released is determined by
the robot's posture and the mass of the end effector. Therefore, it is
necessary to support two belts by the same length.
Note: O-axis
Be careful when the “O” axis is near vertical as it may move in multiple
directions and may swing over center.
4. Push the brake release button (enable button and axis button) on the controller
while moving the robot arm.
*Press “START” button to make brake release enable.
Note
With the brake released the robot should be moved in the desired
direction with a crane.
1-10
1.6. Precaution at End of Operation
1. For ordinary stopping, refer to the next
section “daily operation”.
2. Ordinary stopping is performed when
the station conveyor is empty (pick-up
position), and the robot end effector
(hand) is “standing by” over the station
conveyor.
3. If the system is stopped while the hand
is grasping an article, and compressed
air is interrupted, the article will fall.
4. If an ordinary stop is performed in the
middle of a stacking pattern on a pallet,
and the motor power key switch is turned
OFF, counter values for the layer
(number of layers) and quantity
(quantity per layer) are stored in
memory. It is possible to continue
operation at a later time.
5. Palletize complete loads at the end of
the day, to minimize operational
problems and reduce the possibility of
product damage.
1-11
1.7. Precautions During Maintenance
Repairing and cleaning around, on top of, or within the machinery itself can lead to
injury or death if maintenance personnel do not absolutely observe the following
precautions. During maintenance always follow these precautions to ensure a safe
work environment:
1. Place the robot palletizer in manual control,

and set the robot palletizer at the desired
“at rest” position depending upon the
chore to be performed.
2. Lockout the main disconnect switch to turn
off power to all the machine motors. After
padlocking, the repairman must retain the
single padlock key on his person until he
has completed the repair. This guarantees
that no one will inadvertently unlock the
disconnect and start any of the motors.
3. Disconnect, vent, and lockout the
pneumatic power supply to the machine.
The repairman performing the work must
retain the single key to the padlock on his
person to prevent inadvertent
pressurization of the system. Check for
pressurized air that may be trapped in any
pneumatic circuit on which maintenance is
being performed.
4. Always wear hard hats and safety glasses
for cleaning or repair procedures that
involve chipping, hammering or cutting.
5. Be especially cautious during manual
operation when checking all machinery.
6. Prevent personal injury by following safety
rules and exercising good judgment when
working on the robot or peripheral
equipment.
DANGER
LOCK-OUT MUST BE PERFORMED DURING MAINTENANCE.
1-12
1.8. Lock out procedure
When Lock out procedure is required in a manual, follow the procedures below.
1.8.1. Lock out setting procedure
1. Receive a padlock from an administrator.

2. Stop operation of robot and shut off motor The hole which lets
power supply. a padlock pass
3. Turn the main breaker handle in the front
of a robot controller to the left, and make it
"OFF."
4. Turn to the left fully, pull out the lock lever
in the right end of a handle, and hook it on
the base of a handle. A lock lever is fixed
now and the hole which lets a padlock pass
appears.
5. Pass a padlock through this hole to lock the
main breaker handle, and extract and
carry the key.
6. For multiple personnel entering the
perimeter guarding area, use a padlock
multiplier.
7. If power is fed to the robot panel from a
conveyor control panel, be sure to also lock
out the conveyor control panel.
1.8.2. Lockout release procedure
1. Remove a padlock using a key.

The metal blocker plate should return to it’s
closed position.
1-13
1.9. Access into perimeter guarding area
1.9.1. Procedure for entering perimeter guarding
In case a robot needs to be moved
1. Switch on the main power supply of

controller.
2. Turn manual-automatic switch into
"manual operation".
3. Turn motor power supply switch into
middle position.
4. Look over the robot system and check that
it is normal.
Note
-When abnormal, please remove abnormalities safely according to the
next In case a robot does not need to be moved and operate it from
Procedure 1 again.
5. Carry out the following test of manual operation

from the manual operation screen.
- Motor power supply ON / OFF is possible with
an enabling switch.
- Each axis moves smoothly.
Note
When an abnormal condition occurs, interrupt subsequent work, and
please contact our customer service department.
6. Extract and carry key from the protective

structure door switch.
7. Open protective structure door and enter
into protective structure.
In case a robot does not need to be moved
1. Carry out Lock out according to "1.8 lock

out procedure" of this manual.
2. Open the protective structure door and
enter into the protective structure.
1-14
1.10.Certifications / Qualifications
【UL type】
A list of standards that the robot meets and a list of the standards that the robot is third
party certified to meet are as below
UL1740, ANSI/RIA 15.06, NFPA79, UL508A, CSA/CAN Z434
【CE type】
ISO10218-1:2006
1-15
1.11.Initial Test
Initial testing is necessary after changing of component parts or addition of equipment
that may affect the safety functions.
Step content Check Point Reference

No.
1 Installation The Robot system shall be installed to 1.3.1 Precaution
avoid interference with buildings, before Daily
structures, utilities, other machines Operation.
and equipment that may create a
trapping hazard or pinch points.
2 Information of Touch Initializing Complete. 1.3.2 Precaution
Panel Error Information. when main
breaker ON
3 Protective function Confirmation of protective control 1.5 Precaution
system performance. for Emergency
（Interlock of Emergency, Door switch,
Light curtain, etc）
4 Peripheral I/O Confirmation of I/O Depend on
Constructed
System
5 Manual Operation Robot position. Axis degree. Axis 1.4.1 Before
moving direction. Automatic
operation
6 Automatic Operation Robot motion does not interfere with Operation
slow speed (robot obstructions. manual
only)
7 Automatic Operation Confirmation of system performance. Depend on
slow speed with Constructed
peripheral system System
1-16
Robot manual
Safety
Version 05: 2017.7.06
<Caution>

900 Furuouchi, Noguchi-cho, Kakogawa,
Hyogo 675-8675 Japan
Robot Manual COME-NOPE-06
Operation

History
Version (Date) Content Page

01(2013.2.25) First edition as “COME-NOPE-01”
Addition of Updating history This page.
02 （2014.2.5） Added a note 4-4
Date update Last page.
03(2014.5.26) Added a pattern display. 2-4,3-9,3-10
Date update
Last page.
04(2014.11.12) Added a Load variation detection. 4-7
Date update
Last page.
05(2015.01.22) Added RC 1000 series 4-14,4-15,4-17,4-19
Date update
Last page.
06(2017.06.12) Added the new robot type 1-1
Date update
Last page.
Introduction
Thank you for purchasing a model from A series Okura Robotic Palletizer.
Palletizer. It should be useful not only to beginners who are using an Okura Robotic
Palletizer for the first time, but also to experienced users, who can use this Manual to
reconfirm their knowledge. Please read this Manual carefully and use the Robotic
Palletizer with a clear understanding of its content.
NOTE
Safety Instructions
constantly reviewed and consistently followed with a separate manual of “Safety”.
IMPORTANT The safety instructions with left sign of IMPORTANT

throughout this manual are enforcement or warning that if
not correctly operated or handled.
Be sure to follow those safety instructions.
IMPORTANT
Only AUTHORIZED, TRAINED PERSONNEL can operate, program,
clean, and maintain the robot.
The definition of “AUTHORIZED, TRAINED PERSONNEL are those
who have enough knowledge and experience of robot operation, have been
trained to operate the robot in a safe manner, and trained to be aware of the
hazards associated with the operation of the robot. They must also have
been authorized by the employer.
Table of Contents
1. OUTLINE OF THE EQUIPMENT .................................................................. 1-1
2. DAILY OPERATION PROCEDURE ............................................................... 2-2

2.1. Main Power ON ....................................................................................... 2-3
2.2. Program Allocation ................................................................................. 2-3
2.3. Motor Power ON...................................................................................... 2-5
2.4. Start Operation ....................................................................................... 2-5
2.5. Stop Operation (Short-Term Stop) ......................................................... 2-6
2.6. End of production run or Finish Daily Work (Shut Down) ....................... 2-6
3. FREQUENTLY OPERATED PROCEDURES .................................................... 3-1

3.1. Change Counter Value............................................................................. 3-2
3.2. Robot Manual Operation ......................................................................... 3-3
3.3. Conveyor Manual Operation .................................................................... 3-4
3.4. Conveyor Reset ....................................................................................... 3-6
3.5. Line Reset ............................................................................................... 3-6
3.6. Robot Sequence Reset ............................................................................ 3-7
3.7. Initialize Counter (Only for JIS Controller) ............................................ 3-8
3.8. Pattern Display ....................................................................................... 3-9
4. INTRODUCTION ....................................................................................... 4-1

4.1. Screen Display ........................................................................................ 4-2
4.2. Data Input .............................................................................................. 4-8
4.3. Coordinate System ................................................................................ 4-10
4.4. Switch Keys at Operation Panel ............................................................ 4-13
4.5. Teaching Pendant (For Installation Only) ............................................. 4-17
4.6. Data backup .......................................................................................... 4-20
5. TROUBLESHOOTING ................................................................................. 5-1

5.1. Error Messages ....................................................................................... 5-2
5.2. Diagnosis................................................................................................ 5-3
1.Outline of the Equipment
Okura Robotic palletizer Ai1800/A1800V/A1600V/Ai700/A700V is a vertical-articulated
robot exclusively for automatically palletizing on pallets such products as cases, bags,
pails, etc., controlled by pre-programmed logic.
1-1
2.Daily Operation Procedure
In this section, you can see how easy an A series robotic palletizer can be operated.
The operation procedure is described in detail in the order of [Turn Main Power ON]→
[Program setting up]→[Turn Motor power ON] →[Turn Start SW ON]→[Stop].
2-2
2.1. Main Power ON
1. Turn on Main Power switch on the front Turn to right
door of the robot controller.
2. Press Abnormal Reset Button.
Screen display turns to Auto screen.
On JIS-controller, do not need to press
Abnormal Reset button.
Caution
This screen may change depending on how many pallet stations your system
has.
2.2. Program Allocation

If you don’t want to change program, pass over this section 2.2. then jump to the
next procedure.
1. On Auto screen above, press （3）
the desired Pallet No. key
(Pass over this operation in
case of one pallet system).
2. Press [Change] key on Auto
Screen.
The screen turns to A4: Program
Allocation (right screen).
3. Press [Select Program] button

then enter the program No.
(Example: [] [] [] [ENT])
See section 4.2.1 for how to
enter numerical values in
detail.
4. Press [Back] key to return to
Auto screen.
2-3
Note
Whenever new program with new product is set up, Program 0 is executed first to
return to the home position in any case.
- Remove the existing products by hand before proceeding to the new program with
products, starting to execute program 0 and also verify if the Stacking
Counter is 1st layer - 1st product in case of palletizing and NO product on pallet
at all.
For Depalletizing or Other specially designed system, the Stacking Counter shows
different values. See the separate instructions.
[Pattern Display]
1. At the Program Allocation screen, touch
the program No. to show pattern display
2. Press Pattern Display key. Show the pallet
pattern of first and second layer.
3. Press Exit key. Return to Program
Allocation screen.
Note
When you use feature of pattern display, please turn on the memory SW5-3.
You can confirm only a layer pattern made by OxpaQM or bult-in OxpaQM.
2-4
2.3. Motor Power ON
IMPORTANT
Before turning Motor Power on, double-check that there are neither people
inside the guarding nor any obstacles on the conveyors or pallets.
1. Turn on Motor Power switch.

Motor Power indicator lamp comes
on.
2.4. Start Operation

1. Press and hold [START] button for
5 seconds to make buzzer sound.
Then, most of time, robot
moves to the home position above
station conveyor where the robot
is going to go down and pick up
products.
Products are conveyed to station
then robot begins picking and
stacking.
(Follow the below instruction if

infeed and station conveyors won’t
come on to run.)
2. Press [Station] key to let products

come in.
Products are conveyed to station
then robot starts picking and
stacking.
←（2）
2-5
2.5. Stop Operation (Short-Term Stop)
When robot needs to stop stacking for a short-term,
1. Press [Station] key to turn
Station Conveyor off not to
let products come in to ←（1）
station.
2. Press [STOP] button.
3. Turn Motor Power switch off.
Caution
For this type of case, never ever use emergency stop button but
follow the above instruction. Otherwise, robot may be damaged.
2.6. End of production run or Finish Daily Work

(Shut Down)
This procedure is used when you need to discharge partial loads at the end of a
production run or at the finish of a day's work.
Note
Pallet discharging can be performed only during operation.
2.6.1. In case of one pallet system

1. Press [Station] key to turn Station Conveyor off not to let products come in.
2. Press Discharge Key then press
[Yes].
●Robot performs one more empty

stacking cycle then pallet is
discharged when “arm movement
at discharge” is selected in the
program parameter.
●Robot executes program 0 to move
directly to starting position (home)
when “No arm movement” is ←（１）
selected.
3. Press Stop button after pallet

discharging is completed and also
all the peripheral equipment stops
completely.
2-6
2.6.2. In case of multiple pallet system
1. Press [Station] key to turn
Station Conveyor off not to let
products come in.
←（1）
2. Press [Number] key of the
pallet discharged then press
[Yes] to go. ↑
●Robot performs one more empty （２）
stacking cycle then pallet is
discharged when “arm movement
at discharge” is selected on
program parameter.
●Robot executes program 0 to move
directly to starting position (home)
when “No arm movement” is
selected.
3. Press Stop button after pallet

discharging is completed and
also all the peripheral
equipment stops completely.
4. Turn Motor Power switch off.
5. Turn Main Power switch (on front
door) off counter-clockwise to
shut it down.
2-7
3.Frequently Operated Procedures
Frequently operated procedures through daily operation are introduced in this section.
3-1
3.1. Change Counter Value
IMPORTANT
Numbers (in Counter) of layer and product already stacked on
pallet can be directly entered to recover right after trouble
occurs and then is solved.
[Change Counter Value] cannot be performed during operation.
3.1.1. Single pallet systems

1. Press change key of layer or
product.
2. Enter counter value you want.
↑
（1）
3.1.2. Multiple pallet systems

1. Press Pallet No. to be changed.
2. Press Change key of layer or
product.
↑
3. Enter counter value you want. （１）
↑
（2）
3-2
3.2. Robot Manual Operation
Note
Manual operation allows you to move the robot for troubleshooting, recovery
or maintenance.
Caution Prohibited
Never ever touch the robot arm even in manual operation. Your
hands may be pinched by the robot arm.
1. Turn [Manual-Auto] key switch to [MANU].

to show manual operation screen.
2. Turn Motor Power switch on.

to have Motor Power indicator lamp
lit.
3. Press and hold [START] button for 5

seconds hearing buzzer sound.
Screen turns to Robot Manual “On
Operation”.
4. The following explains operation if each key at the manual operation screen.
While this key is pressed, the R-axis of
the robot moves to the right.
While this key is pressed, the D-axis of
the robot moves to the upward.
While this key is pressed, the O-axis of Manual speed (high speed)
the robot moves to the outward. R AXIS 5°/sec
While this key is pressed, the T-axis of
D AXIS 80 mm/sec
the robot moves to the right.
While this key is pressed, the R-axis of O AXIS 80 mm/sec
the robot moves to the left. T AXIS 10°/sec
While this key is pressed, the D-axis of
the robot moves to the downward.
While this key is pressed, the O-axis of
the robot moves to the inward.
While this key is pressed, the T-axis of
the robot moves to the left.
1~9: Current condition, 1~9, of hand are
reversed respectively.
5. Press [STOP] button.

Screen turns to stopping status.
6. Turn [Key switch] (on console) back to Auto to return to the previous screen
before manual operation.
3-3
When screen is closed, output status of hand 1 thru 3 is retained as is but
that of hand 4 thru 9 are reset to off.
Note The meanings of and the difference among CP, PTP and PM are:
CP - - - Continuous Path: Robot moves in the calculated linear direction,
based on the Arm coordinate.
PTP - - Point-To-Point: Robot moves in arc-like path following the course of
each-axis driving distance, based on the coordinates of each axis.
PM - - -End of arm tool (Hand) is controlled in facing direction following the
calculated linear path, based on the hand coordinate.
When a teaching pendant (option) is connected, the robot can be operated
only by the teaching pendant.
Note The difference between CONTINUOUS and JOG (inching) operations in terms
of respective movements;
CONTINUOUS - - - Robot continues to move while it is being pressed and
held.
Inching - - Move just a designated distance once it is pressed one time. It
never moves after that even if it is being pressed and held.
Note You can turn Motor Power ON at PTP mode if Abnormal Reset button is being
pressed and held, even when robot is out of either the soft-limit range or the
operation range by mis-operation.
3.3. Conveyor Manual Operation

Note
Conveyor manual operation allows you to operate conveyors and
other functions for troubleshooting, recovery and maintenance.
1. Press Conveyor manual key in the

robot manual operation screen.
(You cannot press it during Auto.)
To switch over to conveyor manual
mode screen.
2. Turn on Motor Power switch.

To have Motor Power indicator lamp
lit.
(Some systems may still be able to
operate robot under Motor Power
switch positioned not at ON but at
Neutral.)
3. Press and hold [START] button for 5

seconds.
The buzzer will sound then the
screen turns to operation.
4. Press the Number of the equipment

you want to operate. The number
key is highlighted.
5. Press [Forward-Up-Open] or
[Reverse-Down-Close] to operate
conveyors in their respective direction.
3-4
6. Press stop button to finish manual
operation.
The screen returns to stopping status.
7. Press Back key.
3-5
3.4. Conveyor Reset
Note
- After troubleshooting, perform Conveyor Reset before restarting.
- This operation resets all the retained data for all peripheral conveyors.
Remove all the products on both pallets and station conveyors before
performing Conveyor Reset.
- Conveyor Reset cannot be executed during operation.
1. Turn [Auto-Manual] key switch

to [Manual].
To display the Manual Operation
screen.
2. Press Conveyer manual key.

To display the Conveyor Manual
screen.
3. Press Conveyor Reset key.

[Yes] or [No] message appears.
4. Press Yes key.

”Processing completed” message ↑
appears. （3）
5. Turn [Key switch] (on console)
back to [Auto].
3.5. Line Reset

Notes
- After troubleshooting on an individual station conveyor, perform Line Reset.
- This operation resets the retained data for the designated station conveyor
only.
- Line Reset cannot be executed during operation.
1. Turn [Manual-Auto] key switch

(on console) to [Manual].
To display the Manual Operation
screen.
2. Press Conveyor manual key.

To display the Conveyor Manual
screen.
3. Press Line Reset key.

To display the Pallet No. input
screen.
4. Press the number ([1] thru [6])

↑
depending on which line needs to
be reset. （3）
5. Turn [Key switch] back to [Auto].
3-6
3.6. Robot Sequence Reset
IMPORTANT
- In this operation, only the robot motion is reset while the Stacking Counter
IS NOT reset.
- Release any products from end of arm tool (hand) before executing Robot
Sequence Reset. Otherwise, the products may be dropped.
- Robot Sequence Reset cannot be executed during operation
1. Press Reset Sequence key.

To have [Yes] or [No] screen.
←（１）
2. Press Yes to go.
3-7
3.7. Initialize Counter (Only for JIS Controller)
IMPORTANT
Right after Counter is initialized, the robot begins palletizing from 1st layer
-1st product.
On any pallet under ongoing stacking, the Counter is NEVER EVER
initialized. Otherwise, robot / products may be damaged seriously.
Initializing Counter cannot be performed during operation.

1. Press Reset Counter key.
2. Press [Yes] to go.
←（1）

1. Press [Number of pallet] to be
initialized Counters.
2. Press Reset Counter key.
↑
3. Press [Yes] to go.
（１）
3-8
3.8. Pattern Display
It is possible to display a stacking pattern of program while the robot is running and
stopping.
The layer pattern is displayed color-coded works as the below table.
color Work
Gray with black frame Stacking
complete.
White with red frame Next stacking
White with gray frame Other than above.
Notes
• The next layer isn’t displayed when a last work of present .layer completed
stacking. (All works are displayed by black with gray frame.)
• The display is updated when stacking next layer.
• The pattern display screen automatically is closed when the motor power state or
the robot operation state are changed.RUN/STOP.
• When you use this feature, please turn on the memory SW5-3.
• You can confirm only a layer pattern made by OxpaQM or bult-in OxpaQM.

1. Press Selected pallet pattern key.
To display different colors the
running layer pattern. The contents
of the colors are finished stacking
work, next stacking work and not
yet stacking work.
2. Press [Exit] key. Move to
Automatic operation screen.
3-9
1. Press [Number of pallet] to show
the display pattern.
2. Press Selected pallet pattern key.
To display different colors the
running layer pattern. The contents
of the colors are finished stacking
work, next stacking work and not
yet stacking work.
3. Press [Exit] key. Move to
Automatic operation screen.
3-10
4. Introduction
Such basic knowledge as configuration of screen displays, how to enter data and the
coordinates are introduced at this section before starting to work on programming.
4-1
4.1. Screen Display
Controller has four menus of Automatic operation, Teaching, System storage and
Maintenance.
A: Automatic operation
T: Teaching
Main menu
S: System storage
M: Maintenance
Press either [RETURN] or [MAIN MENU] key to return to Main Menu from the other
mode. Those respective screens branch off into their own in-depth displays.
The screen configuration of each mode is covered individually.
4-2
4.1.1. Automatic operation
The Auto screen in Automatic operation is composed of the following:
Auto screen
A１： Display Data
A1-1 ： Capacity
A2 ： Production Data
A2-1 ： Production Data-Recent
A2-2 ： Production Data-Summary
A3 ： Error Content Display
A4 ： Program Allocation
Peripheral Equipment
Custom screens are added

over here if available.
4-3
4.1.2. Teaching
The Teaching menu in Teaching is composed of the following:
Teaching menu
New -Robot-
T1: Program New Creation (1/7)
Program New Creation (2/7)

Edit –Detail-
T2-1: Program Parameter Editing (1/5)

Program Parameter Editing (2/5)
T2-2 : Sequence Editing

T2-3 : Step Parameters Editing
T2-4 : Auxiliary Data Editing
T2-5 : Step Position Editing
T2-6 : Pallet Coordinate Origin Shift
T2-7 : Pallet Coordinate Origin Copy
T2-8 : Height Calculation
T2-9 : C-Axis Position Data
New –OXPA-
T4 ： OXPA- Create by registered patterns (1/2)

*Available only
OXPA- Create by registered patterns (2/2)
when OFF the
Edit –Edit-
memory switch
5-2
T6 : OXPA- Program Edit
Add-Axis
T3 : Teaching of additional axis
4-4
4.1.3. System storage
The System Menu in System Storage is composed of the following:
System Menu
Ｓ１： Controller Data
Ｓ１-１： Peripheral Name Input
Ｓ1-2 ： Communication Setup
Ｓ1-3 ： External PLC Communication Setup
Ｓ1-4 ： Password Setup
Ｓ1-5 ： Memory Switch
Ｓ1-6 ： RC Parameters
Ｓ1-7 ： Update Firmware & File Backup
Ｓ1-8 ： Hour-Meter Revision
Ｓ２： Robot Data
Ｓ2-1 ： Soft Limit
Ｓ2-2 ： Hand Setup
Ｓ2-3 ： Robot Parameters
Ｓ3 ： Axis Data
Ｓ3-1 ： Standard Position Storage (0-90-0)
Ｓ3-2 ： Servo Parameters
Ｓ3-3 ： Additional Axis Setup
4-5
4.1.4. Maintenance
The Maintenance Menu in Maintenance is composed of the following;
Maintenance Menu
M1 ： Controller Data
M1-1 ： Data Memory Contents
M1-2 ： Relay Actuation
M1-3 ： Operation Status
M1-4 ： Operation Trace
M1-5 ： File Operation
M1-6 ： Logic Analyzer
M1-7 ： ID No.-> Prg No. Allocation
M1-8 ： Battery exchange
At memory SW4-4 ON:

Access ‘M1-8’ through Manual Screen.
At memory SW4-4 OFF:
Access ‘M1-8’ directly from M1: Controller Data.
M1-9 ： Conveyor Information
Continued
4-6
Continued
M２： Robot Data
M2-1 ： Counter Revision
M2-2 ： Program Selection Method
M2-3 ： Position Trace
M2-4 ： Executed Sequence
M2-6 ： Overlap Trace
M2-7 ： SMOV Calculation
M3 ： Axis Data
M3-1 ： Deviation Trace
M3-2 ： RISC Output Data
M3-3 ： Servo Torque
M3-4 ： Load Variation Detection
M3-5 ： Additional Axis Trace
M3-6 ： Manual Brake Release
4-7
4.2. Data Input
There are four ways of data input through the screens of the controller.
1.) Directly enter a numerical value with numerical input keys.
2.) Press an item key.
3.) Enter characters through Character Input screen
4.) Press to select a Parameter through Function key.
4.2.1. Numerical Data Input through Numerical Input keys

Numerical data input of both program numbers and various conditions can be achieved
by Numerical keys.
The input procedure is as follows:
1.)Move Cursor by the cursor movement keys to
Numerical data to be entered (or revised)
then press INPUT key (or the item key to be
revised)
2.)Enter Numerical value through Numerical
Input keys
3.)Store the numerical value entered at above 2)
by pressing ENT key.
4.2.2. Press to Select Item key

When selecting from a list (like type of product or robot), press to select an Item key
you want to edit.
4-8
4.2.3 Enter Character on Character Input screen
S1-1: Peripheral Name Input

S2-2: Hand Setup
T1: Program New Creation （１／７）
T2-1: Program Parameter Editing（１／５）
On the above menu screens, you can enter characters through Character Input screen.
The input procedure is as follows:

1. Press an item key you want to edit.
2. Move Cursor to a character you want with the cursor key or directly press
the character.
3. Upon pressing Insert key, a character selected is entered one character at a
time.
4. Repeat step 2 thru 3 for the necessary characters.
5. Upon pressing Back key after the character entering work is finished, the
system returns from Character Input mode to menu screen.
4-9
4.3. Coordinate System
With an Okura A series robotic palletizer, there are five ways of expressing robotic
movement position.
1.Each Axis Coordinate
2.Pulse Coordinate
3.Arm Coordinate
4.Hand Coordinate
5.Pallet Coordinate
1. Each Axis Coordinate

Each Axis Coordinate denotes the rotating angle of each axis in degrees. (Each axis
corresponds to the motor shaft of robot)
(See diagram below)
When PTP (Point-To-Point) is selected during manual operation, the robot moves the
selected axis only.
2. Pulse Coordinate
Pulse coordinate is of pulse numbers generated by the motor encoder which denote the
rotating angle of robot’s each axis.
The coordinate is not used for programming but for maintenance.
4-10
3. Arm Coordinate
Arm Coordinate is similar to cylindrical coordinate. (See below diagram)
The position of the point A at the tip of the robot arm is expressed on the X-axis and
Z-axis in the cylindrical coordinate, as a distance from the point O (the origin of robot
arm).
If CP (Continuous Path) is selected during manual operation, the robot moves in
accordance with this coordinate system.
4. Hand Coordinate
Hand Coordinate is of 3-Dimentional orthogonal coordinate (X, Y and Z) as indicated in
the diagram below.
The X, Y, and Z axes indicate the position of point B at end of arm tool (hand) center
(T-axis output shaft), as a distance from point O (the origin of robot arm).
4-11
5. Pallet Coordinate
This is orthogonal coordinate on the pallet where products are stacked. (See below
diagram).
An origin position for Pallet Coordinate can be edited respectively for a program. (As a
rule, the other 4 types of coordinates cannot be changed).
Pallet Coordinate is similar to Hand Coordinate (See above 4.).
In programming (teaching operation), the positions of products on pallet are expressed
on Pallet Coordinates.
4-12
4.4. Switch Keys at Operation Panel
The operation panel of robot controller is generally composed of the following three
sections:
1. Controller section
2. Operation panel section
3. Teaching pendant (option)
Each operation key is respectively described below.
4.4.1. Controller section

Breaker (NFB0) with Main Power switch is installed on front surface of controller.
①Breaker (NFB0) Main Power switch
If you turn it clockwise to ON, power for controller comes on.
If you turn it counter-clockwise to OFF, all the power for controller is shut down.
Breaker
（ＮＦＢ０）
4-13
4.4.2. Operation Panel Section
The operation panel section is generally composed of the following two parts.
1. Button switches
Switches and lamps for robot operation are equipped.
2. POD (Touch panel)
It is composed of LED display and touch panel.
Button switches (Configuration and functions)
[JIS type Controller] [CE/UL type Controller]
⑩ ⑦ ⑦
①
⑩ ⑧
⑪ ⑨
⑪ ⑨
⑫ ②
③
③
④
④
⑤
⑤
⑥
① E/S push button

② Alarm buzzer
③ Abnormal reset button
④ Motor power select switch （UL/CE type is Select switch / JIS type is Key switch）
⑤ Start push button
⑥ Stop push button
⑦ Motor power lamp
⑧ Main power lamp（Only UL/CE Type）
⑨ Manual-Auto select switch
⑩ Connector for OXPA
⑪ USB thumb drive connector(Options in RC1000 series)
⑫ Outlet for power supply（Only JIS Type）
*Alarm buzzer and motor power lamp positions are reverse in RC1000 series.
4-14
① Emergency Stop button (red)
It shuts down Motor Power and applies all brakes.
Note
The button switch is a locking type. Turn it in the arrow direction
to reset.
② Alarm Buzzer
It sounds when error occurs.
It also sounds for 5 seconds while START button is being pressed and held for
the same period of time so that “robot going to move” is alerted to other
personnel around.
③ Abnormal Reset button (Yellow)

This resets errors.
Note
Any error cannot be reset until the button is pressed even after
all the causes are solved.
④ Motor Power switch

Turn it to ON to make Motor Power come on.
Turn it to OFF to make Motor Power shut down.
Note
If the key is released while at [ON] position, it spring- returns to
center, but Motor Power is still kept turning ON.
⑤ START push button
It starts the robot in Auto. See the exact instruction in detail for either UL or CE
marking.
⑥ STOP push button
It makes the robot controlled-stop in non-emergency situation.
⑦Motor Power Lamp (white)
It is lit when Motor Power comes on.
⑧ Main Power Lamp (white) (UL/CE only)
It is lit when Main Power Breaker (NFB0) is turned on.
⑨ Manual-Auto Key switch
It toggles between Manual and Auto. Any screen goes straight to Manual screen
once it is toggled to Manual.
⑩ Connector for OXPA
It is used to connect with OXPA-QmV (Offline programming software).
⑪ USB Thumb Drive Connector(Options in RC1000 series)
It is used to have a USB thumb drive connected.
⑫ AC Power Outlet
It is 100VAC outlet with 0.5A.
CAUTION
Be careful with Overcurrent (0.5A at max).
4-15
POD (Touch panel)
Necessary functions are shown up on LCD screen display.
4-16
4.5. Teaching Pendant (For Installation Only)
4.5.1. Outline
When Manual-Auto key switch is toggled to [Manu] while teaching pendant is being
connected to controller, the robot can be manually operated only by Teaching Pendant.
If you want to manually operate the robot by controller panel, disconnect Teaching
Pendant and connect the “Teach-Jump connector” instead.
CAUTION
Users with UL / CE Marking cannot use Teaching Pendant.
CAUTION
If Teaching Pendant is connected, manual operation with the controller’s
keys disables.
CAUTION
Connector for teaching pendant is also option in RC1000 series. please
see installation and Adjustment –Electrical- for Connector additional
instructions
The table below shows you the differences in controllability between disconnecting and
connecting Teaching Pendant at [Manual] mode.
Disconnecting Teaching Connecting Teaching

Pendant (Jumped) Pendant
Robot Manual operation By controller panel (POD) By Teaching Pendant
Motor Power ON/OFF By controller panel By Teaching Pendant
Door switch on guarding If door opens, Motor Power Motor Power can be ON
(*1) is shut down. regardless of door switch.
(*1) The door switch needs to be connected with the location designated by controller.
See the [Interface with PLC] manual for detail.
4-17
4.5.2. Switches
Identification of each parts of the teaching pendant
[2]
[1]
[4]
[3]
[1] Emergency stop push-button switch
[2] Data display
[3] Lamps and operation keys
[4] Enable switch
By speed keys, manual operation speed can be changed.

Manual operation has 3 type of speed. ([Low], [Middle], [high])
Note: Manual operation speed is controlled to 250mm/sec or less.
4-18
① Emergency stop push-button
It turns Motor Power off and turns Motor Brake on at a time.
Note:
It is a lock type button. Turn it in arrow direction to release.
② Data display
Current robot position, etc. are displayed.
④ Enable switch
Do not strongly but lightly press and hold the switch to turn Motor Power on.
4.5.3. Teach-Jump Connector

When robot is manually operated by controller panel, disconnect Teaching Pendant
then connect the Teach-Jump Connector instead.
<Appearance of Teach-Jump Connector>
(Options in RC1000 series)
4.5.4. Connect and Disconnect Teaching Pendant

Follow the instruction below how to connect or to disconnect Teaching Pendant.
1.To connect
Turn Main Power on.
Then disconnect Teach-Jump connector and connect Pendant.
2. To disconnect
Turn Main Power off.
Then disconnect Teaching Pendant and connect Teach-Jump connector instead.
* The connecting location is available on the back of a controller although Teaching

Pendant cannot be generally used on UL/CE panel.
4-19
4.6. Data backup
There are two ways to backup data out of controller with “[computer] + [OXPA-QmV] or
“USB thumb drive”. The latter is introduced in this section. See the OPXA-QmV manual
for the former in detail.
4.6.1. Initialization
A folder described below needs to be created in the USB thumb drive prior to use.
Project No. folder: (The project No. is shown at bottom right on main menu. Example
0D1234)
4.6.2. Data backup

Data backup is achieved through File Operation screen.
The directory to the File Operation screen is as follows:
Maintenance menu
↓
Controller data
↓
File operation
Procedure
1. Press the numbers located
at left side of files you want
to make backup.
（or select All key）
2. Press Transfer key.
3. Press Yes key to go.
4-20
5. Troubleshooting
With Okura A series robotic palletizers, error messages are displayed when any faulty
conditions are detected by the self-diagnosis function. In this section, it is introduced
what error messages mean and how helpful the diagnostic menus are to figure out
root-cause(s) to solve problems.
5-1
5.1. Error Messages
When an error message comes on, a faulty situation has arisen in which robot operation
cannot continue.
As shown in the diagram at right, an

error message is composed of an
error No., error message,
cause(s) and recovery action.
To stop buzzer sounding, press

Silence Alarm.
Upon pressing Abnormal Reset

button, after recovery action was
taken, the error message goes away.
Even still under a faulty condition, the screen can be aborted just by pressing Back key
and then it returns to the one before error occurred, lighting ABNORMAL lamp at right-
bottom of screen in red. The error message screen comes out again upon pressing this
lamp.
See the separate [Troubleshooting] manual for the meaning and handling method at
each error in detail.
5-2
5.2. Diagnosis
When there is something wrong with the machine or an error occurs, it is necessary to
check error data through the controller monitor functions.
5.2.1. Error Content Display

On Error Content Display screen, pressing [Error Display] key on Auto operation screen
allows you to switch over to Error Display screen. It can display 100 recent error logs at
max. Only during stopping, you can access this screen. As 10 lines in the screen can be
displayed at a time, use scroll key to see more error logs and messages hidden.
Press DETAIL DISPLAY key to see the cause(s) and the recovery actions of each error.
[Screen explanation]
① ② ③ ④ ⑤
① Error Log No.
The logged errors are numbered in
descending order in time.
② Error Log date and time
It shows the date and time when the
error was detected on POD.
③ Error No.
The specific error No. logged.
④ Sub No
Sub No. of the error to see more in
depth
⑤ Error content
Error Message of the logged error
5.2.2. I/O Display

The relay status display screen enables you to check and modify the status of each
relay.
See the separate [Installation and Adjustment (electrical)] manual for detail.
5.2.3. Executed Sequence Command Display

On the Executed Sequence Command Display screen, up to 40 sequence commands
(instructions) being executed are logged and displayed in descending order.
See the separate [Installation and Adjustment (electrical)] manual for detail.
5-3
Robot manual
Operation
Version 06: 2017.06.12
<Caution>

Robot Manual UL-CE-NTEG-03
Teaching
- Teaching-on-pallet -

History
Version Content Page

(Date)
01 (2011.9.22) First edition
02 （2013.10.10） Words correction. 1-2.2-2.2-6
Select switch -> switch correction 1-11 thru 1-27
Explanation about Drop high is updated.
1-30
Explanation about the inclined movement center
is deleted. 3-7
Explanation of PTP/CP coordinates standard is 3-14
updated.
03 (2014.4.1) Words correction. 1-21, 1-22,
1-25, 2-2,
2-8, 3-4,
3-11, 3-12,
3-13, 3-15,
3-16, 4.22,
Introduction
NOTE
Safety Instructions
constantly reviewed and consistently followed with a separate manual of “Safetey”.

not correctly operated or handled, you may be seriously
injured or killed.
IMPORTANT
programming.
The definition of “AUTHORIZED PERSON” is that the only personnel who can
operate the robot and/or robot system, are those who have enough knowledge or
experience of robot operation and have also been trained to operate the robot.
Table of Contents
1. NEW PROGRAM CREATION PROCEDURE (BASIC).............................. 1-1
1.1. What is Teaching? ......................................................................... 1-2
1.2. Standard Teaching Procedure [Case Palletizing] ........................... 1-6
1.3. Program Check Procedure ........................................................... 1-23
1.4. Standard Programming Procedure (Other Than Case Palletizing). 1-32
2. NEW PROGRAM CREATION PROCEDURE (PRACTICAL APPLICATION) .. 2-1

2.1. Practical Operation for Standard Teaching .................................... 2-2
2.2. When Not Using a standard Movement Pattern ............................. 2-7
2.3. Multi-Stacking ............................................................................... 2-8
2.4. RP Mode ........................................................................................ 2-9
3. PROGRAM EDIT................................................................................... 3-1

3.1. Program Composition .................................................................... 3-2
3.2. Program Editing ............................................................................ 3-4
4. STANDARD MOVEMENT PATTERNS...................................................... 4-1

4.1. What is a Standard Movement Pattern? ........................................ 4-2
4.2. Standard Movement Pattern.......................................................... 4-4
1. New Program Creation Procedure (Basic)
This section gives a detailed explanation of the pattern creation procedure for creating
a new case palletizing example.
This section also explains teaching procedures using standard movement modes for
applications other than case palletizing.
1-1
1.1. What is Teaching?
1.1.1.What is teaching?
To perform palletizing and depalletizing work, the robot must be taught 3 things:
(1) Positions (Position for grasping the handled article, position for putting down
the handled article, pass point positions en route etc)
(2) Speed (Quick movement, smooth stopping etc.)
(3) Signal exchange with peripheral equipment (Hand open/close, conveyor
operation/situation)
The term "teaching work" refers to the task of teaching the robot the above three
things.
There are two ways for teaching work on controller.

1. Way to choose a stacking pattern out of the pre-installed ones.
2. Way to store positions actually moving robot arm in teaching mode by hands.
[1. Way to choose a stacking pattern out of the pre-stored ones] is recommended but
“2” Way can be used for special pattern.
In this manual, way “2.” is focused on. See the separate manual of “Teaching –Built-in
OXPA-QmV” for detail of way “1.”.
For items (2) and (3) above, the Okura A series robot palletizer pre-stores standard
movement patterns in the controller. After selecting the appropriate pattern, the
customer must perform teaching of the position in (1) (See following page)
(1)Position (2)Speed (3)Peripheral

equipment
The handled article is grasped

here The robot moves quick here The hand close here
The handled article is put down When there is no pallet, the robot
here The robot moves smoothly here stand by here.
Need to input Stored in the controller
1-2
1-3
1.1.2.What is position teaching work?
Position teaching can be divided into three areas:

Under routine situations,
(1)Position for grasping the handled article
(2)Position for putting down the handled article
(3)Pass point positions
With an Okura A series robot palletizer, the above 3 items are taught using the following
procedure.
Write
(1)Position for grasping the handled article
Actually move the robot, and store the position.
Storage
Controller
(2)Position for putting down the handled article

Using numerical keys, input position data expressed in
pallet coordinates established on the pallet.
(3)Pass point positions

D1
Using numerical keys, input the distance (D1, D2, D3,
D2
D4) from 1 or 2. D3
D4
1-4
1.1.3.How to establish pallet coordinates
Pallet coordinates reference the pallet location to the robot.
To reference the pallet position to the robot,

the positions of the three points
are stored by actually moving the robot.
(1)The position of first handled article on the pallet. (Fig 1)

The center of the handled article at this time becomes the pallet coordinate origin.
(2)The position of the first handled article, but rotated 180 degrees. (Fig 2)
This is for confirming the positional relationship between the robot and handled
article.
(3)A second position of the first handled article moved along one edge of the pallet.
This position generates the pallet’s X-axis positive direction. (Fig 3)
+PY
Box
Right hand direction

+PX
1-5
1.2. Standard Teaching Procedure [Case Palletizing]
Using standard movement patterns makes it easy to create a program, simply by

inputting numerical values and storing positions in accordance with screen instructions.
This section explains the input procedure and content for creating a new program case
pattern.
Input is performed using the following 7 screens.

Program new creation (1/7) Comment - pallet direct placement
Program new creation (2/7) Movement type - arm movement at discharge
Program new creation (3/7) Stacking quantity
Program new creation (4/7) Position storage
Program new creation (5/7) Inching distance
Program new creation (6/7) Step auxiliary
Program new creation (7/7) Stacking position
1-6
1.2.1.Program new creation (1/7)
1. Press Ｔ：Teaching key in basic menu

Display will change to TEACH MENU 1
2. Using the cursor key and ,

move the cursor to the No. of the program
to be newly created.
(Same job can be done by touching the
program no.)
3. Press NEW key
Display will Switch to program new
creation screen
Note
To display a program which is not displayed on the screen, either scroll
through the screens using the scroll key, or press the
DISPLAY START DESIGNATION key and directly input the program No.
Program No. 0 and No.900～999 are used for special purposes, so do not use
them here.
No. 0 : program for returning to standard posture
No. 900～999: used in OXPA mode
1-7
4. Input a program comment according to the
following procedure
① Press WORK NAME key
Switch to the character input mode
See the manual of “Operaton” for detail
when you learn about how to enter
texts.
Note
A program comment is useful for understanding the content of the program
later on. If a comment is not necessary, skip the comment.
Annexed
Select (Yes) for “Standard movement pattern”.
5. Press the Length key

Length input screen comes out
6. Input the handled article length by 8 9

7
numeral key
ENT 5
7. Input the handled article width

After pressing Width key
ENT
8. Input the handled article height

Width
After pressing Height key
ENT
Height
9. Input the handled article weight

After pressing Mass key
ENT Length
Warning Prohibited Dimension of the handled article
Enter the exact dimension of the product. Otherwise robot may

be crashed up against wrong products.
1-8
Note
Acceleration/Deceleration coefficient can be entered, but this is introduced
only for high speed operation.
Normally this needs to be set to “0”.
10. When YES (Pallet floor placement) is

selected, press YES, then input the pallet
thickness value by pressing
PALLET THICKNESS key.
ENT
11. Press NEXT key

Move to the next page
Note
What is pallet floor placement?
-This is a stacking system where multiple pallets (up to 8 pallets MAX) are
kept in a stacking at the stacking position, and the pallet is removed by
forklift each time stacking is finished.
-With pallet floor placement, position storage must be performed with just
one pallet present.
-With pallet floor placement, the number of pallets(1st pallet is not counted)
is detected by a sensor and must input it into data memory D5001 of the
robot controller.
1-9
1. Setting the movement type (case

palletizng as an example) Press
PALLE CASE key to create a case
palletizing program
2. Input a pallet position no. by numerical
values After pressing PALLET No. key,
ENT
3. Input a station position no. by numerical
values After pressing STATION No. key,
ENT
2 3
Explanation
Stacking pattern can be selected among column/alternate/special stacking.
A typical alternate stacking is selected here.
Note
Respective nos. in the above 2 and 3 correspond to those nos. of In/Out
relay for the function of pallet detection, on discharging of pallet, station
conveyor is ready for receiving the handle article and stacking completion.
4. Input the maximum stored number of 5

4
layers by numeral keys
After pressing MAX LAY No key
ENT
5. Input the stacking execution number of
layers by numeral keys
After pressing STCK LAY No key
ENT
Explanation
The difference between the maximum stored number of layers and the
stacking execution number of layers:
-The maximum stored number of layers is the maximum number of layers for
which is possible. The size of programs is determined by this number.
-The stacking execution number of layers is the number of layers which will
be stacked. This number cannot exceed the maximum stored number of
layers.
1-10
6. Input the numerical value for the
decrement in the stacking height direction.
After pressing Stck Height key
ENT
Note
WHAT IS THE STACKING HEIGHT ?
H
-In a bag stacking handling, height of the
stacked bag will be decreased due to the H-h
Hact
pressing down force from top. H-h
-When assuming that the same depression
resulted in each layer as shown in the right, H-h
“h” is called the decrement value in stacking H-h
height direction.
-“h” is automatically calculated by measuring actual height of the stacked
product. To stabilize the load appearance by using its value, it corrects it.
7. Press NEXT then move to the next page.
Explanation
It is possible to select the pick-up position (fixed/variable) and arm
movement at discharge (yes/no). Here the selection is a standard fixed
pick-up position, with arm movement at discharge.

1. Input the stacking quantity for each layer
by numeral keys.
① Move the cursor to a layer to be input by
pressing keys.
② Press NUMERAL INPUT
③ Input stacking quantity key
ENT
Note
-For column stacking, input the stacking quantity for the 1st layer. For
alternating stacking, input the stacking quantity for the 1st and 2nd layer.
2. Press NEXT key, then move to the next

page.
1-11
Explanation
-Positions are stored while manually moving the robot. A total of 5 points are
stored: The descent position over the station (step 2), the pick-up position
over the station (step 3), and 3 points for storing the pallet coordinate origin.
(See diagram below)
-Perform teaching operation after checking the following items:
①Place the handled article at proper location on the station. (See diagram
below)
②Place the pallet at the proper location. (See diagram below)
(when pallet floor placement [yes] is selected, place only one pallet)
3. Pallet coordinate origin

1 Descent position over the station
4. 180 degrees inverse
2. Pick-up position over the station
5. X direction indication
1. Storage of the descent position over the station
Explanation
What is the “Descent position over the station ” ?
-This is the position for grasping the

handled article on the station, and at this
position the hand is not closed yet.
1. After checking that the cursor is at

STEP 2 (STA) on the screen, turn the
MANU-AUTO select switch to MANU
MANU mode screen comes out
(When cursor is at other position, move
cursor by keys, or touch the item
directly)
2. Turn power on by turning the motor power

switch clockwise.
3. Press START button.
Screen will be changed to the in
operation
1-12
4. Set the Hand; close, Vacuum; OFF, by
pressing hand manual operation 1 2 3
switches.
Note
-With a standard hand for cases, the 1 switch opens and closes the hand, and
2 and 3 switch turn the vacuum ON/OFF.
-If the teaching pendant (optional) is connected, operate using the hand
manual open-close key on the teaching pendant.
5. Operate manually using manual operating

keys , and move the hand to the descent
position over the station.
6. Press Stop button and turn motor power
switch counter-clockwise to shut power
down.
7. Return the select switch on the panel back
to AUTO
Return to the [program new
creation(4/7)]
8. Press CURRENT POSITION STORE

Confirming message appear
9. Press DO
Position is stored
2. Storage of the pick-up position over the station
Explanation Side
What is the “ Pick-up position over the station ”?
move
-This is the position for grasping the
handled article on the station, and at this
position the hand is closed.
-With a double opening hand, this
position is the same as "descent position
over the station", so there is no need to
move the hand position.
1. After moving the cursor to step 3 (HLD) by

key, turn MANU-AUTO select switch to
MANU
Manual mode screen comes out.
2. Turn motor power switch clockwise to turn

it on.
3. Press Start button.
The screen is turned to Auto operation.
4. Move the hand manually to a position
where the hand picks the products over the
station conveyor, by manual operation key
5. Let hand pick the products practically by
1-13
pressing hand manual operating key.
6. Press [Stop] button and turn motor power
select switch counter-clockwise to shut
power down.
7. Turn the select switch on panel to AUTO
position
Screen will return back to program new
creation (4/7)
8. Press [CURRENT POSITION STORE].
Confirmation message pops up.
9. Press [DO]. Position is stored.
1-14
3. Position storage of pallet coordinate origin
Explanation
What is the “position storage of pallet coordinate origin “?
-Except for the special cases, this is the
position for placement on the pallet of the
1st handled article in the 1st layer.
-The pallet coordinates are all 0 for the
stacking position of the 1st article in the
1st layer.
BOX
1. After confirming that cursor has moved to

an origin reference position for position
store of pallet coordinate origin by key,
turn MANU-AUTO select switch to MANU
Manual mode screen comes out

power on.
3. Press [Start] button.
Screen is turned to Auto screen.
4. Operate manually using manual operation
key to pick products, and move hand to the
1st product stacking position on the pallet
Note
-Set the product dropping distance when the hand is opened to about 20 mm.
-Set so that stacking on the pallet is done in sequence from the position
farther from the robot.
5. Press [stop] button, and shut power off by

the motor power switch to
counter-clockwise
6. Return the select switch on the panel to
AUTO
Screen will return to new program
creation (4/7)
7. Press CURRENT POSITION STORE key

8. Press DO
Position is stored
9. Mark the stacking position for the 1st

product in the 1st layer as per above 4,on
the pallet
1-15
4. 180 degrees inverse position
Explanation
What is "180 degrees inversion position"?
-This is the position where the handled
article is rotated 180 degrees, and aligned
with the marked position. The height is
set the same.
-The positional relationship between the
robot and the handled article is checked
using this data.
1. After moving that cursor to the 180°

inversion position for position store of
pallet coordinate origin, turn the select
switch on the panel to MANU.
Manual mode screen comes out.
2. Turn on power by turning motor power

switch to clockwise.
3. Press [START] key
Screen will be changed to the in
operation.
4. Rotate product by 180°by manual

operation with manual operation key and
align with the pre-determined position.
Note
In 180 degrees inversion, the product can be turned either clockwise or
counter-clockwise.
5. Press Stop button then shut down power

by turning the motor power switch
counter-clockwise.
6. Turn the key switch on panel back to Auto.
8. Press DO
Position is stored
1-16
5. X direction indication position
Explanation
What is the X direction indication position?
-In storage of " Position storage of pallet coordinate origin" and "180
degrees inverse position", the origin (point C ,where the X, Y and Z
axes of the pallet coordinate system intersect) is stored.
-The X and Y axes are taken in the directions running along the edges
of the pallet.
-If the X axis direction is stored, the Y
axis direction is determined in
direction orthogonal to the X axis, as
shown in the diagram.
-The point (like point D in the
diagram) for storing the X axis
direction for the robot is called the X
direction indication position.
1. After moving the cursor to the X direction

indication position for position for position
store of pallet coordinate origin by key,
turn MANU-AUTO select switch to MANU
Screen will be changed to manual
mode

power on.
3. Press [START] button.
Screen is turned to Auto operation.
4. Move hand, along with pallet edge, to X

direction by approx. 1 meter by manual
operation with manual operation key.
Note
+PY
The X direction is the right hand direction when
viewing from the pallet origin position.
+PX
5. Press STOP button then shut down power

by turning the motor power switch
counter-clockwise.
6. Return the key switch to AUTO
Screen will return to new program
creation (4/7)
1-17
8. Press DO
The position is stored
9. Press NEXT
Move to the next page
6. When teaching pendant (option) is connected
Step 2, step 3, pallet coordinate origin, 180 degrees inverse position, and X direction
indication position can be registered with teaching pendant when switching to the
manual mode on the screen of program new creation (4/7).
On every pressing ← → keys, storing position shall be Teaching pendant display

turned as below. Origin storage low
STEP2 -> STEP3 -> pallet coordinate origin -> STEP2
180°inverse position -> X direction indication position
HX = HY＝
When the STORE key is pressed after it operates to the HZ＝ HT＝
position that wants to store by manual operation,
present location is stored.
1-18
Explanation
In teaching up to this point, the positions 2, 3
and 7 have been stored for the standard
movement pattern. (for case palletizing)
The remaining position 1, 4, 5, 6, 8, and 9 are D4
D1
found through calculation from inching D2 (X Y Z)
distance data (fixed value) D in the diagram. D3
Input the inching distance data D1, D2x, D2y,
Station
D3 and D4.
Pallet
1. Using numerical keys, input the inching

ascent distance (D1) over the station. After
pressing D1 (3→4) key
ENT
Explanation
What is "inching ascent distance (D1) over the station" ?
- After the robot grasps the handled article on the station,
it ascents by a fixed distance (So there is no interference
between peripheral equipment and the handled article)
and moves to the next step.
-This ascent distance is called the inching ascent distance
over the station (D1).
2. Using numerical keys, input data (D2x,

D2y and D2z) for standby position over the
pallet.
After pressing D2X D2Y D2Z key
D2X= ENT
D2Y= ENT
D2Z= ENT
Explanation
What is the “standby position D2x, D2y, D2z over the
pallet” ?
-If there is no empty pallet, the robot
stands by at steps and waits for an empty
pallet come in.
This position is called “standby position
D2x, D2y, D2z over the pallet
-Data of standby position over the pallet
are the distance from stacking position
shown as pallet coordinates.
1-19
Note
The process above selects the standard approch direction, which defines the
moving orientation from step 5 to 6 as a pallet coordinate.
3. Input the inching descent distance over the

pallet (D3) using numerical keys.
After pressing D3 (6→7) key
ENT
4. Input the inching ascent distance over the
pallet (D4) using numerical keys.
After pressing D4 (7→8) key
ENT
3 4
Explanation
What is the “inching descent distance over the pallet (D3)”?
-When the hand is provided with countermeasures to keep

the article from falling (like vacuum, fingers, etc…), the
vacuum or finger is released above the stacking position.
-Then the robot descends to the stacking position, this
descent distance is called the inching descent distance
over the pallet (D3).
What is the" inching ascent distance over the pallet (D4)"?
-After the robot stacks the handled article on the pallet,

the robot ascends a fixed distance (to prevent
interference with articles on the pallet) and then moves
to the next step. This ascent distance is called the
inching ascent distance over the pallet (D4).
5. Press NEXT , and move to the next page
1-20
Explanation
-Step auxiliary data for a newly created program is displayed.
-Using standard movement patterns so step auxiliary data is all set
automatically.
1. As no change is necessary here, move next

page by pressing NEXT PAGE
Note
For details on revision and the content of step auxiliary data, see section
4.2.5

Explanation
-Data of stacking position on the pallet is to be input.
-Position data is to be input by numeral keys without moving of robot.
-Input can also be performed by STORE key, moving robot with manual
operation.
-When input by numeral keys, the position data shown as pallet coordinate
(see 1.3) is to be employed.
-PZ data for the height direction is automatically calculated according to
the handled article height, so there is no need to input this data.
1. After indicating the “key input screen” by

ENT key, moving the cursor by
,then input a necessary position data
ENT
2. Press QUIT key.
Screen returns to the teaching menu.
1-21
Explanation
-The following is an example where the positions of the handled articles
are expressed with pallet coordinates.
1st layer 2nd layer
L Pß
W PX PY PZ
a
rk (mm) (mm) (°) (mm)
y
1 1 0 0 0 The mark in the above
diagram indicates the
1 2 600 0 0
vacuum pad contact
1 3 -100 500 -90 surface.
1 4 300 500 -90
1 5 700 500 -90 No need
2 1 -100 100 -90 to input
2 2 300 100 -90
2 3 700 100 -90
2 4 0 600 0
2 5 600 600 0
-The pallet coordinates origin is the center of the 1st work in the 1st
layer.
-The method of determining Pß varies depend on the hand grip
direction. (For cases)
-When stacking with cases tightly packed as in the diagram below, the
direction in which a standard hand can perform direction is determined.
Interference
Stacking is possible. Stacking is impossible.
1-22
1.3. Program Check Procedure
To check the program
Execute the program created in 2.2 in the following steps:

1.) Unloaded operation. Check the number of stacking layers, and check for
interference with peripheral equipment.
↓
2.) Product type setting.
↓
3.) Actual stacking operation performing.
1.3.1.Dry-run Operation
The purpose here is to check the actual number of stacking layer of the created
program, and to check for interference with peripheral equipment.
1. Low speed dry-run operation

Use the following procedure to perform automatic operation at low speed, without
products.
1. Press QUIT key. 4
Move to basic menu
2. Press M: Maintenance key

Move to the maintenance mode
3. Press [M2: Robot data] key.

Switch to robot data menu.
4. Press M2-2:Program Selection Method key
Move to program selection method
5. Press INTERNAL key of program select

Program select : Internal is selected
Explanation
What is program selection (external, internal)?
-When set to internal, the program No. to be selected can be directly
keyed in.
-When set to external, the desired program can be selected by the conveyor
control system (PLC).
6. Enter the program No. to be executed using

INPUT keys.
ENT
1-23
Note
- In 7, following are selected
External strobe = disabled Stacking complete output = execute
PGS type = value already set
- In case of pallet floor placement application, quantity of pallet shall be
set
1-24
Explanation
What is an external strobe?
- The timing for switching a program happens when the relay of ID No.
selection STB (strobe) is turned on while the sequence logic is waiting at
PGSEL
-This ID No. selection STB (strobe) is called an external strobe.
-Only in the case of program internal selection, this external strobe can
be disabled, and the system can be set to enable to execute the
sequence command PGSEL at any time.
-During dry operation, as the robot is moved alone, set the
external strobe to OFF.
What is stacking complete output ?

- After completion of one pallet stacking, selection between output or not
the pallet discharge signal can be selected.
What is number of pallets on floor ?

- When internal selection is chosen and pallets are placed on the floor, it is the
process for you to enter the number of pallets by hands. Robot arm may be
crashed against pallets and products on them unledd the exact number is
entered.
What is the condition of WTCON ?

- When internal selection is chosen, robot arm is to stop or not at this
command unless the conditions are enough to move forward. If set disable, it
won’t stop.
What is operation patttern ?

- When internal selection is chosen, this is for simultaneously or continuously
operating multi-programs.
What is the PGS type?

-With the Okura A series robot palletizer, switching program No. is executed
at the sequence command PGSEL.
- To prevent a mistaken-operation, the condition is to be set for the program
switching. The PGS can be classified into the following three types depending
on the differences among those conditions.
①Single pallet
②Multiple pallet
③Every Workpiece
-The conditions of each type of PGS at which a program can be switched are
as follows.
1-25
PGS
No. Descriptions Required conditions to switch over
Type
1 Single Only on pallet station. he stacking counter numbers of layer
Pallet Resulted in “Program Select and work of the ongoing program are
Error” as the following “1” initialized.
conditions are not fulfilled at a The stacking counter numbers of layer
time. and work of a program newly selected
(1) Stacking is completed under are also “1” initialized.
currently executing program
Stacking begins from starting
point of newly set program.
2 Multiple Multiple pallet stations. Possible to switch over one to the other
Pallet Possible to switch over one to pallet with the ongoing program.
the other pallet station of which When switch over to a different/new
ongoing stacking program is program per pallet station, the
memorized respectively. stacking counter numbers of layer and
When switched over to the other work are “1” initialized at both ongoing
program per pallet, the above and different/new programs.
item (1) needs to be met.
3 Every Possible to switch over without any
Work conditions.
piece
1-26
7. Press RETURN and [Main Menu] keys to
return back to Basic menu.
8. Press [A: Auto operation] key to open Auto
operation screen.
9. Set speed to “2” by pressing - or + keys.
Important
-The following procedure starts robot operation, so check that
there are no people inside the guarding, and that there are no
obstructions on the conveyor or pallet.
-During the operation mentioned in this section, always keep your
hand on the emergency stop button so you can stop operation
immediately if a problem or a accident occurs.

power on.
Screen will switch to the operation
mode menu, and dry run will begin.
12. During dry run, check the following:

1. Stacking layer number to follow the stored.
2. No interference with peripheral equipment
Note
-If the stacking layer quantity is not as correct, adjust the number of
layers on program parameter editing(2/5) screen (See 3.2.2)
-If there is interference with peripheral equipment, reset the inching
ascent (descent ) distance on program parameter editing(4/5) screen
(See 3.2.2)
-If the interference cannot be prevented by inching distance, add a new
step on program parameter editing(5/5) screen. (See 3.2.2.)
13. Make sure if whole stacking operation is

completed in the dry run.
14. Press the [STOP] button and turn motor
power switch counter-clockwise to shut
power down.
2. High speed dry-run operation

Using the following procedure to perform automatic operation at high speed, without
products.
1. Press the desired pallet no.’s key.

(This shall be no need in one pallet
system application)
2. Press COUNT INITIALIZE key

(Press INITIALIZE, when system is 4
pallets application or more )
1-27
3. Press DO
Initialize the counter for the selected
pallet (Set both the layer and work
counter to 1)
1-28
Important
- The following procedure starts robot operation, so check that
there are no people inside the guarding, and that there
are no obstructions on the conveyor or pallet.
- During operation, always keep your hand on the emergency stop
button so you can stop operation immediately if a problem
occurs.
4. Set speed to 10 by pressing + key.

5. Press start key
Screen will change to in operation,
and unloaded operation begins.
6. Perform checking just as in low speed

dry-run operation.
7. After checking that stacking is performed
correctly for one pallet via dry-run, press
the stop switch. (Check that the screen
changed to in stop)
1.3.2.Product Type Setting
Explanation
What is product type setting?
- This is for storing the starting program Nos. of each pallet.
- Whenever the type of products is changed, a new product tyhpe setting
needs to be done. If nothing set, the robot will execute the lats one to
possibly cause a trouble.
- Product type setting data is maintained after main power is turned off.
Perform product type setting according to the following procedure.
1. Press the desired pallet no.’s key
(This shall be no need in one pallet system
application)
2. Press Select Program key
Screen will change to product type
setting screen
3. Input an allocating program no. by

pressing the key.
ENT
4. Press RETURN key
Screen will return to the original one
Note
* Whenever new product type setting is carried out, Program No.0 is to be firstly
executed to return to the standard posture in any case.
* Products in hand may fall down to the floor as hand always opens after completing
the execution of program No. 0.
1-29
1.3.3.Actual Operation
Actual stacking is performed using the program which was checked in dry-run
operation. Check the quality of stacking.
1. Low speed actual operation

Use the following procedure to perform automatic operation at low speed, while moving
the handled articles.
1
(This shall be no need in one pallet system 2
application)
2. Press Initialize Pallet Selected key.
Confirmation message comes out
3. Press [DO].
Initialize the counter for the selected
pallet
(Set both the layer and work counter to 1)
4. Press [QUIT] key. Return back to basic
menu.
5. Press [M: Maintenance] key. Switch to
maintenance menu.
6. Press [M2: Robot data] key. Switch to
robot data menu.
7. Press [M2-2: Program selection method].
Switch to program selection setting.
8. Press [External] key for program selection.
Program selection: Switch to external.
9. Press [Back] and [Main menu] keys to
return back to basic menu.
10. Press [A: Auto operation] key to open auto
operation screen.
11. Set speed to “2” by pressing - or. + key.
Important
-During operation, always keep your hand on the emergency
stop button so you can stop operation immediately if a problem
occurs.

power on.
13. Press the [START] button and start to let
products to come in. (Check that screen
1-30
turns to in operation),
Actual operation starts
14. Through actual operation, check the

following points.
-Stacking shape
-Interference between hand and the
products stacked
-Dropping height properly
Note
-If the stack is shifted, correct it in pallet coordinates origin shift screen
-If the hand strikes the stack or if the drop height for handled articles is
inappropriate, reset the inching ascent (descent) distance in the
program parameter editing(4/5) screen (See 3.2.2)
-If the handled articles drop height is different for each layer, adjust it
in the Auto calculation for height screen (See 3.2.9)
15. Make sure if one whole products on a pallet

is completed.
16. Press the [STOP] button and turn motor
power switch counter-clockwise to shut
power down.
2. High speed actual operation

Using the following procedure to perform automatic operation at high speed, while
moving the handled articles.
1. Set speed to 10 by pressing + key
Important
occurs.
2. Press the start button and start to let

products to come in, in the same manner
as the low speed actual operation.
3. Through actual operation at high speed,
check the following points.
- Interference between hand and the
stacked products
- Stacking capacity to meet the required.
Note
-If the hand strikes the stack, reset the inching ascent (descent)
distance in the program parameter editing(4/5) screen (See 3.2.2)
4. After checking one pallet stacking, press

the stop button.
1-31
1.4. Standard Programming Procedure
(Other Than Case Palletizing)
Okura A series robot palletizers have 3 standard movement patterns. (Including the
already explained case palletizing pattern)
Bag Bag palletizing
Palletizing
Case Case palletizing
Movement
Depalletizing
1.4.1.Bag Palletizing
This section explains the procedure for creating and inputting a program when bag
palletizing pattern is selected. The basic concept is the same as case palletizing in 2.2.
Different points from case palletizing are explained here.
(1) At screen (4/7), position storage for STEP 3 （HLD） is unnecessary.
Note
-Typical hand for bags is as show in the
diagram at right.
-In this case the hand's descent point
over the station is the same as the
position for grasping point
-This type hand has fingers to hold the
bag, there is no need to control
vacuum. So there is no step 6 in bag
palletizing
-Therefore the standard steps for bags
palletizing are 1, 2, 4, 5, 7, 8 and 9 as Station
shown in the diagram at right.
Pallet
1-32
(2) At screen (6/7), there is designation for "dropping from above".
Note
3rd
What is dropping from above?
1st Contact
-When stacking bags in the sequence
with hand
shown in the diagram at right, the hand
will touch the already stacked bags 2nd
when it opens for the 3rd bag.

-If the dropping high is specified,
the step 7 position can move up by the ⑤
height of D3) to prevent hand from hitting
the stacked bags.
(If zero is entered into D3, the hand opens D3
at the original height plus D2x.) ⑦
-Dropping high is effective only
when the step parameter APR and LOD
are available.(See 3.2.4)
(3) At screen (7/7), the stacking sequence must be from outer bags (no dropping from
above) to inner bags (dropping from above).
Note
The possible stacking sequences differ in the following way between hands
for cases and hands for bags.
[hand for cases] [hand for bags]
-This is due to the fact that the standard hand for bags has fingers
which open to both sides as shown in the diagram below, so stacking
is impossible next to articles which have already been stacked.
Hand closed
Hand opened
1-33
2.New Program Creation Procedure
(Practical Application)
This section explains practical teaching methods using standard movement pattern,
and teaching methods which do not use standard movement pattern.
This section also explains how to create programs using layout patterns with multiple
pallets and stations.
2-1
2.1. Practical Operation for Standard Teaching
The following 3 types of practical operation can be performed.
1. OXPA-QmV
2. Special stacking
3. Variable pick-up
Each of them is for different purposes. They can also be used simultaneously in various
combinations.
2.1.1.OXPA-QmV
“OXPA” stands for "Okura Express Programming Architecture".
OXPA-QmV is software used to perform offline teaching with a desktop/laptop
computer.
OXPA-QmV is specially for palletizing. This software enables quick and easy automatic
teaching, by entering data from a computer keyboard. There is no need for teaching
work involving with actual movement of the robot inside guarding. The software also
has option management functions for storing and correcting teaching programs, and
sending/receiving data with robot.
OXPA-QmV Specifications:
-OS: Windows XP (Professional), Windows Vista (Business),

Windows ‘ (Professional 32 bits / 64 bits), Windows 8 (Pro 32 bits/ 64
bits)
Windows 8 (Pro 32 bits / 64 bits)
-Memory: 12 M bytes over for OXPA-QmV execution
-Communication port: USB 1 port
-HDD: more than 50MB to install a complete set of OXPA-QmV,
Plus 8MB per a robot including stacking data and sequence logic
comments.
- Other requirements
A proper mouse to enable to connect with Windows in your computer
Screen display to have the resolution: 1024 x 768 over.
2-2
2.1.2.Special Stacking
Select special stacking when teaching a stacking pattern other than column or
interlocking stacking. Special stacking can only be selected at new program creation.
Also, the selection is made at the stacking pattern item on the program new creation
(2/7) screen.
If special stacking is selected, the articles release position must be input for all layers
and works.(See chart below)
However, if the same pattern appears on the different layers, use "same layer setting
method" instead of inputting position data. (See the following page)
Input at new program creation

Stacking Pattern
Stacking work number Stacking position
Column 1st layers

stacking
Interlocking 1st and 2nd

stacking layers
Odd numbered Even numbered

layers layers
Special All layers

stacking
3rd layer
2nd layer
1st layer
2-3
[Same layer setting method]
Perform the following operation at the program new creation(3/7) screen.
(If special stacking is selected, the work number is automatically set to 6.
For layers where same layer setting is not performed, input the correct
stacking work number.)
1. Move the cursor to the layer for same layer

setting.
2. Press SAME LAYER SETTING key.
3. Key input screen comes out.

4. Input the No. of the original layer with which the new layer is to be the same.
[How to cancel same layer setting]

Perform the following operation at the program new creation (3/7) screen.
1. Move the cursor to the layer for which setting is to be canceled.

2. Press SAME LAYER RESET key.
When same layer setting is canceled, the screen display becomes 1.
2-4
2.1.3.Variable Pick-Up
In case stacking with a standard hand, the direction in which the case is stacked on the
pallet is determined as shown in the diagram below.
Vacuum
Pad
Stacking is possible. Stacking is impossible.
For this reason, there are situations where it is impossible to stack so that labels are all
set facing the outside of the stacking pattern. (From here on, we shall refer to this type
of stacking as "labels facing outside".)
As an example, consider the 5-work interlocking

stacking shown in the diagram below.
As shown in the diagram, cases 2, 3, and 5 on the

2nd layer cannot be stacked with labels facing
outside. This is because the pick-up position at the
station is fixed, so the positional relationship
between the label and vacuum pad cannot be
changed. 1st layer
If labels cannot be set facing the outside,
additionally store the 180 degrees inverted
position as a pick-up position at the station.
Then designate the grasping position which
enables the label to be faced outside for each
article to be stacked. Vacuum Pad
Direction
This function, which enables additional storage of
the 180 degrees inverted position as a pick-up Stacking
Sequence
position at the station, is called "variable pick-up".
Stacking
Variable pick-up can be used in situations other order
nd
than facing labels outside when it is desirable to 2 layer
change to grasping direction. Variable pick-up
designation can only be done at program new creation.
The following explains the operation procedure:
① Select variable at the pick-up item on the program new creation (2/7)screen
② Store the 180 degrees inverted position at the station, using the program new
creation (4/7) screen. The cursor will move to the 180 degree inverted position
at the station item only when "variable" is selected in 1.
③ Input the grasping direction for each handled article at the program new
creation (6/7) screen.
2-5
Picking direction is:
“0” --------- Normal picking direction
“1” -------- Reversed 180 degree picking direction
Note
- If variable picking is chosen, a hand may spin 180 degrees duirng travelling
from step 9 to 1 when standard program is used. You may need to change
your sequence logic as follows to avoid this kind of trouble.
(Standard) (Variable picking)

WTARM WTARM
MOV 9 ENCHK M6006
ENCHK M6006 COUNT
COUNT MOV 9
WTTMR 40 WTTMR 40
- Not in case of variable picking with the above modification, hand may crash
against products stacked right after stacking completed, since robot arm
moves down to step 9 for 1st layer, 1st product on pallet.
To avoid this, turn memory SW1-3 ON to raise step 9 in height for 1st layer-1st
product up to that of the last layer.
2.1.4.Program with individual height data

Some programs may need to have individual-product-height data per product although
column stacking, alternative stacking and special stacking have fixed height data per
layer.
How to create this type of special program is:
1. In case of having individual planar and height data
Set up stacking pattern to [SPZ] at screen of Program new creation (2/7).
Position command at step 5, 6, 7, and 8 more line pallet side are set to [AZA].
Every product has its individual data so that Same-layer setting doesn’t make
sense in this case.
2. In case of having individual height data only while planar one is standard
(1) Create program based on column or alternative one.
(2) Set position command at step 5, 6, 7 and 8 at pallet side to [TZA].
For the case of “1”, you need to enter both data per every product. You may have to
consider if “2” can be used instead as this is much
2-6
2.2. When Not Using a standard Movement Pattern
When creating a special program which is not for palletizing or depalletizing, teaching is
performed without using a standard movement pattern.
The following explains the operation procedure for new program creation when not
using a standard movement pattern.
1. Select [no] at the standard movement pattern item in program new creation (1/7)
screen.
2. The input screen will change to program new creation (7/7), so input position data
for each step.
Note
-The number of steps is automatically set to 15, if more steps are
necessary, add the 16th and subsequent steps via step parameter
editing, and the input via step position coordinate editing. Be sure to
set position data within the operation range, even for steps which will
not be used.
3. Create a sequence for the pertinent program using sequence program editing.
Note
The initial setting is 2 lines only:
JTOP
ENDP
4. Change the parameters at each step using step parameter editing.
Note
The initial setting is as follows:
NON FIX 10 10 10 ZRO CP HND
* See “3.2.2 Program parameter editing” about Sequence program editing and Step
parameter editing for detail.
2-7
2.3. Multi-Stacking
The term "multi-stacking" refers to a layout pattern like that in the diagram below,
with multi pallets and station.
① 1 station, 2 pallets
Example 1: While a new pallet is provided
in one side, articles are stacked in the other
pallet.
Example 2:Product types of 2 different

kinds are stacked separately in different
pallets.
Example 3: Articles from the left station ① 2 stations, 2 pallets

are stacked on the left pallet, and articles
from the right station are stacked on the
right pallet.
With an Okura A series palletizer, a typical stacking program is that picking product(s)
from one station then placing product(s) to one pallet.
However, stacking with multiple stations and multiple pallets can be performed by
switching program one after another among multi-programs depending on the type of
stacking pattern.
If program selection is set to [external], a program can be selected by designating a
program No. from the peripheral conveyor control system.
2-8
2.4. RP Mode
When stacking in a pyramid shape for rice pallets etc., the
program is created using the RP mode. When a program is
created with this mode, the planar position in each layer is
automatically calculated so that the stacking pattern is like
that shown in the diagram below.
The following explains the operation procedure for new
program creation using RP mode.
1. Select [Palle-bag] under [palletizing] at the
movement type item on the program new creation (2/7) screen.
2. Select [RP] at the stacking pattern item on the program new creation （2/7）
screen
3. If NEXT PAGE [f3] is selected at program new creation (6/7) screen, the
parameter input screen for RP mode is displayed.
4. Input each parameter.
Pallet center
Xc : Distance in the Px direction
between the pallet origin reference
and the pallet center.
Yc : Distance in the Py direction
between the pallet origin reference
and the pallet center.
Fixed effective width
Xw : Width in the Py direction of the
area where shifting is not performed
toward the center.
Yw : Width in the Py direction of the
area where shifting is not performed
toward the center.
Production amount
Ax : Maximum shift amount in the Px direction
Ay : Maximum shift amount in the Py direction
Grip quantity
Set 2 at the grip quantity during origin storage.
6. Key in planar data only for idiosyncratic layers at the program new
creation(7/7) Screen
Note
-Layers which are not symetrical are also displayed, but do not key in
data for these.
-Same layer sets are all handled the same as idiosyncratic layers after
program creation, therefore, even in layers which are created with
same layer setting, changing the planar position of one workpiece will
never result in an automatic change in planar positions in other layers.
-Be careful because recalculation is done with the current position data
when a parameter is changed.
-Example: Ax = 20 (New parameter created)
Ax = 25 (Parameter change)
↓
Shifted to within 45mm
2-9
3.Program Edit
This section explains how to edit the programs which have been created. The general
composition of programs is also described, so please use this preliminary knowledge for
editing.
3-1
3.1. Program Composition
Program edition is performed after designation which data to edit at the menu screen,
this section gives a basic explanation of program data composition
[Data in memory]
The controller for an Okura A series robot palletizer has the following data in its memory.
(See the following page)
System parameter
Error information
Program data
Communication setting file
Servo parameter file
All created programs are controlled by their program No., and individual programs can
be loaded from or saved to personal computer (to be performed by OXPA-Qm), and be
copied within the memory.
[Program data]
Program data is further subdivided into the following types;
Program parameters
Sequence program (this controls hand open/close movements, and external
I/O)
Step auxiliary data
Step data
"Steps" are subdivisions of the stacking cycle, based on position and function.
[Step data]
Step data is composed of the following;
Step parameters
Position coordinates
The number of position coordinates varies depending on the type of step.
For example, in a step which indicates the hand standby position over the station (step
command HWT, position command FIX), the position never change, regardless of what
layer or work is being stacked, so there is only one position data (i.e. the for the 1st
layer and 1st work).
On the other hand, in a step which indicates the stacking position on the pallet (step
command LOD, position command ALT), the position varies depending on the layer and
work being stacked, so in the case of interlocked stacking, there is position data for all
the stacking works in the 1st and 2nd layers.
Planar position data for the 3rd and the subsequent layers is a repetition of the 1st and
2nd layers, so the system has only height data for the 3rd and subsequent layers.
3-2
[Chapter No.]
System parameter
Memory Error information
Communication setting file
Servo parameter
Program data (program No. 1) (For example, for stacking product type A on pallet 1)
Program data (program No. 2) (For example, for stacking product type B on pallet 2)
Program data (program No. *)
Program parameters ……………………………………………………………………3.2.2

Sequence program ……………………………………………………………………3.2.3
Step auxiliary data ……………………………………………………………………3.2.5
Step data (step No. 1) (For example, the standby position over the station)
Step data (step No. 2) (For example, a stacking position on the pallet)
Step data (step No. *)
Step parameters …………………………………………………………………………3.2.4

Position coordinates 1st layer, 1st work
1st layer, 2nd work
(The number of works varies depending on the step)
3-3
3.2. Program Editing
3.2.1.Copy and Delete
Use the following procedures for copying and deleting programs in memory.
[Copy]
1. At the teaching menu screen, move the
cursor to the program No. to be copied
(copy source)
Note
To display a program which does not appear on the screen, scroll the screen
with scroll keys, or press the designated display start key, and input a
program no. directly.
2. Press COPY key

3. Press DELETE key
ENT
[Delete]
cursor to the program No. to be deleted
2. Press DELETE key
3. When system asks whether or not you
want to delete it, press DO key
3-4
3.2.2.Program parameter editing
The procedure for moving to the program parameter editing screen is as follows:
Teaching menu
↓
Editing
↓
Program parameter
The following explains each screen

1. At the program parameter editing (1/5),
Editable parameters are;
-Product name
-Article height
- Article weight
- Time scaling
- Pallet floor placement
- Pallet thickness (Only when the pallet
floor placement is applied)
Editable parameters are:
-Stacking layer number
-Height direction decrement
-Discharge with arm movement

Parameters cannot be changed.
3-5
All items can be changed.

the following items can be set.
(A)This sets the planar position for step 6 (AND)

to one of the following:
7:LOD
5:APR
7: LOD 5: APR
(B)This sets the height for step 8 to one of the

following:
Standard: set according to calculation formula in 3.2.4
9 : Align with step 9
Note
If the station is at a high position relative to the pallet and the hand interferes
with the station during stacking movement, select "9".
(C) Set the height of step 5 to either one in the following ;

Standard : set according to calculation formula in 3.2.4.
4 : Align with step 4.
(D)This adds step 10
This adds step 11
3-6
Note
The step commands for step 10 and 11 are APU and PUP respectively. For
details on step command, see 3.2.4
(E)Inclined movement setting
Explanation
What is inclined movement?
-With this mode, steps 10 and 11 are added as intermediate points
between the pallet and station in order to achieve greater capacity.
During lower level stacking During upper level stacking
-In the inclined movement mode, the height data for step 9 is fixed at
the same value as 1 and 4.
-With inclined movement, the hand tends to interfere with other
equipment and stacks more then with an ordinary movement pattern,
so be sure to perform check operation for one entire pallet.
-Setting cannot be done if step 10 and 11 have already been used, or if
there is a level which has been set for the same level with a special
stacking program.
(F) This set T-axis movement during movement

for step ⑤ to step⑥ to one of the following ;
Parallel with LOD
T-axis fixed
Note
If the T-axis will rotate through about 360 degrees during movement from
step 5 to 6 , select T-axis fixed.
3-7
3.2.3.Sequence program
The procedure for moving to sequence program editing screen is as follows:
Teach menu
↓
Editing
↓
Sequence program editing
[Operating procedure for each processing]

(1) Change
①Move the cursor to required line to change
②Press CHANGE key
③Command input screen comes out
④Perform change
- Move the cursor by keys
- Command can be input by pressing the INSERT key after pressing the
concerned command key directly
⑤Press QUIT key
(2) Adding
①Move the cursor to required line to add
②Press ADD key
③Command input screen comes out
④Input command
⑤Press QUIT key
(3) Deleting
①Move the cursor to required line to delete
②Press DELETE key
(4) Cancellation complete
①Press the All cancel key.
(5) Search
①Press the Search key. Input screen .appears.
②Input data memory no. to search (e.g.. M6000)
③Press the search execute on the input screen
(6) Reference program
①Press the Reference prg No. key
(7) Full copy
①Press the Full copy key, and the edit program sequence will be copied fully by the reference
program one.
(8) Range copy
①Press the Range copy key.
②The cursor is moved to copy beginning line No. of the copy origin (reference program),
and press the From key.
③The cursor is moved to copy end line No. of the copy origin (reference program),
and press the To key.
④The cursor is moved under the line to add the copy destination (edit program).
⑤Press the Copy key.
⑥Press the Back key.
Please refer to “Robot Sequence command manual” for the sequence command format
and functions.
3-8
3.2.4.Step parameter editing
The procedure for moving to the step parameter editing is as follows:
Teach menu (Select the program No. to edit)

↓
Editing
↓
Step parameter
The following explains how to edit with function keys.
Append: Addition of step
-A step is added with the smallest number

not currently stored. (Except 10 and 11)
At the same time the step is added, initial
setting for step parameters is stored.
Delete: Deletion of step
- This deletes the step at the step No.

where the cursor is located.
- Press [1] [return] when the system asks
whether to delete (=1) or not (=0)
Parameter select: Parameter select
- When the cursor is at a step command,

position command, overlap. PTP/CP or
coordinate standard, the parameter
changes each time this is pressed.
- When the cursor is at any other item than
the above, the numerical input screen
comes out
QUIT: End
- This returns control to the step editing

menu.
3-9
[Step parameters]
The following 8 step parameters can be edited at the step parameter editing screen
①Step command 1 2345 67 8
②Position command
③Speed
④Acceleration coefficient
⑤Deceleration coefficient
⑥Overlap
⑦PTP/CP
⑧Coordinate standard
①Step commands
The relationship between position coordinates of different steps is determined by a step
command. When creating a new program, position storage is performed for steps 2, 3,
and 7 only.
The remaining steps are found through calculation using the 3 steps for which position
storage has been done.
What calculation formula to use is determined by the step command in that step. The
program parameters D1~D4 are used for the distance data used in the calculation
formula.
The relationship between step commands and position coordinate calculation formulas
is shown in the table below.
MO Step
Calculation formula Position coordinate Concept Z shift
V# command
-Position
HWT HWT(RZ)=STA(RZ)+D1
1 D1 above ×
(Hand wait) HWT(Rθ,RX,Rα)=STA(Rθ,RX,Rα)
STA step
2 STA (Station) Stored data ×
3 HLD (Hold) Stored data ×
SUP(RZ)=(1)HLD(RZ)+D1 -Position
=(2)LOD(RZ)+D2Z above HLD
Whichever of (1) or (2) is bigger (during inclined step
SUP
4 movement always 1) -Height is ×
(Station up)
determined
by HLD and
SUP(Rθ,RX,Rα)=HLD(Rθ,RX,Rα)
LOD
-Position at
APR APR(PX,PY,PZ)=LOD(PX,PY,PZ)+D2(X,Y,Z) distance
5 Ο
(Approach) APR(Pß)=LOD(Pß) D2 from
LOD step
-Position
ADN (Approach ADN(PZ)=LOD(PZ)+D3
6 D3 above Ο
down) ADN(PX,PY,Pβ)=LOD(PX,PY,Pβ)
LOD
7 LOD (Load) Stored data Ο

CLW(PZ)=LOD(PZ)+D4 -Position
CLW
8 CLW(PX,PY,Pβ)=LOD(PX,PY,Pβ) D4 above Ο
(Clear work)
LOD step
3-10
MO Step
Calculation formula Position coordinate Concept Z shift
V# command
HRD(RZ)=(1)STA(RZ)+D1 -Position
=(2)LOD(RZ)+D4 above STA
① or ② whichever is larger (at inclined movement always step
HRT
9 -Height is ×
(Hand return) ①)
determined
by STA and
HRT(Rθ,RX,Rα)=STA(Rθ,RX,Rα)
LOD
NON Stored data *1
-During inclined movement -Position
APU(Rθ,RX,Rα)= above APR
(1-t)xSUP(Rθ,RX,Rα)+txAPR(Rθ,RX,Rα) step
T: Inclined center
APU APU(RZ) =①SUP(RZ)
10 (Approach =②APR(RZ) Ο
pallet up)
① or ② whichever is larger
-During ordinary movement
APU(RZ)=SUP(RZ)
APU(PX,PY,Pβ)=APR(PX,PY,Pβ)
-During inclined movement -Position

PUP(Rθ,RX,Rα)= above LOD
(1-t)xHRT(Rθ,RX,Rα)+txCLW(Rθ,RX,Rα) step
T: Inclined center
PUP PUP(RZ)=①CLW(RZ)
11 Ο
(Pallet up) =②HRT(RZ)
① or ② whichever is larger
-During ordinary movement
PUP(RZ)=HRT(RZ)
PUP(PX,PY,Pß)=LOD(PX,PY,Pß)
*1: There is a Z shift if the position command is ZSF, ALL or ALT.
Note
Any step commands other than NON can only be used once in a
single program.
Note
What is Z shift?
If there are multiple direct placement pallets, the height data is shifted
according to the number of pallets.
Shifted=Ο, Not shifted=x
Note
- It is possible to edit the position data individually by 3.2.6 step position
coordinate editing.
- Do not edit the stored data and other position data than those
simultaneously (In an occasion of changing the stored data, other data than
the stored data is to be calculated upon shutting-down of screen)
- When only the position data within a stored data is edited individually, the
relationship of calculation formula between position data is to be kept.
- When a parameter is changed with program parameter editing
4/5.5/5(3.2.2), all coordinates will be re-calculated with the stored data and
inching movement distance.
3-11
Moreover, there are another set step command on the station side to correspond to the
product stacking simultaneously from 2 stations to 1 palette by one teaching program.
standard station additional station

HWT HWT2
STA STA2
HLD HLD2
SUP SUP2
HRT HRT2
Because the step command for an additional station is not created by itself when a new
program is made, the addition of the step command and the input of positional data of
STA2 and HLD2 are required.
Other steps (HWT2, SUP2, HRT2) are calculated by itself once the positional data of
STA2 and HLD2 is entered.
Note
-The relation of the calculation type of a step command and positional
coordinates is the same as the command for a standard station.
-It is quite unrelated between the calculation of positional coordinates of
present step (1-11) and the steps for additional station.
-In case of variable pick-up, even if step auxiliary data "Direction of the grip"
for an additional station is changed, it is not reflected in plane coordinates
automatically.
-When station position is copied at program new creation, A standard station
is a copy origin. positional data of an additional station doesn't relate.
②Position command
The position commands are types of instruction command in such that how the position
data in a step changes depending on the layers and the products stacked, the position
data completely fixed, or how the position is changed if so.
The relationship between position commands and changes in position data is shown in
the table below.
Change in position
Position
data due to layer and Number of internal memory points
command
work being stacked
FIX No change 1 point
Changes depending 1 point
ZSF
on layer (Height only , for the number of layers)
Changes depending Column stacking: amount for 1 layer
ALT on layer and work Interlocking stacking: amount for 2 layers
(Has regularity) (Height only , for the number of layers)
Changes depending Amount for the number of works stacked.
ALL on layer and work
(Has no regularity)
TZF on layer and work Interlocking stacking: amount for 2 layers
(Has regularity) (Height only, one point)
LZF
on layer and work
3-12
(Has no regularity) (Height only, one point)
Amount for the number of works stacked.

Changes depending
SPL on layer and work (The works defined as same layer in special
stacking also have data.)
(Has no regularity)

SZF on layer and work (Height only, one point)
(Has no regularity)
AZA on layer and work. (Height has also the number of works stacked)
(Has no regularity.)
TZA on layer and work Interlocking stacking: amount for 2 layer
(Height has also the number of works stacked)
Follow the copying Calculation formula only (no actual position data)
SP1, SP2,
origins
SP3, SP4
Note
When performing direct placement with multiple pallets, the height data for
each ALT, ALL of ZSK step automatically varies during arm movement, in
accordance with the number of pallets. (However, it does not vary in case
that the stop command is STA of HLD.)
Explanation
What do the position command SP1 through SP4 mean?
- Those are used when relative position to a step is needed to be specified.

- How to specify the postion is done by [Method], [Argue1, 2] and it is
processed at hand coordinates.
- There are four [Method] that are [copy], [additon], [average], [larger], and
[smaller]. You can specify respectively on HX, HY, HT, and HZ.
(Example) A step 200mm away in + HX direction off step 7,
[Method] [Argue 1, 2]
HX Addition 7 200
HY Copy 7 None
HT Copy 7 None
HZ Copy 7 None
- Respectively setting to SP1, SP2, SP3 or SP4 can be done.
③Speed (Internal speed)

This designates the arm-moving speed toward this step.
The setting is ranging between 1 and 10.
The actual moving speed toward this step is [Internal speed x auto-operation speed]
(%).
④Acceleration / Deceleration coefficient

These designate the acceleration and deceleration time during movement of the arm to
this step. The setting range is the values 1 to 10.These values are indexes of acc./dec.
time, setting 10 as full 100% of time in system parameters respectively.
3-13
When input “0”, controller will calculate the most appropriate value automatically.
⑤Overlap
This designates the precision of the stop/pass range for this step.
There are five parameters FUL, HLF, QRT, ZRO and SPC, which increase in precision in
that order. However, precision of the move coincides with the axis in system parameters
when SPC is selected.
⑥PTP/CP
This designates the coordinate system for arm movement to this step.
In automatic operation, the R-axis and T-axis always move in their axis coordinates, but
for the D-axis and O-axis, this designation enables the following selections.
PTP: Movement in each axis coordinates (Arc)

CP: Movement in arm coordinates (Linear)
AUT: Automatically switch over to CP when arm moves vertically or horizontally or to
PTP in any other cases.
The basis speed is different depending on the situation in which it is in advance set to
CP by you or set to CP by itself after AUT setting.
CP at AUT: the default speed

In advance set to CP: 60 - 70 % of the default speed (depending on the type of
the robot model)
AUT is the default so that a special case when it is forced to be set to CP is only the
situation that inclined movement needs to change to linear one. If arm is forced
to move along a linear line, going up / down movement is combined with moving
back and force to result in a trouble in which either D-axis or O-axis motor may
experience with Overspeed. This is why the basis operation speed is limited.
⑦Coordinate standard
This designates the coordinates in which the position data at the specified step is
displayed.
(The position data is kept in all the coordinates so that only a coordinate to display the
data is set with this menu.
Even if the coordinate would be changed, the data never ever be re-calculated to
change.
HND: Hand coordinates

PAL: Pallet coordinates
ARM: Arm coordinates
3-14
3.2.5.Step Auxiliary Data Editing
The procedure for moving to the step auxiliary data editing screen is as follows:
Teach menu (Select the program No. to be edited)

↓
Editing
↓
Step auxiliary data
The following step auxiliary data set for each layer 12 3 4 5 6 7

and work enable more precise control over work:
Dropping from above
Grip direction
Grip quantity
APR direction
Turn
Data 2
Data 1
Setting can be made only for the layers for which stacking quantity has been input.
①Dropping high
If dropping high is designated, LOD position shifts up by the height defined as D3 to
unload products.
Note
A dropping from above designation can only be made when using
the standard movement pattern for bag palletizing or bag
special palletizing
②Grip direction
This is effective only when variable pick-up is designated. 0 or 2 can be selected.
Depending on the selection, the STA and HLD step positions are designated in the
following way:
0 -------Position storage position above station
2 -------180 degrees inverted storage position above station
③Grip quantity
This designates the value for incrementing or decrementing the stacking counter.
In multi-picking, this value in OXPA-QmV is set to not the number of picking up but that
of stacking on pallet.
Note
If the picking quantity is 0, no auxiliary data except turn can be
input. Also the step will have no position data.
3-15
④APR direction
This designates the position relationship between an APR step and an LOD step.
Normally D2X and D2Y in program parameters match the sign of pallet coordinates. In
this case, the APR direction becomes 0.
Selecting 1 thru 7 allows you to shift the positional relationship in the direction on the
screen.
⑤Turn
When a turn designation is made, a signal can be output for turning to the peripheral
conveyor.
⑥ Data 1, data 2
This enables to set a flag for internal use inside robot or one to be sent to the external
PLC. IFRDT of sequence logic command refers to the data 1. (The initial value is “0”,
and values “0” - “7” can be entered)
(In multi-place, both the number of picking up at station and a flag of hand 2 open is set
to the data 1 by OXPA-QmV. Never ever change that data.
3-16
3.2.6.Step Position Coordinate Editing
To move to the step position coordinate editing screen, follow the next procedure
Teaching menu (Select the program NO. for editing)

↓
Editing
↓
Step editing menu
↓
Step position data
The following two methods are available to editing step position data.
①Moving the robot in manual operation, and storing the resulting position.
②Designating position data through numerical input.
③Copy from reference program
①Method 1(Moving the robot in manual operation, and storing the resulting position)
[Procedure]
1) Designate a step No.
2) Move the cursor to the layer and work to be edited
3) Switch over the MANU - AUTO key switch on the panel to MANU position,
then switch to manual operation.
4) Turn on motor power and press the start button
5) Move the robot to the point to be stored
6) Press the operation stop button
7) Turn the key switch to Auto and return back to the editing screen
8) Store by pressing the STORE key.
②Method 2 (Designating position coordinates through numerical input)

[Procedure]
1) Designate a step No.
2) Move the cursor to the data to be edited
3) Select the coordinate by COORDINATE CHANGE.
4) Input position coordinates through numerical keys.
③Method 3 (copy from the reference program)

[Procedure]
1) Designate a step No. for edit program.
2) Designate a step No. for reference program.
3) Press the Copy key.
4) The selection mark of the line for the copy of edit and reference program is
reversed from the gray to red.
5) The copy is executed with the copy key.
①Press the Plane Copy key, plane positional data except height are copied.
②Press the All Copy key, positional data including height are copied.
6) Press the Back key.
3-17
3.2.7.Pallet coordinate origin shift
This moves and rotates pallet coordinate axes.
The procedure for moving to the pallet coordinate origin shift screen is as follows
Teaching menu (Select the program No. for editing)

↓
Editing
↓
Pallet coordinate origin shift
[Procedure]
-Input the shift value for each axis
-Press EXECUTE key to execute.
-Press DO key, when the system asks "execute?" for confirmation.
Note
-When creating a new program, the stack may be shifted on the pallet
if pallet origin coordinate positioning operation is not performed
correctly. Pallet coordinate origin shift enables quick correction of a
relative shift between the stacking pattern and the pallet.
-Each time a pallet coordinate origin shift is performed, the position
data for pallet coordinate origin is overwritten.
(Example)
Suppose that the position was shifted 20 mm in the X direction, but that this
exceeds the desired setting by 5 mm. In order to shift back to the correct
position, it is necessary to shift -5 mm in the X direction on the 2nd time,
never shift 15mm on the 2nd time.
3.2.8.Pallet coordinates origin copy

This is used to set the pallet coordinate origin values to the same coordinate values in
another already stored program.
If the stacking pallet position and the stacking work piece size are the same, using this
to create a new program makes it possible to eliminate pallet coordinate origin setting
operation.
The procedure for moving to the pallet coordinate origin copy screen is as follows:
Teaching menu (Select the program NO. for editing)

↓
Editing
↓
Pallet coordinate origin copy
[Operation Procedure]
①Move the cursor to the program No. of which pallet origin data is to be copied.
②Press COPY key.
3-18
3.2.9.Auto calculation for height
This shall be used for canceling the auto-composition of height direction after 2nd layer
in the designated step.
An effective step for this editing is any one whose position command is ZSF, ALT, ALL,
SPL or AZA.
[Operating procedure]
①Move the cursor to a step to be designated.
②Set “auto-composition : Do - Don’t” by pressing CHANGE key.
3-19
4.Standard Movement Patterns
With an Okura A series robot palletizer, standard movement patterns are pre-stored in
the controller. Using standard movement patterns simplifies programming; only input
the data below in accordance with the screen display.
(1) Numerical data input such as numbers or stacking layers.(Input by the
program parameter)
(2) Storage 5 positions; above the station (pick-up position) and pallet.
(3) Numerical input of stacking position coordinates on the pallet.
This section describes the standard movement pattern concept, and discusses the
program for each standard movement pattern.
4-1
4.1. What is a Standard Movement Pattern?
In general, palletizing or de-palletizing work is a simple round-trip movement between
the pick-up and set-down position. Repetition of this kind of simple round-trip
movement can be standardized into a movement pattern, taking 1 round-trip to be 1
cycle.
Example
-The movement pattern for stacking the 2nd work in the 1st layer on a pallet is as
shown in the diagram below.
9 8
4
5
2 3
6
Station 7
Pallet
As an another example;
-The movement pattern for stacking the 3rd work in the 2nd layer on a pallet is as
shown in the diagram below.
9 8
4
1 5
2 3 6
7
Station
Pallet
In both cases, the robot passes through 9 positions ①-⑨.
4-2
In this way, ①-⑨ are standardized throughout a program, regardless of the numbers
of the layer and work being stacked. These are called “STEP”.
The position for these steps 1 thru 9 and the sequence logic at each position (like the
control of the hand etc.) can be standardized as in the following table.
Sequence
Step Position Characteristics of position
At start of At end of
movement movement
Standard -Fixed regardless of the layer
① position above and work Open hand 1, 2 Select program
station -Position above ②
Down position -Fixed regardless of the layer
②
above station and work
Pick-up position -Fixed regardless of the layer
③ Close hand 1, 2
above station and work
-Position above ③ Standby during
Up position
④ -Higher than either ① or ⑤ pallet
above station
discharge
-Position at an angle above ⑥ Standby if
Standby position
⑤ -Distance from ⑥ is there is no
above pallet
determined by case height pallet
-Position above ⑦
Position above
⑥ -Height is determined by the Open hand 2
stacking position
case height
-Determined by the stacking
⑦ Stacking position pattern Open hand 1
-Height varies for each layer
-Position above ⑦
Position above
⑧
stacking position -Height is determined by hand
form
-Position above ② Check for
Update layer
Position above -Height is greater than ① or ⑧ completion of
⑨ and work
station stacking for
counter
one pallet
Using a standard movement pattern, programming is simplified by just inputting 3

positions data for step ②, ③, ⑦, and the movement distance data for other steps (D1,
D2x, D2y, D2z, D3, D4).
The sequence program is also created automatically.
So peripheral equipment can be controlled simply by connecting such as limit switches
according to the designated relay No. table.
9 8
4
5
2 3
Station 7
Pallet
4-3
4.2. Standard Movement Pattern
Sequence programs and step parameters are given below for standard movement.
4.2.1.Palletizing bag
When station NO. 1 and pallet No. 1 are selected
[Sequence program]
No. Command Explanation 33 M600E=1

1 MOV 1 Move to step 1 34 WTCON M5015 Wait for PLC answer
2 Y01=0 Hand 1 close OFF 35 M600E=0
3 Y00=1 Hand 1 open ON 36 M6008=0 Station loading enable ON
4 Y02=1 Hand 2 close OFF
WTARM Wait for movement 38 Y00=1 Hand 1 open ON
5
completion 39 WTCON X00 Wait for Hand 1 open
6 LBL 1 Label 1 40 MOV 8 Move to step 8
M600A=0 Stacking complete 1
7 41 WTARM Moving completed
OFF
42 MOV 9 Move to step 9
8 M600C=0 st st
1 layer 1 product reset
43 WTCON !M501 Wait for answer reset
9 WTCON X00 Wait for hand 1 open
4 from PLC
10 WTCON X01 Wait for hand 2 open
44 ENCHK M600A Check stacking completed
11 IFCNT 1 & 1 Execute next if 1st lay-1st
45 COUNT Update COUNT
product
46 IF M600A Execute next if stack done
12 M600C=1 1st layer 1st work signal ON
47 WTCON M5014 Wait for PLC answer
13 ENDF
48 ENDIF
49 Y02=1 Wait for Hand 2 close
15 WTARM Wait for movement
50 WTARM Moving completed
completion
51 JMPL 1 Jump to label 1
16 PGSEL Wait for program No,
selection 52 JTOP Jump to top of program
17 Y00=0 Hand 1 open OFF 53 ENDP End of program
18 Y01=1 Hand 1 close ON
19 Y02=0 Hand 2 close ON [Step parameter]
20 WTCON !x00 Wait for hand 1 close
Command PTP Select
21 WTCON !x01 Wait for hand 2 close No. Speed Acl Dcl Overlap / coordi
WTTMR 2 Wait 200ms Step Position
22 CP nates
1 HWT FIX 10 0 0 FUL AUT HND
completion 2 STA FIX 10 0 0 SPC AUT HND
25 M6008=1 Conveying into station 4 SUP ZSF 10 0 0 FUL AUT HND
allowed ON
26 WTCON M501A Wait for OFF of “on pallet *1
5 APR 10 0 0 FUL AUT PAL
discharge “ ALT
27 M600C = 0 1st layer 1st prodct reset *1
7 LOD 10 0 0 SPC AUT PAL
28 MOV 5 Move to step 5 ALT
*1
completion 8 CLW 10 0 0 FUL AUT PAL
30 WTCON M5018 Wait for “pallet detect ON” ALT
31 MOV 7 Move to step 7 9 HRT ZSF 10 0 0 FUL AUT HND

32 WTARM Wait for movement *1 All with special stacking
completion
4-4
4.2.2.Palletizing case
When station NO. 1 and pallet No. 1 are selected
[Sequence programming]
1) External PLC control interface [X/Y]
No. Command Explanation 36 M600E=1

1 MOV 1 Move to step 1 37 WTCON M5015 Wait for PLC answer
2 Y01=0 Hand 1 close off 38 M600E=0
3 Y00=1 Hand 1 open on 39 M6008=0 Station loading enable OFF
4 Y02=1 Hand 2 close off 40 Y01=0 Hand 1 close OFF
5 WTARM Stacking complete 1 off 41 RTOFT Y1C 16 Hand 1 ON for 160ms

6 LBL 1 Station loading enable 1 on 42 MOV 8 Move to step 8
7 M600A=0 Stacking completion1 OFF 43 WTARM Wait for its completion
8 M600C=0 1st layer 1st product reset 44 MOV 9 Move to step 9
9 IFCNT 1 & 1 Execute next if 1st layer, 1st 45 WTCON !M5014 Wait for PLC answer reset
product 46 ENCHK M600A Check stacking completed
1st
10 M600C=1 layer 1st Prodct signal ON 47 COUNT Update COUNT
11 ENDIF 48 IF M600A Execute next if stacking
12 PGSEL Wait for program No, completed
selection 49 WTCON M5014 Wait for PLC answer
13 WTCON x00 Wait for hand 1 open 50 ENDIF
14 MOV 2 Move to step 2 51 Y00=1 Hand 1 open ON
15 WTARM Wait for movement 52 WTARM Wait for its completion
completion 53 JPML 1 Jump to label 1
16 MOV 3 Move to step 3 54 JTOP Jump to program top
17 Y00=0 Hand 1 open OFF 55 ENDP End of program
20 WTCON !x00 Wait for hand 1 close [Step parameter]
21 WTTMR 100 Wait 1000ms Command PTP Select
No. Speed Acl Dcl Overlap / coordi
22 WTARM Wait for movement Step Position
completion CP nates
23 MOV 4 Move to step 4 *1
1 HWT 10 0 0 FUL AUT HND
FIX
*1
completion 2 STA 10 0 0 SPC AUT HND
FIX
25 M6008=1 Station loading enable ON
*1
26 WTCON M501A Wait for OFF of “on pallet 3 HLD 10 0 0 FUL AUT HND
FIX
discharge “
*2
27 M600C = 0 1st layer-1st prodct reset 4 SUP 10 0 0 FUL AUT HND
ZSF
*3
29 WTARM Wait for movement 5 APR 10 0 0 FUL AUT PAL
ALT
completion
*3
30 WTCON M5018 Wait for detect pallet ON 6 ADN 10 0 0 FUL AUT PAL
ALT
31 Y02=1 Move to step 6
*3
32 MOV 6 Hand 2 close OFF 7 LOD 10 0 0 SPC AUT PAL
ALT
33 WTARM Wait for movement *3
completion 8 CLW 10 0 0 FUL AUT PAL
ALT
35 WTARM Wait for movement 9 HRT 10 0 0 FUL AUT HND
ZSF
completion *1 TZF with variable pick-up
*2 ALT with variable pick-up
*3 All with special stacking
4-5
2) External PLC control interface [M+D]
No. Command Explanation 43 WTARM Wait for its completion

1 MOV 1 Move to step 1 44 MOV 9 Move to step 9
2 Y01=0 Hand 1 close off 45 WTCON !X14 Wait for PLC answer reset
3 Y00=1 Hand 1 open on 46 ENCHK Y0A Check stacking completed
4 Y02=1 Hand 2 close off 47 COUNT Update COUNT

48 IF Y0A Execute next if stacking
5 WTARM Stacking complete 1 off
completed
6 LBL 1 Station loading enable 1 on 49 WTCON X14 Wait for PLC answer
7 Y0A=0 Stacking completion1 OFF
50 ENDIF
8 Y0C=0 1st layer 1st product reset 51 Y00=1 Hand 1 open ON
9 IFCNT 1 & 1 Execute next if 1st layer, 1st 52 WTARM Wait for its completion
product
53 JPML 1 Jump to label 1
1st
10 Y0C=1 layer 1st prodct signalON
54 JTOP Jump to program top
11 ENDIF
55 ENDP End of program
12 PGSEL Wait for program No,
selection
13 WTCON x00 Wait for hand 1 open
[Step parameter]
completion Command PTP Select
No. Speed Acl Dcl Overlap / coordi
16 MOV 3 Move to step 3 Step Position
CP nates
17 Y00=0 Hand 1 open OFF
*1
18 Y01=1 Hand 1 close ON 1 HWT 10 0 0 FUL AUT HND
FIX
*1
20 WTCON !x00 Wait for hand 1 close 2 STA 10 0 0 SPC AUT HND
FIX
21 WTTMR 100 Wait 1 sec *1
3 HLD 10 0 0 FUL AUT HND
22 WTARM Wait for movement FIX
completion *2
4 SUP 10 0 0 FUL AUT HND
23 MOV 4 Move to step 4 ZSF
24 WTARM Wait for movement *3
5 APR 10 0 0 FUL AUT PAL
completion ALT
25 Y08=1 Station loading enable ON *3
6 ADN 10 0 0 FUL AUT PAL
26 WTCON X1A Wait for OFF of “on pallet ALT
discharge “ *3
7 LOD 10 0 0 SPC AUT PAL
27 Y0C = 0 1st layer-1st product reset ALT
8 CLW 10 0 0 FUL AUT PAL
29 WTARM Wait for movement ALT
completion *2
9 HRT 10 0 0 FUL AUT HND
30 WTCON X18 Wait for detect pallet ON ZSF
31 MOV 6 Move to step 6 *1 TZF with variable pick-up
32 Y02=1 Hand 2 close OFF *2 ALT with variable pick-up
33 WTARM Wait for its completion *3 All with special stacking
35 WTARM Wait for its completion
36 Y0E=1
37 WTCON X15 Wait for PLC answer
38 Y0E=0
39 Y08=0 Station loading enable OFF
41 RTOFT Y1C 16 Hand 1 ON for 160ms
4-6
Robot manual
Teaching
- Teaching-on-pallet -
Version 03: 2014.04.01
Robot Palletizer described in this manual is under

production since Mar 2005.
<Caution>

Robot Manual UL-CE-NTEA-05
Teaching
- Built-in OXPA-Qm -

History

(Date)
02 （2014.2.5） Added a note 1-3
Select switch -> switch correction 1-3 thru 1-13
03 （2014.04.01） Updated part of Words
1-3, 1-7, 1-8,
1-11
Date update
Last page.
Added a pattern display. 1-15,1-16
04（2014.05.26） Word correction 1-5
05（2015.12.18） Added a chapter 2. 2-1thru2-5
Date update
Last page.
Introduction
NOTE
Unauthorized reproduction of part or all of the content of this manual is
forbidden.
Safety Instructions

injured or killed.
IMPORTANT
programming.
Table of Contents
IMPORTANT ......................................................................................... 1-3
1. NEW PROGRAM CREATION PROCEDURE (BASIC).............................. 1-1

1.1. Teaching Work ......................................................................................................................................... 1-2
1.1.1. Teaching work..................................................................................................................................1-2
1.2. Teaching Procedure.................................................................................................................................. 1-3
1.2.1. Program new creation (1/2) .............................................................................................................1-3
1.2.2. Program new creation (2/2) .............................................................................................................1-6
1.3. Program Check Procedure ...................................................................................................................... 1-7
1.3.1. Dry-run Operation............................................................................................................................1-7
1. Low speed dry-run operation....................................................................................................................1-7
2. High speed dry-run operation.................................................................................................................1-10
1.3.2. Product Type Setting......................................................................................................................1-12
1.3.3. Actual Operation............................................................................................................................1-13
1. Low speed actual operation ....................................................................................................................1-13
2. High speed actual operation ...................................................................................................................1-14
1.4. Layer pattern display............................................................................................................................. 1-15
1.4.1. Confirmed layer pattern in screen by Program Allocation.............................................................1-15
1.4.2. Confirmed layer pattern in screen by Automatic Mode .................................................................1-16
2. PROGRAM EDIT................................................................................... 2-1

2.1. Program Editing....................................................................................................................................... 2-2
1. New Program Creation Procedure (Basic)
This section gives a detailed explanation of the pattern creation procedure for creating
a new case palletizing example.
This section also explains teaching procedures using standard movement modes for
applications other than case palletizing.
1-1
1.1. Teaching Work
1.1.1.Teaching work
To perform palletizing or depalletizing, the robot must be taught with three things:
(1) Positions (Position for grasping the handled article, position for putting down
the handled article, pass point positions en route etc)
(2) Speed (Quick movement, smooth stopping etc.)
(3) Signal exchange with peripheral equipment (Hand open/close, conveyor
operation/situation)
The term "teaching work" refers to the task of teaching the robot the above three
things.
There are two ways to do Teaching Work right on controller.

1. Way to choose a stacking pattern out of the pre-installed ones.
2. Way to store positions by actually moving robot arm.
In this manual, way of “1” is explained.
1-2
1.2. Teaching Procedure
1. Press Ｔ：Teaching key in basic menu

Display will change to TEACH
MENU 1
2. Using the cursor key o to

move the cursor to the No. of the
program to be newly created.
(Same job can be done by touching
the program No.)
3. Press OXPA key
Display will switch to parameter
input screen
*Available only when OFF the 3

memory switch 5-2
Note
To display a program which is not displayed on the screen, either scroll
through the screens using the scroll key, or press the
DISPLAY START DESIGNATION key and directly input the program No.
Program No. 0 and No.800～972 are used for special purposes, so do not use
them here.
No. 0 : program for returning to standard posture
No. 800～972: used in OXPA mode
1-3
4. Enter a program name
① Press Edit key
See [Secton 3.2.3 Enter text on
screen of Operation manual] for
detail.
Note
A program comment is useful for understanding the content of the program
later on. If a comment is not necessary, skip the comment.
Note
If there is no change on the contents from [Station No.] through [Pallet
type], you don’t need to enter anything up to [13. Input Work size L].
5. Press [Station No.]

Key input screen pops up
6. Enter station No. by numerical key
[ ] [ENT]
7. Press [Pallet No.]key.

8. Enter pallet No. by numerical key

[ ] [ENT]
9. Press [Hand No.]

10. Enter hand No. by numerical key

[ ] [ENT]
11. Press [Pallet type]

12. Enter pallet type by numerical key

[ ] [ENT]
13. Press Work size input [L]

14. Enter work size [L] by numerical key

[ ] [ENT]
1-4
15. Press Work size input [W]
16. Enter work size [W] by numerical key

[ ] [ENT]
17. Press Work size input [H]

18. Enter work size [H] by numerical key

[ ] [ENT]
19. Press [Mass (weight)] key of work size

input
20. Enter mass of work by numerical key

[ ] [ENT]
21. Press [Candidate pattern selection] to

move to next page
Caution Enforcement
Enter the exact mass (weight) of the product. Otherwise, robot may
be damaged.
1-5
４
1. Setting the stacking pattern
Diagram of stacking pattern is
shown up
2. Press the key underneath
pattern you want to stack
3. Set the number of layers to be
stacked
4. Press [Create] key
２
３
1-6
1.3. Program Check Procedure
To check the program

Execute the program created in 2.2 in the following steps:
1.) Dry-run operation. Check the number of stacking layers, and check for
interference with peripheral equipment.
↓
2.) Product type setting.
↓
3.) Actual stacking operation performing.
1.3.1.Dry-run Operation
The purpose here is to check the actual number of stacking layer of the created
program, and to check for interference with peripheral equipment.
1. Low speed dry-run operation

Use the following procedure to perform automatic operation at low speed, without
products.
4
1. Press QUIT key.
Move to basic menu
2. Press M: Maintenance key

Move to the maintenance mode
3. Press M2: Robot data key

Move to robot data screen
4. Press M2-2: Program selection method
Move to operation condition

setting screen
5. Press INTERNAL key of program sele
Program select : Internal is
selected
Explanation
What is program selection (external, internal)?
-When set to internal, the program No. to be selected can be directly
keyed in.
-When set to external, the desired program can be selected by the conveyor
control system (PLC).
6. Input the program No. to be executed

using INPUT keys.
ENT
1-7
Note
- In 7, following are selected
External strobe = disabled Stacking complete output = execute
PGS type = value already set
- In case of pallet floor placement application, quantity of pallet shall be
set
1-8
Explanation
What is an external strobe?
- The timing for switching a program happens when the relay of
ID No. selection STB (strobe) is turned on while the sequence logic is
waiting at PGSEL
-This ID No. selection STB (strobe) is called an external strobe.
-In the case of program internal selection only, this external strobe can
be disabled, and the system can be set to enable execution of the
sequence command PGSEL at any time.
-During unloaded operation, the robot is moved by itself, so set the
external strobe to OFF.
What is stacking complete output ?
- After completion of one pallet stacking, selection between output or
not the pallet discharge signal can be selected.
-With the Okura A series robot palletizer, switching program No. is
executed at the sequence command PGSEL.
- To prevent a mistaken-operation, the condition is to be set for the program
switching. The PGS can be classified into the following three types
depending on the differences among those conditions.
①Single pallet
②Multiple pallet
③Every Workpiece
-The conditions of each type of PGS at which a program can be switched are
as follows.
PGS Required conditions to switch
No. Descriptions
Type over
1 Single Only on pallet station. The stacking counter numbers of
Pallet Resulted in “Program Select layer and work of the ongoing
Error” as the following program are “1” initialized.
conditions are not fulfilled at a The stacking counter numbers of
time. layer and work of a program
(1) Stacking is completed under newly selected are also “1”
currently executing program initialized.
Stacking begins from starting

point of newly set program.
2 Multiple Multiple pallet stations. Possible to switch over one to the
Pallet Possible to switch over one to other pallet with the ongoing
the other pallet station of which program.
ongoing stacking program is When switch over to a
memorized respectively. different/new program per pallet
When switched over to the other station, the stacking counter
program per pallet, the above numbers of layer and work are “1”
item (1) needs to be met. initialized at both ongoing and
different/new programs.
3 Every Work Possible to switch over without
piece any conditions.
1-9
7. Press RETURN key and Main menu key to
back to basic menu.
8. Press A: Auto operation to open
auto-operation screen
9. Set speed to 2 by pressing - or + key
IMPORTANT
there are no people inside the guard rail, and that there are no
occurs.

power on.
Screen will switch to the in
operation, mode menu, and dry-run
operation will begin.
12. During dry-run operation, check the

following :
1. Stacking layer quantity
2. Interference with peripheral equipment
Note
-If the stacking layer quantity is not as correct, adjust the number of
layers on program parameter editing(2/5) screen (See 3.2.2)
-If there is interference with peripheral equipment, reset the inching
ascent (descent ) distance on program parameter editing(4/5)
screen
(See 3.2.2)
-If the interference cannot be prevented by inching distance, add a new
step on program parameter editing(5/5) screen. (See 3.2.2.)
13. Check if whole one pallet is completed by

dry-run.
14. Press [Stop] button and turn motor power
down.
2. High speed dry-run operation

Using the following procedure to perform automatic operation at high speed, without
load.

(This shall be no need in one pallet
system application)
2. Press COUNT INITIALIZE key
1-10
(Press INITIALIZE, when system is
4 pallets application or more )
3.Press [DO]
Initialize the counter for the selected pallet
(Set both the layer and work counter to 1)
4.Set speed to “10” by pressing [+] key
IMPORTANT
- The following procedure starts robot operation, so check that
there are no people inside the guarding, and that there
are no obstructions on the conveyor or pallet.
- During operation, always keep your hand on the emergency stop
button so you can stop operation immediately if a problem
occurs.
5. After that, make sure if stacking is completed doing the exact same manner as
low speed dry-run operation.
1-11
1.3.2.Product Type Setting
Explanation
What is product type setting?
- This is for storing the starting program Nos. of each pallet.
- Whenever the type of products is changed, a new product tyhpe setting
needs to be done. If nothing set, the robot will execute the lats one to
possibly cause a trouble.
- Product type setting data is maintained after main power is turned off.
Perform product type setting according to the following procedure.
1. Press the desired pallet no.’s key
(This shall be no need in one pallet system
application)
2. Press Select Program key
Screen will change to product type
setting screen
3. Input an allocating program no. by

pressing the key.
ENT
4. Press RETURN key
Screen will return to the original
one
Note
* Whenever new product type setting is carried out, Program No.0 is to be

firstly executed to return to the standard posture in any case.
* Products in hand may fall down to the floor as hand always opens after
completing the execution of program No. 0.
1-12
1.3.3.Actual Operation
Actual stacking is performed using the program which was checked in dry-run operation.
Check the quality of stacking.
1. Low speed actual operation

Use the following procedure to perform automatic operation at low speed, while moving
products.
(This shall be no need in one pallet 1
system application)
2
2. Press Initialize Pallet Selected key
Confirmation message comes out
3. Press [DO]
Initialize the counter for the
selected pallet
(Set both the layer and work counter
to 1)
4. Press [QUIT] key
Return to basic menu
5. Press [M: Maintenance] key
Return to maintenance menu
6. Press [M2: Robot data] key
Return to robot data menu
7. Press [M2-2: Operation condition setting] key
Switch over to operation condition setting screen
8. Press [External] at program selection
Program selection: external is selected.
9. Press [Return] and [Main menu] key to return back to basic menu.
10. Press [A: Auto operation] key to open auto operation screen
11. Set speed to 2 by pressing - key.
IMPORTANT
occurs.

power on.
13. Press [START] button to let products come
in Switch over to in-operation screen
and operation starts
1-13
14. In actual operation, check the following
points.
-Stacking form
-Interference between hand and the stack
-Dropping height
Note
-If the stack is shifted, correct it in pallet coordinates origin shift screen
-If the hand strikes the stack or if the drop height for handled articles is
inappropriate, reset the inching ascent (descent) distance in the
program parameter editing(4/5) screen (See 3.2.2)
-If the handled articles drop height is different for each layer, adjust it
in the Auto calculation for height screen (See 3.2.9)
15. After that, make sure if stacking is

completed.
16. Press [STOP] button and turn motor power
down
2. High speed actual operation

Using the following procedure to perform automatic operation at high speed, while
moving the handled articles.
1. Set speed to 10 by pressing + key
IMPORTANT
occurs.
2. Make sure if stacking is completed in the

exact same manner as dry-run.
3. In actual operation at high speed, check
the following points.
- Interference between hand and the stack
- Stacking capacity
Note
-If the hand strikes the stack, reset the inching ascent (descent)
distance in the program parameter editing(4/5) screen (See 3.2.2)
1-14
1.4. Layer pattern display.
Note
When you use feature of pattern display, please turn on the memory SW5-3,
You can confirm only a layer pattern made by OxpaQM or bult-in OxpaQM.
1.4.1.Confirmed layer pattern in screen by Program Allocation

1. At the Program Allocation screen, touch
the program No. to show pattern display
3. Press Exit key. Return to Program
Allocation screen.
Confirmed layer pattern in screen by Teaching Menu

cursor to the program No. to show the
pattern display
6. Press Exit key. Return back to teaching
menu screen.
1-15
1.4.2.Confirmed layer pattern in screen by Automatic Mode
Refer to the operation manual, see 3.8 section “Pattern display”.
1-16
2.Program edit
This section explains how to edit the programs which have been created with OXPA-QM
or built-in OXPA –QM.
2-1
2.1. Program Editing
The procedure for moving to the program parameter editing screen is as follows:
1. At the teaching menu screen, move the cursor to the program No. to be edited.
2. Press EDIT key.
Note
You can edit only qualified programs.
1, The number of products for each layer are less than 31.
2, Made by OXPA-QM or built-in OXPA-QM.
2-2
To explain the program edit screen.
② ③
⑨
①
⑥ ⑪
①Select program No.

②Area of display layer pattern.
③Area of to set the article size, Pallet type, number of stack layers and stack height.
④Change the display layer pattern key.
⑤Select work sequence.
⑥Select work position.(Pallet coordinates)
⑦To set moving pitch of select work key.
⑧To move select work key.
⑨Back key.
⑩Remake key.
⑪cancel key.
①Select program No.

Display program No. of editing now.
②Area of display layer pattern.

Display layer pattern of editing now.
You can get information of select work’s sequence and position by touch the
display work.
Additionally, you can change the select work’s stacking position.
2-3
③Area of to set the article size, Pallet type, number of stack layers and stack height.
Change the article size (L, W, H and weight), pallet size, stack layer and stack
height. These units are mm and kg.
Range of input the article sizes are setting by using of OXPA-QM.
Refer to the [Offline Stacking Program Tool exclusive for A Series Robots]
manual’s 4.2.3 section “Product dimension”.
Note
If you want to set the robbot H to one places of decimals, please use OXPA-QM.
Pallet size is selected from registered data in OXPA-QM.

The way of register new pallet size is addressed under the [Offline Stacking
Program Tool exclusive for A Series Robots] manual’s 12.2.2 section “Pallet
parameters”.
Note
Please press the “Remake” key after the setting the new article size, pallet type
or stack layer.
If you don’t want to change parameter, press the cancel key.
The case of change new parameter as well as work position, please take the
following steps.
Change article size. ⇒Press “Remake” key. ⇒Change work position.
⇒press “Back” key.
④Change the display layer pattern key.

Switch the display layer pattern key about odd layers and even layers.
If editing program has special layer pattern, display not only odd layers and even
layers but also special pattern layer.
⑤Select work sequence.

This is sequence of select work in area of display layer pattern.
⑥Select work position.(Pallet coordinates)

These are work position of select work in area of display layer pattern.
In regard to Pallet coordinates, refer to the [Offline Stacking Program Tool
exclusive for A Series Robots] manual’s 6.7.1 section “Pallet coordinates”.
⑦To set moving pitch of select work key.

This key set moving pitch of select work when press to move select work keys.
Moving pitch is entered from 1 to 200 mm.
⑧To move select work key.

These keys move select work stacking position.
New position is reflected in this program’s all same pattern layers.
2-4
Note
If you press “Remake” key after change the work position, new work positions
are canceled.
Please don’t press “Remake” key to hold new work positions.
Press “Back” key to finish editing.
⑨Back key.
Quit the program editing as keep changing parameter.
⑩Remake key
Recalculate stacking programs using new program parameter. Base program is
own self.
Please press this key after change article size or pallet parameter.
⑪cancel key.
Quit the program editing break changing parameter.
However press “remake” key in the middle of editing, be saved parameter before
press “remake” key.
2-5
Robot manual
Teaching
- Built-in OXPA-Qm -
Version 05: 2015.12.18
Robot Palletizer described in this manual is under

production since Mar 2005.
<Caution>

2-6
Robot Manual UL-CE-NSEQ-07
Robot Sequence commands

History

(Date)
The sequence logic commands
of [MOVDZ],[MVSTP] & [POSCK] are
02（2013,10,23） 30,37.41.
added.
53
Related Parameter is corrected.
Last page.
Date update
03（2014.02.05） Word correction. 37
Date update
Last page.
Word correction and some more explanations 7,33,41,51,57
04（2014.03.17）
are added. .
Last page.
Date update
Word correction. Functional
05（2014.05.26） Classification.61
37,64
Date update
Last page.
06（2014.11.12） The related Parameter of [DMOV] is added. 11,12
Date update
Last page.
The related Parameter of [AMOV/AMOV2] is 1
07（2015.12.18）
added.
Last page.
Date update
Introduction
NOTE
Safety Instructions

injured or killed.
IMPORTANT
programming.
Alphabetical order
AMOV ....................................................................................1
AMOV2 ..................................................................................1
AMSPS...................................................................................3
ASPD .....................................................................................5
BMEPS...................................................................................6
BMETM ..................................................................................7
CALC .....................................................................................8
CALL......................................................................................9
CLOOP.................................................................................10
CLRSB .................................................................................11
COUNT ................................................................................12
DMOV ..................................................................................13
ELSE....................................................................................15
ELSIF ..................................................................................16
ENCHK.................................................................................17
ENDIF .................................................................................18
ENDP...................................................................................19
ENDLP .................................................................................20
HMOV ..................................................................................21
IF ........................................................................................22
IFCNT..................................................................................23
IFD......................................................................................24
IFRDT..................................................................................25
IFJPL...................................................................................26
JMPL ...................................................................................27
JMPP ...................................................................................28
JTOP ...................................................................................29
LBL......................................................................................30
LOOP...................................................................................31
MOV ....................................................................................32
MOVDZ ................................................................................33
MOVRT ................................................................................34
MOVX ..................................................................................35
MOVZ ..................................................................................36
MVDWN...............................................................................37
MVHZU ................................................................................38
MVPOS ................................................................................39
MVSTP(Move step) ..............................................................40
NOP.....................................................................................41
OSFT ...................................................................................42
PGSEL .................................................................................43
POSCK(POS check) .............................................................44
RDCP...................................................................................46
RDCZ ...................................................................................47
RDPOS ................................................................................48
RDPZ ...................................................................................49
RDSPD.................................................................................50
RDVS...................................................................................51
RESTM.................................................................................52
RET .....................................................................................53
RTOFT .................................................................................54
SDVS ...................................................................................55
SETER .................................................................................56
SMOV ..................................................................................57
SMOV2 ................................................................................57
SPD .....................................................................................58
SPSET..................................................................................59
STATM.................................................................................60
STOPA .................................................................................61
STOPB .................................................................................62
STPTM .................................................................................63
SUBP ...................................................................................64
TRQC ...................................................................................65
WTAOC................................................................................67
WTARM ...............................................................................68
WTCON................................................................................69
WTHND ...............................................................................70
WTMSP................................................................................71
WTTMR................................................................................72
Condition/Operation/Comparison.......................................73
Functional Classification
Data Access Data Memory Control

RDCP RESTM
RDCZ STATM
RDPOS STPTM
RDPZ
RDSPD System Control
CALC
Serial Communications COUNT
RDVS CLRSB
SDVS ENCHK
NOP
Wait Conditions OSFT
AMSPS POSCK
BMEPS RTOFT
BMETM SETER
WTAOC SPSET
WTARM
WTCON Motion Speed Control
WTHND ASPD
WTMSP SPD
WTTMR
Arm Position Control
Condition Branch AMOV
ELSE AMOV2
ELSIF DMOV
ENDIF MOV
IF MOVDZ
IFCNT MOVRT
IFD MOVX
IFJPL MOVZ
IFRDT MVDWN
MVHZU
Loop Control MVPOS
CLOOP MVSTP
ENDLP SMOV
LOOP SMOV2
Subroutine Control C-axis Motion Control

CALL HMOV
RET TRQC
SUBP
Stop Control
Program Control STOPA
ENDP STOPB
JMPL
JMPP Condition/Operation/Comparison
JTOP
LBL
PGSEL
AMOV
AMOV2
[ Functional Classification ]
[ Outline of processing ]
Change 3step move to one smoothly move. (AP30V,AP30HV only)
[ Format ]
AMOV n (n: step No.)
AMOV2 n (n: step No.)
[ Example ]
Move smoothly to step 4,5 and 7(8,9, 2)
AMOV 4 AMOV2 8
WTARM WTARM
MOV 5 MOV 9
WTARM WTARM
MOV 7 MOV 2
WTARM WTARM
[ Detail ]
AMOV/AMOV2 is to be set at the first move command among the three-step processing.
If the positions of three steps are consecutive relations (conditions) mentioned below, the
robot arm can move smoother than just in MOV and SMOV.
(The following conditions for overlapping by three steps need to be fulfilled.)

1. Motion to the first step is ascending (AX motion range should be within 10mm),
parameter ”acceleration coefficient” and “ deceleration coefficient” is ‘0’, parameter”
overlap” is ‘FUL’.
2. Motion to the second step is horizontal (AZ motion range should be within 10mm),
parameter of ”acceleration coefficient” and “deceleration coefficient” is ‘0’, parameter”
3. Motion to the third step is descending (AX motion range should be within 10mm),
parameter “deceleration coefficient” and “deceleration coefficient” is ‘0’ ’, parameter”
overlap” is ‘FUL’ or ‘SPC’.
AMOV or AMOV2” motion can respectively be controlled by AMOV or AMOV2 parameters

which are in the system parameter. How much robot arm moves smoothly is adjusted by the
AMOV/AMOV2 parameters. If AMOV is distinguished from AMOV2 in usage, picking and
setting down products can be independently controlled.
WTARM command is necessary afterward.
[ Related Command ]
MOV, WTARM
[ Related Parameter ]
AMOV/AMOV2 parameter in system parameter
[ SH Soft Version ]
Ver1.02K
[ Purpose ]
It is used when robot arm motion needs to be smoother than in MOV and SMOV.
1
[ Parameter ]
Parameter 2
(ratio of horizontal：Unit %)
When reaching the set value, the
next command of WTARM is
Blue line: spline track excuted.
Parameter 1
(ratio of moving up：
Unit %)
When reaching the set
value, the next command
of WTARM is excuted.
Parameter 4 Parameter 5
(straight moving-up distance：Unit mm) (Straghit moving down distance ：Unit mm)
If total moving-up distance exceeds – If total moving-down distance exceeds –
100mm , it will be error. 100mm , it will be error.
Parameter 3 Parameter 6
Fixed the value to 50 Fixed the value to 55
2
AMSPS
Wait Conditions
Wait until the arm reaches to a height of current one plus n mm.
[ Format ]
AMSPS n (n: ascent value mm)
AMSPS Dn (Dn:Data memory no..)
[ Example ]
Turning on a signal of “entry allowed” the arm move 200mm up above the station.
MOV 2
WTARM
MOV 4
AMSPS 200
M6002 = 1 :a signal of “entry allowed” turn ON
WTARM
MOV 5
WTARM
Position step 4
In case of ascending
200mm up
Next command is executed
Position step 2
Station
Next Command Hand

Execute
AX (Robot Arm) When it moves

horizontally
Center of R-axis
radius
Top view
Image of concept
3
[ Detail ]
When designated by data memory, value of the data memory is understood height [mm].
Dn: distance [mm]
When it moves off by more than the designated distance the position where this command
is executed, control moves to the next sequence command.
<Note>
Since BMEPS or AMSPS acquires the current position when BMEPS or AMSPS starts to be
executed, ending timing of these commands’ execution may be fluctuated if the command is
executed during moving.
[ Related Command ]
SUBP
[ SH Soft Version ]
[ Purpose ]
4
ASPD
Motion Speed Control
Setting % of an absolute speed.
[ Format ]
ASPD n (n: 1 -100, % of speed)
[ Example ]
Operate MOV 1 at 50% of the absolute speed.
ASPD 50
MOV 1
WTARM
[ Detail ]
The following commands associated with MOV command are operated with this speed
regardless of external speed and step speed. It is effective only one time for the commands
of MOV, SMOV, SMOV2, DMOV, MOVRT, MOVX, MOVZ, MVHZU, MVDWN and MVPOS.
[ Related Command ]
SPD
[ SH Soft Version ]
[ Purpose ]
5
BMEPS
Wait Conditions
Waiting until arm reaches, in its descending movement, to a point ‘n’ mm away from a target
in currently executing MOV
[ Format ]
BMEPS n (n: distance [mm].)
[ Example ]
When a vacuum hand is used, vacuum is turned on 300mm above the
station.
MOV 2
BMEPS 300
Y1C = 1
WTARM
[ Detail ]
It is effective only during not in ascending but descending motion.
<Note>
Since BMEPS or AMSPS acquires the current position when BMEPS or AMSPS starts to be
executed, ending timing of these commands’ execution may be fluctuated if the command is
executed during moving.
[ Related Command ]
BMETM
[ SH Soft Version ]
[ Purpose ]
It is used with hand of a side vacuum type and a downward sensor as collision prevention
installed in the Palm in case of de-palletizing. The downward sensor checks collision with PLC,
and the lower is detected when descending to the load removing position of the article.
The check is stopped by 200mm downward motion because to avoid collision sensing.
vacuum
Touch down
sensor
Example of hand mechanism
Image of concept
MOV 5
WTARM
Y0 = 1 Start sensing
MOV 7
BMEPS 200
Y0 = 0 Finish sensing
WTARM
6
BMETM
Wait Conditions
Waiting until ‘n’ ms before MOV being currently executed ends
[ Format ]
BMETM n (n: time ms)
[ Example ]
Hand closing and arriving at step 2 are completed at a time. Period of time hand finishes
closing is 500ms.
MOV 2
BMETM 500
Y1C = 0
Y1D = 1
WTARM
Speed of axis
500 msec
Y1C
Y1D
Image of concept
[ Detail ]
[ Related Command ]
BMEPS
[ SH Soft Version ]
[ Purpose ]
7
CALC
System Control
Calculating one cycle movement in accordance with the data memory
[ Format ]
CALC Dn (n: data memory no.)
[ Example ]
[ Detail ]
In case of de-palletizing, In case of Palletizing
Dn Pallet Position[HX] (mm) Dn Station Position[HX] (0.1mm)

Dn+1 Pallet Position[HY] (mm) Dn+1 Station Position[HY] (0.1mm)
Dn+2 Pallet Position[HT] (deg) Dn+2 Station Position[HT] (0.01deg)
Dn+3 Pallet Position[HZ] (mm) Dn+3 Station Position[HZ] (0.1mm)
Dn+4 not use Dn+4 Pallet Position[HX] (0.1mm)
Dn+5 not use Dn+5 Pallet Position[HY] (0.1mm)
Dn+6 article height (mm) Dn+6 Pallet Position[HT] (0.01deg)
Dn+7 Pallet Position[HZ] (0.1mm)
Dn+8 Approach direction
Dn+9 article height (0.1mm)
Dn+10 article Weight(kg)
In case of de-palletizing, Station Position is:

Planar one: just copy step 12.
Height one: height at step 12 plus article height (Dn+6).
In case of Palletizing, Station Position and Pallet Position are needed to designate.
[ Related Command ]
Move type (Program parameter)
Step 12 (Step parameter)
[ SH Soft Version ]
[ Purpose ]
8
CALL
Program Control
Call subroutine with label No.
[ Format ]
CALL n (n: Label No..)
[ Example ]
CALL 1
--
--
LBL 1
--
--
RET
[ Detail ]
CALL inside a called subroutine cannot be used.
What’s the difference between CALL and SUBP:
CALL: Process through subroutine as a regular way.
(Process next command after CALL after the subroutine is completed.)
SUBP: Process through subroutine as a parallel way.
(Process next command after SUBP in spite of that the subroutine is not completed
yet.)
[ Related Command ]
SUBP, LBL, RET
[ SH Soft Version ]
[ Purpose ]
9
CLOOP
Loop Control
It repeats processing until next ENDLP while value in data memory specified by argue is not
less than ‘1’. In case of less than ‘1’, it executes sequence on and after ENDLP. The value in data
memory is decremented by ‘1’ at every CLOOP executed.
[ Format ]
CLOOP Dn (Dn: Data memory No.)
[ Example ]
Repeats “Process” 5 times.
D1000 = 5
CLOOP D1000
“Processing”
ENDLP
[ Detail ]
JUMP cannot be used inside CLOOP.
You may be unable to operate POD while it is being executed in CLOOP unless there is
WTTMR or WTARM between CLOOP and ENDLP.
The max nesting depth of IF, IFCNT, IFRDT, ELSEIF, LOOP and CLOOP is ‘10’.
Set data memory ‘0’ within the loop to force to terminate the CLOOP.
[ Related Command ]
ENDLP
[ SH Soft Version ]
[ Purpose ]
10
CLRSB
System
It forces to terminate subroutine specified by SUBP.
[ Format ]
CLRSB
[ Example ]
The signal of “Station loading enable” is wanted to be turned on inside subroutine. But it
may have to wait at AMSPS due to height too short. So, just in case, the subroutine is forced to be
terminated when “Station loading enable” comes on after reached to step 5.
MOV 4
SUBP 1
WTARM
MOV 5
WTARM
CLRSB
M6008 = 1
.
.
LBL 1
AMSPS 200
M6008 = 1 Station loading enable ON
RET
[ Detail ]
[ Related Command ]
SUBP, AMSPS
[ SH Soft Version ]
[ Purpose ]
11
COUNT
System Control
Updating value of palletizing or depalletizing
[ Format ]
COUNT
[ Example ]
Counter is updated after it starts to move toward step 9
MOV 9
COUNT
WTARM
[ Detail ]
Layer counter (D0) and work counter (D1) in internal data memory on currently operating
program are updated.
When “palletizing” is selected in function type, work counter is incremental.

When “de-palletizing” is selected, work counter is decremented.
In case the number of work counter exceeds that per a layer, layer counter is increased or
decreased to reset the work counter back to initial value of the corresponding layer.
Unit of incremental or decremented value of work counter is “1” in regular program, but in
multiple picking, it is updated by the number of picking- at- a-time specified at step auxiliary
data.
[ Related Command ]
ENCHK
Move type (Program parameter)
[ SH Soft Version ]
[ Purpose ]
12
DMOV
Move arm to the position at the designated step along with linear motion on a plane.
[ Format ]
DMOV n (n: step no..)
[ Example ]
Move to step 1
DMOV 1
WTARM
[ Detail ]
R-axis can move in linear motion regardless of PTP/CP set in step parameter.
Target position
Path of hand Robot arm (AX)
Start Position Center of R-axis
image of Concept
<Note>
1. It errors out on a half way when arm is out of teaching area (AX is too short), because the
path is checked only at start and target positions.
Target Position Teaching area
Path of hand
Error is caused by out

of the teaching area.
Center of R-axis
Start Position
Image of concept
2. The error of [117 DMOV movement T axis discontinuous] may occur depending on the T
axis conditions. In that case, turn memory switch SW1-6 on.
3. If turn on the meory switch 5-5, you can set acceleration / deceleration factor of
step parameter
[ Related Command ]
WTARM
Memory switch SW1-6 (system parameter)
13
Memory switch SW5-5 (system parameter)
[ SH Soft Version ]
[ Purpose ]
14
ELSE
Condition Branch
If the condition of either aforesaid IF or ELSIF has been fulfilled, operation up to the next
ENDIF is not performed. If not, the operation is performed up to ENDIF.
[ Format ]
ELSE
[ Example ]
The 1st work of each layer keeps on moving from step 6 to 7 until input relay X0 comes on.
Other than that, it moves to step 7 canceling step 6.
IF D1 = = 0
MOV 6
WTARM
MOV 7
WTAOC X0
STOPA
WTARM
ELSE
MOV 7
WTARM
ENDIF
[ Detail ]
It is used between IF and ENDIF.
[ Related Command ]
ENDIF, ELSIF, IF
[ SH Soft Version ]
[ Purpose ]
15
ELSIF
Condition Branch
When the condition of either aforesaid IF or ELSIF has not been fulfilled and the condition at
this time has been fulfilled, operation cancels the commands between either next ELSIF or
ELSE and ENDIF.
[ Format ]
ELSIF (condition 1)
“ (condition 1)” format is referred to page as “ Condition/Operation/Comparison” .
[ Example ]
IF (condition A): condition A is False
------
ELSIF (condition B) :condition B is True
------
(This only block Commands are Executed)
------
ELSIF (condition C) :condition C is True
------
(This block Commands aren’t Executed)
------
ELSE
------
ENDIF : Correspond to condition C
ENDIF : Correspond to condition B
ENDIF : Correspond to condition A
[ Detail ]
It is used between IF and ENDIF. The nesting depth of IF, IFCNT, IFRDT, ELSIF, LOOP, CLOOP
command is ‘10’ at max. In the case of above [ Example ], the nesting depth is ‘3’ times.
[ Related Command ]
ENDIF, ELSE, IF
[ SH Soft Version ]
[ Purpose ]
16
ENCHK
System Control
Check if palletizing or de-palletizing operation is completed, and turns relay Rn ON if
completed.
[ Format ]
ENCHK Rn (n: Relay No.)
[ Example ]
Check if one pallet operation is completed right after starting toward step 9.
If completed, it turns relay M600A ON.
MOV 9
ENCHK M600A
COUNT
WTARM
[ Detail ]
Following is a table to show how the memory and the relay are changed at the time of
completion of one pallet operation
(an example for 5 works 4 layers)
Layer Work M600A

MOV 9 4 5 OFF
ENCHK M600A 4 5 ON
COUNT 1 1 ON
WTARM 1 1 ON
[ Related Command ]
COUNT
[ SH Soft Version ]
[ Purpose ]
17
ENDIF
Condition Branch
End of IF sentence
[ Format ]
ENDIF
[ Example ]
Movement for 1st work of each layer keeps on going from step 6 to 7 until input relay X0
comes on. Other cases than that, it moves to step 7 not through step 6.
IF D1 = = 0
MOV 6
WTARM
MOV 7
WTAOC X0
STOPA
WTARM
ELSE
MOV 7
WTARM
ENDIF
[ Detail ]
[ Related Command ]
ELSE, ELSIF, IF
[ SH Soft Version ]
[ Purpose ]
18
ENDP
Program Control
End of program
[ Format ]
ENDP
[ Example ]
[ Detail ]
To find the end of the program by this command, it is necessary for every program.
[ Related Command ]
JMPL, JMPP JTOP
[ SH Soft Version ]
[ Purpose ]
19
ENDLP
Loop Control
End of LOOP, CLOOP sentence
[ Format ]
ENDLP
[ Example ]
Refer to LOOP command.
[ Detail ]
[ Related Command ]
LOOP, CLOOP
[ SH Soft Version ]
[ Purpose ]
20
HMOV
C-axis Control
Moving hand axis to a designated step position
[ Format ]
HMOV n (n: hand step No.) move to step ‘n’
HMOV Dn (Dn: Data memory No.) move to position specified by data memory
(Unit of value = 0.1 mm)
[ Example ]
Move hand axis to position of hand Step No.1.
HMOV 1
WTHND
Move hand axis to position of 300mm.

D1000 = 3000
HMOV D1000
WTHND
[ Detail ]
It controls C-axis.
WTHND command is necessary afterward.
[ Related Command ]
WTHND
[ SH Soft Version ]
[ Purpose ]
21
IF
Condition Branch
Upon fulfilling the condition, perform through until end of commands grouped by either one
of ELSIF, ELSE or ENDIF.
If not fulfilled, operation will not be performed until either one of such commands.
[ Format ]
IF (condition 1)
“ (condition 1)” format is referred to page as “ Condition/Operation/Comparison” ..
[ Example ]
Movement for 1st work of each layer keeps on going from step 6 to 7 until input relay X0
comes on. Other cases than that, it moves to step 7 not through step 6.
IF D1 = = 0
MOV 6
WTARM
MOV 7
WTAOC X0
STOPA
WTARM
ELSE
MOV 7
WTARM
ENDIF
[ Detail ]
Maximum nesting depth of IF, IFCNT, IFRDT, ELSIF, LOOP, CLOOP command is 10.
[ Related Command ]
ELSE, ELSIF, ENDIF
[ SH Soft Version ]
[ Purpose ]
22
IFCNT
Conditional Branch
Upon fulfilling the condition, perform through until end of commands grouped by either one
of ELSIF, ELSE or ENDIF.
If not fulfilled, operation will not be performed until either one of such commands.
[ Format ]
IFCNT (Layer count) & (product count)
(Layer count), (product count) : number (1- ) or EVN(even number), ODD(odd number)
Possible operator is ‘&’ only.
[ Example ]
Slow down speed to a half at 1st product onto every even layer.
IFCNT ODD & 1

SPD 5
ENDIF
[ Detail ]
[ Related Command ]
ELSE, ELSIF, ENDIF
[ SH Soft Version ]
[ Purpose ]
23
IFD
Conditional Branch
Upon fulfilling the condition in comparing with and calculating to both contents in a couple of
any data memories, perform through until end of commands grouped by ENDIF.
[ Format ]
IFD (condition 2)
On how to describe (condition2), see the last page of “Condition/Operation/Comparison” in
this manual for detail.
[ Example ]
It turns relay M601D on when 1st layer and 1st product.
IFD D0 == 0 & D1 == 0
M601D = 1
ENDIF
[ Detail ]
Maximum nesting depth of IF, IFCNT, IFD, IFRDT, ELSIF, LOOP, CLOOP command is 10.
[ Related Command ]
ELSE, ELSIF, ENDIF, IF
[ SH Soft Version ]
Ver 1.00H newly added
[ Purpose ]
24
IFRDT
Condition Branch
If [Data 1] in step auxiliary data is equal to argue (or data memory specified by argue),
perform through until end of commands grouped by either one of ELSIF, ELSE or ENDIF.
If not equal, operation will not be performed through until either one of ELSIF, ELSE or
ENDIF.
[ Format ]
IFRDT n
IFRDT Dn (Dn: data memory No.)
[ Example ]
Slow down speed to a half when [data 1] is ‘1’.
IFRDT 1
SPD 5
ENDIF
[ Detail ]
[ Related Command ]
ELSE, ELSIF, ENDIF
[ SH Soft Version ]
[ Purpose ]
25
IFJPL
Condition Branch
Upon fulfilling the condition, jump to label line specified by argue. Upon not fulfilled, execute
next commands.
[ Format ]
IFJPL (condition 1) n (n: label No.)
[ Example ]
Move to label 1 when input relay X0 is turned on.
IFJPL X0 1
.
.
.
LBL 1
[ Detail ]
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
26
JMPL
Program Branch
Jump to label No.
[ Format ]
JMPL n (n: Label No..)
[ Example ]
Move to step 1 after program switched over, but the step 1 is skipped thereafter
MOV 1
WTARM
LBL 1
MOV 2
---
JMPL 1
ENDP
[ Detail ]
[ Related Command ]
LBL
[ SH Soft Version ]
[ Purpose ]
27
JMPP
Program Control
Jump to other program specified
[ Format ]
JMPP Dn (n: data memory no..)
[ Example ]
Jump to program 100
D1000 = 100
JMPP D1000
[ Detail ]
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
28
JTOP
Program Control
Return to beginning of a program
[ Format ]
JTOP
[ Example ]
Repeat to execute a program
MOV 1
WTARM
---
JTOP
ENDP
[ Detail ]
[ Related Command ]
ENDP, JMPL, JMPP
[ SH Soft Version ]
[ Purpose ]
29
LBL
Program Control
Designate labels for commands of CALL, JMPL or SUBP.
[ Format ]
LBL n (n: Label No..)
[ Example ]
Move to step 1 after program switched over, but the step 1 is skipped thereafter
MOV 1
WTARM
LBL 1
MOV 2
---
JMPL 1
ENDP
[ Detail ]
Label No. is used from 1 through 9.
(Note)
LBL command cannot be used within such blocks as IF-ENDIF, LOOP-ENDLP or
CLOOP-ENDLP.
[ Related Command ]
CALL, JMPL, SUBP
[ SH Soft Version ]
[ Purpose ]
30
LOOP
Loop Control
An operation keeps on going until the next ENDLP as far as a condition is being fulfilled. If not
fulfilled, sequence logic after ENDLP is executed.
[ Format ]
LOOP (condition 1)
[ Example ]
An operation repeats until touch down sensor (X04) is turned on. But it errors out at over 5
times.
D1000 = 0
LOOP !X4
MVDWN 7
WTARM
D1000 = D1000 + 1
IF D1000 > 5
SETER 132 (Position data processing error)
ENDIF
ENDLP
[ Detail ]
JMPL cannot be used inside LOOP.
You may be unable to operate POD while it is being executed in LOOP unless there are such
wait commands as WTTMR or WTARM between LOOP and ENDLP.
The max nesting depth of IF, IFCNT, ELSEIF, LOOP and CLOOP is ‘10’.
[ Related Command ]
ENDLP
[ SH Soft Version ]
[ Purpose ]
31
MOV
Move arm to designated step position
[ Format ]
MOV n (n: Step No.)
[ Example ]
move to step 1
MOV 1
WTARM
[ Detail ]
(1) Moving speed

(2) Accelerating time
(3) Decelerating time
(4) Path control compensation type
(5) Timing to execute next WTARM command follows the pre-determined value specified by
the step parameter.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
32
MOVDZ
Move the arm to the height designated by data memory.
[ Format ]
MOVDZ Dn (n: data memory no..)
[ Example ]
Move 100mm up from current position.MOV operation with the standard step no. is 2.
RDCZ D1001 :Reading in the current height
D1000 = 2
D1001 = D1001 +1000
D1004 = 0
D1005 = 0
MOVDZ D1000
WTARM
[ Detail ]
Data setting is needed before executing command.

Dn : Moving standard step no.(Speed, acc-dec time, etc. designated by this step No.)
Dn+1 : Moving height data (unit is 0.1 mm)
Dn+4 : Moving flat position (0 : current position, except 0 : step position of Dn)
Dn+5 : Moving mode (0 : MOV, except 0 : DMOV)
Speed, acc-dec time and the likes shall be of a step movement designated by Dn.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
33
MOVRT
Move arm (R, T axis only) to designated step positions
[ Format ]
MOVRT n (n: Step No.)
[ Example ]
Assuming there is a column between station and pallet. So, arm needs to be shrunk first and
then rotates.
MOV 4
WTARM
D1000 = 1
D1001 = 15000
MOVX D1000 Arm shrinks down to AX=1500mm
WTARM
MOVRT 5 Only R and T axes rotate
WTARM
MOV 5 Move to position at step 5
WTARM
[ Detail ]
[ Related Command ]
WTARM, MOVX
[ SH Soft Version ]
[ Purpose ]
34
MOVX
Move arm (AX direction only) to designated step positions
[ Format ]
MOVX n (n: Step No.)
MOVX Dn (Dn: data memory No.)

Dn: Operational basic step No. (step that speed and time of acceleration,
deceleration are specified)
Dn+1: AX data (incremental unit: 0.1 mm)
[ Example ]
Assuming there is a column between station and pallet. So, arm needs to be shrunk first and
then rotates.
MOV 4 Going up above station

WTARM
D1000 = 1
D1001 = 15000
MOVX D1000 Arm shrinks to AX=1500mm
WTARM
MOVRT 5 Only R and T axes rotate
WTARM
MOVX 5 Move to position at step 5
WTARM
[ Detail ]
[ Related Command ]
WTARM, MOVRT
[ SH Soft Version ]
[ Purpose ]
35
MOVZ
Move arm (AZ direction only) to designated step positions
MOVZ n : Never move arm if the designated step positions are lower than the current
height.
MOVZ Dn : Move arm to the height designated by Dn+1.
[ Format ]
MOVZ n (n: Step No.)
MOVZ Dn (Dn: data memory No.)

Dn: Operational basis step No. (Step that the speed and the acceleration/
deceleration are specified)
Dn+1: AZ data (incremental unit: 0.1 mm)
[ Example ]
After it vertically goes up to height at step 1, then horizontally moves to step 1. (Program
0 movement)
MOVZ 1
WTARM
MOV 1
WTARM
Directed by data memory.

Goes up by 100mm from the current position.
RDCZ D1001 suck the current height
D1000 = 2 Movement by MOV at step 2.
D1001 = D1001 + 1000
MOVZ D1000
WTARM
[ Detail ]
The data is to be set before the command is executed.
(Operand)
Dn : Operation basis step No. (Step that the speed and the acceleration/ deceleration are
specified)
Dn+1 : Operation height data [unit: 0.1 mm]
The speed and the acceleration/ deceleration are the exact same as specified
by Dn.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
36
MVDWN
Goes down by 10 mm from the current position.
[ Format ]
MVDWN n (n: step No.)
[ Example ]
Move to step 7 and then goes down by 10 mm specified in parameter at step 7 after waiting
for 200msec.
MOV 7
WTARM
WTTMR 20
MVDWN 7
WTARM
[ Detail ]
Arm moves on the parameters (acceleration and deceleration time) of the step specified.
[ Related Command ]
WTARM
[ SH Soft Version ]
[ Purpose ]
37
MVHZU
Move arm to step specified. However, it moves horizontally (never goes down) if the
specified step is lower than the current.
[ Format ]
MVHZU n (n: step No.)
MVHZU Dn (Dn: Data memory No.)

Dn: Operation base step No. (the step at which speed and acceleration and
decelaration are specified.)
Dn+1: AZ data (Unit: 0.1mm)
[ Example ]
In case of multi-stacking, you don’t mind the height difference from one station to another,
or from step 8 to another station, if you insert it to the upfront of the program.
MVHZU 9
WTARM
[ Detail ]
[ Related Command ]
WTARM
[ SH Soft Version ]
Ver 1.00H Function of data memory speicified is added
[ Purpose ]
38
MVPOS
Move to the position designated by a value of data memory based on pallet coordinates.
[ Format ]
MVPOS Dn (n: data memory No.)
[ Example ]
[ Detail ]
Moving speed, acceleration and deceleration time are set by specifying the moving standard
step No. to data memory Dn.
Dn: Moving standard step No. (Speed, acc-dec time, etc. designated by this step No.)
Dn+1 : Layer number -1
Dn+2 : Work number -1
Dn+3 : Coordinates system [ except 1 or 2 : Arm coordinates 1 : Hand coordinates 2 :
Pallet coordinates]
Dn+4 : Move mode [ 0 : MOV, except 0 : DMOV ]
Dn+5 : AR(HX,PX) [unit AR : 0.01 deg HX : 0.1 mm PX : 0.1 mm]
Dn+6 : AX(HY, PY) [unit AX : 0.1mm HY : 0.1 mm PY : 0.1 mm]
Dn+7 : AT(HT, Pb) [unit AT : 0.01deg Ha : 0.01deg Pb : 0.01deg]
Dn+8 : AZ(HZ, PZ) [unit AZ : 0.1mm HZ : 0.1mm PZ : 0.1 mm]
[ Related Command ]
WTARM
[ SH Soft Version ]
Ver2.00G Added this Command
[ Purpose ]
39
MVSTP(Move step)
Arm movement command
Move arm to new position that some offset distance is added on to the registered step
position.
[ Format ]
MVSTP Dn (n: data memory number)
(Specified Part)
Dn : Movement step No.
Dn+1: Type of coordinate [other than 1 & 2: arm coordinate, 1:hand coordinate, 2:pallet
coordinate]
Dn+2 : Move mode [ 0 : MOV, except 0 : DMOV ]
Dn+3: AR(HX, PX) offset value [unit AR;0.01deg HX:0.1mm PX;0.1mm]
Dn+4: AX(HY, PY) offset value [unit AX;0.1mm HY:0.1mm PY;0.1mm]
Dn+5: AT offset value[unit 0.01deg ]
Dn+6: AZ(HZ, PZ) offset value [unit AZ:0.1mm HZ:0.1mm PZ:0.1mm]
[ Example ]
MOV1
WTARM
D1000 = 2 // Move arm to new position that the offset distance is added on to the step 2
position.
D1001 = 1 // D1003 - D1006 are specified by hand coordinate.
D1002 = 0
D1003 = 0
D1004 = 0
D1005 = 0
D1006 = 1000 // Only HZ is moved to new position that 100mm is added on to that of HZ at
step 2
MVSTP D1000
WTARM
[ Detail ]
The above example shows you that arm moves from step 1 to new position of 100mm above
step 2.
Offset value can be specified with +/-.
[ Related Command ]
WTARM
[ SH Soft Version ]
Ver. 1.02A
[ Purpose ]
The existing combination of RDPOS + MVPOS can be simplified by this MVSTP.
40
NOP
System Control
Execute next command without processing
[ Format ]
NOP
[ Example ]
[ Detail ]
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
NOP is not normally used.
It is used as just a sign to do temporary substitution or to make you easily read programs.
41
OSFT
System Control
Shift pallet origin and then copy program
[ Format ]
OSFT Dn (n: data memory No.)
[ Example ]
Save into program 2 a program which the pallet origin of the program 1 is shifted by PX (PX
= 10 mm)
D1000 = 1
D1001 = 2
D1002 = 100
D1003 = 0
D1004 = 0
D1005 = 0
OSFT D1000
[ Detail ]
Data setting is needed before executing command.
(Specifying part)
Dn : Program No. (to be copied )
Dn+1 : Program No. ( to be pasted)
Dn+2 : Shifting distance of PX ( x 0.1 mm)
Dn+3 : Shifting distance of PY (x 0.1 mm)
Dn+4 : Shifting distance of Pβ (x 0.01 deg)
Dn+5 : Shifting distance of PZ (x 0.1 mm)
<Note>
- It is impossible for program 0 to set both Dn and Dn+1.
- It is impossible to set Dn and Dn+1 with same value.
- Program in which Dn+1 is being executed is impossible.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
In case of de-palletizing, if pallet arrived and deviated off the supposed, the pallet position
data can be shifted to make pre-set program to a new one.
42
PGSEL
Program Control
Wait for selection of an executing program No.
[ Format ]
PGSEL
[ Example ]
[ Detail ]
Refer to the explanation of the chapter “Program Check Procedure” in robot manual
“Teaching”.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
43
POSCK(POS check)
System Control
Confirm if it locates on the exact planar position at the step that the current position
specifies.
[ Format ]
POSCH Dn (n: data memory number)
(Specified Part)
Dn : Result (0: Out of range at specified step 1: Within range at specified step 2:The target
planar position of the currently executing step is within the range at the specified step)
When the current position is within the range at the specified step, “1” is returned to the result (Dn).
When the current position is out of range at specified step and also when the target position currently
being executed is within the range, “2” is returned to the result (Dn).
When both the current position and the target position at the currently executing step are out of range
at the specified step, “0” is returned to the result (Dn).
At FULL overlap, for instance, the previous step is assumed the currently executing step.
Step1 Step2
It compares with the position at the black dot

though the movement has got into step 2after
reached the accuracy range.
Dn+1: Specified step number
[ Example ]
D1001 = 2 // check the range based on step 2
POSCK D1000
If D1000 == 0 // if planar position is out of step 2,
MOV1 // moves to step1 first then moves to step2.
WTARM // if not, directly moves to step2.
ENDIF
MOV 2
WTARM
[ Detail ]
The current position is compared with the programmed position at the current count of the
step No.
designated. The answer is returned after confirming that the planar coordinate positions
(AR/AX/AT)
are within the axis-accuracy.
AZ position is not checked.
[ Related Command ]
44
[ SH Soft Version ]
Ver. 1.02A(Result = 2 is added by Ver1.02G)
[ Purpose ]
On a program in which it waits at step 2, arm won’t go up to execute step1 whenever
program is switched over.
45
RDCP
Data Access
Importing the current position data
[ Format ]
RDCP Dn (n: data memory No.)
[ Example ]
Import a robot’s position data into data memory D1000 when a sensor connected with input
relay X0 comes on.
D1004 =1 : Hand Coordinates system is specified

MOV 1
WTCON X0
RDCP D1000
WTARM
(Imported part)
D1000 : HX (x 0.1mm)
D1001 : HY (x 0.1mm )
D1002 : HT (x 0.01deg)
D1003 : HZ (x 0.1 m)
[ Detail ]
Standard coordinates system of position data is designated by data memory Dn+4.
The position data when sequence command has been executed is written into 4 segments
areas of which top one’s address is designated by Dn.
(Specified part)
Dn+4:standard coordinates system (0:Arm Coordinates, except 0:hand Coordinates)
(Imported)
Dn :AR(HX) [0.1mm]
Dn+1:AX(HY) [0.1mm]
Dn+2:AT(Hα) [0.01deg]
Dn+3:AZ(HZ) [0.1mm]
[ Related Command ]
RDCZ, RDPOS, RDPZ, RDSPD
[ SH Soft Version ]
[ Purpose ]
46
RDCZ
Data Access
Importing the current height data
[ Format ]
RDCZ Dn (n: data memory No.)
[ Example ]
Import a robot’s height data into data memory D1000 when a sensor connected with input
relay X0 comes on.
MOV 1
WTCON X0
RDCP D1000
WTARM
[ Detail ]
The height data when sequence command has been executed is imported into data memory
designated by Dn.
Height value is same in all coordinates system (ARM, HND, STA, PAL).
Dn: Height (unit is 0.1 mm)
[ Related Command ]
RDCP, RDPOS, RDPZ, RDSPD
[ SH Soft Version ]
[ Purpose ]
47
RDPOS
Data Access
Importing position data
[ Format ]
RDPOS Dn (n: data memory No.)
[ Example ]
[ Detail ]
Teaching position data of layer, product, step No. designated by the data memory is
imported into a data memory.
(Specified part)
Dn: Step No.
Dn+1 : Layer -1
Dn+2 : Product -1
Dn+3 : Coordinates system [except 1 or 2 : Arm, 1 : Hand, 2 : Pallet.]
Dn+4 : Not use
(Imported part)
Dn+5 : AR(HX) [unit AR : 0.01 deg HX : 0.1 mm PX : 0.1 mm]
Dn+6 : AX(HY) [unit AX : 0.1mm HY : 0.1 mm PY : 0.1 mm]
Dn+7 : AT(HT) [unit AT : 0.01 deg Ha : 0.01 deg Pb : 0.01 deg]
Dn+8 : AZ(HZ) [unit AZ : 0.1mm HZ : 0.1 mm PZ : 0.1 mm]
[ Related Command ]
RDCP, RDCZ, RDPZ, RDSPD
[ SH Soft Version ]
[ Purpose ]
48
RDPZ
Data Access
Importing the height data at designated step of special product
[ Format ]
RDPZ Dn (n: data memory No.)
[ Example ]
Import height data of 2nd layer 1st work at step 7 into the data memory D1001.
D1000 = 7 Step 7
D1002 = 1 2nd layer
D1003 = 0 1st work
RDPZ D1000
[ Detail ]
Import height data (unit: 01mm) of layer, work and step designated by the data memory
into a data memory which is next to the designated one.
(Specified part)
Dn: Step No.
Dn+2: Layer -1
Dn+3: Work -1
(Imported part)
Dn+1: Height data (unit is 0.1 mm)
[ Related Command ]
RDCP, RDCZ, RDPOS, RDSPD
[ SH Soft Version ]
[ Purpose ]
49
RDSPD
Data Access
Acquisition of the operation speed
[ Format ]
RDSPD Dn (n: data memory No.)
[ Example ]
[ Detail ]
(Specified part)
Dn: Step No.
(Imported part)
Dn+1 : internal speed (0-10)
Dn+2 : external speed (1-10)
Dn+3 : SPD set value (1-10: It is 10 usually. )
<Note>
Internal speed =0 when specified step No. doesn't exist.
Actual operation speed is decided by (internal speed) × (external speed) × (SPD set value).
When speed is set by ASPD,
(Imported part)
Dn+1 : ASPD set value (1-100)
Dn+2 : Fixed to 1
Dn+3 : Fixed to 10
[ Related Command ]
SPD, ASPD
[ SH Soft Version ]
[ Purpose ]
50
RDVS
Serial Communications
Receiving data from host computer for vision system
[ Format ]
RDVS Dn (n: data memory No.)
[ Example ]
It receives data and set the data into D1000.
D1000 = 0 : Initialize D1000 memory data

LOOP D1000 = = 0 : If data is received, goes out of loop
RDVS D1000 : Received data is set on data memory form D1000 to D1006
WTTMR 10
ENDLP
[ Detail ]
Received data is set on data memory as follows:
Dn:Pallet Position[HX] (mm)

Dn+1:Pallet Position[HY] (mm)
Dn+2:Pallet Position[HT] (deg)
Dn+3:Pallet Position[HZ] (mm)
Dn+4:Product length(mm)
Dn+5:Product width(mm)
Dn+6:Product height (mm)
<Note>
The communication format isn’t explained in this manual.
[ Related Command ]
SDVS, CALC
[ SH Soft Version ]
[ Purpose ]
Exclusive use for vision system
51
RESTM
Data Memory operation
Clearing the count area of data memory
[ Format ]
RESTM Dn (n: data memory No.)
[ Example ]
Refer to STPTM command.
[ Detail ]
Operation is same as Dn = 0
[ Related Command ]
STATM, STPTM
[ SH Soft Version ]
[ Purpose ]
52
RET
Subroutine Control
Return from the subroutine
[ Format ]
RET
[ Example ]
Refer to Call command.
[ Detail ]
[ Related Command ]
CALL, SUBP
[ SH Soft Version ]
[ Purpose ]
53
RTOFT
System
Turn relay specified on and turn it off after the interval specified. (Same condition if
operation is turned off within the specified interval.) Sequence processing continues to execute next
commands discarding the foresaid interval.
[ Format ]
RTOFT Rn n {Rn: relay (Only M, Y possible), n: time [x 10ms])
[ Example ]
After arrived at step 7, hand (Y1C) is opened for 200 msec. (jogging in opening).
MOV 7
WTARM
RTOFT Y1C 20 hand jog-opened
MOV 8
WTARM
Y1C = ! hand fully opened
[ Detail ]
Conventional way:
Y1C = 1
WTTMR 200
Y1C = 0
If operation is shut down during WTTMR 200 for example, it immediately stops executing
sequence logic on half way and hand is fully opened.
[ Related Command ]
CALL, SUBP
[ SH Soft Version ]
[ Purpose ]
54
SDVS
Serial Communications
Sending data to host computer for vision system.
[ Format ]
SDVS Dn (n: data memory No.)
[ Example ]
In case of transmission of work type command “3”,
D1000=3 : Command 3 is designated

D1001=1 : Additional data is designated
SDVS D1000 : Command 3 transmission
In case of transmission of work size command “8”,
D1000=8 : Command 8 is designated

D1001=0 : Additional data is designated
D1002=400 : Work length is designated
D1003=300 : Work width is designated
D1004=150 : Work height is designated
SDVS D1000 : Command 8 transmission
[ Detail ]
Data set to the below data memories is edited into the format of vision system transmission
and sent.
In case of transmitting command except “8”
Dn: command No.

Dn+1:additional data is designated
In case of transmitting command “8”
Dn: command No.

Dn+1:additional data
Dn+2:work length(mm)
Dn+3:work width(mm)
Dn+4:work height (mm)
[ Related Command ]
RDVS
[ SH Soft Version ]
Ver1.00G
[ Purpose ]
Exclusive use for vision system
55
SETER
System Control
Simulate each error situation by sequence command.
[ Format ]
SETER n (n: error No.)
[ Example ]
MVDWN is being repeated until touch-down sensor (X04) is turned on. However, it errors out
at over 5 times.
D1000 = 0
LOOP !X4
MVDWN 7
WTARM
D1000 = D1000 + 1
IF D1000 > 5
SETER 132 : (Position data processing error)
END IF
ENDLP
[ Detail ]
The next command is not executed even if operation is ON. It stays there.
Sub code is fixed to ‘0’.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
56
SMOV
SMOV2
Arm movement Control
Three step movements are overlapped to make it smoother.
[ Format ]
SMOV n (n: Step No.)

SMOV2 n (n: Step No.)
[ Example ]
It moves smoothly to step 4, 5, and 7 It moves smoothly to step 8, 9, and 2
SMOV 4 SMOV2 8
WTARM WTARM
MOV 5 MOV 9
WTARM WTARM
MOV 7 MOV 2
WTARM WTARM
[ Detail ]
SMOV/SMOV2 is to be set at the first move command among the three-step processing.
If the positions of three steps are consecutive relations (conditions) mentioned below, the
robot arm can move smoother than just in MOV.
(The following conditions for overlapping by three steps need to be fulfilled.)

1. Motion to the first step is ascending (AX motion range should be within 10mm, AR motion
range within 1 degree), parameter “ deceleration coefficient” is ‘0’, parameter” overlap” is
‘FUL’.
2. Motion to the second step is horizontal (AZ motion range should be within 10mm),
parameter of ”acceleration coefficient” and “deceleration coefficient” is ‘0’, parameter”
3. Motion to the third step is descending (AX motion range should be within 10mm, AR
motion range within 1degree), parameter “deceleration coefficient” is ‘0’.
SMOV or SMOV2” motion can respectively be controlled by SMOV or SMOV2 parameters

which are in the system parameter. How much robot arm moves smoothly is adjusted by the
SMOV/SMOV2 parameters. If SMOV is distinguished from SMOV2 in usage, picking and
setting down products can be independently controlled.
[ Related Command ]
MOV, WTARM
SMOV/SMOV2 parameter in system parameter
[ SH Soft Version ]
Ver1.00G
[ Purpose ]
It is used when robot arm motion needs to be smoother than in MOV.
57
SPD
Motion Speed Control
Ratio to {(External speed) x (internal speed)} is set. (n=1 - 10)
[ Format ]
SPD n (n:×10%)
[ Example ]
Only for the 1st product per each layer, the motion speed to step7 is to be set at 50% to the
initial setting.
IF D1 = = 0
SPD 5
ENDIF
MOV 7
WTARM
SPD 10
[ Detail ]
The arm motion speed is changed. Set a ratio to {(External speed) x (internal speed)} of
‘10’.
The setting condition is automatically reset to SPD 10 when;
1. Main power is cycled

2. Sequence reset is executed
3. Program is changed
[ Related Command ]
ASPD
[ SH Soft Version ]
[ Purpose ]
58
SPSET
System
Change step parameter of MOV to be executed next.
[ Format ]
SPSET Dn (Dn: data memory No.)
Dn: Sort (0: internal speed, 1: overlap, 2: drop high)
Dn+1: In case of internal speed………speed is set to is ‘1 – 10’.
Overlap…………………3: FUL, 2: HLF, 1: QRT, 0: ZRO, 4: SPC
Drop high………………0: No, 1: yes (It works only at step 7)
[ Example ]
Normally overlapped with FULL, however overlapped with ZRO only at layer 10th, product
th
5 .
IFCNT 10 & 5
D1000 = 1
D1001 = 0
SPSET D1000
ENDIF
MOV 8
WTARM
[ Detail ]
It works only one time for MOV, SMOV, SMOV2, DMOV, MOVX, MOVZ, MVHZU, MVDWN or
MVPOS.
[ Related Command ]
[ SH Soft Version ]
[ Purpose ]
59
STATM
Data Memory Operation
Value of data memory is incremental by ‘+ 1’ every 100 msec.
[ Format ]
STATM Dn (n: data memory No.)
[ Example ]
Refer to STPTM command.
[ Detail ]
0 100 200 300 400 500 [msec]

STATM Dn
Value of Dn 0 1 2 3 4 5
Image of concept
[ Related Command ]
STPTM, RESTM
[ SH Soft Version ]
[ Purpose ]
60
STOPA
Stop Control
Robot arm stops following MOV with deceleration
[ Format ]
STOPA
[ Example ]
Arm stops when input relay X0 comes on.
MOV 7
WTCON X0
STOPA
WTARM
[ Detail ]
Arm stops in the same manner as when a stop button is pressed even while it is moving at
constant speed under MOV command.
<Note>
STOPA is executed right after accelerating is completed.
STOPA STOPA STOPA
Accelerating Constant Decelerating
Image of concept
[ Related Command ]
STOPB
[ SH Soft Version ]
[ Purpose ]
61
STOPB
Stop Control
Force to stop robot arm under MOV
[ Format ]
STOPB
[ Example ]
[ Detail ]
This command has no deceleration. STOPA functions same as stop button while STOPB as an
emergency button.
STOPB
STOPB
STOPB
Accelerating Constant Decelerating
Image of concept
[ Related Command ]
STOPA
[ SH Soft Version ]
[ Purpose ]
<Caution>
Don’t use STOPB when robot arm is moving at high speed as larger impact-like force is
applied to gear reducers and other mechanical parts when it is executed.
62
STPTM
Data Memory Control
Stop counting data memory.
[ Format ]
STPTM Dn (n: data memory No.)
[ Example ]
It measures the time per a cycle of stacking operation. The last measurement data is to be
set in D1001.
STPTM D1000
D1001 = D1000
PRGSEL
RESTM D1000
STATM D1000
[ Detail ]
[ Related Command ]
STATM, RESTM
[ SH Soft Version ]
[ Purpose ]
63
SUBP
Subroutine Control
Call subroutine with label No. which is processed in background
[ Format ]
SUBP n (n: Label No.)
[ Example ]
Signal of station loading enable is turned on 500mm above station. It doesn't affect
overlapping between MOV4 and 5.
MOV 4
SUBP 1
WTARM
MOV 5
WTARM
---
JTOP
LBL 1
AMSPS 500
M6002 = 1
RET
ENDP
[ Detail ]
It doesn’t wait for the subroutine to be completed in process which is different from CALL
command.
The commands that can be processed by subroutine are as follows.
- AMSPS
- WTTMR
- Assignment statement
Only one subroutine can be executable at a time.

If a subroutine is being executed, this command is discarded.
[ Related Command ]
LBL, RET
[ SH Soft Version ]
Ver1.00G
[ Purpose ]
64
TRQC
C-Axis Control
Control the torque (ratio in % to the rated) of C axis to protect products from damaged.
[ Format ]
TRQC n {n: torque limit (ratio in % to the rated) of C axis}
[ Example ]
When products are picked
TRQC 0
HMOV 1
WTHND
TRQC 70 torque limit is changed to 70% of the rated
When products are released
TRQC 0 torque limit returns back to the default

HMOV 2
WTHND
pick hold release

C-axis speed
308%(0:default data) 308%(0:default data)

Torque limit
70%
Image of concept
[ Detail ]
n : 1%-308%
n=0 : Default data
<Caution>
In case of n=0, the torque is determined by the default data (308) designated by the servo
parameter of C-Axis.
[ Related Command ]
[ SH Soft Version ]
65
[ Purpose ]
When product is picked, TRQC command is used for C-Axis torque to be controlled after
holding (WTHND). In order to securely hold product, the target position for holding is set a
bit inside (somewhat approx. 10mm) than product width and at a time the axis accuracy of
C-Axis is set to contain neighborhood of the product edge.
C-axis motion
Target position Axis accuracy
Image of concept
66
WTAOC
Wait Conditions
This is used after MOV command and executes next sequence upon either fulfilling condition
or axis accuracy arrived.
[ Format ]
WTAOC Rn (or !Rn) (n: Relay No.)
WTAOC Rn (or !Rn) operator Rn (or !Rn) (n: Relay No.)
[ Example ]
After MOV 7 is executed in de-palletizing, vacuum (Y1D) is turned on when either relay X0
for touch-down sensor comes on or axis accuracy is arrived.
MOV 7
WTAOC X0
STOPB
WTARM
Y1D= 1
[ Detail ]
[ Related Command ]
MOV, WTARM, WTCON
[ SH Soft Version ]
[ Purpose ]
67
WTARM
Wait Conditions
Wait for arm to complete movement
[ Format ]
WTARM
[ Example ]
After completion of moving to step 1, turn relay M0 on.
MOV 1
WTARM
M0 = 1
[ Detail ]
This is a command to make sure if arm completes movement. A completion timing follows
pre- determined value set by ”overlap parameter” of step parameter.
This is to be used, as a pair, with such following commands as MOV, SMOV, SMOV2, DMOV,
MOVRT, MOVX, MOVZ, MVHZU, MVDWN and MVPOS.
Be sure to use if this command is paired with one of those within the same program.
(Correct programming) (Incorrect programming)

IF M0 IF M0
MOV 7 MOV 7
WTARM ELSE
ELSE MOV 10
MOV 10 ENDIF
WTARM WTARM
ENDIF
[ Related Command ]
MOV, SMOV, SMOV2, DMOV, MOVRT, MOVX, MOVZ, MVHZU, MVDWN and MVPOS.
Overlap Parameter (FUL/HLF/QRT/ZRO/SPC) in the step parameter
axis accuracy is large
1/4 axis accuracy is small

1/2
axis speed 1/1 axis speed
F H Q Z S Z S
U L R R P R P
L F T O C O C
Image of concept
SPC: If each axis position measured by encoder enters into the range of “axis accuracy”,
it is considered arm movement is completed. Time of the axis accuracy cannot be
specified.
FUL/HLF/QRT/ZRO:
Time of completion of arm movement is decided by the deceleration time.
[ SH Soft Version ]
[ Purpose ]
68
WTCON
Wait Conditions
Wait for the condition to have been fulfilled
[ Format ]
WTCON (condition 1)
[ Example ]
Wait until relay M5002 turns on.
WTCON M5002
Wait until relay M5002 turns off.

WTCON !M5002
[ Detail ]
[ Related Command ]
WTAOC
[ SH Soft Version ]
[ Purpose ]
69
WTHND
Wait Conditions
Wait for C axis to complete movement
[ Format ]
WTHND
[ Example ]
C axis moves to step 1.
HMOV 1
WTHND
[ Detail ]
[ Related Command ]
HMOV
[ SH Soft Version ]
[ Purpose ]
70
WTMSP
Wait Conditions
Timer to change operated together with automatic operation speed
Execute next sequence command having time in inverse proportion to automatic operation
speed.
[ Format ]
WTMSP n (n: Wait time [×10msec]: In case of automatic operation speed is 10)
WTMSP Dn (Dn: data memory No.)
(Value of data memory: waiting time [x 10ms]: at auto-operation speed 10)
[ Example ]
Relay Y1D (hand open) is turned off 100ms after deceleration starts on way toward step 7.
”overlap” parameter of step7 is FUL.
MOV 7
WTARM
WTMSP 10
Y1D = 0
Automatic speed 5 Automatic speed 10 Overlap(FUL)

Overlap(FUL)
Axis speed Axis speed

200 msec 100 msec
Y1D Y1D
In case of WTMSP 10
[ Detail ]
Waiting time is variable according to automatic operation speed.
Time specified by the command is at the automatic operation speed of 10. The time becomes
longer in inverse proportion to automatic operation speed during operation.
For instance, in case of WTMSP 20

Automatic operation speed is 10 - wait time is 200ms
[ Related Command ]
WTTMR
[ SH Soft Version ]
[ Purpose ]
It is convenient that this command is used to change time operated together with automatic
operation speed.
This is worthy at lower speed operation when peripheral equipment like hand is actuated
while arm is decelerating.
Acceleration and deceleration time to/from steps is in inverse proportion to external speed.
The slower the external speed, the longer the acc/dec time. If the timer set value would be
fixed, peripheral equipment (like a hand) would move too fast during like slow speed
operation for evaluation.
71
WTTMR
Wait Conditions
Execute sequence command after setting time is expired
[ Format ]
WTTMR n (n: wait time [×10msec])
WTTMR Dn (Dn: data memory No.)
(Value of data memory: waiting time [x 10ms])
[ Example ]
When arm completed moving to step 7, relay Y1D is turned off after 300ms.
MOV 7
WTARM
WTTMR 30
Y1D = 0
Overlap(FUL)
Overlap(ZRO)
axis speed axis speed
300 msec 300 msec
Y1D Y1D
Image of concept
[ Detail ]
Wait timer is n×10msec. It does not link with automatic operation speed.
[ Related Command ]
WTMSP
[ SH Soft Version ]
[ Purpose ]
72
Condition/Operation/Comparison
Assignment statement:
Assigned to relay
(1=ON, 0=OFF)
Rn1 = 1
Rn1 = 0
Rn1 = Rn2 Operator Rn3
(n1 – n3: relay No.)
Assigned to data memory

Dn1 = constant
Dn1 = Dn2
Dn1 = constant operation constant
Dn1 = Dn2 operation constant
Dn1 = Dn2 operation Dn3
(n1 – n3: data memory No.)
Condition1
Condition by relay
Mn1 (relay n1 turned on)
!Mn1 (relay n1 turned off)
Mn1 operation Mn2
(n1 – n2: replay No.)
Operation
[+] Addition between data memory and constant
[-] Subtraction between data memory and constant
[*] Multiplication between data memory and constant
[/] Division between data memory and constant
[%] Remainder of division between data memory and constant
[&] Logical AND between relays,
Logical AND between data memory and constant
[|] Logical OR between relays
Logical OR between data memory and constant
[^] Exclusive OR between data memory and constant
[<<] Left shift of data memory
[>>] Right shift of data memory
Comparison
A> B A greater than B
A>=B A greater than or equal to B
A==B A equal to B
A!=B A not equal to B
A<B A smaller than B
A<=B A smaller than or equal to B
A is data in data memory and B is data in data memory or a constant.
73
Robot manual
Robot Sequence Command
Version 07: 2015.12.18
<Caution>

COME-NSTC-07
Robot Manual
Interface with PLC

History
Version(Date) Descriptions Pages

This page.
Updated: Chapter 4 Centronix
02 (2014.02.03) communication, next-but-one data added to 3-28 to 3-39
output data, date changed Chapter 4
This page.
Word correction.
Description of Limit switch for T-axis tilt detection 3-1,3-2,3-3,3-4,3-13,3-15
03 (2014.03.19) is added. 2-17
Description of signal connection of peripheral 2-19
equipment is added.
Description of RC522A/B is added. 2-1,2-2,2-10,2-11
04 (2014.05.26)
Word correction 2-12,2-17
05 (2014.11.12) Load variation detection is added. 3-38
Device data of products_Current, Next or 3-23
06 (2015.12.18) next-but-one cycle and Pallet type are added.
Word correction 4-22,4-24
Words of TB7 added 2-6
07 (2017.06.12) Signal name/Description added 3-25,3-27,3-28
Description added/corrected 3-40
Introduction
This manual is a guidebook to help you safely and correctly use your A Series
Robot Palletizer. It should be useful not only to beginners who are using an Okura
reconfirm their knowledge. Please read this Manual carefully and use the Palletizer
with a clear understanding of its content.
NOTE
Safety Instructions
IMPORTANT The safety instructions with left sign of IMPORTANT throughout this
manual are enforcement or warning that if not correctly operated or
handled, you may be seriously injured or killed.
IMPORTANT
programming.
Table of Contents
1. CONFIGURATION OF PERIPHERAL CONTROL1-1
1.1. TYPE OF ROBOT CONTROL ························································ 1-1
1.2. PLC STANDARD INTERFACE WITH ‘X/Y’ ····································· 1-3
1.3. PLC STANDARD INTERFACE WITH ‘M+D’ ··································· 1-4
2. EXTERNAL INPUTS OUTPUT CONNECTION 2-1

2.1. JIS TYPE CONTROL PANEL ························································ 2-1
2.2. UL/CE TYPE CONTROL PANEL ················································· 2-10
3. INPUT OUTPUT DATA MEMORIES 3-1

3.1. CONFIGURATION ···································································· 3-1
3.2. PLC STANDARD INTERFACE ····················································· 3-4
3.3. PLC EXPANSION INTERFACE ·················································· 3-22
4. CENTRONIX COMMUNICATION 4-1

4.1. PURPOSE OF USING CENTRONIX COMMUNICATION ······················· 4-2
4.2. CENTRONIX COMMUNICATION START TIMING ······························ 4-3
4.3. RELATIONSHIP WITH PLC STANDARD INTERFACE SETTING UP ········· 4-5
4.4. NAME AND MEANING OF SIGNALS DURING COMMUNICATION ·········· 4-6
4.5. SEND/RECEIVE TIMING IN CENTRONIX COMMUNICATION ·············· 4-7
4.6. TIME CONSTRAINTS IN CENTRONIX COMMUNICATION ··················· 4-9
4.7. DETAILS OF ROBOT → PLC DATA ············································ 4-10
4.8. DETAILS OF PLC → ROBOT DATA ············································ 4-27
1. Configuration of peripheral control
1.1. Type of robot control

There are six types of robot control available.
Select the type to meet the system and set up on screes of [System registration],
[Controller data] and [External PLC communication setting].
interface
setting (1/2)：PLC standard
Ext
interface
setting (1/2)：PLC expansion
Ext.
communication
setting (2/2) ： Fieldbus
Ext. PLC communication PLC
Type of control
PLC
PLC
communication
communication
Which PLC
START
selects Required
program? boards
Periphe
ral Data Disable
A ①I/O board M+D
control memory
Built-in （*3）（*5）
?
PLC
See sections [1.3.2][3.2.2][3.3.1]
Ext PLC
B ①I/O board X/Y Disable Disable

Need # （*5）
of picks & Fieldbus
turns? See sections [1.2][3.2.1]
No No
C ①Fieldbus M+D Disable CC-link

Yes（*1）
E/IP etc
Use
See sections [1.3.1][3.2.2]
Through
D ①I/O board X/Y Centronix Disable
Built-in Fieldbus
PLC ②I/O board （*5）
No No
（*2） See sections [1.2][3.2.1][4]
Yes Use E ①Fieldbus M+D Centronix CC-link

E/IP etc
See sections [1.3.1][3.2.2][4]
F ①Fieldbus M+D Data CC-link

memory
E/IP etc
See sections [1.3.1][3.2.2][3.3.2]
1-1
(*1) For example of multi-picking, station needs to be controlled in parallel with stacking.
Product information can be obtained through [PLC expansion interface].
(*2) Control type through Built-in PLC

Built-in PLC allows you to directly view data of devices so much easier to control
robot.
It is easier as well when external PLC is in use because memories are shared through
Fieldbus and be via Built-in PLC.
(*3)I/O board is added on depending on the number of peripheral equipment.
(*5)Fieldbus can be employed for other purposes than robot control.
1-2
1.2. PLC Standard Interface with ‘X/Y’
‘Setting up External PLC to communicate’
‘PLC standard interface’ = ‘X/Y’
‘PLC Expansion Interface’ = ‘Disable’ or ‘Centronix’
‘Fieldbus communication’ = ‘Disable’
Interfacing through I/O board ,
Motors Inputs40
I/O board(1st)
Outputs32
Magnetic valves
External PLC
Limit switches CPU board

Inputs40 I/O board(2nd)
Outputs32 RC501
Photo-sensors
Inputs40 I/O board(3rd)

Outputs32
Safety board
Inputs4
Hand
Outputs4
Inputs4
Outputs4
“System I/O” (*1)
* Required numbers of I/O boards
- One board : Up to (2)-Stations / (2)-Pallets without Centronix communication
- Two boards : Up to (4)-Stations / (6)-Pallets
- Three boards: Up to (4)-Stations / (14)-Pallets
* Numbers of external inputs/outputs on (2)-I/O boards

Numbers
No. Type Descriptions Connection type
Inputs Output
Universal
1 Use freely 46 11 Connector terminal
input/outputs
Exclusive
2 Exclusive Use 34 53 Connector terminal
inputs/outputs
Basically use for hand
control.
Connector(CN33)
Hand Output:Y00 - Y03
3 4 4 around robot wrist
inputs/outputs Inputs: X00 - X03
link
(Those are normally used
in robot sequence logic.)
* Hand-output relays at manual operation mode are as follows: Hand 1-3 are Y(outputs4
above), Hand 4-9 are M(M6132-M6137). When Hand 4-9 are output to ‘Y’, ‘M’ is directly
output to ‘Y’ by Built-in PLC.
(*1) Only in a JIS type controller case, “System I/O” can be used as purpose
Universal-I/O.
1-3
1.3. PLC Standard Interface with ‘M+D’
1.3.1. Controlled by external PLC through Fieldbus
‘Setting up External PLC communication’
‘PLC Standard interface’= ‘M+D’
‘PLC Expansion interface’ = ‘Disable’, ‘Centronix’ or ‘Data memory’
‘Fieldbus’ = Other than ‘Disable’
‘Setting up remove devices’
Remote outputs(RY)=M6000 Remote inputs(RX)=M5000
Remote register(RWw)=D6000 Remote register(RWr)=D5000
Interfacing on shared memories of ‘M’ and ‘D’ through fieldbus board.
Motors Shared memories

Fieldbus board
Input126+16words CPU board
Magnetic valves
External PLC
Outputs126+16words RC501
Limit switches *Depending on type of
fieldbus or setting
conditions.
Photo-sensors
Safety board
Hand
Inputs4
Outputs4
Danger Enforcement
Any signal related to safety is prohibited to be on fieldbus.
It may fail to detect in case of communication error.
Numbers
No. Type Descriptions Connection type
Inputs Outputs
control.
Connector(CN33)
Hand Output:Y00 - Y03
1 4 4 around robot wrist
input/output Inputs: X00 - X03
link
(Those are normally used
in robot sequence logic.)
* Hand-output relays at manual operation mode are as follows: Hand 1-3 is Y(outputs4
above), Hand 4-9 is M(M6132-M6137). When Hand 4-9 is output to ‘Y’, ‘M’ is directly
Universal-I/O.
1-4
1.3.2. Controlled by External PLC not through Fieldbus
‘Setting up External PLC communication’
‘PLC Standard interface’= ‘M+D’
‘PLC Expansion interface’ = ‘Data memory’
‘Fieldbus’ = Other than ‘Disable’
See a separate ‘Operation manual for OXPA-PLC’ for Built-in PLC.
Inputs40
Motors I/O board(1st)
Outputs32 CPU board
RC501
Magnetic valves
Inputs40 I/O board(2nd)

Limit switches
Outputs32
Photo-sensors
Inputs40
I/O board(3rd)
Outputs32
Safety board
Inputs4
Hand
Outputs4
Inputs4
Outputs4
* Numbers of external inputs/outputs on (1)-I/O board

Numbers
No. Type Descriptions Output Connection type
Inputs
s
Use freely 40 32
Universal (used by both robot
1 ※ ※ Connector terminals
inputs/outputs programs and built-in
PLC) (120) (96)
control.
Output:Y00 - Y03
Inputs: X00 - X03 Connector(CN33)
Hand
２ (Those can be used in 4 4 around robot wrist
inputs/outputs
robot sequence and link
built-in PLC. Normally
used in robot program
only.)
※Adding 2nd and/or 3rd I/O board allow to increase universal inputs/outputs up to
max 120 inputs and 96 outputs.
* Hand-output relays at manual operation mode are as follows: Hand 1-3 is Y(outputs4
above), Hand 4-9 is M(M6132-M6137). When Hand 4-9 is output to ‘Y’, ‘M’ is directly
Universal-I/O.
1-5
2. External Inputs Output Connection
External I/O Output connection changes with control panel types (JIS type or UL/CE type) .
2.1. JIS type control panel

2.1.1. Connection on terminal
External inputs/outputs are connected to connector terminals (TB1-7).
P24 N24 P24 N24 P24 N24
CN１ CN１ CN１
RC502(RC522A) RC502(RC522A) RC502(RC522A)

1st 2nd 3rd
CN4 CN3 CN4 CN3 CN4 CN3
TB2 TB1 TB4 TB3 TB6 TB5

(Input - (Output- (Input- (Output- (Input-4 (Output-
40) 32) 40) 32) 0) 32)
Limit switch
TB7 E/S (Guarding, Door switch)

RC506
Universal (4)-inputs/(4)-outputs
CN33 - For hand
2-1
2.1.2. RC502(RC522A) board
Terminal 1st Terminal 2nd
TB2 No. Board TB4 No. Board
1 Ｘ０８ 1 Ｘ３０
2 Ｘ０９ 2 Ｘ３１
3 Ｘ０A 3 Ｘ３２
4 Ｘ０B 4 A
Ｘ３３
5 Ｘ０C 5 Ｘ３４
6 Ｘ０D 6 Ｘ３５
7 Ｘ０E 7 Ｘ３６
8 Ｘ０F 8 Ｘ３７
9 P24 9 P24
10 N24 10 N24
11 Ｘ１０ 11 Ｘ３８
12 Ｘ１１ 12 Ｘ３９
13 Ｘ１２ 13 Ｘ３A
14 Ｘ１３ 14 Ｘ３B
15 Ｘ１４ 15 Ｘ３C
16 Ｘ１５ 16 Ｘ３D
17 Ｘ１６ 17 Ｘ３F
18 Ｘ１７ 18 Ｘ３F
19 P24 19 P24
20 N24 20 N24
21 Ｘ１８ 21 Ｘ４０
22 Ｘ１９ 22 Ｘ４１
23 Ｘ１A 23 Ｘ４２
24 Ｘ１B 24 Ｘ４３
25 Ｘ１C 25 Ｘ４４
26 Ｘ１D 26 Ｘ４５
27 Ｘ１E 27 Ｘ４６
28 Ｘ１F 28 Ｘ４７
29 P24 29 P24
30 N24 30 N24
31 Ｘ２０ 31 Ｘ４８
32 Ｘ２１ 32 Ｘ４９
33 Ｘ２２ 33 Ｘ４A
34 Ｘ２３ 34 Ｘ４B
35 Ｘ２４ 35 Ｘ４C
36 Ｘ２５ 36 Ｘ４D
37 Ｘ２６ 37 Ｘ４E
38 Ｘ２７ 38 Ｘ４F
39 P24 39 P24
40 N24 40 N24
A 2-2 B
A 41 Ｘ２８ B 41 Ｘ５０
42 Ｘ２９ 42 Ｘ５１
43 Ｘ２A 43 Ｘ５２
44 Ｘ２B 44 Ｘ５３
45 Ｘ２C 45 Ｘ５４
46 Ｘ２D 46 Ｘ５５
47 Ｘ２E 47 Ｘ５６
48 Ｘ２F 48 Ｘ５７
49 P24 49 P24
50 N24 50 N24
Terminal ３rd Terminal 3rd

TB6 No. TB6 No. Board
C
Board
1 Ｘ５８ 26 Ｘ６D
2 Ｘ５９ 27 Ｘ６Ｅ
3 Ｘ５A 28 Ｘ６Ｆ
4 Ｘ５B 29 P24
5 Ｘ５C 30 N24
6 Ｘ５D 31 Ｘ７０
7 Ｘ５E 32 Ｘ７１
8 Ｘ５F 33 Ｘ７２
9 P24 34 Ｘ７３
10 N24 35 Ｘ７４
11 Ｘ６０ 36 Ｘ７５
12 Ｘ６１ 37 Ｘ７６
13 Ｘ６２ 38 Ｘ７７
14 Ｘ６３ 39 P24
15 Ｘ６４ 40 N24
16 Ｘ６５ 41 Ｘ７８
17 Ｘ６６ 42 Ｘ７９
18 Ｘ６７ 43 Ｘ７Ａ
19 P24 44 Ｘ７Ｂ
20 N24 45 Ｘ７Ｃ
21 Ｘ６８ 46 Ｘ７Ｄ
22 Ｘ６９ 47 Ｘ７Ｅ
23 Ｘ６Ａ 48 Ｘ７Ｆ
24 Ｘ６Ｂ 49 P24
25 Ｘ６Ｃ 50 N24
＊ P24 is internally connected to that on CN1 inside board.

＊ stands for ‘Being Assigned’ when PLC standard interface is set to ‘X/Y’.
2-3
Terminal 1st Terminal 1st
TB1 No. Board TB3
No. Board
1 Y０８ 1 Y２８
2 Y０９ 2 Y２９
3 Y０Ａ 3 Ｙ２Ａ
4 Ｙ０Ｂ 4 Ｙ２Ｂ
5 Ｙ０Ｃ 5 Ｙ２Ｃ
6 Ｙ０Ｄ 6 Ｙ２Ｄ
7 Ｙ０Ｅ 7 Ｙ２Ｅ
8 Ｙ０Ｆ 8 Ｙ２Ｆ
9 Ｙ１０ 9 Ｙ３０
10 Ｙ１１ 10 Ｙ３１
11 Y１２ 11 Y３２
12 Y１３ 12 Y３３
13 Ｙ１４ 13 Ｙ３４
14 Ｙ１５ 14 Ｙ３５
15 Ｙ１６ 15 Ｙ３６
16 Ｙ１７ 16 Ｙ３７
17 Ｙ１８ 17 Ｙ３８
18 Ｙ１９ 18 Ｙ３９
19 Ｙ１Ａ 19 Ｙ３Ａ
20 Ｙ１Ｂ 20 Ｙ３Ｂ
21 Y１Ｃ 21 Y３Ｃ
22 Y１Ｄ 22 Y３Ｄ
23 Y１Ｅ 23 Y３Ｅ
24 Y１Ｆ 24 Y３Ｆ
25 Y２０ 25 Y４０
26 Y２１ 26 Y４１
27 Y２２ 27 Y４２
28 Y２３ 28 Y４３
29 Y２４ 29 Y４４
30 Y２５ 30 Y４５
31 Y２６ 31 Y４６
32 Y２７ 32 Y４７
33 N24 33 N24
34 P24 34 P24
P24 P24
35 N24 35 N24
36 P24 36 P24
37 N24 37 N24
38 P24 38 P24
39 N24 39 N24
40 P24 40 P24
2-4
Terminal 3rd Terminal 3rd
TB5 No. Board
TB5 No. Board
1 Y４８ 1 Y５Ｃ
2 Y４９ 2 Y５Ｄ
3 Y４Ａ 3 Y５Ｅ
4 Y４Ｂ 4 Y５Ｆ
5 Y４Ｃ 5 Y６０
6 Y４Ｄ 6 Y６１
7 Y４Ｅ 7 Y６２
8 Y４Ｆ 8 Y６３
9 Y５０ 9 Y６４
10 Y５１ 10 Y６５
11 Y５２ 11 Y６６
12 Y５３ 12 Y６７
13 Y５４ 13 N24
14 Y５５ 14 P24
15 Y５６ 15 N24 P24
16 Y５７ 16 P24
17 Y５８ 17 N24
18 Y５９ 18 P24
19 Y５Ａ 19 N24
20 Y５Ｂ 20 P24
P24
＊ N24,P24 is internally connected to that on N24,P24 of CN1 inside board.

Circuit diagram
Input circuit diagram Output circuit diagram
P24
Input current 5mA～6.5mA Output terminal
P24
LED 7.2K 24v 100mA
Max 1.1volt drop at Output ON
4.7K
3K
3.3K
Input N24
terminal
2-5
2.1.3. Spare input/output on RC506
(4)-Inputs and (4)-outputs on RC506 are available.
No. Signals
１ＰＥＳ１１
2 ＰＥＳ２１ E/S
3 ＰＥＳ１２
4 ＰＥＳ２２
5 ＰＳＥ１１
6 ＰＳＥ２１ Entrance
7 detection
ＰＳＥ１２
8 ＰＳＥ２２
9 ＰＤＳ１１
Door switch
１０ＰＤＳ１２
１１ＰＤＳ２１
１２ＰＤＳ２２
１３ＲＥＳＥＴ－Ｐ
Remote reset
１４ＴＥＭＰ
１５ＲＥＳＥＴ
１６ＴＥＭＰ－Ｎ
１７ＲＭＴ－ＯＮ－Ｐ
Motor power
１８ＰＦＢ１ remote ON
１９ＲＭＴ－ＯＮ
２０ＰＦＢ２
２１ X04 ＩＮ１
２２ Y04 ＯＵＴ１
２３ X05 ＩＮ２
２４ Y05 ＯＵＴ２ Spare
２５ X06 ＩＮ３ inputs/outputs
２６ Y06 ＯＵＴ３
２７ X07 ＩＮ４
２８ Y07 ＯＵＴ４
２９ＭＣ－Ｐ
３０ＸＲＵＮ
P24
３１Ｐ２４
３２Ｎ２４
３３Ｐ２４ N24
３４Ｎ２４
３５Ｐ２４
３６Ｎ２４
３７Ｐ２４
３８Ｎ２４
３９Ｐ２４
４０Ｎ２４
2-6
15V
P24
P24
510 Output terminal

10.5K
0.2A
Input
terminal 7.2K
24V 100mA
3.3K
22K Max 1.1 volt drop at output ON
Input current 5mA～6.9mA 3K

N24
2-7
2.1.4. Hand input output signals
Inputs/outputs for hand are always assigned as X for input and Y for output whichever
“Ext.PLC communication setting”.
Input/output signals are connected to/from connector (CN33) on wrist link of arm.
Type Signals Descriptions Relays CN33

3
Spare: S3
4
Spare: S4 Section 2.2 on
Unive Installation &
rsal Adjustment manual 13
Spare: S5
14
Spare: CLS
5
Hand 1 open：SL1O Y00
Output signals by 6
Hand 1 close：SL1C teaching pendant at Y01
manual mode and
reserved by robot 7
Hand 2 open：SL2 Y02
sequence program
Exclu 8
sive
9
Power (P24)
Hand 1 Lead switch 10

Signals to be reserved X00
HRS1
by robot sequence
Hand 2 Lead switch program 11
X01
HRS2
12
Power(N24)
1
Spare: S1 Pre-assigned and X02
Unive
connected to right
rsal 2
Spare: S2 relays X03
Frame grounding: FG 15
2-8
2.1.5. Emergency stop input
The following E/S inputs are ready to use.
＊ Safety relay board RC506B (option) allows to configure redundant safety circuit.
＊ Standard safety relay board is RC506A.
Since RC506A isn’t configured with redundant safety circuit, PES21-PES22,
PDS21-PDS22 and PSE21-PSE22 need to be bridged when used.
＊ At memory SW1-7 ON, when sensor detects something, PLC is to send E/S signal to
robot.
＊ Pressing abnormal reset button allows to reset it after sensor’s detection.
If can’t reset it, cycle main power.
Numbers
No. Type of E/S Descriptions Connections
Inputs Outputs
PES11 & PES12
１ E/S switch Emergency stop 1 0
(On TB7)
PDS11 & PDS12
２ Door switch Safety 1 0
(On TB7)
Entrance PSE11 & PSE12
３ Safety 1 0
detection (On TB7)
TB7 is on right side of control panel.
TB7
TB7
Fig: TB7 location PDS11
PDS12
TB7 PDS21
PES11
PDS22
PES12
PSE11
PES21 PSE 12
PSE 21
PES22
PSE 22
Fig (a) Example of PES connection (b) PDS & PSE
2-9
2.2. UL/CE type control panel
2.2.1. Connection on terminal
External inputs/outputs are connected to connector terminals (TB1– 12).
P24 N24 P24 N24 P24 N24
CN１ CN１ CN１
RC512(RC522B) RC512(RC522B) RC512(RC522B)

1st 2nd 3rd
CN4 CN3 CN4 CN3 CN4 CN3
TB4 TB5 TB7 TB8 TB10 TB11

(Input (Output- (Input (Output- (Input (Output-
-40) 16) -40) 16) -40) 16)
TB6 TB9 TB12

(Output- (Output- (Output-
16) 16) 16)
*The Output terminal (TB5.6.8.9.11,12) is with a fuse(0.2A).

RC830,RC840
CN33 - For hand (4)- inputs
TB1
E/S (Guarding, Door switch)
(50P)
RC516 Limit switch
TB3
CN33 - For hand (4)-outputs
TB2
(20P)
RC1500,RC1600
TB1 CN33 - For hand (4)- inputs
(50P)
E/S (Guarding, Door switch)

RC516 Limit switch
SAFE
IF CN33 - For hand (4)-outputs
TB2
(20P)
2-10
2.2.2. RC512(RC522B) board
1 Ｘ０８ 1 Ｘ３０
2 Ｘ０９ 2 Ｘ３１
3 Ｘ０A 3 Ｘ３２
4 Ｘ０B 4 A
Ｘ３３
5 Ｘ０C 5 Ｘ３４
6 Ｘ０D 6 Ｘ３５
7 Ｘ０E 7 Ｘ３６
8 Ｘ０F 8 Ｘ３７
9 N241 9 N241
10 P２４ 10 P２４
11 Ｘ１０ 11 Ｘ３８
12 Ｘ１１ 12 Ｘ３９
13 Ｘ１２ 13 Ｘ３A
14 Ｘ１３ 14 Ｘ３B
15 Ｘ１４ 15 Ｘ３C
16 Ｘ１５ 16 Ｘ３D
17 Ｘ１６ 17 Ｘ３F
18 Ｘ１７ 18 Ｘ３F
19 N242 19 N242
20 P２４ 20 P２４
21 Ｘ１８ 21 Ｘ４０
22 Ｘ１９ 22 Ｘ４１
23 Ｘ１A 23 Ｘ４２
24 Ｘ１B 24 Ｘ４３
25 Ｘ１C 25 Ｘ４４
26 Ｘ１D 26 Ｘ４５
27 Ｘ１E 27 Ｘ４６
28 Ｘ１F 28 Ｘ４７
29 N243 29 N243
30 P２４ 30 P２４
31 Ｘ２０ 31 Ｘ４８
32 Ｘ２１ 32 Ｘ４９
33 Ｘ２２ 33 Ｘ４A
34 Ｘ２３ 34 Ｘ４B
35 Ｘ２４ 35 Ｘ４C
36 Ｘ２５ 36 Ｘ４D
37 Ｘ２６ 37 Ｘ４E
38 Ｘ２７ 38 Ｘ４F
39 N244 39 N244
40 P２４ 40 P２４
A 2-11 B
A 41 Ｘ２８ B 41 Ｘ５０
42 Ｘ２９ 42 Ｘ５１
43 Ｘ２A 43 Ｘ５２
44 Ｘ２B 44 Ｘ５３
45 Ｘ２C 45 Ｘ５４
46 Ｘ２D 46 Ｘ５５
47 Ｘ２E 47 Ｘ５６
48 Ｘ２F 48 Ｘ５７
49 N245 49 N245
50 P２４ 50 P２４
Terminal ３rd Terminal 3rd

TB10 No. TB10 No. Board
C
Board
1 Ｘ５８ 26 Ｘ６D
2 Ｘ５９ 27 Ｘ６Ｅ
3 Ｘ５A 28 Ｘ６Ｆ
4 Ｘ５B 29 N243
5 Ｘ５C 30 P２４
6 Ｘ５D 31 Ｘ７０
7 Ｘ５E 32 Ｘ７１
8 Ｘ５F 33 Ｘ７２
9 N241 34 Ｘ７３
10 P２４ 35 Ｘ７４
11 Ｘ６０ 36 Ｘ７５
12 Ｘ６１ 37 Ｘ７６
13 Ｘ６２ 38 Ｘ７７
14 Ｘ６３ 39 N244
15 Ｘ６４ 40 P２４
16 Ｘ６５ 41 Ｘ７８
17 Ｘ６６ 42 Ｘ７９
18 Ｘ６７ 43 Ｘ７Ａ
19 N242 44 Ｘ７Ｂ
20 P２４ 45 Ｘ７Ｃ
21 Ｘ６８ 46 Ｘ７Ｄ
22 Ｘ６９ 47 Ｘ７Ｅ
23 Ｘ６Ａ 48 Ｘ７Ｆ
24 Ｘ６Ｂ 49 N245
25 Ｘ６Ｃ 50 P２４
C
＊ P24 is internally connected to that on CN1 inside board.

2-12
Terminal 1st Terminal 1st
TB5 TB6
No. Board No. Board
1 Ｐ２４ 1 Ｐ２４
2 Ｐ２４ 2 Ｐ２４
3 Y０８ 3 Ｙ１８
4 Y０９ 4 Ｙ１９
5 Y０Ａ 5 Ｙ１Ａ
6 Ｙ０Ｂ 6 Ｙ１Ｂ
7 Ｙ０Ｃ 7 Y１Ｃ
8 Ｙ０Ｄ 8 Y１Ｄ
9 Ｙ０Ｅ 9 Y１Ｅ
10 Ｙ０Ｆ 10 Y１Ｆ
11 Ｙ１０ 11 Y２０
12 Ｙ１１ 12 Y２１
13 Y１２ 13 Y２２
14 Y１３ 14 Y２３
15 Ｙ１４ 15 Y２４
16 Ｙ１５ 16 Y２５
17 Ｙ１６ 17 Y２６
18 Ｙ１７ 18 Y２７
19 Ｎ２４ 19 Ｎ２４
20 Ｎ２４ 20 Ｎ２４
2-13
Terminal 2nd Terminal 2nd
TB8 No. Board
TB9 No. Board
1 Ｐ２４ 1 Ｐ２４
2 Ｐ２４ 2 Ｐ２４
3 Y２８ 3 Ｙ３８
4 Y２９ 4 Ｙ３９
5 Ｙ２Ａ 5 Ｙ３Ａ
6 Ｙ２Ｂ 6 Ｙ３Ｂ
7 Ｙ２Ｃ 7 Y３Ｃ
8 Ｙ２Ｄ 8 Y３Ｄ
9 Ｙ２Ｅ 9 Y３Ｅ
10 Ｙ２Ｆ 10 Y３Ｆ
11 Ｙ３０ 11 Y４０
12 Ｙ３１ 12 Y４１
13 Y３２ 13 Y４２
14 Y３３ 14 Y４３
15 Ｙ３４ 15 Y４４
16 Ｙ３５ 16 Y４５
17 Ｙ３６ 17 Y４６
18 Ｙ３７ 18 Y４７
19 Ｎ２４ 19 Ｎ２４
20 Ｎ２４ 20 Ｎ２４
2-14
Terminal 3rd Terminal 3rd
TB11 No. Board
TB12 No. Board
1 Ｐ２４ 1 Ｐ２４
2 Ｐ２４ 2 Ｐ２４
3 Y４８ 3 Y５８
4 Y４９ 4 Y５９
5 Y４Ａ 5 Y５Ａ
6 Y４Ｂ 6 Y５Ｂ
7 Y４Ｃ 7 Y５Ｃ
8 Y４Ｄ 8 Y５Ｄ
9 Y４Ｅ 9 Y５Ｅ
10 Y４Ｆ 10 Y５Ｆ
11 Y５０ 11 Y６０
12 Y５１ 12 Y６１
13 Y５２ 13 Y６２
14 Y５３ 14 Y６３
15 Y５４ 15 Y６４
16 Y５５ 16 Y６５
17 Y５６ 17 Y６６
18 Y５７ 18 Y６７
19 Ｎ２４ 19 Ｎ２４
20 Ｎ２４ 20 Ｎ２４
＊ N24,P24 is internally connected to that on N24,P24 of CN1 inside board.

Circuit diagram
Input current 7mA P24
N24
680 Output terminal 24v 100mA
50k
Input N24
terminal 3.3K
2-15
2.2.3. RC516 board
TB3,SAFE-IF
No. Signals
1 PES11 E/S button contact1
5 EDM-A External Device Monitoring
6 EDM-B External Device Monitoring
7 ES11A
8 ES11B See 2.2.6. Emergency stop input
9 ES21A
10 ES21B
11 DS11
12 DS12
13 DS21
14 DS22
15 SE11
16 SE21
17 SAFE1 Safety output to external device
18 SAFE2 Safety output to external device
19 fuse Y0
20 fuse Y1 See 2.2.4.Hand input output signals
21 fuse Y2
22 fuse Y3
23 fuse MC-P The signal for the lamp at the tip of a robot
Circuit diagram
P24
N24
510
Input Output terminal

terminal
24V 100mA
3.3K Max 2.0 volt drop at output ON
N24
Input current 5mA～6.9mA
2-16
2.2.4. Hand input output signals
Inputs/outputs for hand are always assigned as X for input and Y for output whichever
Ext.PLC communication setting is set.
Input/output signals are connected to/from connector (CN33) on wrist link of arm.
Type Signals Descriptions terminal Relays CN33

3
Spare: S3
RC512 4
Spare: S4 Section 2.2 on
Unive Installation & RC522
rsal Adjustment 13
Spare: S5 manual
14
Spare: CLS
Output TB3-27 5
Hand 1 open：SL1O Y00
signals by SAFE-IF
teaching TB3-28 6
Hand 1 close：SL1C pendant at Y01
SAFE-IF
manual mode
and reserved TB3-29 7
by robot SAFE-IF
Exclu sequence TB3-30 8
Hand 3 open：SL3 program Y03
sive SAFE-IF
TB3-23 9
Power (N24)
SAFE-IF
Hand 1 Lead Signals to be TB1-15 10
reserved by X00
switch HRS1 SAFE-IF
robot
Hand 2 Lead sequence TB1-16 11
X01
switch HRS2 program SAFE-IF
TB3-19 12
Power(P24)
SAFE-IF
Pre-assigned TB1-17 1
Spare: S1 X02
Unive and SAFE-IF
rsal connected to TB1-18 2
Spare: S2 right relays X03
SAFE-IF
Frame grounding:
15
FG
2.2.5. Limit switch for toT-axis tilt detection（UL/CE）

Limit switch for toT-axis tilt detection contact shows the following.
terminal Robot
Type Signal Descriptions Relays harness
Detects the RC512 CN35A(1
inclination of the 3)
Tilt detection：S18 Any
Exclu hand caused by
sive collision,
TB3-19 CN32(14)
Power(P24)
2-17
2.2.6. Emergency stop input
The following E/S inputs are ready to use.
＊ At memory SW1-7 ON, when sensor detects something, PLC is to send E/S signal to
robot.
＊ Pressing abnormal reset button allows to reset it after sensor’s detection.
If can’t reset it, cycle main power.
Numbers
No. Type of E/S Descriptions Connections
Inputs Outputs
ES1 & ES2
１ E/S switch Emergency stop 1 0
(On TB3 or SAFE-IF)
DS1 & DS2
２ Door switch Safety 1 0
(On TB3 or SAFE-IF)
Entrance SE1 & SE2
３ Safety 1 0
detection (On TB3 or SAFE-IF)
Before
SE11 P24
SE21
TB3
After
SE11 OSSD1
Safety
SE21 OSSD2 senser
Fig: TB3 location Fig (c) “SE”
Before Before
ES11A DS11
ES11B DS12
ES21A DS21
ES21B DS22
After After
ES11A DS11
ES11B DS12
ES21A DS21
ES21B DS22
Fig (a) Example of “ES” connection Fig (b) “DS”
2-18
2.2.7. Contact with peripheral equipment（UL/CE）
１）Motor power on signal from the external.
If to connect the switch to TB3 or SAFE-IF, you can turn on motor power from
outside.
RMT-ON1
RMT-ON2
２）Abnormal reset signal from the external.

If to connect the switch to TB3 or SAFE-IF, you can reset abnormal signal from
outside.
RMT-RESET1
３）Connection of peripheral equipment for contactors

If to connect the power contactors for peripheral devices to TB3 or SAFE-IF, you can be shut
off power supply for peripheral devices In the safety circuit of the controller.
Befor connect
EDM-A
SAFE1
SAFE2
After connect
The contactors for peripheral devices
EDM-A
EDM-B
SAFE1
MC
SAFE2
MC
N24
N24
2-19
3. Input output Data memories
3.1. Configuration
3.1.1. List
Notati Numb
Symbol Descriptions Type Start# End# At main power ON
on ers
X Input (*1) Hex 128 0 7Fh
Y Output (*1) " 104 0 67h Off

Univer M0～6FF: Off
M User area " 2048 0 7FFh
sal Others retentive
M System area_Input (*1) " 2048 5000h 57FFh Off
M System area_Output (*1) " 2048 6000h 67FFh “

Exclusi
M Supervisor area " 32 7000h 701Fh Retentive
ve
Decim
Univer al D1000～2499 : zero
D User area 3000 1000 3999
sal Others retentive
D System area_Input (*1) " 1000 5000 5999 Off
D System area_Output (*1) " 1000 6000 6999 “

Exclusi
D Supervisor area " 16 7000 7015 Retentive
ve
(*1) See the next pages for memory map of system area.
Users can use relays (data memories) of system area_Universal.
3-1
3.1.2. System area [M]
Inputs Outputs
PLC standard PLC standard
interface area interface area
M5000～M5070 M6000～M6067
[128bit] [104bit]
Universal area Universal area

M5080～M50FF M6068～M60FF
[128bit] [152bit] Max numbers of bits Fieldbus

can link with is 512.
PLC expansion PLC expansion
interface area interface area * Number of linking is
M5100～M57FF M6100～M67FF depending on type of
Fieldbus and/or its setting.
3-2
3.1.3. System area [D]
Input Output
interface area 1 interface area 1 Max numbers of words
D5000～D5015 D6000～D6015 Fieldbus can link with is 96.
[16Word] [16Word]
Universal area Universal area * Number of linking is
D5016～D5095 D6016～D6095 depending on type of
Fieldbus and/or its setting
[80Word] [80Word]
Reserved Reserved
D5096～D5199 D6096～D6199
[104Word] [104Word]
interface area 2 interface area 2
D5200～D5999 D6200～D6999
[500Word] [500Word]
Pallet1 info: D6500～

Pallet3 info：D6568～
↓
3-3
3.2. PLC Standard Interface
3.2.1. [X/Y]
Data communication between external PLC and robot is described from PLC side when
external PLC is used.
１．Motor power ON enable signal

Turn on motor-power-ON-enable signal (X1F) on conditions that the PLC has not
abnormality in internal process and the motor-power-ON-enable signal from robot
(Y1E) is turned on.
２．Start key signal

Robot controller starts (stops) operation on condition that operation signal (X1D)
from PLC is turned on (off). If PLC has no abnormality in internal process and
both operation key signal (Y20) and motor power switch (Y1A) are turned on,
the operation signal (X1D) is turned on.
Retain the status even if motor power switch (Y1A) is turned off. (Unrelated with
motor power status)
In automatic mode, operation key signal (Y1A) is not turned on even if start
key is pressed on condition that motor power is not turned on.
３．Start of program
When external PLC is used, the program is specified by ID-No. PLC sets ID-No. to
start in X08 – X0E and turn ID-strobe (X0F) on. X0F is usually turned off with station
loading enable ON (Y08- ) from robot.
４．Partial discharge
When discharging on controller, signal (Y22 for pallet 1…) corresponding to
requested pallet No. is turned on for 500msec. PLC sets the ID-No. to X08 – X0E
at rising timing of relay and turn partial discharge strobe (X13) on.
X13 is usually turned off with stacking complete (Y0A -) ON from robot.
５．Sequence reset
Only when memory switch 2-1 is turned on, sequence resetting allows to turn
Y1F on for 500msec. Signal of first-layer-first product (Y0C-) is turned off for
the number of pallets set at sys-para in pallet 1.
６．Conveyor manual operation

Whenever the type of conveyors is updated, selected data is sent through
Centronix communication only when Centronix is selected. Forward-Up-Open
manual strobe (Y13) is turned on while “Forward-Up-Open” button is being
pressed and Reverse-Down-Close manual strobe (Y14) is turned on while
“Reverse-Down-Close” button is being pressed.
７．Abnormality of PLC
When Centronix communication is selected, if error occurs or be detected in PLC,
the error command is to be sent through Centronix. To turn X1E on allows to
sound buzzer. {To detect the rising of buzzer stop (Y18) allows to turn it off.} At
the same time, errors are displayed on POD screen and logged. However, the
operation and motor power are not turned off by itself yet. PLC is to control how
it should be.
3-4
Output signals
Relay Name At
Descriptions
com
‘Station loading This is output signal to indicate robot completes to
Y08
enable1’ move up above station after picking products. This
signal is to be usually turned on at step 4 and turned
‘Station loading off at step 5 in robot sequence logic. PLC turns
Y09 ‘Product on station’ OFF at its rising and lets next
enable2’
product come into station.
Y0A ‘Stacking complete 1’ This is output signal to indicate robot completes to
stack a full pallet. In regular robot sequence, using
ENCHK command makes to turn it on at step 8 and
Y0B ‘Stacking complete 2’ turn it off at step 1. This signal in PLC allows to drive
pallet conveyor to discharge a full pallet and bring a
empty pallet in for next stacking.
Pallet-1.layer-1.product [Standard usage of Okura Japan]

Y0C
-1 This is signal to be turned on at a step designated by
user’s robot sequence during stacking for ‘layer 1.
product 1’ and turned it off by OS at step 5. PLC has
Pallet-2.layer-1.product
Y0D to stop robot at a step if optional sensor of ‘product
-1
on pallet’ is turned on during this signal on to avoid
robot crash.
Robot operation cycle
Y0E
failure
Y0F Robot origin position
Y10 Station ON 1 This signal is turned on when “Station ON x” in
station on/off screen is turned on. It allows PLC to let
Y11 Station ON 2 product come in station x.
This is output signal when “Internal mode” is
selected in program selection. It is usually used to
Y12 Internal operation
prohibit next product to come into station. (Internal
operation can make external strobe disable.)
This signal is turned on while pressing
Forward-Up-Open [FORWARD-UP-OPEN] key in conveyor operation
Y13 menu. On PLC program this signal is used as a
manual strobe trigger to operate conveyors according to the
previously transferred “Conveyor Nos” via Centronix.
Reverse-Down-Close [REVERSE-DOWN-CLOSE] key in conveyor operation
Y14 menu. On PLC program this signal is used as a
Manual strobe trigger to operate conveyors according to the
previously transferred “Conveyor Nos” via Centronix.
When abnormality occurs this signal is turned on. On
Y15 Robot abnormality PLC turn off the operation signal (X1D) when this is
received.
This signal is turned on when “Auto mode” is selected in

Y16 Automatic mode main menu. On PLC forbid manual operation of conveyor
when this signal is received.
This signal is turned on when discharge strobe

(M5013) is received.
This signal is turned off when stacking complete
signal is turned on in ENCHK command after one
Y17 Discharge in progress cycle operation at “arm move” selected
.
This signal is turned on when pressing alarm stop
push button under the abnormal condition. On PLC
Y18 Stop buzzer
program this signal is used to turn off the buzzer
signal (X1E).
Y19 Motor power on This signal is turned on when motor power is ON.
3-5
Relay Name At
Descriptions
com
This signal is turned on while “START” key is being
pressed.
Y1A Operation key signal On PLC program make operation logic to turn robot
operation (X1D) on. (Sample logic: Pressing and
holding “START” button for 5 sec allows to retain the
circuit.)
This signal is turned on while “STOP” key is being
Y1B Stop key signal pressed. On PLC turn off operation signal (X1D) when
this signal is received.
Abnormal reset This signal is turned on while [Abnormal reset

Y1C pushbutton] is being pressed. On PLC program reset
push button ON “abnormality” retained when this signal is received.
Emergency stop button
Y1D This signal is turned off at emergency stop.
OFF
This signal is turned on unless any error occurs at
Y1E Motor power ON enable robot. On PLC program use this signal as one of the
conditions to turn on “motor power ON enable” (X1F).
This signal is turned on when sequence resetting is
Y1F Sequence reset
executed. (Only when memory SW2-1 is turned on.)
This signal is turned on while “motor power ON/OFF
Y20 Control power ON select switch” on control panel is positioned at
neutral position.
Teaching pendant
Y21
connection
Discharge request.pallet
Y22 This signal is turned on for 500msec when pallet No.is
1
entered at “pallet discharge” screen. On PLC program
Discharge request.pallet output ID_No. and partial discharge strobe (X13).
Y23
2
Y24 Universal usage
Y25 R area 20 Those three bit data indicates by binary data in which
area of R axis, designated by system parameter of
Y26 1
R area 2 robot, robot arm is. On PLC program, when stacking
on floor, check if robot arm is going to move to the
Y27 R area 22 pallet of stacking completed to be taken out. Stop
robot immediately if so.
Station loading enable This is output signal of moving up completed after
Y28 Rdat0
on 3 robot has picked products up on station and have
moved up to step 4. In a standard robot sequence,
this is turned on at step 4 and turned off at step 5. On
PLC program, this signal at rising is used to turn off
Station loading enable the retained product on station and let next products
Y29 Rdat1
on 4 come into station.
In case RMod(Y32) is turned on, these ports are
switched over to data communication PLC can use.
Y2A ‘Stacking complete 1’ Rdat2 This is output signal a full pallet stacking is
Y2B ‘Stacking complete 2’ Rdat3 completed. In a standard sequence, this is turned on
at step 8 and turned off at step 9. On PLC program,
Y2C ‘Stacking complete 3’ Rdat4 this is used to turn on pallet conveyors to discharge a
Y2D ‘Stacking complete 4’ Rdat5 full pallet and convey a empty pallet. (exact same
signal as Y0A / Y0B)
Y2E ‘Stacking complete 5’ Rdat6
In case Rmod(Y32) is turned on, these ports are
Y2F ‘Stacking complete 6’ Rdat7 switched over to data communication PLC can use.
Y30 Station ON 3 This signal is turned on when “Station ON x” in station
on/off screen is turned on. It allows PLC to let product
Y31 Station ON 4
come in station x.
I n case [Ext PLC Com Setup] in system parameter is
set to [Centronix], this signal is turned on while data
transfer(Centronix) from robot controller to PLC is
Y32 Rmod being executed.
See section 2.2 for timing of data communication.
Data communication gets started not at Pbsy on but
at Pbsy off.
3-6
Relay Name At
Descriptions
com
While data communication in Centronix is executed
between robot controller and PLC, this signal is used
as a strobe to read. When this signal is turned on
Y33 Rstb
while Rmod is turned on, data communication can get
started. This signal is turned off when PLC sends Rack
to robot controller.
This signal is turned on when robot is BUSY with
processing data through data communication.
Y34 Rbsy
On PLC program hold on switching over to Pmod or
wait for next batch while this signal is turned on.
This is a response signal from robot controller while
data communication through Centronix is executing
Y35 Rack from PLC to robot controller. On PLC program turn
Pstb off when this is received.
Y36
Universal usage
Y37
Y38
3
Discharge request.pallet This signal is turned on for 500msec when pallet
Y39
4 number is entered at [Pallet discharge] screen. On
Discharge request.pallet PLC program output ID-No and Partial discharge
Y3A strobe (X13) upon this signal.
5
Y3B
6
Y3C
Y3D
Universal usage
Y3E
Y3F
Pallet-3.layer-1.product-
Y40
1 [Standard usage of Okura Japan]
Pallet-4.layer-1.product- This is signal to be turned on at a step designated by
Y41 user’s robot sequence during stacking for ‘layer 1.
1
Y42 to stop robot at a step if optional sensor of ‘product
1 on pallet’ is turned on during this signal on to avoid
Pallet-6.layer-1.product- robot crash.
Y43
1
Y44
Y45
Universal usage
Y46
Y47
Y48 ‘Stacking complete 7’
Y49 ‘Stacking complete 8’
Y4A ‘Stacking complete 9’ This is output signal a full pallet stacking is
completed. In a standard sequence, this is turned on
Y4B ‘Stacking complete 10’
at step 8 and turned off at step 9. On PLC program,
Y4C ‘Stacking complete 11’ this is used to turn on pallet conveyors to discharge a
Y4D ‘Stacking complete 12’ full pallet and convey a empty pallet.
Y4E ‘Stacking complete 13’
Y4F ‘Stacking complete 14’
Y50 This signal is turned on for 500msec when pallet
7
number is entered at [Pallet discharge] screen. On
Y51 PLC program output ID-No and Partial discharge
8 strobe (X13) upon this signal.
Y52
9
3-7
Relay Name At
Descriptions
com
Discharge
Y53
request.pallet10
Discharge
Y54
request.pallet11
Discharge
Y55
request.pallet12
Discharge
Y56
request.pallet13
Discharge
Y57
request.pallet14
Y58
1
Y59
1
Y5A
1 [Standard usage of Okura Japan]
Pallet-10.layer-1.product This is signal to be turned on at a step designated by
Y5B user’s robot sequence during stacking for ‘layer 1.
-1
Y5C to stop robot at a step if optional sensor of ‘product
-1 on pallet’ is turned on during this signal on to avoid
Pallet-12.layer-1.product robot crash.
Y5D
-1
Y5E
-1
Y5F
-1
Y60
Y61
Y62
Y63
Universal usage
Y64
Y65
Y66
Y67
3-8
Input signals
Relay Name At com Descriptions
X08 ID No. Selection 20 These binary data of seven bits designates which
X09 ID No. Selection 21 ID-No program to run. The timing to output this
signal is when products per a pick are ready on
X0A ID No. Selection 22 station or partial discharge is retained.
X0B ID No. Selection 23
Program is switched over at PGSEL on robot
X0C ID No. Selection 24 sequence.
X0D ID No. Selection 25 The strobe to execute a program with ID_No to
be set is (X0F) while that for partial discharge is
X0E ID No. Selection 2６ (X13). This datal is to be output earlier than 0.3
sec before the above strobes are turned on.
This is strobe to let it read ID_No to start
stacking. On PLC program turn this strobe on
more than 0.3 sec after ID_No Selection is
output.
X0F ID No. Strobe
In case this is turned on when PSGEL is
executed in robot sequence, stacking for the
program setup gets started. Turn it off when
station loading enable (Y08 - ) is turned on.
X10 Number of pallet 20 In case [Pallet on floor] is selected in program
X11 Number of pallet 21 parameter, whole stacking positions are shifted
upward by the value of “ (# of pallets entered
here) x (its thickness)”. These data is sucked up
when a program is selected at PGSEL.
Number of pallets is expressed in binary data (3
bits).
X12 Number of pallet 22 0: No. of pallets 1

1: No. of pallets 2
2: No. of pallets 3
……..
7: No of pallets 8
This is strobe to let it read the above ID_No for

Partial discharge. On PLC program this strobe is
output more than 0.3 sec after ID_No Selection
is output.
X13 Partial discharge strobe
In case this is turned on when PSGEL is
executed in robot sequence, partial discharge for
the program setup gets started. Turn it off when
station loading enable (Y08 - ) is turned on.
On PLC program this signal is turned on when

stacking complete signal is turned on. Turn it off
X14 Stacking complete ACK when stacking complete signal is turned off. This
signal is shared among pallets.
This signal is turned on when station loading
Station loading enable enable is turned on and turned off when station
X15
ACK loading enable is turned off. This is shared
among pallets.
X16
Universal
X17
X18 ‘Pallet detection 1’ Turn it on when a pallet is at stacking location
and turn it off when pallet detection sensor is off
and/or during being discharged after completed.
Create robot sequence to wait at step 6 while
X19 ‘Pallet detection 2’ this signal is turned off in a single layout. In a
multi-stacking layout, however, make ID_No
selection output only when this signal is turned
on.
3-9
Turn it off while a full pallet is being discharged
or discharge detection sensor is being
‘Pallet being transferred
X1A interrupted. Create robot sequence to wait at
1’
step 4 while this signal is turned off in a single
layout. In a multi-stacking layout, however,
make ID_No selection output only when this
X1B signal is turned on.
2’
This is a signal to temporarily stop moving.
On sequence, robot stops before executing
X1C External hold
adjacent new MOV command and re-executes
commands when it is turned off.
Robot gets started to run when it is turned on.
Operation On PLC program configure the operation circuit

X1D
to make this signal turn on by (Y1A) when
[START] key on operation panel is pressed
This is signal to make a alarm buzzer sound.
X1E Buzzer Buzzer sounds whenever any error in robot
occurs regardless of the signal.
X1F Motor power on enable Enable to turn motor power on.
X20
X21
X22
X23
X24
X25
X26
X27
Universal usage
X28
X29
X2A
X2B
X2C
X2D
X2E
X2F
X30 ‘Pallet detection 3’ Pdat 0 Turn it on when a pallet is at stacking location
X31 ‘Pallet detection 4’ Pdat 1 and turn it off when pallet detection sensor is off
and/or during being discharged after completed.
X32 ‘Pallet detection 5’ Pdat 2
Create robot sequence to wait at step 6 while
this signal is turned off in a single layout. In a
X33 ‘Pallet detection 6’ Pdat 3 on.
On PLC program configure the logic since those
ports are switched over to data communication
in case Pmod (X40) is turned on.
‘Pallet being transferred Turn it off while a full pallet is being discharged
X34 Pdat 4 or discharge detection sensor is being
3’
interrupted. Create robot sequence to wait at
X35 Pdat 5 step 4 while this signal is turned off in a single
4’ layout. In a multi-stacking layout, however,
‘Pallet being transferred make ID_No selection output only when this
X36 Pdat 6
5’ signal is turned on.
On PLC program configure the logic since those
X37 Pdat 7 ports are switched over to data communication
6’ in case Pmod (X40) is turned on.
3-10
X38
X39 Universal usage
X3A
X3B
X3C
X3D Universal usage
X3E
X3F
In case [Ext PLC Com Setup] in system parameter
is set to
X40 Pmod [Centronix], this signal is turned on while data
transfer(Centronix) from PLC to robot controller is
being executed.
While Pmod is turned on, robot controller gets
started to read data in case this signal is turned
on.
X41 Pstb Make this signal output more than one scan time
of period (about 30msec) in sequence after Pdat
is output. Turn this off when robot sends to PLC
‘Rack’ of ‘data read complete’.
This signal is turned on when PLC is BUSY with
X42 Pbsy
On PLC program turn it on while PLC cannot
make data communication.
This is a response signal from PLC that data
X43 Pack from robot has been received by PLC. Turn this
off when Rstb is turned off.
X44
X45
Universal usage
X46
X47
X48 ‘Pallet detection 7’
Turn it on when a pallet is at stacking location
X49 ‘Pallet detection 8’
and turn it off when pallet detection sensor is off
X4A ‘Pallet detection 9’ and/or during being discharged after completed.
X4B ‘Pallet detection 10’ Create robot sequence to wait at step 6 while
X4C ‘Pallet detection 11’ this signal is turned off in a single layout. In a
X4D ‘Pallet detection 12’
X4E ‘Pallet detection 13’ on.
X4F ‘Pallet detection 14’
X50
7’
X51
8’
X52
9’ Turn it off while a full pallet is being discharged
‘Pallet being transferred or discharge detection sensor is being
X53 interrupted. Create robot sequence to wait at
10’
step 4 while this signal is turned off in a single
‘Pallet being transferred layout. In a multi-stacking layout, however,
X54
11’ make ID_No selection output only when this
‘Pallet being transferred signal is turned on.
X55
12’
X56
13’
X57
14’
3-11
X58
X59
X5A
X5B
X5C
Universal usage
X5D
X5E
X5F
X60
X61
X62
X63
X64
X65
X66
X67
X68 Universal usage
X69
X6A
X6B
X6C
X6D
X6E
X6F
3-12
3.2.2. [M + D]
It is described in the section that PLC processes the data transactions between PLC and
robot.
１．Motor power ON enable signal

Turn on the motor power ON enable signal (M501F) if motor power ON enable
from robot (M601E) signal is turned on and also unless any error in internal process
occurs inside PLC.
２．Start key signal

Robot controller starts (stops) operation on condition that operation signal
(M501D) from PLC is turned on(off). If PLC has no abnormality in internal
process, motor power switch (M6020) is in neutral position and operation key
signal (M601A) is turned on, operation signal (M501D is ON ) is turned on.
Retain the status even if operation key signal (M601A) is turned off. (Unrelated
with motor power status)
In automatic mode, operation key signal (M601A) is not turned on even if start
key is pressed on condition that motor power is not turned on.
３．Start of program
When [External PLC Control Interface] is set to [M+D], no ID-No but
program No is instructed.
PLC sets the required program No to (D5000) and makes strobe signal (M500F).
M500F is normally turned off by station enable (M6008 - ).
４．Partial discharge
When discharging on controller, partial discharge request strobe (M6022 -)
corresponding to requested pallet No. is turned on for 500msec. PLC sets
Program No. to (D5000) at rising timing of relay to discharge and turn on partial
discharge strobe (M5013).
M5013 is usually turned off with stacking complete (M600A -).
５．Sequence reset
Only when memory switch 2-1 is turned on, if sequence reset is done, (M601F)
is turned on for 500msec, the signal of 1st layer-1st product (M600C-) is turned
off for the number of pallets from pallet 1 set by the system parameter.
６．Conveyor manual operation

The bits corresponding to selected conveyors are set to D6001 and D6002. While
“Forward-Up-Open” is being pressed, strobe (M6013) for that is turned on and
while “Reverse-Down-Close” is being pressed, strobe (M6014) for that is turned
on.
１１．Abnormality of PLC
When PLC occurs or detects abnormality, execute the process of abnormality
notice to robot (*1) and turn M501M on to sound buzzer if needed. Turn M501E
off at rising timing of buzzer stop (M6018). Error messages are shown up on POD
screen when ERR/ERRP commands are executed and are logged. However,
operation and motor power won’t be turned off by itself. Properly controlling the
error(s) are required on PLC logic.
(*1) It is possible to notify robot by the following ways.
3-13
1) Execute ERR/ERRP commands at built-in PLC control.
2) At external PLC control
- Execute ERR/ERRP command by built-in PLC after errors are notified by
external PLC.
- At Centronix communication of PLC expansion interface, use Centronix.
3-14
Output signals (RY)
Relays Signal name Descriptions

M6000
～ Universal
M6007
(Station loading enable This signal is used to indicate robot going up motion is
M6008
1) completed after picking product on station conveyor and
ready to next product to come into the station conveyor.
In a standard robot sequence logic, this signal is turned
ON when robot arm is positioned at step 4 and turned
(Station loading enable OFF at step 5.
M6009
2)
On PLC program this signal at rising timing is used as a
trigger to let next product to come into the station
conveyor.
M600A (Stacking completed 1) This signal is used to indicate stacking is completed.
In a standard robot sequence program, this signal is
turned ON at step 8 and turned Off at step 1 when
stacking is considered completed.
M600B (Stacking completed 2) ENCHK command is usually used to turn this signal on in
robot sequence program.
On PLC program this signal is used as a trigger to
discharge pallet.
Pallet-1.layer-1.product Okura standard usage: In robot sequence program turn
M600C
-1 this signal on in a step to palletizing the 1st product on
the pallet. Turn it off at step 5. On PLC program if product
Pallet-2.layer-1.product or something is detected by a optional sensor while this
M600D
-1 signal is ON then stop robot to avoid collision.
Robot operation cycle
M600E
failure
M600F Robot origin
M6010 Station ON 1 This signal is turned ON when “Station ON” in station
on/off menu is selected. On PLC program this signal is
M6011 Station ON 2 used to prohibit next product to come into the station
conveyor.
This signal is turned ON when “internal mode” in
Automatic operation condition menu is selected. On PLC
M6012 Internal operation program this signal is used to prohibit next product to
come into the station conveyor. This can also be used to
disable external strobe signal.
[FORWARD-UP-OPEN] key in conveyor operation menu.
Forward-Up-Open
M6013 On PLC program this signal is used as a trigger to operate
manual strobe
conveyors according to the previously transferred
“Conveyor Nos” via Centronix.
[REVERSE-DOWN-CLOSE] key in conveyor operation
Reverse-Down-Close
M6014 menu. On PLC program this signal is used as a trigger to
manual strobe
operate conveyors according to the previously transferred
“Conveyor Nos” via Centronix.
When abnormality occurs this signal is turned on. On PLC
M6015 Robot abnormality
turn off the operation signal (M501D) when this is received.
This signal is turned on when “Auto mode” is selected in main
M6016 Automatic mode menu. On PLC forbid manual operation of conveyor when this
signal is received.
This signal is turned on when discharge strobe (M5013) is
received.
This signal is turned off when stacking complete signal is
M6017 Discharge in process turned on in ENCHK command after one cycle operation
at “arm move” selected or when program 0 is
automatically executed after stacking completed at “No
arm move” selected.
3-15
This signal is turned on when pressing alarm stop push
M6018 Stop buzzer button under the abnormal condition. On PLC program
this signal is used to turn off the buzzer signal (M501E).
M6019 Motor power on This signal is turned on when motor power is ON.
This signal is turned on while “START” key is being
pressed.
M601A Operation key On PLC program make operation logic to turn robot
operation (M501D) on.(Sample logic: Pressing and
holding “START” button for 5 sec allows to retain the
circuit.)
This signal is turned on while “STOP” key is being
M601B Stop key pressed. On PLC turn off operation signal (M501D) when
this signal is received.
This signal is turned on while [Abnormal reset
Abnormal reset push
M601C pushbutton] is being pressed. On PLC program reset
button
“abnormality” retained when this signal is received.
Emergency stop button This signal is turned off when Emergency stop button is
M601D
OFF pressed.
This signal is turned on unless any error occurs at robot.
M601E Motor power ON enable On PLC program use this signal as one of the conditions
to turn on “motor power ON enable” (M501F).
This signal is turned on when sequence resetting is
M601F Sequence reset
executed. (Only when memory SW2-1 is turned on.)
This signal is turned on while “motor power ON/OFF
M6020 Control power on select switch” on control panel is positioned at neutral
position.
Teaching pendant
M6021
connection
M6022 Discharge start strobe 1 This signal is being turned ON for 500 msec when “pallet
discharge” in pallet discharge menu is selected. On PLC
M6023 Discharge start strobe 2 program this signal is used as a trigger to output ID No.
and pallet discharge strobe (M5013).
M6024
～ Universal
M6027
(Station loading enable This signal is used to indicate robot going up motion is
M6028
3) completed after holding product on station conveyor and
ready to next product to come into the station conveyor.
turned ON when robot arm is positioned at step 4 and
(Station loading enable turned OFF at step 5.
M6029
4)
On PLC program this signal at rising timing is used as a
trigger to let next product to come into the station
conveyor.
M602A
Universal
M602B
M602C (Stacking completed 3) This signal is used to indicate stacking is completed.
M602D (Stacking completed 4) In a standard robot sequence program, this signal is
turned ON at step 8 and turned Off at step 1 when
M602E (Stacking completed 5)
stacking is considered completed.
ENCHK command is usually used to turn this signal on in
M602F (Stacking completed 6) robot sequence program.
discharge pallet.
M6030 Station ON 3 This signal is turned ON when “Station ON” in station
on/off menu is selected. On PLC program this signal is
M6031 Station ON 4 used to prohibit next product to come into the station
conveyor.
3-16
In case [Ext PLC Com Setup] in system parameter is set to
[Centronix], this signal is turned on while data
transfer(Centronix) from robot controller to PLC is
M6032 RMod being executed.
See section 4.2 for timing of data communication. Data
communication gets started not at Pbsy on but at Pbsy
off.
While data communication in Centronix is executed
between robot controller and PLC, this signal is used as a
strobe to read. When this signal is turned on while Rmod
M6033 Rstb
is turned on, data communication can get started. This
signal is turned off when PLC sends Rack to robot
controller.
This signal is turned on when robot is BUSY with
M6034 Rbsy
On PLC program hold on switching over to Pmod or wait
for next batch while this signal is turned on.
This is a response signal from robot controller while data
communication through Centronix is executing from PLC
M6035 Rack
to robot controller. On PLC program turn Pstb off when this
is received.
M6036
Universal
M6037
M6038 Discharge start strobe 3
This signal is being turned ON for 500 msec when “pallet
M6039 Discharge start strobe 4 discharge” in pallet discharge menu is selected. On PLC
M603A Discharge start strobe 5 program this signal is used as a trigger to output ID No.
M603B Discharge start strobe 6
M603C
～ Universal
M603F
M6040 Pallet-3.layer-1.product-1 Okura standard usage: In robot sequence program turn
M6041 Pallet-4.layer-1.product-1 this signal on in a step to palletizing the 1st product on the
pallet. Turn it off at step 5. On PLC program if the product
M6042 Pallet-5.layer-1.product-1 is detected by a optional sensor while this signal is ON
M6043 Pallet-6.layer-1.product-1 then stop robot to avoid collision.
M6044
～ Universal
M6047
M6048 (Stacking completed 7)
This signal is used to indicate stacking is completed.
M6049 (Stacking completed 8)
M604A (Stacking completed 9) turned ON at step 8 and turned Off at step 1 when
M604B (Stacking completed 10) stacking is considered completed.
M604C (Stacking completed 11) ENCHK command is usually used to turn this signal on in
M604D (Stacking completed 12) robot sequence program.
M604E (Stacking completed 13)
discharge pallet.
M604F (Stacking completed 14)
This signal is being turned ON for 500 msec when “pallet
M6053 Discharge start strobe 10 discharge” in pallet discharge menu is selected. On PLC
M6054 Discharge start strobe 11 program this signal is used as a trigger to output ID No.
M6058 Pallet-7.layer-1.product-1
M6059 Pallet-8.layer-1.product-1
M605A Pallet-9.layer-1.product-1
3-17
Pallet-10.layer-1.product- Okura standard usage: In robot sequence program turn
M605B
1 this signal on in a step to palletizing the 1st product on
Pallet-11.layer-1.product- the pallet. Turn it off at step 5. On PLC program if the
M605C product is detected by a optional sensor while this signal
1
is ON then stop robot to avoid collision.
M605D
1
M605E
1
M605F
1
M6060
～ Universal
M6067
3-18
Input signals

M5000
～ Universal
M500E
This is strobe to let it read ID_No to start stacking. On PLC
program turn this strobe on more than 0.3 sec after ID_No
Selection is output.
M500F ID No. Strobe In case this is turned on when PSGEL is executed in robot
sequence, stacking for the program setup gets started.
Turn it off when station loading enable (M6008- ) is turned
on.
M5010
M5011 Universal
M5012
This is strobe to let it read the above ID_No for Partial
discharge. On PLC program this strobe is output more than
0.3 sec after ID_No Selection is output.
M5013 Partial discharge strobe In case this is turned on when PSGEL is executed in robot
sequence, partial discharge for the program setup gets
started. Turn it off when station loading enable (M6008 - )
is turned on or stacking completed (M600A -) is turned on.
M5014 Stacking completed ACK
Station loading enable
M5015
ACK
M5016
Universal
M5017
M5018 (Pallet detection 1) Turn it on when a pallet is at stacking location and turn it
off when pallet detection sensor is off and/or during being
discharged after completed. Create robot sequence to wait
M5019 (Pallet detection 2) at step 6 while this signal is turned off in a single layout.
In a multi-stacking layout, however, make ID_No selection
output only when this signal is turned on.
(Pallet being transferred Turn it off while a full pallet is being discharged or
M501A
1) discharge detection sensor is being interrupted. Create
robot sequence to wait at step 4 while this signal is turned
(Pallet being transferred off in a single layout. In a multi-stacking layout, however,
M501B
2) make ID_No selection output only when this signal is
turned on.
This is a signal to temporarily stop moving.
On sequence, robot stops before executing adjacent new
M501C External hold
MOV command and re-executes commands when it is
turned off.
Robot gets started to run when it is turned on.
On PLC program configure the operation circuit to make
M501D Operation
this signal turn on by (M601A) when [START] key on
operation panel is pressed.
This is signal to make a alarm buzzer sound.
M501E Buzzer Buzzer sounds whenever any error in robot occurs
regardless of the signal.
M501F Motor power ON enable Enable to turn motor power on.
M5020
～ Universal
M502F
M5031 (Pallet detection 4) off when pallet detection sensor is off and/or during being
3-19
M5032 (Pallet detection 5) discharged after completed. Create robot sequence to wait
at step 6 while this signal is turned off in a single layout.
M5033 (Pallet detection 6) In a multi-stacking layout, however, make ID_No selection
output only when this signal is turned on.
(Pallet being transferred
M5034
3) Turn it off while a full pallet is being discharged or
(Pallet being transferred discharge detection sensor is being interrupted. Create
M5035
4) robot sequence to wait at step 4 while this signal is turned
M5036
(Pallet being transferred turned on.
M5037
6)
M5038
～ Universal
M503F
In case [Ext PLC Com Setup] in system parameter is set to
[Centronix], this signal is turned on while data
M5040 Pmod transfer(Centronix) from PLC to robot controller is being
executed.
While Pmod is turned on, robot controller gets started to
read data in case this signal is turned on.
M5041 Pstb Make this signal output more than one scan time of period
(about 30msec) in sequence after Pdat is output. Turn this
off when robot sends to PLC ‘Rack’ of ‘data read complete’.
This signal is turned on when PLC is BUSY with processing
data through data communication.
M5042 Pbsy On PLC program turn it on while PLC can not make data
communication.
This is a response signal from PLC that data from robot

M5043 Pack has been received by PLC. Turn this on after data is written
down and turn it off when Rstb is turned off.
M5044
～ Universal
M5047
M5048 (Pallet detection 7)
M504A (Pallet detection 9) off when pallet detection sensor is off and/or during being
M504B (Pallet detection 10) discharged after completed. Create robot sequence to wait
M504C (Pallet detection 11) at step 6 while this signal is turned off in a single layout.
M504D (Pallet detection 12) In a multi-stacking layout, however, make ID_No selection
M504E (Pallet detection 13) output only when this signal is turned on.
M504F (Pallet detection 14)

M5050
7)
M5051
8) Turn it off while a full pallet is being discharged or
(Pallet being transferred discharge detection sensor is being interrupted. Create
M5052
9) robot sequence to wait at step 4 while this signal is turned
M5053
(Pallet being transferred turned on.
M5054
11)
M5055
12)
3-20
M5056
13)
M5057
14)
M5058
～ Universal
M506F
3-21
3.3. PLC Expansion Interface
3.3.1. In case controlled by Built-in PLC
It explains the data communication of PLC and robot when built-in PLC is used,
focusing on the process of the PLC.
１．Product type setting

When product type is set on controller, program data is sent to corresponding data
memory (Example pallet 1: D6500 - D6533) and pallet-number-allocated relay (M6116)
is turned on. After necessary process on PLC at the rising up detection of the relay, the
product type setting_ACK (M510C) is turned on. Turning ACK on allows the relay to turn
off so that PLC needs to turn the ACK off at sinking down timing of the relay. (Error
occurs when the relay is not turned off within one second.)
2. Stacking count value change

When count value is changed or initialized on controller, changed count value is set to
corresponding data memory(example: pallet1 D6502, D6503,･･), and pallet counter
setting relay (M6124) is turned on. After necessary process on PLC at the rising up
detection of the relay, the counter setting _ACK (M510D) is turned on. Turning ACK on
allows the relay to turn off so that PLC needs to turn the ACK off at sinking down timing
of the relay. (Error occurs when the relay is not turned off within one second.)
3. Zero reset
Zero reset relay (example: pallet1 M6108) corresponding to pallet No. is turned on.
After necessary process on PLC in the rising up detection of the relay, conveyor zero
reset ACK (M510B) is turned on. Turning ACK on allows the relay to turn off so that PLC
needs to turn the ACK off at sinking down timing of the relay. (Error occurs when the
relay is not turned off within one second.)
4. Conveyor reset
Conveyor reset relay (M6107) is turned on. After necessary process on PLC in the
rising up detection of the relay, conveyor resetting ACK (M510A) is turned on. This relay
should be turned off on PLC side. (Error occurs when the relay is not turned off within
one second.)
5. Station loading control

When product type setting or counter setting comes on, the number of picking
products for current cycle (example: pallet1 D6513) is copied to a device of user area
(example: D1000). When station loading enable comes on, the number of picking
products for the next cycle (for pallet1: D6514) is copied to (D1000). Station loading
control can be done by (D1000).
3-22
* Number of picking products_Current, Next or next-but-one cycle
Bit Descriptions Bit Descriptions
BIT 0 Robot data BIT 8 Turn data
BIT 1 (Data 1) BIT 9 Drop high
BIT 2 BIT 10 Direction of picking
BIT 3 Layer end BIT 11
BIT 4 Direction of approach BIT 12 Number of picking products
BIT 5 BIT 13
BIT 6 BIT 14
BIT 7 Signal of last work in a BIT 15
selected program.
Outputs signals
Relays Signal names Descriptions

M6068
～ Universal
M60FF
M6100 Sequence reset request ACK
M6101 DA Height measuring complete
M6102 RC failure notice
M6103 BCR reading notice
M6104
M6105 System reserve
M6106
M6107 Conveyor reset
M6108 Conveyor zero reset 1
M610A Conveyor zero reset 3
M610B Conveyor zero reset 4
M610C Conveyor zero reset 5
M610D Conveyor zero reset 6
M610E Conveyor zero reset 7
M610F Conveyor zero reset 8
M6116 Pallet 1 program allocating
M611A Pallet 5 program allocating
M611B Pallet 6 program allocating
M611C Pallet 7 program allocating
M611D Pallet 8 program allocating
3-23
M611E Pallet 9 program allocating
M611F Pallet 10 program allocating
M6124 Pallet 1 counter setting
M612A Pallet 7 counter setting
M612B Pallet 8 counter setting
M612C Pallet 9 counter setting
M612D Pallet 10 counter setting
M612E Pallet 11 counter setting
M612F Pallet 12 counter setting
M6132 Hand 4
M6133 Hand 5
M6134 Hand 6
M6135 Hand 7
M6136 Hand 8
M6137 Hand 9
M6138
～ System reserve
M61FF
M6200 Clock 0.1 sec
M6201 Clock 0.2 sec
M6202 Clock 1 sec
M6203 Clock 2 sec
M6204 Clock 1 min
M6205 Detecting AC DOWN
M6206
M6208
M6209 Normal PLC execute latch
M620A Normal PLC execute flag
M620B High speed PLC execute latch
M620C High speed PLC execute flag
M620D Normal PLC scan over
M620E High speed PLC scan over
M620F Error (abnormal)
M6210 Error (warning)
M6211 Error (caution)
M6212 Error (notice)
M6213 Fieldbus link failure
M6214 Conveyor screen being displayed
3-24
M6215 X1 axis being controlled
M621A X6 axis being controlled
M621B C axis torque to reach
M621C
～ System reserve
M62FF
M6300
～ ALC reserve ALC Status communication data
M657F
M6580
～ System reserve
M67FF
M7000 Normal ON
M7001 Normal OFF
3-25
Output data memories
Devices Signal names Descriptions

D6000 R-area
D6001 Conveyor manual data 1
D6002 Conveyor manual data 1
D6003
～ Universal
D6007
D6008 Rdat1
D6009 Rdat2
D6010 Rdat3
D6011 Rdat4
For data communication by Centronix
D6012 Rdat5
D6013 Rdat6
D6014 Rdat7
D6015 Rdat8
D6016
～ Universal
D6095
D6096
～ System reserve
D6199
D6200 Pallet No. being stacked
D6201 Hand No.
D6202 Screen No. being displayed
D6203 Step No. being executed
D6204 RC failure data 1
D6205 RC failure data 2
D6206 R current position X100 [°]
D6207 D current position X100 [°]
D6208 O current position X100 [°]
D6209 T current position X100 [°]
D6210 C current position X100 [°]
D6211 AR current position X100 [°]
D6212 AX current position X10 [mm]
D6213 AT current position X100 [°]
D6214 AZ current position X10 [mm]
D6215 HX current position X10 [mm]
D6216 HY current position X10 [mm]
D6217 HT current position X10 [mm]
D6218 HZ current position X10 [mm]
D6219 Bag1 stop position St1 X100 [°]
D6220 Bag2 stop position St1 X10 [mm]
D6221 Centering position St1
D6222 Press height St1
D6223 Bag1 stop position St2
3-26
D6235 BC read data 1
D6243 C axis current torque
D6244 DA height PH X40
D6248 DA height measurement
D6249 Clock (Y,M)
D6250 Clock (Date, Hour)
D6251 Clock (Min, Sec)
D6252 PLC normal operation status
D6253 PLC counter 1 sec
D6254 PLC normal max scan
D6255 PLC normal scan time (ms)
D6256 PLC normal min scan
PLC high speed operation
D6257
status
D6258 PLC high speed counter 1 sec
D6259 PLC high speed max scan
D6260 PLC high speed scan time(ms)
D6261 PLC high speed min scan
D6262 PLC normal process token
D6263 PLC high speed process token
D6264 CPU Idling %
D6265 Maintenance password 1
D6266 Maintenance password 2
D6267 Current position X1
D6273 Total time(lower bit)
D6274 Total time (upper bit)
D6275 User time (lower bit)
D6276 User time (upper bit)
D6277
～ System reserve
D6299
3-27
D6300
～ ALC reserve ALC Status communication data
D6395
D6396
～ System reserve
D6499
D6500 Executing program No. Pallet 1: Program No. being executed.
D6501 Execute number of layers Pallet 1: Number of layers of program being executed
D6502 Layer count value Pallet 1: Layer count of stacking
D6503 Product count value Pallet 1: Product count of stacking
D6504 Product L Pallet 1: Product size L for program being executed [mm]
D6505 Product W Pallet 1: Product size W for program being executed [mm]
D6506 Product H Pallet 1: Product size H for program being executed [mm]
D6507 Number of pallets on floor Pallet 1: At ‘pallet on floor’, {(current number of pallets) – 1}
Number of Products on 1st Pallet 1: Number of products on 1st layer for program being
D6508
layer executed
Pallet 1: Stacking pattern of program being executed
D6509 Stacking pattern
（1:BAR,2:INTRK,3:SPCL,4:RPMD,5:ZSPL）
D6510 Jogging distance
Number of layers being
D6511
executed
D6512 Weight of product
Number of products per
D6513
current pick
Number of products per next
D6514
pick
D6515 Program Group No.
D6516 BC data 1
D6517 BC data 2
D6518 BC data 3
D6519 BC data 4
D6520 BC data 5
D6521 BC data 6
D6522 BC data 7
D6523 BC data 8
D6524
System reserve
D6530
D6531 Next-but-one picking data
D6532 Pallet type. Pallet 1: Pallet type of program being executed. (1 – 15)
D6533 System reserve
D6534 Program No. being executed Pallet 2: Program No. being executed.
D6535 Pallet 2: Number of layers of program being executed
executed
D6542
layer executed
3-28
D6545
executed
D6547
current pick
D6548
pick
D6550 BC data 1
D6551 BC data 2
D6552 BC data 3
D6553 BC data 4
D6554 BC data 5
D6555 BC data 6
D6556 BC data 7
D6557 BC data 8
D6558
System reserve
D6564
D6566 Pallet type Pallet 2: Pallet type of program being executed. (1 – 15)
executed
D6576
layer executed
D6579
executed
D6581
current pick
D6582
pick
D6584 BC data 1
D6585 BC data 2
D6586 BC data 3
D6587 BC data 4
D6588 BC data 5
D6589 BC data 6
D6590 BC data 7
D6591 BC data 8
D6592
System reserve
D6598
3-29
D6600 Pallet type. Pallet 3: Pallet type of program being executed. (1 – 15)
executed
D6610
layer executed
D6613
executed
D6615
current pick
D6616
pick
D6618 BC data 1
D6619 BC data 2
D6620 BC data 3
D6621 BC data 4
D6622 BC data 5
D6623 BC data 6
D6624 BC data 7
D6625 BC data 8
D6626
System reserve
D6632
executed
st
Number of Products on 1 Pallet 5: Number of products on 1st layer for program being
D6644
layer executed
D6647
executed
3-30
D6649
current pick
D6650
pick
D6652 BC data 1
D6653 BC data 2
D6654 BC data 3
D6655 BC data 4
D6656 BC data 5
D6657 BC data 6
D6658 BC data 7
D6659 BC data 8
D6660
System reserve
D6666
executed
D6678
layer executed
D6681
executed
D6683
current pick
D6684
pick
D6686 BC data 1
D6687 BC data 2
D6688 BC data 3
D6689 BC data 4
D6690 BC data 5
D6691 BC data 6
D6692 BC data 7
D6693 BC data 8
D6694
System reserve
D6700
3-31
executed
D6712
layer executed
D6715
executed
D6717
current pick
D6718
pick
D6720 BC data 1
D6721 BC data 2
D6722 BC data 3
D6723 BC data 4
D6724 BC data 5
D6725 BC data 6
D6726 BC data 7
D6727 BC data 8
D6728
System reserve
D6734
executed
D6746
layer executed
D6749
executed
3-32
D6751
current pick
D6752
pick
D6754 BC data 1
D6755 BC data 2
D6756 BC data 3
D6757 BC data 4
D6758 BC data 5
D6759 BC data 6
D6760 BC data 7
D6761 BC data 8
D6762
System reserve
D6768
executed
D6780
layer executed
D6783
executed
D6785
current pick
D6786
pick
D6788 BC data 1
D6789 BC data 2
D6790 BC data 3
D6791 BC data 4
D6792 BC data 5
D6793 BC data 6
D6794 BC data 7
D6795 BC data 8
D6796
System reserve
D6802
3-33
executed
D6814
layer executed
D6817
executed
D6819
current pick
D6820
pick
D6822 BC data 1
D6823 BC data 2
D6824 BC data 3
D6825 BC data 4
D6826 BC data 5
D6827 BC data 6
D6828 BC data 7
D6829 BC data 8
D6830
System reserve
D6836
executed
st
Number of Products on 1 Pallet 11: Number of products on 1st layer for program being
D6848
layer executed
D6851
executed
D6853
current pick
3-34
D6854
pick
D6856 BC data 1
D6857 BC data 2
D6858 BC data 3
D6859 BC data 4
D6860 BC data 5
D6861 BC data 6
D6862 BC data 7
D6863 BC data 8
D6864
System reserve
D6870
executed
D6882
layer executed
D6884 Jogging distance [mm]
D6885 １～
executed
D6887
current pick
D6888
pick
D6890 BC data 1
D6891 BC data 2
D6892 BC data 3
D6893 BC data 4
D6894 BC data 5
D6895 BC data 6
D6896 BC data 7
D6897 BC data 8
D6898
System reserve
D6904
3-35
executed
D6916
layer executed
D6919
executed
D6921
current pick
D6922
pick
D6924 BC data 1
D6925 BC data 2
D6926 BC data 3
D6927 BC data 4
D6928 BC data 5
D6929 BC data 6
D6930 BC data 7
D6931 BC data 8
D6932
System reserve
D6938
executed
D6950
layer executed
D6953
executed
D6955
current pick
D6956
pick
3-36
D6958 BC data 1
D6960 BC data 2
D6961 BC data 3
D6962 BC data 4
D6963 BC data 5
D6964 BC data 6
D6965 BC data 7
D6966 BC data 8
D6967
System reserve
D6972
Input signals
Relays Signal names Descriptions

M5080
～ Universal
M50FF
M5100 Sequence reset request
DA_Height measuring complete
M5101
ACK
M5102 RC Error notice ACK
M5103 BCR Reading complete ACK
M5104
M5106
M5107 DA_Height measuring request
DA_Height measurement
M5108
correction request
M510A Conveyor reset ACK
M510B Conveyor zero reset ACK
M510C Program setting ACK
M510D Counter setting ACK
M510E
System reserve
M510F
M5110 X1 axis stop request
M5116 LVDF disable Load Variation Detection Function disable
M5117
System reserve
M57FF
3-37
Input data memories

D5000 Program No. to start
D5001 Number of pallets on floor
D5002
～ Universal
D5007
D5008 Pdat 1
D5009 Pdat 2
D5010 Pdat 3
D5011 Pdat 4 For Data communication at CENTRONIX
D5012 Pdat 5 communication
D5013 Pdat 6
D5014 Pdat 7
D5015 Pdat 8
D5016
～ Universal
D5095
D5096
～ System reserve
D5199
D5200 DA_Tie-sheet data 1
D5201 DA_ Tie-sheet data 2
D5210 DA_Value of height correction
Auto operation screen displaying
D5211
text 1
D5212
text 2
D5213
text 3
D5214
text 4
D5215
text 5
D5216
text 6
D5217
text 7
D5218
text 8
D5219
text 9
D5220
text 10
D5221
～ System reserve
D5999
3-38
3.3.2. Control by external PLC
In case external PLC is used, it is possible for you to use the exact same PLC expansion
interface as [section 2.3.1] via built-in PLC, sharing memories through fieldbus (OFB).
1. Memory sharing through fieldbus
System area can be shared through fieldbus as the below diagram shows you.
Not PLC expansion interface area but PLC standard interface area can be shared. (See
[2.1.2] and [2.1.3] for detail.)
To solve the problem, copying data of PLC expansion interface into universal area of
shared memories (follow the below dot lines) allows you to enable to use from external
PLC the PLC expansion interface.
External
PLC memory
Robot controller
System area inputs：M5000/D5000
Built-in PLC Within PLC memory link area
Copied
・PLC standard interface thru OFB
M5000-/D5000-
・Universal area Shared
area
Create a M5080/D5016-
ladder
logic to Out of PLC memory link area
copy it.
・PLC expansion interface
M5100-/D5200-
System area outputs：M6000/D6000

Within PLC memory link area Copied
・PLC standard interface thru OFB
M6000-/D6000-
・Universal area Shared
area
Create a M6068/ D6016-
ladder
logic to Out of PLC memory link area
copy it. ・PLC expansion interface
M6100-/D6200-
* The sequence of PLC expansion interface is data setting into [D] first and then set
strobe of [M] second. Do the same sequence of [M] after [D] when copied by built-in
PLC.
* Exact same data communication can be done through Centronix.
3-39
(Ex) When you would like to refer the data of number of products per current pick(pallet 1, 2) by the
external PLC with setting that connect with external PLC using fieldbus.
Controller DM External PLC DM

D6000 D400
Copy to D400 - D495

from D6000 - D6095
by field bus.
D6016
D6048 D448
D6049 Generic D449
Area
D6095 D495
Copy by internal
内蔵 PLC でコピー PLC
D6513 （Pallet 1 :Number of products per current pick）
D6547 （Pallet 2 :Number of products per current pick）
In default setting, controller's data memory D6000-D6095 is copied to PLC side data memory D400
-D495 by the field-bus. But D6513(the number of products per pick for pallet 1) and D6547(the number
of products per pick for pallet 2) are out of area where is automatically copied, so these data is copied
to the area where is copied automatically by the ladder of the internal.
(D6513 -> D6048, D6547 -> D6049)
Thus, the external PLC is able to refer as follows. The number of product per pick for pallet 1 is D448,
the number of product per pick for pallet 2 is D449.
The copy distination should be the area that the controller does not use, generic area.
3-40
4. Centronix Communication
If the Centronix communication is selected on "External PLC communication setup"
screen of "System storage", the data communication (PLC expansion interface) between
the robot and the PLC becomes possible by using the I/O relay.
{See section 5.3 Installation and Adjustment (Electrical) for the details of external PLC
communication setting.}
4-1
4.1. Purpose of Using Centronix
Communication
The purpose of Centronix communication is to communicate with the external PLC unless
the built-in PLC (internal PLC) is used.
Examples of the principal uses are shown below.
Transmitting pattern information when performing multiple pick-up. (Robot -> PLC)
When performing peripheral conveyor reset, zero reset or manual operation using the
robot controller. (PLC -> Robot)
Displaying conveyor errors on the robot control panel. (Example: Guarding, station
conveyor jamming) (PLC -> Robot)
Count setting. (Bi-directional)
4-2
4.2. Centronix Communication Start Timing
There are two types of Centronix communication in timing: one where data is
automatically sent at a preset timing and the other where data is sent at an arbitrary
timing.
During Robot -> PLC communication
NO. Transmitted item Transmission timing.

1-a Stacking pattern data is sent. When a program is set or 2-b, 2-d
or 2-k is received.
1-b Conveyor reset At input from conveyor manual
screen.
1-c Conveyor all reset At input from conveyor manual
(Zero reset) screen.
1-d Counter setting When the stacking counter change
is entered on its screen, or when
stacking counter change (2-c) or
stacking counter sending request
(2 - m) is received.
1-e Conveyor manual Whne an item is selected on
conveyor manual screen.
1-f No program for the specified When (2 - b) or (2 - d) is received.
pallet No.
1-g Overall time, automatic When (2 - g) is received.
operation time
1-h Data memory output When (2 - h) is received.
1-i Product dimension output When (2 - i) is received.
1-j Output of error code When error out (when it is set to
[Notify] at the external PLC/IF).
1–k Allocation response of PRG When (2 - e) is received.
No. to ID. No.
1-l Writing response of data When (2 - l) is received.
memory
During PLC -> Robot communication
No. Received item Reception timing

2-a PLC error mode Any time after P-I/O alarm/error
bit ON
2-b Request pattern data from Any time (To 1-a)
conveyor
2-c Count setting from conveyor Any time
2-d Pattern data request for pallet Any time (To 1-a)
No.
2-e Allocation of PRG No. for ID Any time (To 1-k)
No.
2-f Stacking position setting Any time
2-g Request for robot overall Any time (To 1-g)
time, and automatic operating
time
4-3
No. Received item Reception timing
2-h Data memory request Any time (To 1-h)
2-i Product dimension request Any time (To 1-j)
2-j Sequence reset request Any time
2–k Requests both for allocation Any time (To 1 – a)
of PRG No. to ID. No. and for
pattern data
2–l Data memory writing request Any time
2-m Stacking counter sending Any time (To 1 - d)
request
4-4
4.3. Relationship with PLC standard Interface
setting up
The interface via [X/Y] is in use when [PLC standard Interface] at the screen of external
PLC I/F setting up is set to [X/Y] for the serial communication. 8 bits per a unit is
transferred.
When it is set to [M+D] instead, the interface is via the fieldbus. A word per a unit is
transferred. (See item 2.5)
When it is set to [X/Y],

* The data of Pdat and Rdat is transferred byte by byte.
* IDNo is in use.
When it is set to [M+D],

* The data of Pdat and Rdat is transferred in 8 words at a time.
But, no the upper 8 bits but the lower 8 bits per a word are in use to transfer
only.
* No IDNo. but program No. is in use.
* In either case, the minimum unit of the transferred data is one byte so that the data
format is common except for ID-No or program No selection.
(See the data for detail)
4-5
4.4. Name and Meaning of Signals During
Communication
Relay PLC -> Robot Robot -> PLC

Rmod Not used When this signal goes ON, the system
Y32 enters the Centronix communication
mode (robot output), and the Y28-Y2F
input switches to Rdat.
Rdat Not used Command or data output to PLC. When
Y28-Y2F [PLC standard Interface] is set to
[M+D], transferred in word. When to
[X/Y], transferred in bit.
Rstb Not used If Rstb is turned ON when Rmod is ON
Y33 and Pbsy is OFF, the PLC side receives
data and (after reception) sends Pack
to the robot. When the robot side
receives Pack, Rstb goes OFF.
Pbsy Not used This is set to ON when the PLC side
X42 cannot receive data
(During data reception etc.)
Pack Not used When the PLC side receives Rstb and
X43 finishes reading data, Pack is turned
ON. When Rstb goes OFF, Pack also
goes OFF.
Pmod When this signal goes ON, the Not used
X40 system enters the Centronix
communications mode (PLC output)
and the X30-X37 input switches to
Pdat
Pdat Output of command or data to Not used
X30-X37 robot side
When [PLC standard Interface] is
set to [M+D], transferred in word.
When to [X/Y], transferred in bit.
Pstb If Pstb is turned on when Pmod is Not used
X41 ON and Rbsy is OFF, the robot side
receives data, and (after data
reception) sends Rack to the PLC
Rbsy This is turned ON when the robot Not used
Y34 side cannot receive data (during
data reception etc.) When this
signal is ON, the PLC Pstb cannot be
turned ON.
Rack When the robot side receives Pstb Not used
Y35 and finishes reading data, Rack is
turned ON. When Pstb goes OFF,
Rack also goes OFF.
4-6
4.5. Send/Receive Timing in Centronix
Communication
The timing chart for Centronix communication is as follows. The flow of signal passing is
expressed in the diagram.
4.5.1. Centronix communication timing chart
Pmod
1Byte 1Byte 1Byte 1Byte

Pdat
(Bit)
*1 Word Word
Pdat Word Word
(Word)
Pstb
Rack
Example 1: PLC -> Robot
*1: Pdat is assigned at [PLC standard Interface].
PLC Robot
Turn ON Pmod, and communication is State where Rbsy is
set to Centronix communication. not ON.
Within 5 secs Send data after checking that receiving

station is not busy, and turn Pstb ON.
Data reception
Send Rack ON
Within 500ms
Turn OFF Pstb
Turn OFF Rack

Send the next data after checking that
receiving station is not busy, and turn
ON strobe.
NULL reception
Send Rack ON
Within 500ms
Turn OFF Rack
Turn OFF Pstb
Example 2: Ordinary Centronix communication

4-7
PLC Robot
Turn ON Pmod, and communication is

set to Centronix communication.
Within 5 secs Send data after checking that

receiving station is not busy, and
turn Pstb ON.
Data reception
Send Rack ON
Within 500ms
Turn OFF Pstb Turn Rack OFF

Pstb goes OFF Rbsy is ON
Robot is busy, so data
cannot be send.
After checking (with a retry) that the

receiving station is not busy, turn ON Rbsy is OFF
Pstb.
Data reception
Send Rack ON
Example 3: Receiving side busy
*The transmitting station checks that the receiving station is not busy, and then sends
data if the receiving side is not busy. If the receiving side is busy, the sending side
cannot send data, so the system waits until the busy signal is OFF.
4-8
4.6. Time Constraints in Centronix
Communication
There are time constraints when sending command/data from PLC to robot. (Nos. are sub
codes of error codes.)
When the following constraints are violated, a PLC P-I/O error (62) results.
Sub code Nature of constraint.

05 When Rack is received (when robot side data reading is complete),
the PLC must turn OFF Pstb within 500ms.
06 After Pmod goes ON and the system switches to Centronix communication,
the PLC must turn ON Pstb and output a data read request to the robot side
within 5 seconds.
07 After the robot side receives NULL data and turns Rack OFF, the PLC must
turn OFF Pmod and complete communication within 500ms. When sending
command/data from robot to PLC. (Nos. are sub codes of error codes.)
11
When sending command/data from robot to PLC. (Nos. are sub codes of error codes.)
When the following constraints are violated, a PLC P-I/O error results.
Sub code Nature of constraint

01 The PLC must always turn Pack OFF when communication from the robot is
starting
02 When Rstb has gone ON during PLC Pbsy output, the PLC must turn
OFF Pbsy within 2 seconds
03 After Rstb has gone ON, the PLC must complete data reading and turn
ON Pack within 500ms.
04 After the robot side has turned OFF Rstb, the PLC must turn OFF
Pack within 500ms.
*If processing does not finish, even though time equivalent to at least the
communicated data length (bytes) x 1 second has passed since the start of processing,
then error 62-11 is output. The data length varies depending on the communication
content.
Example: Count initialization is 4 bytes, so the time to error is 4 seconds.
4-9
4.7. Details of Robot → PLC Data
The following types of data are sent from the robot to the PLC
1. Stacking pattern data sending (1-a)

2. Conveyor reset (1-b)
3. Conveyor zero reset (1-c)
4. Counter setting (1-d)
5. Conveyor manual operation (1-e)
6. No program for ID No. (1-f)
7. Overall operation time, automatic operation time (1-g)
8. Data memory content output (1-h)
9. Product dimension output (1-i)
10. Error code output (1-j)
11. Response for allocation of PRG No. to ID. No. (1-k)
12. Response for data memory writing request (1-l)
4-10
4.7.1. Stackig Pattern Data Sending (1 – a)
The term "pattern information" means the content of the stacking pattern program.
The elevation of stoppers and other mechanisms can be controlled by sending pattern
information to the PLC. If there has been a conveyor pattern request 4.2 (2-b) or
pattern data request for pallet no. 4.2 (2-d) from the PLC, the pattern information
data is send from the robot. Even when product type setting has been done, pattern
information data is sent from the robot.
Details on pattern information are as follows.
Details of each piece of information are always expressed with 8 bits.

NULL is always attached at the end of pattern information data. The shaded bits vary in
value depending on the data. (Values are fixed for un-shaded bits.)
1. Command
This signal indicates that data is pattern information. The command is fixed: 0X80
HEX D7 D6 D5 D4 D3 D2 D1 D0
80 1 0 0 0 0 0 0 0
2. ID No.
This signal indicates an ID No. ID Nos. fall in the range 1~27, and bits D0~D6 are used.
D7 is fixed at "0".
[Example]: IDNo.=95
5F 0 1 0 1 1 1 1 1
* This won’t be set if [PLC standard Interface is set to [M+D].
3. Program No.
This signal indicates a program No. Program Nos. fall in the range 1~999. D0~D5 are
used by high order 6bits and low order 6bits, in that order. D6 is fixed at "1", and D7 is
fixed at “0”..
[Example] Program No. = 120 {78 (hexadecimal)}
41 0 1 0 0 0 0 0 1
38 0 1 1 1 1 0 0 0
* Program No is as follows when [PLC standard Interface is set to [M+D].
Program No ranging from 1 through 9999 uses every 6 bit at D0 – D5.

D6 is fixed to ”1” and D7 to “0”.
[Example] Program No. = 9001 {2329(hexadecimal)}
42 0 1 0 0 0 0 1 0
4-11
4C 0 1 0 0 1 1 0 0
69 0 1 1 0 1 0 0 1
4-12
4. Pallet No.
This signal indicates a pallet No. Pallet Nos. fall in the range 1~4, and bits D0~D2 are
used. D3~D7 are fixed at "0".
[Example] Pallet No. = 3

03 0 0 0 0 0 0 1 1
5. Number of layers
This signal indicates the number of layers for stacking. The number of stacking layers
falls in the range 1~63 (The range can be extended to 1~127 by turning OFF switch
SW3-5) and bits D0~D5 are used. D6~D7 are fixed at "0".
[Example] Number of layers = 12 layers {0C (hexadecimal)}
0C 0 0 0 0 1 1 0 0
6. Stacking pattern
This signal indicates the pattern for stacking. The following four types of stacking pattern
are available, and bits D0~D2 are used. Bits D3~D7 are fixed at "0".
Layer information 1=Column stacking
Layer information 2=Alternating stacking
Layer information 3=Special stacking
Layer information 4=RP mode (Stacking into pyramid shape)
[Example] Stacking pattern = RP mode
04 0 0 0 0 0 1 0 0
4-13
7. Stacking quantity
This signal indicates the stacking quantity in the first layer. The stacking quantity falls in
the range 1~127, and bits D0~D6 are used. D7 is fixed at "0".
[Example] Stacking quantity = 8 pieces
08 0 0 0 0 1 0 0 0
8. Layer number of quantity data

This signal is added when “Lay data addition" at the screen of “external PLC I/F setting
up” is “Yes”.
The layer number falls in the range 1~63, and bits D0~D5 are used. D6~D7 are fixed at
"1".
[Example] Layer beginning data = 40 {28 (hexadecimal)}
E4 1 1 1 0 1 0 0 0
Although “Lay data addition" is “No”, if “All Special Advice” is “Yes”, this signal is added
for special stacking. (see 2.5)
The layer number falls in the range 1~31, and bits D0~D4 are used. D5~D6 are fixed at
"1". D7 is fixed at "0".
[Example] Layer beginning data = 20
74 0 1 1 1 0 1 0 0
4-14
9. Quantity data
This signal indicates data on each individual product. In the case of column stacking,
data is created for all products on the first layer. In the case of alternating stacking, data
is created for all products on the first two layers. In the case of special stacking, data is
created for all products for the distinctive layers. The bits used vary depending on
whether the layer is the same or distinctive.
● What each bit means
D7 D6 D5 D4 D3 D2 D1 D0
Distinctive layer = 0)
Same layer flag (Same layer = 1 /
Same layer = 0
Distinctive layer = 1 (Null prevention),
Auxiliary flag (Distinctive layer)
Number of layers (Same layer)

Auxiliary flag (Distinctive layer) /
Number of layers (Same layer)
Auxiliary flag (Distinctive layer) /
1 layer end (No end = 0 / End = 1)
Hand closed (Open = 0 / Closed = 1)
Turn (Yes = 1 / No = 0)
- When same layer flag = 1, bits D0~D4 indicate the number of layers
where the same pattern is used.
● Same/Distinctive layers
The term "distinctive layer" means that there is no pattern for the layer to be stacked.
The term "same layer" means that the pattern to be stacked is the same as the previous
layer (in alternating stacking, this means layer 3 is the same as layer 1, and layer 4 is
the same as layer 2.
Distinctive layers are used in special stacking and in RP mode.
4-15
● Same layer data content
[Example] First layer stacking quantity is 8 pieces.

Turn: There is a turn only at the 8th piece
Hand: Hand closes at pieces 1, 2, 5, 6, 8 (Multiple pick-up)
Same layer flag: Distinctive layer
Stacking quantity for the second layer is 8 pieces.
Turn: There is a turn only at the 2nd and 6th pieces.
Hand: Hand closes at pieces 1, 2, 5, 6, 8
Same layer flag: Distinctive layer
The 3rd layer is the same as the 1st layer (Same layer during special
stacking)
The 4th layer is the same as the 2nd layer (Same layer during special
stacking)
Qty. HEX D7 D6 D5 D4 D3 D2 D1 D0 Qty. HEX D7 D6 D5 D4 D3 D2 D1 D0
1 42 0 1 0 0 0 0 1 0 1 42 0 1 0 0 0 0 1 0
2 42 0 1 0 0 0 0 1 0 2 43 0 1 0 0 0 0 1 1
3 40 0 1 0 0 0 0 0 0 3 40 0 1 0 0 0 0 0 0
4 40 0 1 0 0 0 0 0 0 4 40 0 1 0 0 0 0 0 0
5 42 0 1 0 0 0 0 1 0 5 42 0 1 0 0 0 0 1 0
6 42 0 1 0 0 0 0 1 0 6 43 0 1 0 0 0 0 1 1
7 40 0 1 0 0 0 0 0 0 7 40 0 1 0 0 0 0 0 0
8 47 0 1 0 0 0 1 1 1 8 46 0 1 0 0 0 1 1 0
1st layer 2nd layer
Layer Layer
HEX D7 D6 D5 D4 D3 D2 D1 D0 HEX D7 D6 D5 D4 D3 D2 D1 D0
3 81 1 0 0 0 0 0 0 1 4 82 1 0 0 0 0 0 1 0
3rd layer (Same as 1st layer) 4th layer (Same as 2ndlayer)
Null 0 0 0 0 0 0 0 0 0
End of data
4-16
10. Example of send data
• Column stacking
HEX D7 D6 D5 D4 D3 D2 D1 D0 Current setting Data content

80 1 0 0 0 0 0 0 0 128 Command
*3 5F 0 1 0 1 1 1 1 1 95 ID No.
*1 41 0 1 0 0 0 0 0 1 Prg No. high order 6 bits
Prg120
*1 38 0 1 1 1 1 0 0 0 Prg No. low order 6 bits
03 0 0 0 0 0 0 1 1 3 Pallet No.
04 0 0 0 0 0 1 0 0 4 Number of layers
01 0 0 0 0 0 0 0 1 1(Column tacking) Stacking pattern
08 0 0 0 0 1 0 0 0 8 Stacking quantity for each layer
*2 C1 1 1 0 0 0 0 0 1 1st layer Quantity data start
42 0 1 0 0 0 0 1 0 1st quantity data
42 0 1 0 0 0 0 1 0 2nd quantity data
40 0 1 0 0 0 0 0 0 3rd quantity data
40 0 1 0 0 0 0 0 0 4th quantity data
41 0 1 0 0 0 0 0 1 5th quantity data
41 0 1 0 0 0 0 0 1 6th quantity data
40 0 1 0 0 0 0 0 0 7th quantity data
47 0 1 0 0 0 1 1 1 8th quantity data + layer end
0 0 0 0 0 0 0 0 0 0 NULL(Data terminator)
*1: Program No
(1) When [PLC standard Interface] is set to [X/Y].
This text is sent only when “Program No. Addition” mode. (cf. 2.5 External PLC
communication set up)
(2) When [PLC standard Interface] is set to [M+D].

It is set whichever [Pattern info PrgNo addition] is associated with.
It is consist of 3 bytes to support programs up to 9999.
42 0 1 0 0 0 0 1 0 Program No. high order 6 bits

4C 0 1 0 0 1 1 0 0 Prg9001 Program No. middle order 6 bits
69 0 1 1 0 1 0 0 1 Program No. low order 6 bits
*2: This text is sent only when “Layer Data Addition” mode. (cf. 2.5 External PLC
communication set up)
*3: IDNo can be set only when [PLC standard Interface] is set to [X/Y].
It never be set when [M+D].
4-17
• Alternating stacking

80 1 0 0 0 0 0 0 0 128 Command
*3 5F 0 1 0 1 1 1 1 1 95 ID No.
*1 Prg120
38 0 1 1 1 1 0 0 0 Prg No. low order 6 bits
03 0 0 0 0 0 0 1 1 3 Pallet No.
04 0 0 0 0 0 1 0 0 4 layers Number of layers
02 0 0 0 0 0 0 1 0 2 Stacking pattern
(Alternating stacking)
08 0 0 0 0 1 0 0 0 8 pieces Stacking quantity in each
*2 layer
C1 1 1 0 0 0 0 0 1 1st layer 1st layer data start
42 0 1 0 0 0 0 1 0 1st quantity data
42 0 1 0 0 0 0 1 0 2nd quantity data
40 0 1 0 0 0 0 0 0 3rd quantity data
40 0 1 0 0 0 0 0 0 4th quantity data
41 0 1 0 0 0 0 0 1 5th quantity data
41 0 1 0 0 0 0 0 1 6th quantity data
40 0 1 0 0 0 0 0 0 7th quantity data
*2 47 0 1 0 0 0 1 1 1 8th quantity data + layer
end
C2 1 1 0 0 0 0 1 0 2nd layer 2nd layer data start
42 0 1 0 0 0 0 1 0 1st quantity data
42 0 1 0 0 0 0 1 0 2nd quantity data
40 0 1 0 0 0 0 0 0 3rd quantity data
40 0 1 0 0 0 0 0 0 4th quantity data
41 0 1 0 0 0 0 0 1 5th quantity data
41 0 1 0 0 0 0 0 1 6th quantity data
40 0 1 0 0 0 0 0 0 7th quantity data
47 0 1 0 0 0 1 1 1 8th quantity data + layer
end
0 0 0 0 0 0 0 0 0 0 NULL(Data terminator)
*1-3: See the case of [Column stacking]
4-18
• When there is same layer setting for special stacking and “Layer Data Addition” is “Yes”.
(3rd layer is the same as 1st layer, and 4th layer is the same as 2nd layer)

80 1 0 0 0 0 0 0 0 128 Command
*3 5F 0 1 0 1 1 1 1 1 95 ID No.
Prg120
03 0 0 0 0 0 0 1 1 3 Pallet No.
04 0 0 0 0 0 1 0 0 4 layers Number of layers
(Special stacking)
08 0 0 0 0 1 0 0 0 8 pieces Stacking quantity in each layer
*2
C1 1 1 0 0 0 0 0 1 1st layer 1st layer data start
42 0 1 0 0 0 0 1 0 1st quantity data
42 0 1 0 0 0 0 1 0 2nd quantity data
40 0 1 0 0 0 0 0 0 3rd quantity data
40 0 1 0 0 0 0 0 0 4th quantity data
41 0 1 0 0 0 0 0 1 5th quantity data
41 0 1 0 0 0 0 0 1 6th quantity data
40 0 1 0 0 0 0 0 0 7th quantity data
*2
C2 1 1 0 0 0 0 1 0 2nd layer 2nd layer data start
42 0 1 0 0 0 0 1 0 1st quantity data
42 0 1 0 0 0 0 1 0 2nd quantity data
40 0 1 0 0 0 0 0 0 3rd quantity data
40 0 1 0 0 0 0 0 0 4th quantity data
41 0 1 0 0 0 0 0 1 5th quantity data
41 0 1 0 0 0 0 0 1 6th quantity data
40 0 1 0 0 0 0 0 0 7th quantity data
*2
C3 1 1 0 0 0 0 1 1 3rd layer 3rd layer data start
81 1 0 0 0 0 0 0 1 Same layer Same layer flag
(1st layer)
*2
C4 1 1 0 0 1 0 0 0 4th layer 4th layer data start
(2nd layer)
0 0 0 0 0 0 0 0 0 0 NULL (Data terminator)
4-19
• When there is same layer setting for special stacking and “Layer Data Addition” is “No”.
(3rd layer is the same as 1st layer and 4th layer is the same as 2nd layer)
HEX D7 D6 D5 D4 D3 D2 D1 D0 Current Data contents

Setting
80 1 0 0 0 0 0 0 0 128 Command
*3 5F 0 1 0 1 1 1 1 1 95 ID No.
Prg120
03 0 0 0 0 0 0 1 1 3 Pallet No.
04 0 0 0 0 0 1 0 0 4th layer Number of layers
(Special
stacking)
08 0 0 0 0 1 0 0 0 8 pieces Stacking quantity in each layer
*2
61 0 1 1 0 0 0 0 1 1st layer 1st layer data start
42 0 1 0 0 0 0 1 0 1st quantity data
42 0 1 0 0 0 0 1 0 2nd quantity data
40 0 1 0 0 0 0 0 0 3rd quantity data
40 0 1 0 0 0 0 0 0 4th quantity data
41 0 1 0 0 0 0 0 1 5th quantity data
41 0 1 0 0 0 0 0 1 6th quantity data
40 0 1 0 0 0 0 0 0 7th quantity data
*2
62 0 1 1 0 0 0 1 0 2nd layer 2nd layer data start
42 0 1 0 0 0 0 1 0 1st quantity data
42 0 1 0 0 0 0 1 0 2nd quantity data
40 0 1 0 0 0 0 0 0 3rd quantity data
40 0 1 0 0 0 0 0 0 4th quantity data
41 0 1 0 0 0 0 0 1 5th quantity data
41 0 1 0 0 0 0 0 1 6th quantity data
40 0 1 0 0 0 0 0 0 7th quantity data
47 0 1 0 0 0 1 1 1 47 8th quantity data + layer end
*2
63 0 1 1 0 0 0 1 1 3rd layer 3rd layer data start
*2 (1st layer)
64 0 1 1 0 1 0 0 0 4th layer 4th layer data start
(2nd layer)
4-20
• When “All Special Data Advice” is “No”.
HEX D7 D6 D5 D4 D3 D2 D1 D0 Current Setting Data contents

80 1 0 0 0 0 0 0 0 128 Command
*3 5F 0 1 0 1 1 1 1 1 95 ID No.
Prg120
03 0 0 0 0 0 0 1 1 3 Pallet No.
04 0 0 0 0 0 1 0 0 4th layer Number of layers
(Special stacking)
08 0 0 0 0 1 0 0 0 8 pieces Stacking quantity in each
layer
4.7.2. Conveyor reset (1-b)

When conveyor reset operation is performed using the conveyor manual screen on the
robot control panel, the following data is output. Conveyor reset performs resetting of
the number of stacking layers/quantity/conveyor for the robot.
HEX D7 D6 D5 D4 D3 D2 D1 D0 Data content

82 1 0 0 0 0 0 1 0 Conveyor reset command
0 0 0 0 0 0 0 0 0 NULL: Data end
4.7.3. Conveyor zero reset (1-c)

When conveyor zero reset operation is performed using the conveyor manual screen on
the robot control panel, the following data is output. Conveyor zero reset performs reset
of the just the station conveyor. The command value is fixed. For the station no., bits
D3~D7 are fixed at "0" and bits D0~D2 indicate the station No.

83 1 0 0 0 0 0 1 1 Conveyor zero reset command
03 0 0 0 0 0 0 1 1 Station conveyor no. Example: Conveyor No. 3
0 0 0 0 0 0 0 0 0 NULL: Data end
4.7.4. Counter setting (1-d)

Setting correction or initialization is executed from the stacking counter correction screen
on the robot control panel, the changed values are output using the following data. When
the counter is initialized, the numbers of layers and pieces are set to "0".
4-21
84 1 0 0 0 0 1 0 0 Counter setting command
06 0 0 0 0 0 1 1 0 ID No.
Pallet No. (Using D0~D2 bit).Example: Pallet No.
03 0 0 0 0 0 0 1 1
3
48 0 1 0 0 1 0 0 0 Layer data (Using D0~D5 bit). Example: Layer 8
49 0 1 0 0 1 0 0 1 Quantity data (Using D0~D5 bit).

Example: 9 pieces
0 0 0 0 0 0 0 0 0 NULL: Data end
*1: When counter setting initialization or correction has been performed, the internal
data memory in the robot is rewritten (current stacking program). The following
number of layers is displayed on the robot side, so the sent data is as follows.
Layer data = Layer counter value (displayed value) –1
*2: Quantity data is also processed the same as layer data.
Quantity data = Quantity counter value (displayed value) –1
*3: IDNo is set only when [PLC standard Interface] is set to [X/Y].
Program No is set instead when set to [M+D].
4.7.5. Conveyor manual (1-e)

When the conveyor setting has been changed using the setting/cancel keys on the
conveyor manual screen of the robot control panel, the following data is output.

85 1 0 0 0 0 1 0 1 Counter setting command
Data 1. Bits D0~D5 indicate conveyors 1~6.
50 0 1 0 1 0 0 0 0
Example: 5
Data 2. Bits D0~D5 indicate conveyors 7~12.
48 0 1 0 0 1 0 0 0
Example: 10
Data 3. Bits D0~D4 indicates conveyors 13~16.
42 0 1 0 0 0 0 1 0
Example: 14
0 0 0 0 0 0 0 0 0 NULL: Data end
4.7.6. No program for ID No. (1-f)

If there is no program for an ID No. designated from the PLC, this fact is determined at
ID No. strobe reception, and this data is output. If there has been a pattern data request
(2-b, 2-d) from the PLC, and there was no program for the designated ID No., this data is
output when pattern data is requested.
4-22
Command when there is no program for the ID
86 1 0 0 0 0 1 1 0
No.
03 0 0 0 0 0 0 1 1 Use bits D0~D2 for pallet. Example: Pallet No. 3
0 0 0 0 0 0 0 0 0 NULL: Data end
4-23
4.7.7. Overall time, automatic operation time (1-g)
In response to a request from the PLC (2-g), the overall time and automatic operation
time are output using the following data.

Command for overall time, automatic operation
88 1 0 0 0 1 0 0 0
time
Bits 18~23 of overall time are indicated with bits
40 0 1 0 0 0 0 0 0
D0~D5.
40 0 1 0 0 0 0 0 0
D0~D5.
40 0 1 0 0 0 0 0 0
D0~D5.
40 0 1 0 0 0 0 0 0
D0~D5.
Bits 18~23 of automatic operation time are
40 0 1 0 0 0 0 0 0
indicated with bits D0~D5
40 0 1 0 0 0 0 0 0 Bits 12~17 of automatic operation time are

indicated with bits D0~D5

indicated with bits D0~D5.

indicated with bits D0~D5.
0 0 0 0 0 0 0 0 0 NULL: Data end
Total time and automatic operation time are indicated with 24 bits, so they are sent by
segmenting the data into 6 bit units.
4.7.8. Data memory output (1-h)

In response to a request from the PLC (2-h), the content of robot data memory is output
using the following data.

89 1 0 0 0 1 0 0 1 Data memory output command
41 0 1 0 0 0 0 0 1 Data memory No. data higher-order 6 bits
43 0 1 0 0 0 0 1 1 Data memory No. data lower-order 6 bits
Data memory 1 is indicated with the 6 bits of
40 0 1 0 0 0 0 0 0
D12~D17
40 0 1 0 0 0 0 0 0
D6~D11
40 0 1 0 0 0 0 0 0
D0~D5
0 0 0 0 0 0 0 0 0 NULL: Data end
4-24
4.7.9. Product dimension output (1-i)
When there is a request from the PLC (2-i), dimensions are output using the following
data.
Units are mm.

8C 1 0 0 0 1 1 0 0 Command for product dimension data output
127 0 1 1 1 1 1 1 1 ID No. Example: ID No. 127 （*3）
Product length data higher-order 6 bits, Length
44 0 1 0 0 0 1 0 0
300mm=12C
6C 0 1 1 0 1 1 0 0 Product length data lower-order 6 bits
Product width data higher-order 6 bits, Width
43 0 1 0 0 0 0 1 1
250mm=FA
7A 0 1 1 1 1 0 1 0 Product width data lower-order 6 bits
Product height data higher-order 6 bits, Height
43 0 1 0 0 0 0 1 1
200mm =C8
48 0 1 0 0 1 0 0 0 Product height data lower-order 6 bits
0 0 0 0 0 0 0 0 0 NULL: Data end
4.7.10. Error code output (1-j)

When a robot error occurs, the error content is output to the PLC using the following data.
This is done to notify the PLC of the error content. Applicable error codes range from "0"
to "99". However, this is effective only when “Transmit error code to PLC” mode at the
screen of “external PLC I/F setting up”.

87 1 0 0 0 0 1 1 1 Error output command
01 0 0 0 0 0 0 0 1 Error No. (7F in the case of "0") Sub code 1
40 0 0 1 0 0 0 0 0 Error sub-No. example: 32 {7F (hexadecimal) in

the case of "0")
0 0 0 0 0 0 0 0 0 NULL: Data end
(When error code and sub code are “0”, “7F” is output as the data becomes NULL.)
4.7.11. Response for allocation of PRG No. for ID No. (1-k)

In response to a request from the PLC (2-e), the content of robot data memory is output
using the following data.

8A 1 0 0 0 0 1 1 0 Command for no program to ID.
4-25
06 0 0 0 0 0 1 1 0 ID No.
41 0 1 0 0 0 0 0 1 Program No. data higher-order 6 bits
43 0 1 0 0 0 0 1 1 Program No. data lower-order 6 bits
0 0 0 0 0 0 0 0 0 NULL: Data end
*1: If the requested ID No. is abnormal or the program No. doesn’t exist, 7F(HEX) is set
for both high and low order bits of program No.. And it doesn’t allocate in this case.
* 2: This command is disabled when [PLC standard Interface] is set to [M+D].
4.7.12. Response of writing request to data memory (1-l)

Response command for data memory writing is
8B 1 0 0 0 1 0 1 1
“8B”
41 0 1 0 0 0 0 0 1 Numbers of writen events (3 events）
40 0 1 0 0 0 0 0 0 Result (normal)
0 0 0 0 0 0 0 0 0 NULL: data end
Result: 0 (40H) Processing ended correctly.

1 (41H) Address over-range.
2 (42H) Format is abnormal.
The error whose number of words is out of range is included.
If the result is not 0, all data are not changed.
4-26
4.8. Details of PLC → Robot Data
The following types of data are sent from the PLC to the robot.
1. PLC error mode (2-a)

2. Pattern data request from conveyor (2-b)
3. Counter setting from PLC (2-c)
4. Pattern data request for pallet No. (2-d)
5. Allocation of PRG No. for ID No. (2-e)
6. Stacking height setting (2-f)
7. Request for robot overall operation time, automatic operation time (2-g)
8. Data memory content request (2-h)
9. Product dimension request (2-i)
10. Sequence reset request (2-j)
11. Allocation of PRG No. for ID No. and pattern data request (2-k)
12. Eequest for data memory writing (2-l)
13. Request for stacking counter sinding (2-m)
4-27
4.8.1. PLC error code (2-a)
When this signal is received from the PLC, a message (stored at error No. + 300) and
sub code are displayed at the error data No. on the robot control panel CRT.
90 1 0 0 1 0 0 0 0 Output of PLC error mode signal. Command "80"

or "90"
2 0 0 0 0 0 0 1 0 Error data No. (1~99)
Error sub No. (7F in the case of "0"), Lower order
1 0 0 0 0 0 0 0 1
bits
Error sub No. Example: Sub code is 65, Higher
1 0 0 0 0 0 0 0 1
order bits
0 0 0 0 0 0 0 0 0 NULL: Data end
* The sub codes are ranging from 0 to 999. (Over 1000 cannot be displayed.)
4.8.2. Pattern data request from conveyor (2-b)

Command to request pattern information to robot controller
91 1 0 0 1 0 0 0 1 Pattern data request command. Command is

"81" or "91"
ID No. (The ID No. can be omitted). Example: ID
7F 0 1 1 1 1 1 1 1
No. 127
03 0 0 0 0 0 0 1 1 Pallet No. Example: Pallet No. 3 （*3）
0 0 0 0 0 0 0 0 0 NULL: Data end
42 0 1 0 0 0 0 1 0 Program No. upper 6 bits {2329(hexadecimal}
4C 0 1 0 0 1 1 0 0 Prg9001 Program No. Middle 6 bits
69 0 1 1 0 1 0 0 1 Program No. Lower 6 bits
4.8.3. Count setting from conveyor (2-c)

Command to change the count value of the program of robot controller's corresponding
ID No.
If the ID No. is 0xFF, or if the highest order bit (D7) is ON ("1"), all programs are
initialized. (In this case, the subsequent data field is ignored.)

92 1 0 0 1 0 0 1 0 Count setting command from PLC. "82" or "92"
10 0 0 0 1 0 0 0 0 ID No. Example ID No.=16 （*3）
Layer number data
42 0 1 0 0 0 0 1 0
(Example: When robot layer counter is "3")
Quantity data
43 0 1 0 0 0 0 1 1
(Example: When robot quantity count is "4")
0 0 0 0 0 0 0 0 0 NULL: Data end
4-28
*1: For layer number data sent from PLC to robot, use the layer number obtained by
subtracting "1" from the number of layers the robot will stack.
PLC layer number = Robot layer number - 1 layer
*2: For quantity data sent from PLC to robot, use the quantity obtained by subtracting
"1" from the quantity the robot will stack.
PLC quantity = Robot quantity - 1 piece
42 0 1 0 0 0 0 1 0 Program No. upper 6 bits
4C 0 1 0 0 1 1 0 0 Prg9001 Program No. middle 6 bits
69 0 1 1 0 1 0 0 1 Program No. lower 6 bits
All programs are to be initialized when the first bit (D7 bit) out of the upper 6 bits is
ON (“1”).
4.8.4. Pattern data request for pallet No. (2-d)

Command to request to robot controller pattern information corresponding palette No..

Pattern data request for pallet No. Command is
93 1 0 0 1 0 0 1 1
"83" or "93".
04 1 0 0 0 0 1 0 0 Pallet No. Example: Pallet No. 4
0 0 0 0 0 0 0 0 0 NULL: Data end
4.8.5. Allocation of PRG No. for ID No. (2-e)

Command to allocates program No. to robot controller's ID No.

Command for allocating PRG No.to ID No.
94 1 0 0 1 0 1 0 0
Command is "84" or "94".
06 0 0 0 0 0 1 1 0 ID No. Example: ID No. 6
41 0 1 0 0 0 0 0 1 Higher order 6 bits of program No.
Lower order 6 bits of program No.67 hex in this
43 0 1 0 0 0 0 1 1
example
0 0 0 0 0 0 0 0 0 NULL: Data end
After receiving data successfully, robot sends back the following data to PLC.
(If program No. is invalid 0x7F will send as program No. data).
Command for sending back allocating PRG
8A 1 0 0 0 0 1 1 0
No.data
4-29
06 0 0 0 0 0 1 1 0 ID No. Example: ID No. 6
41 0 1 0 0 0 0 0 1 Higher order 6 bits of program No.
Lower order 6 bits of program No. 67 hex in
43 0 1 0 0 0 0 1 1
this example
0 0 0 0 0 0 0 0 0 NULL: Data end
*1: It works only when [PLC standard Interface] is set to [X/Y].

It won’t work at [M+D].
4.8.6. Stacking height setting <DA1800 model only> (2-f)

This setting is special for the DA1800 (Robo-gator). When SW1-1 is ON, and this signal is
received from the PLC, the height data in step 7 is changed to the setting in the received
signal. In the following, the height in step 7 of the program with ID No. 6 is set to 69mm.

Command for changing height in step 7 of
95 1 0 0 1 0 1 0 1
program. The command is "85" or "95"
06 0 0 0 0 0 1 1 0 ID No. Example: ID No. 6 （*3）
41 0 1 0 0 0 0 0 1 Height data, higher order 6 bits
Height data, lower order 6 bits, 69hex in the
45 0 1 0 0 0 1 0 1
example
0 0 0 0 0 0 0 0 0 NULL: Data end
42 0 1 0 0 0 0 1 0 Program No. upper 6 bits
4C 0 1 0 0 1 1 0 0 Prg9001 Program No. middle 6 bits
69 0 1 1 0 1 0 0 1 Program No. lower 6 bits
4.8.7. Request for robot-overall-operation time,

automatic-operation-by-user time (2 - g)
Command to request for robot overall time, automatic operation time to robot controller.

Request command for robot overall
96 1 0 0 1 0 1 1 0
time/automatic operation. The command is "96".
0 0 0 0 0 0 0 0 0 NULL: Data end
4.8.8. Data memory content request (2-h)

Command to request content of robot controller's corresponding data memory
(Example: The value of D0131 is requested)
Data memory content request command. The
97 1 0 0 1 0 1 1 1
command is "97".
4-30
42 0 1 0 0 0 0 1 0 Data memory, higher order 6 bits
43 0 1 0 0 0 0 1 1 Data memory lower order 6 bits
0 0 0 0 0 0 0 0 0 NULL: Data end
4.8.9. Product dimension request (2-i)

Command to request product dimension of program corresponding robot controller's ID
No.
(Example: The data of ID. No. 2 is requested)
9C 1 0 0 1 1 0 1 1 Product dimension request command. The

command is "9C"
02 0 0 0 0 0 0 1 0 ID No. （*3）
0 0 0 0 0 0 0 0 0 NULL: Data end
42 0 1 0 0 0 0 1 0 Program.No upper 6 bits {2329(hexadecimal)}
4C 0 1 0 0 1 1 0 0 Prg9001 Program.No middle order 6 bits
69 0 1 1 0 1 0 0 1 Program.No low order 6 bits
4.8.10. Sequence reset request (2-j)

Command to make robot controller compulsorily sequence reset.

Request command for sequence reset.
9D 1 0 0 1 1 1 0 1
The command is "9D".
0 0 0 0 0 0 0 0 0 NULL: Data end
4-31
4.8.11. Allocation of PRG No. for ID No. and pattern data request (2-k)
Command to make robot controller compulsorily sequence reset.
(Example: The program No. 195 is allocated to ID No. 6.)
Request command for sequence reset.
9E 1 0 0 1 1 1 0 1
The command is "9D".
06 0 0 0 0 0 1 1 0 ID No.
41 0 1 0 0 0 0 0 1 Program No. data higher-order 6 bits
43 0 1 0 0 0 0 1 1 Program No. data lower-order 6 bits
0 0 0 0 0 0 0 0 0 NULL: Data end
*1: It works only when [PLC standard Interface] is set to [X/Y].

It won’t work at [M+D].
4.8.12. Writing request to Data memory (2-l)

When this command is received from PLC, the robot controller starts to write down the data from the
starting data memory address. The wrting result is sent back with the data memory writing response of
“8B”. (Example: A writing request of “1” to D1000.)

98 1 0 0 1 1 0 0 0 Data memory write command “98”
4F 0 1 0 0 1 1 1 1 Start address high 6bitt （example. D1000）
68 0 1 1 0 1 0 0 0 Start address low 6bit
41 0 1 0 0 0 0 0 1 Data BIT15 to BIT12 （example. 1234H）
48 0 1 0 0 1 0 0 0 Data BIT11 to BIT6
74 0 1 1 1 0 1 0 0 Data BIT5 to BIT0
Some data continues.
0 0 0 0 0 0 0 0 0 NULL:
1) Address range 1000 to 2999 (3E8H to BB7H)

2) Word numbers range 1 to 5 words
3) Data range 0 to 65535 (0H to FFFFH)
4) NULL Terminator
4.8.13. Request Counter setting (2-m)

Command to request Counter setting to robot controller.
HEX D7 D6 D5 D4 D3 D2 D1 D0 データ内容
99 1 0 0 1 1 0 0 1 Request Counter setting.The command is "99".
04 0 0 0 0 0 1 0 0 Pallet No. Example: Pallet No. 4
0 0 0 0 0 0 0 0 0 NULL: Data end
4-32
Robot manual
Interface with PLC
Version 07: 2017.06.12
<Caution>

Robot Manual COME-VMAI-08
Maintenance

History

(Date)
01 First edition
(2012.07.12)
02 Related Sentence is corrected. 2-17,2-18
（2014.01.31） Added a note
03
Word correction. 1-11
（2014.03.07）
04 2-3,2-5
（2014.05.26） Description of RC522B is added.
05
Inspection Items are added. 2-7
（2014.08.06）
06 2-1~2-5,2-13,2-21,2-23
（2015.01.22） Description of RC1000 is added.
07 Word correction. 1-14,1-15,1-19,
（2015.12.18） 2-13,2-17
Description of Ai1800 and Ai700 are 1-1,1-2,1-7,1-13,
added 1-14,1-17,1-20~1-23
08 2-1~2-4,2-7~2-10,2-12,
（2017.06.12） 2-16,2-25,2-28,2-29
Description of Battery replacement is 2-17~2-24
changed and Ai series are added
Introduction
NOTE
Safety Instructions

injured or killed.
IMPORTANT
programming.
Table of Contents
1. ROBOT....................................................................................... 1-1
1.1. Robot Main Unit ..................................................................................1-2
1.2. Periodic Maintenance and Inspection................................................1-12
1.3. Inspection Contents ..........................................................................1-13
1.4. Reference Materials Concerning Maintenance ...................................1-22
2. CONTROLLER ............................................................................. 2-1

2.1. Controller Internal Component Arrangement Diagram ........................2-2
2.2. Periodic Maintenance and Inspection................................................2-13
2.3. Inspection Contents ..........................................................................2-15
2.4. Spare parts .......................................................................................2-26
2.5. Fuse replacement ..............................................................................2-29
1.Robot
The list of robot models is as follows.
robot models Certificate

UL CE KCS
1 A1600V ○ ○ ○
2 A1600V-P ○
3 A1600V-W ○
4 A1600V-PW ○
5 A1800V ○ ○ ○
6 A1800V-P ○
7 A1800V-W ○ ○
8 A400V
9 A700V ○ ○ ○
10 A700V-P ○
11 AP30V
12 AP30VH
13 Ai1800 ○ ○
14 Ai700 ○ ○
1-1
1.1. Robot Main Unit
The parts are shown with balloons. See those together with the below table.
【Ai1800】
Parts list of robot main unit

No. Name Model
SGMJV08 (JIS)
1 Servo motor (T-axis)
SGM7J-08AXA (UL/CE)
SGMGV55 (JIS)
2 Servo motor (D-axis)
SGM7G-55AXA(UL/CE)
SGMGV75 (JIS)
3 Servo motor (O-axis)
SGM7G-75AXA(UL/CE)
SGMGV55 (JIS)
4 Servo motor (R-axis)
SGM7G-55AXA(UL/CE)
5 Harness
6 Limit Switch D4N-1B32R
1-2
【A1800V, A1800V-W】
5 7

No. Name Model
1 Servo motor (T-axis) SGMJV-04A3A
2 Servo motor (D-axis) SGMGV-55A3A
3 Servo motor (O-axis) SGMGV-55A3A
4 Servo motor (R-axis) SGMGV-55A3A
5 Grease nipple A type,M6×1.0
6 Harness
1-3
【A1800 V-P】
2

No. Name Model
1 Servo motor (D-axis) SGMGV55
2 Servo motor (O-axis) SGMGV55
3 Harness
1-4
【A1600V, A1600V-W】
5 7

No. Name Model
1 Servo motor (T-axis) SGMJV-04A3A
2 Servo motor (D-axis) SGMGV-55A3A
3 Servo motor (O-axis) SGMGV-55A3A
4 Servo motor (R-axis) SGMGV-55A3A
5 Grease nipple B type,M6×1.0
6 Harness
1-5
【A1600V-P, A1600V-PW】

No. Name Model
1 Servo motor (D-axis) SGMGV55
2 Servo motor (O-axis) SGMGV55
3 Harness
1-6
【Ai700】
No. Name Model

TS4609N7620E200 (JIS)
1 Servo motor (T-axis)
TS4609N7621E200 (UL/CE)
TS4836N8238E201 (JIS)
2 Servo motor (D-axis)
TS4836N8239E201 (UL/CE)
TS4836N8238E201 (JIS)
3 Servo motor (O-axis)
TS4836N8239E201 (UL/CE)
TS4836N8238E201 (JIS)
4 Servo motor (R-axis)
TS4836N8239E201 (UL/CE)

6 Harness
1-7
【A700V】
5 7

No. Name Model
1 Servo motor (T-axis) TS4609
2 Servo motor (D-axis) TS4836
3 Servo motor (O-axis) TS4836
4 Servo motor (R-axis) TS4836
6 Harness
1-8
【A700V-P】
2

No. Name Model
3 Harness
1-9
【A400V】

No. Name Model
1 Servo motor (T-axis) TS4609
4 Servo motor (R-axis) TS4836
5 Harness
1-10
【AP30V】

No. Name Model
1 Servo motor (O-axis) ＴＳ４８３６
2 Servo motor (D-axis) ＴＳ４８３６
ＰＴ１／８
3 plug ※Change to grease nipple（ＰＴ１
／８） in case of injecting grease.
ＰＴ１／８
4 plug
（for confirmation of grease）
5 plug ＰＴ１／８（grease drain）
6 Harness
7 Servo motor (C-axis) ＴＳ４６０９（option）
1-11
1.2. Periodic Maintenance and Inspection
This section gives the periodic maintenance and inspection schedule, and explains the
inspections in detail.
1.2.1.Inspection Types and Items

For an Okura A series Robot Palletizer, there are the following four types of inspection:
3 basic types and overhaul.
Inspection type
No. Explanation
1 Routine Routine inspection items
inspection
2 A inspection Perform every 1000 hours of operation
3 B inspection Perform every 10000 hours of operation
4 C inspection Perform every 20000 hours of operation
1.2.2.Inspection Schedule
Generally, the inspection schedule follows the cycles given below.
Operation time per day, and

Hours of Routine A B C
number of years
operation inspection inspection inspection inspection
8hours 16hours 24hours
1000 x
2000 x 1year
3000 x
4000 x 2years 1year
5000 x
6000 x 3years 1year
7000 x
Routine Inspection
8000 x 4years 2years

9000 x
10000 x x 5years
11000 x
12000 x 6years 3years 2years
13000 x
14000 x 7years
15000 x
17000 x
19000 x
20000 x x x 10years 5years 3.3years
1-12
1.2.3.Inspection Items
Periodic maintenance and inspection are divided into 4 levels, including overhaul,
and the inspection contents at each level is as given in the following Table.
Routine
Inspection item Inspection contents
C
B
A
Inspection for harness damage and
interference etc.
Grease leakage of DO axis motor.
1 Routine inspection x
Grease leakage of joint.
Check for abnormal noise and vibration
during operation.
Inspection for hand rattling.
Check whether hand orientation is
2 Hand x
horizontal.
Lubrication of hand bearing section.
Inspection for harness damage and kinking.
3 Electrical equipment x
Check of a limit switch
Lubrication of R-axis bearing.(except
Ai1800)
4 Bearing lubrication Bearing(flange type) of joint(for A400V)
x
Bearing(Rod end) of joint(for A400V)
5 Reduction gear
grease Grease replacement. x x
replacement
6 Parts replacement Replacement of standard replacement parts. x
1.3. Inspection Contents

1.3.1.Routine inspection
Follow the instructions described in the Safety manual.
1.3.2.Hand
The explanation here concerns standard hands for bags and cases.
Hand rattle
1. Check the fingers so that they are oriented
correctly and securely fastened.
2. Check the actuator (air cylinder etc.) so that 2 3
they are securely fastened and have no
excessive wear. 4, 5
3. Check the harnesses if they have no

damages.
4. Check the air cylinder if there are no
loosened nuts on the flow controls.
5. Check bolts if they are securely fastened.
Check the frame for signs of cracking.
1 4
1-13
Hand level
Robot hand may deviate off the level if it touches or
collides with stacked products due to programming
by mistake, etc.
This is because the hand incorporates a design
feature to absorb the impact of the collision and
minimize damage.
Ai700/A700V/ A1600V/Ai1800/ A1800V-W features as

follows,
Plate
The following explains how to recover when the hand
deviates from the level.
1. Remove the plate of the wrist link
lever.(See diagram at right)
2. Loosen the internal power lock screws,
M8-30L 6 (in case Ai700 / A700V) Ai1800
M8-22L 14 (in case Ai1800 / A1600V)
M8-22L 16 (in case A1800V-W) Plate
in alternating diagonal fashion a little at a
time. (Screws need only to be loosened to
the point where the hand inclination can be
corrected.)
3. Place a leveler on the top surface of the A700V
hand, and level the hand while checking
the leveler’s reading. (Check that the hand
mounted to the T-axis output shaft is
horizontal.)
A
4. Using a torque wrench and proceeding in
alternating diagonal fashion at a torque,
14.8 N-m (150kgf-cm) (in case Ai700(140Kg)and
A700V)
16.7 N-m (170kgf-cm) (in case Ai700(160Kg))
first time 10 N-m (98kgf-cm), second time 20 N-m
(196kgf-cm) (in case Ai1800/A1600V/A1800V-W)
5. Raise the torque to
37.0 N-m (380kgf-cm) (in case Ai700(140Kg)
/ A700V)
32.0 N-m (327kgf-cm) (in case A1600V)
Caution
34.0 N-m (347kgf-cm) (in case A1600V-W)
41.0N-m(418kgf-cm) (in case The hand might incline further in
Ai1800/A1800V-W /Ai700(160Kg)) procedure 2. Please work in the
Tighten in alternating diagonal fashion. situation the hand is supported.
Repeat this a few times. (at least 3 times)
If there is reason for concern about
corrosion, prevent bolt from rusting by
filling with grease between the power lock,
bored housing and cover.
1-14
A1800V features as follows,
1. Loosen 10-bolts (M8 x 50L) in part (A)

until just enough to get T axis back to
level.
2. Place a leveler on the top surface of the

hand, and level the hand while checking
the leveler’s reading. (Check that the hand
mounted to the T-axis output shaft is (A)
horizontal.)
3. Using a torque wrench and proceeding in

order of right figure at a torque,14.8 N-m
(151kgf-cm)
4. Raise the torque to
37.0 N-m (378kgf-cm)
Tighten in order of right figure. Repeat this 1
a few times. 8 10
6 5
Caution 2 3
The hand might incline further in
9 7
procedure 1. Please work in the 4
situation the hand is supported.
A400V features as follows,
1. The lock nut of a parallel link(No.1) is

loosened.(See diagram at right)
2. Length is adjusted until a parallel
link(No.1) is rotated, and the angle of a
link becomes 4.2 degrees.
tightened. Link

loosened.
5. The level is put on the hand. A parallel
link(No.2) is turned while confirming the
level, and it is adjusted that the hand
Lock nut
becomes the horizontal.
tightened.
1-15
Lock nut
T-Axis Flange
Hand lubrication ( only for hands with LM guide)

Open the hand palm, and use a grease gun to pump grease (Gadus S2 V100 2, Shell
Petroleum) through the grease nipple on LM guide bearing case.).
After lubricating, open and close the hand a few times, and lubricate again.
Wipe off the grease adhering to around the rail.
* Don’t need to lubricate “LM guide with lubricant seal”.
Caution Enforcement
Carefully clean around floor after work is done to not have someone
else fall over, as floor may be very slippery.
1.3.3. Electrical equipment

Harnesses (Cables and air hoses)
1. Check if there is no loosened harness connectors, no cable damage or kinking,
no interference with the robot and peripheral equipment, no disconnected
connectors and no loosened terminal block screws. Tighten if necessary.
2. Remove the cover on robot base and check the harness inside. Check if there is
no damage, kinking. If there were any trouble, contact our customer service
department.
3. Purchase of spare Harness between T Axis with hand is recommended. The
Harness is included in the articles of consumption because it is influenced by
environment such as the dust existence, the rotation frequency, the operation
angle of the hand and robot motion speed.
1-16
1.3.4.Bearing lubrication
R-axis bearing (for A1800V, A1600V, Ai700, A700V)
1. Lock out and Tag out the robot. Move to the
stroke end by operating in manual mode.
2. Using a grease gun, pump grease (Gadus Grease nipple
S2 V100 2, Shell Petroleum) slowly
through the grease nipple. (a few pumps)
*Inner pressure goes up when rapidly A1600V
lubricated and the oil seal comes off. Ai700
3. Lock out and Tag out the robot. After A700V
lubricated, operate through the full stroke
A1800 series
a few times. Then move to the opposite
stroke end.
4. Lubricate again at this point.
5. After lubricated, operate through the full
stroke a few times. Grease nipple
6. Lubricate to the amount of the following
volume target repeating the
above-mentioned procedure.
[The estimated amount of lubricant]
A1600V/Ai700/A700V : between 21 and 31cc
A1800V : between 26 and 39cc
Caution Enforcement
Carefully clean around floor after work is done to not have

someone else fall over, as floor may be very slippery.
1-17
Bearing(flange type) of joint(for A400V)
1. Move to the stroke end by operating in

teach mode. Lock out and tag out the Grease nipple
robot.
2. Using a grease gun, supply grease (Gadus
S2 V100 2, Shell Petroleum) from the
grease nipple.
3. After lubrication, operate through the full
stroke a few times. Then move to the
opposite stroke end, lock out and tag out
the robot. Grease nipple

stroke a few times.
Caution Enforcement

1-18
Bearing(Rod end) of joint(for A400V)
1. Move to the stroke end by operating in

teach mode. Lock out and tag out the
robot.
2. Using a grease gun, supply grease from
the grease nipple.
Grease gun type:MG70(nozzle:N).THK Rod end
Grease nipple type:PB107
Grease type: Gadus S2 V100 2, Shell
Petroleum
stroke a few times. Then move to the
opposite stroke end, lock out and tag out
the robot.
Grease nipple
stroke a few times.
6. Finally, please wipe the grease that
overflows from the ball in the rod end off.
(Because there is a possibility of making
the transportation thing dirty.)
Caution Enforcement

1-19
1.3.5.Reduction gear grease replacement
Grease of reduction gears is to be replaced every 10,000 hours. At B and C level of
inspection, Okura can supply you with the maintenance work upon your request.
Note
B and C inspection are conducted according to an agreement with Okura.
1.3.6.Limit Switch
R axis limit switch (for Ai1800, A1800V, A1600V, Ai700, A700V)
In the layout for which the revolution angle of R axis exceeds 260 degrees, operate a
limit switch by hand and check if error message of "emergency stop" comes on.
（Revolution angle of Ai1800 is no limit, it is necessary to check for the all layout.）
After the above-mentioned check, the limit switch needs to be reset by the reset button
(blue) on limit switch body.
1-20
1.3.7.Parts replacement
Standard Replacement Parts
The following are standard replacement parts, which are replaced at C inspection
The parts will be negotiated between you and us depending on the conditions.
No. Parts name Parts code location When to replace

1 Robot internal From robot Recommend replacing wiring
wiring base to robot inside robot base if R Axis
hand rotation angle is 180 degree
or more.
Recommend replacing wiring
between robot and hand if T
Axis rotation angle is 180
degree or more.
2 Servo motor See robot Recommend to replace servo
main part list motor if ambient
temperature is close to 40
degree because electrical
parts in encoder could be
damaged.
３ Bearing All Axis Recommend to replace
Bearing if it could be
damaged.
4 Gear Reducer F2C-A15-89 T Axis Recommend to replace Gear
(Ai700,A700V, Reducer if it could be
A400V) damaged, because this is
Grease enclosed type.
5 R axis Cooling Fan 9G0924A202 Rotor Recommend to replace R
(Only A1800V) axis Cooling Fan.
6 R axis Cooling Fan 109R1224M1 Rotor Recommend to replace R
(Only Ai1800) 02 (JIS) axis Cooling Fan.
109R1224F4
02 (UL/CE)
Caution Enforcement
Replace fan in the same manner as used to be after

shutting main power down.
1-21
1.4. Reference Materials Concerning Maintenance
1.4.1.Maintenance Parts
The lubricants recommended here are designed to meet the demands of robot
operation, compliment scheduled maintenance, and maximize the useful service life of
the equipment.
No. Name/Model Qty. Area used
1 Gadus S2 V100 2 (Shell) 1kg Hand ,R-Axis bearing,
Flange, rod end
1.4.2.Lubricant List
No. Lubrication point Lubricant grease Recommended Appropriate

type grease brand amount /time
1 End-effector
(Linear Bearings/Varies) See respective
2 R-axis Bearing Lithium-based soap Gadus S2 V100 2 section of hand
type grease #2 (Shell) or lubricant
3 Flange unit supply.
4 Rod end
5 Reduction gear (NABTESCO) Recommended VIGOGREASE RE0
*) Ai1800,A1800V, A1600V ,AP30V grease on right side (Kyodo Yushi) See the table
Reduction gear (SUMITOMO) below
Ai700,A700V,A400V
*)Replace grease for item No.5 at B inspection.
Amount of grease needed for reduction gear [Unit: cc]
Axis
R D O T
Model
Ai1800 10300 2280 2130 340
A1800V 1920 2070 2070 120[330]
A1600V 1920 1980 1980 120[330]
Ai700 850 620 620
A700V 850 640 640
A400V 950 850 850
AP30V 650 1400
The values inside [ ] are amount of greases for W series.
*) The Gear Reducer of T axis of Ai700, A700V and A400V is complete grease enclosed
type so that grease cannot be replaced. Recommend to replace reduction gear at
inspection C (20000 hours) if it is worn out. It can be overhauled with the vendor.
1-22
1.4.3.Bolt Fastening Torque
Units: N·m (kgf-cm)
Type
Allen bolt
Material
Size SCM435
M5 7.0 (71.4)
M6 14.8 (151)
〔12.8 (130)〕 Note:
M8 37.0 (378) The recommended torque
specification for mounting a
【21.0 (214.2)】
hand to robot arm is 60N·m
M10 74.0 (755) (M10).
《37.3 (381)》
M12 128 (1306)
*106 (1080)
M14 206 (2100)
*172 (1750)
[265 (2700)]
M16 314 (3200)
M18 [363 (3700)]
M20 617 (6300)
<539 (5500)>
M22 [706 (7200)]
Power lock A1600V:32.0 (327)
A1600V-W:34.0 (347)
A1800V:37.0(378)
A1800V-W: 41.0(418)
The values inside <> is the required torque to fasten bolts to mount reducer output
shaft of Ai1800.
The values inside 《》 is the required torque to fasten bolts to mount input-gear of
Ai1800.
The values inside 【】 is the required torque to fasten bolts to mount input-gear of Ai700.
The values inside 〔〕 is the required torque to fasten bolts to mount output shaft and
case of AP30.
* means the required torque to fasten bolts to mount reduction gear of Ai700, A700V
and A400V.
The values inside [ ] are the required torque to fasten bolts to mount output shaft of
Ai700, A700V and A400V.
1.4.4.Parts supply assurance

After shifting from the existing robot model to brand new model in the future, the exact
or alternative service parts for the existing continues to be supplied for 10 years.
After those 10 years, Okura still tries to repair robot and to supply the parts as long as
Okura can deal with.
If there will be some parts purchased from vendor Okura is hard to procure, we will
1-23
contact and negotiate with you on how we will fix.
1-24
2.Controller
The robot model connectable with each controller is as follows.
Controller Controller Type Robot Model

Model JIS UL CE
1 RC811 ○ A1600V,A1600V-P
2 RC812 ○ A1600V-W,A1600V-PW
A1800V,A1800V-P,A1800V-W
3 RC830 ○ A1600V,
A1800V,A1800V-W
4 RC830-CE ○ A1600V,A1600V-P
A1600V-W,A1600V-PW
A1800V,A1800V-P,A1800V-W
5 RC821 ○ A400V
6 RC822 ○ A700V,A700V-P
AP30V,AP30HV
7 RC840 ○ A700V
8 RC840-CE ○ A700V,A700V-P
9 RC1100 ○ A1600V,A1600V-P
A1600V-W,A1600V-PW
A1800V,A1800V-P,A1800V-W
10 RC1200 ○ A400V
Ai700,A700V,A700V-P
AP30V,AP30HV
11 RC1300 ○ Ai1800
12 RC1500 ○ Ai1800
13 RC1500-CE ○ Ai1800
14 RC1600 ○ Ai700
15 RC1600-CE ○ Ai700
2-1
2.1. Controller Internal Component Arrangement Diagram
The diagram here shows the arrangement of parts inside the robot controller.
Correlate and see them with the parts table.
2.1.1.JIS Type Controller
Front view
RC811、RC812、RC830、RC840
RC1100、RC1200、RC1300
2-2
Side view
RC811、RC812、RC830、RC840
MCRU-1
SPSU-1
RC1100、RC1200、RC1300
2-3
Rear view
RC811、RC812、RC830、RC840 RC1100,RC1200,RC1300
*RC821/RC822 is the only RS 4/5/6. *RC1200 is the only RS 3.
Door view
RC811、RC812、RC830、RC840 RC1100,RC1200,RC1300
2-4
Key controller parts
Parts No. Name RC811/RC812 RC821/RC822
(A1800V/A1600V･･･) (A700V/A400V･･･)
NFB0 Circuit breaker BW100AAG-3P 3P 75AT BW63ＥAG-3P 3P 63AT
NF3040A-SDN1 NF3040A-SDN1 (RC821)
NF1 Noise filter
NF3020C-SVA-8DD (RC822)
FAN1～4 Fan 4715MS-20T-B50-B00 ←
Regenerative EC500 1R5J 500W 1.5Ω EC500 5R0J 500W 5Ω
Rs1～6
resistance (Only Rs4/5/6)
RC501 Host CPU board RC501 ←
RC502 or
I/O board (option) RC502 or RC522A ←
RC522A
RC506 Main power board RC506A ←
SPSU-1 Servo power Unit SPSU-1 SPSU-2
MCRU-1 Contactor Unit MCRU-1 ←
Amplifier Unit AP107 (RC811) AP104 (RC821)
APx07/APx04
(R,D,O axis) AP507 (RC812) AP504 (RC822)
Amplifier Unit AP108 (RC811) AP110 (RC821)
APx08
(T axis) AP508 (RC812) AP508 (RC822)
AVR1 Switching regulator ZWQ80-5225/A ←
ZWS100AF-24/JA (RC811) ZWS100AF-24/JA (RC821)
AVR2 Switching regulator
LFA100F-24-SN-Y (RC812) LFA100F-24-SN-Y (RC822)
AVR3 Switching regulator LFA240F-24-SN-Y ←
TP Touch panel V808ｉCD ←
TR1 Transformer SC21-200 ←
F1 Fuse FGBO AC100V 2A ←
BAT Battery ER6K-#17-A ←
2-5
Parts No. Name RC1100 RC1200
(A1800V/A1600V･･･) (A700V/A400V･･･)
NFB0 Circuit breaker BW100AAG-3P 3P 75AT BW63ＥAG-3P 3P 63AT
NF1 Noise filter NF3040A-SDN1 NF3020C-SVA-8DD
FAN1～4 Fan UTL125C ←
Regenerative
Rs3～4 BG1500 4R5J 1500W 4.5Ω EG1500 150J 1500W 15Ω
resistance
RC522A I/O board (option) RC522A ←
RC506 Main power board RC506A ←
SPSU-E1 Servo power Unit SPSU-E1 SPSU-E2
Amplifier Unit
AP507/AP504 AP507 AP504
(R,D,O axis)
AP508 Amplifier Unit(T axis) AP508 AP508
AVR2 Switching regulator PMC-24V100W1AJ ←
TP Touch panel V808ｉCD ←
TR1 Transformer SC21-200 ←
F1 Fuse FGBO AC100V 2A ←
C1,C2 Capacitor LQR2G392MSEHBB ←
MC1,2 Contactor SC-N2/G SC-N1/G
2-6
Parts No. Name RC1300
(Ai1800)
2.1.2. NFB0 Circuit breaker BW100AAG-3P 3P 75AT
NF1 Noise filter NF3040A-SDN1
FAN1～4 Fan UTL125C
Regenerative
Rs3～4 BG1500 4R5J 1500W 4.5Ω
resistance
RC501 Host CPU board RC501
RC522A I/O board (option) RC522A
RC506 Main power board RC506A
SPSU-E1 Servo power Unit SPSU-E1
Amplifier Unit
AP507 AP507
(R,D,O axis)
AP508 Amplifier Unit(T axis) AP510
AVR1 Switching regulator ZWQ80-5225/A
AVR2 Switching regulator PMC-24V100W1AJ
AVR3 Switching regulator PMC-24V150W1AJ
TP Touch panel V808ｉCDN
TR1 Transformer SC21-200
F1 Fuse FGBO AC100V 2A
BAT Battery ER6K-#17-A
C1,C2 Capacitor LQR2G392MSEHBB
MC1,2 Contactor SC-N2/G
2-7
2.1.2.UL/CE Type Controller
Front view
RC830,RC840
Option Option
TR
AP507 AP508
(AP504)
AP507 AP507
(AP504) (AP504)
* Only CE type controller has a transformer
RC501
RC512
Front view
RC1500, RC1600
2-8
Rear view
RC830、RC840
Bottom view
Rear view
RC1500、RC1600
Bottom view
2-9
Side view
RC830、RC840
Side view
RC1500、RC1600
2-10
Parts No. Name RC830/RC830-CE RC840/RC840-CE
(A1800V/A1600V･･･) (A700V/A400V･･･)
Circuit breaker NF100-HRU-3P30 (RC830) NF100-HRU-3P15 (RC840)
NFB0
NF63CV-3P30 (RC830-CE) NF63CV-3P15 (RC840-CE)
Circuit breaker BW50RAGU-3P30 (RC830-CE) NF50-SMU-3P13 (RC840-CE)
NFB1
*RC830 is nothing *RC840 is nothing
NF Noise filter NF3060C-SVB NF3010C-SVB
Transformer TH9000EKC (RC830-CE) TH4000EKC (RC830-CE)
TR
Regenerative
Rs1-6 EC500 1R5J EC500 5R0J (Only Rs1-3)
resistance
FAN1-6 Fan MU1238A-41B ←
BF Box Fan TCHAI-10A3A-03 ←
SAFE Safety Controller FLEXISOFT ←
RC512 or
I/O board RC512 or RC522B ←
RC522B
RC516 Main power board RC516 ←
SPCU-1 Servo power Unit SPSU-1A SPSU-2A
MCRU-1 Contactor Unit MCRU-1-UL/CE ←
AP507 Amplifier Unit AP507 AP504
AP508 Amplifier Unit(20A) AP508 ←
TP Touch panel V808ｉCDN ←
R Relay MY4N-D2-DC24 ←
MR Relay G6B-47BND ←
2-11
Parts No. Name RC1500/RC1500-CE RC1600/RC1600-CE
(Ai1800) (Ai700)
Circuit breaker NF100-HRU-3P30 (RC1500) NF100-HRU-3P15 (RC1600)
NFB0
NF63CV-3P30 (RC1500-CE) NF63CV-3P15 (RC1600-CE)
Circuit breaker BW50RAGU-3P30 (RC1500-CE) NF50-SMU-3P13 (RC1600-CE)
NFB1
NF Noise filter NF3060C-SVB NF3010C-SVB
Transformer TH9000EKC (RC1500-CE) TH4000EKC (RC1600-CE)
TR
Regenerative
Rs3-4 EG1500 4R5J EG1500 150J (Only Rs3)
resistance
FAN1-6 Fan UTL125C ←
BF Box Fan TCHAI-10A3A-03 ←
ALC Area Limit Controller ALC-003 ←
RC501N Host CPU board RC501N ←
RC522B I/O board RC522B ←
RC516 Main power board RC516 ←
SPCU Servo power Unit SPSU-E1ULCE SPSU-E2ULCE
MC1-2 Contactor SC-N2/G SC-N1/G
C1-2 Capacitor LQR2G392MSEHBB ←(Only C1)
AP507 Amplifier Unit AP507 AP504
AP510 Amplifier Unit(30A) AP510 ←
TP Touch panel V808ｉCDN ←
2-12
2.2. Periodic Maintenance and Inspection
2.2.1.Inspection Types and Items
For Okura A series robot palletizer, there are the following four levels of inspection:
No. Level Explanation

1 Routine Routine inspection items
2 A Perform every 1000 hours of operation
3 B Perform every 10000 hours of operation
4 C Perform every 20000 hours of operation
2.2.2.Inspection Schedule
Generally the inspection schedule follows the cycle given below:
Operation time per day, and

Hours of Routine A B C
number of years
operation inspection inspection inspection inspection
8hours 16hours 24hours
1000 X
2000 X 1year
3000 X
4000 X 2years 1year
5000 X
6000 X 3years 1year
7000 X
Routine Inspection
8000 X 4years 2years

9000 X
10000 X X 5years
11000 X
12000 X 6years 3years 2years
13000 X
14000 X 7years
15000 X
17000 X
19000 X
20000 X X X 10years 5years 3.3years
2-13
2.2.3. Inspection Items
Inspection contents at each level are as given in the following table.
Routine
C
B
A
Inspection item Inspection contents
Inspection for harness damage and

interference etc.
1.Routine inspection Check for controller lamp operation X
Check for abnormal noise and
vibration during operation
Box fan's cleaning.(UL/CE type)
Clean PC board.
Fan operation check.
Inspection for connector and screw
looseness
Clean the bottom slits of the
2.Controller regenerative cover. X
Check for fan operation and clean
the inside of the regenerative
cover.
Clean the inside of the regenerative
resistance and the inside of the
heat sink of the amplifier unit.
Replacement in case of abnormal
3.Battery messages (warning, abnormality) or
X
replacement 2 years after exchanging the
batteries
Replacement of standard
４.Parts replacement X
replacement parts
Regenerative cover
B inspection is not done in the model described to this manual.
2-14
2.3. Inspection Contents
2.3.1.Routine inspection
Follow the instructions described in the Safety manual.
2.3.2.Controller
Function check of emergency stop switches

1. Remove the teaching pendant from the controller. And turn On the main power
supply.
2. Turn the motor power ON.
3. Press emergency stop switch on the controller panel.
4. Check that motor power will turn OFF and error message will be displayed on
the touch panel screen.
5. Attach the teaching pendant to the controller and do the same function check to
the emergency switch on the teaching pendant.
*The CE/UL type controller does not need to check 5.

Because the teaching pendant is not attached.
Function check of the safety door switch

1. Remove the teaching pendant from the controller. And turn On the main power
supply.
2. Turn the motor power ON
3. Open the safety door switch.
4. Check that motor power will turn OFF and error message will be displayed on the
touch panel screen.
the safety door switch.(with mode selection [Auto] )
6. Check that motor power will turn OFF and error message will be displayed on the
touch panel screen.
the safety door switch.(with mode selection [Manu] )
8. Check that no error message will be displayed on the touch panel screen and
motor power is still On.
*The CE/UL type controller does not need to check 5,6,7,8.

Because the teaching pendant is not attached.
Function check on the intrusion detection switch

If the system has intrusion detection switch, do the function check on the switch.
2-15
PC board
Check if boards inside the controller are dusty. Clean them as necessary (blow with
dry-clean air --Approx. 2 Kgf/cm2).
Note
If dry air is unavailable, blow off dust with contact cleaner.
Cleaning of regeneration resistor cover and fan of cover inside

Check if fan is stopped by dust. Also check if clogging the slit of cover bottom with dust.
They may cause a fire, a short circuit, or a reduced cooling ability.
Remove the regeneration cover, and clean the fans and intake part of the cover by dry
air if necessary.
Caution Enforcement
Regeneration resistor is very hot just after operating.

Fully cooling it, and then clean.
Box fan's cleaning（Only UL/CE type controller）

Since it is conceivable that stoppage of the fan or clogging of the fin due to the dirt in
the fan motor, carry out maintenance at least once a month according to dirtiness.
They may cause a fire, a short circuit, or a reduced cooling ability.
Detach the fan from mounting screws.

Clean up with a steam cleaner and the like aiming at the exposed tube core in the
exhaust opening. Then dry out it naturally or with an air blower.
Wipe off the dirt that drains from the exhaust opening with a cloth.
Caution Enforcement
Don’t remove fin-guard out of heat radiation fin. Your hand may be
wounded if touched.
Fan Operation Inspection

Check if fans work when NFB0 is turned ON.
If a fan is defective, replace it immediately.
Screw Looseness Inspection

Check if mounting screws for both each part and each terminal are loosened. Tighten
them if necessary.
Connector Inspection
Check if each connector inside the controller is securely connected.
2-16
2.3.3.Battery
About “Low Battery” messages
There are two kinds of abnormal messages (warning and abnormality) due to
the decrease of the battery life.
1) Memory's battery low (or Encoder’s battery low)
It is a warning that the battery longevity (or after two years of use) approaches.
It is possible to reset this message with the abnormal reset button even if the
batteries are not replaced and operating the robot is still possible. However, if
operation is continued, the voltage drop (abnormality) can occur and the
memory data can be lost.
Replace the batteries as soon as possible (within about one week) after the
warning message pops up.
- After pressing abnormal release (clearing the message), "Battery" is displayed
in red text on the automatic mode screen.
Do not turn OFF the controller's main power until the battery is replaced. Very
little electricity is consumed from the battery while main power is on.
2) Battery voltage drop (encoder battery voltage drop)

It is shown when the battery voltage is decreased.
When the controller’s main power supply is turned OFF, all memory data will be
lost. (It is possible to operate the robot when the message is displayed, as long
as the controller’s main power supply stays on).
Do not turn OFF the controller's main power until the battery is replaced.
If the message is displayed when main power is first turned on, the backup data
has already been lost. Restore the memory data from backup data (stored
separately) to resume normal operation.
● Memory Backup Battery Replacement Procedure

When the error message of “ Battery voltage drop” appears (or 2 years after replacing
the battery) replace the battery according to the procedure below.
Explanation
Program data and other data in memory (RAM) are maintained
by the memory backup battery.
IMPORTANT
If the battery is disconnected while the main power breaker
is turned off (or during power failure), all the data in the
memory will be lost.
Be sure to perform battery replacement according to the
following way.
If the data is lost, transfer the backup data stored in your computer through
OXPA-QmV/OXPA-PLC, and then perform “battery exchange update” on the POD
screen (see page 2-24).
2-17
Battery Type:
ER6K-#17-A (Hitachi-Maxell)
Battery Mounting Position

The battery is mounted at the
front side of RC501.
BATTERY
CN10
CN11
RC501
BATTERY
JIS type controller(RC810, RC820, ･･･ ) UL/CE type controller
2-18
BATTERY
RC501
RC1100, RC1200, RC1300, RC1500, RC1600
Before replacement
1.Check the battery manufacturer's safety instructions about the battery handling
and scrapping.(see the vendor’s website if needed:
http://biz.maxell.com/en/primary_batteries/ER_Warnings_17e.pdf)
2.Marking the old battery is recommended for reliable replacement.
3.Replace the battery only while main power is turned on. Be sure to follow safe
work practices including appropriate PPE for arc flash hazards.
Replacement Procedure
1.With controller power on, lift and turn the door handle on the front of the controller
¼ turn counter-clockwise. The door will not open.
2.Locate the small release screw to the right of the breaker handle. Turn this slightly
counter-clockwise. This will allow the door to open.
3.Locate the old battery and remove it from the connector.
4.Connect a brand new battery to either connector (CN10 or CN11).
5.Fasten the new battery to the bracket.
6.Close and latch the controller door.
After replacement
1.Press the abnormal reset button to clear any errors.
2.Perform the procedure for battery exchange update (see page 2-24) on the POD
screen.
3.Make sure the warning sign of [battery voltage dropped] at auto operation screen
has gone away
2-19
● Encoder Memory Backup Battery Replacement Procedure
When the error message “Encoder Battery Voltage Drop” or “Encoder Battery
Voltage low (Warning)” appears (or 2 years after replacing battery) replace the
battery.
Explanation
Okura robot palletizers employ absolute encoders.
Encoder memory backup batteries are necessary so that absolute
encoders can retain position information even during a power failure.
Important!
If the battery is disconnected while the main breaker is turned
off (or during power failure), all the data in the memory will be
lost.
Be sure to perform battery replacement according to the
following procedure.
Moving the robot to the origin position before starting the battery replacement
procedure is highly recommended. If the data in the encoder memory is lost,
perform "Origin Storing" (see Maintenance section) after battery replacement.
When the controller is powered OFF with a dead battery, it is not possible to
release the error by the pressing the abnormal reset button. The "Encoder Battery
Voltage Drop" error is latched in the encoder and the "Origin Storing" operation is
necessary for release the error, after replacing the battery. Refer to the Chapter
"Origin Storing" in the "Installation and Adjustment (electrical)" section of the
manual for the "Origin Storing" operation.
Battery Type:
ER6K-#17-A Qty.1 (Hitachi Maxell): Ai1800(JIS), A1600V, A1800V
ER6K-#17-A Qty.4 (Hitachi Maxell): Ai1800(UL/CE/JIS-ALC), Ai700, A700V
ER6K-#17-A Qty.5 (Hitachi Maxell): Ai1800(UL/CE/JIS-ALC) + C axis
Ai700 + C axis, A700V + C axis
Battery Mounting Position
・With maintenance cover : Battery is fixed to maintenance cover by insulation lock.
・Without maintenance cover : Battery is fixed to base inside of robot body.
Maintenance cover
Battery
With maintenance cover Without maintenance cover

Note
In case of no maintenance cover, since harness connect to cover for
robot connector, it cannot separate.
2-20
Robot internal wiring Dust proof cap
Battery
BAT-C1: Battery Connection Cable

with a dust proof cap
Robot internal wiring Battery
Battery
Battery
Battery

If "BAT-C1" is connected, select Replacement Procedure "A-1" or "A-2".

If "BAT-C2" or "BAT-C3" is connected, select Replacement Procedure "B-1" or "B-2".
Before replacement
When message about battery is displayed, Refer to "About battery voltage low
message (Page 2-24)" before replacement.
1.Check the battery manufacturer's safety instructions about the battery handling
and scrapping. (see the vendor’s website if needed:
http://biz.maxell.com/en/primary_batteries/ER_Warnings_17e.pdf)
2.Marking the old battery is recommended for reliable replacement.
3.Replace the battery only while main power is turned on. Be sure to follow safe
work practices including appropriate PPE for arc flash hazards.
4.Operate the robot to the origin position. (Refer to the “Operation” Manual）
2-21
Replacement Procedure A-1 : With the maintenance cover
- Ai1800(JIS),A1800V,A1600V -
1.With controller power on and motor power off, follow proper procedures for cell
entry and ensuring unintentional start up.
2.Remove cross recessed screws(M4-8L) for mounting the maintenance cover, and
then check BAT-C1 cable connecting.
3.Remove the old battery from maintenance cover, and then fix the new battery to
maintenance cover.
4.Remove the old battery from the connector.
5.Connect the new battery to the empty connector.
6.Mount the maintenance cover to the robot.
7.Follow the “After Replacement” procedure below.
Replacement Procedure A-2 : Without the maintenance cover

- A1800V,A1600V -
2.Remove the (4) cross recessed screw (M6-10L) for mounting the cover, and gently
pull the cover from the base.
3.Remove the old battery from the connector.
4.Connect the new battery to the empty connector.
5.Replace the cover.
2-22
Replacement Procedure B-1 : With the maintenance cover
- Ai1800(UL/CE/JIS-ALC),Ai700,A700V,A400V -
2.Remove cross recessed screws(M4-8L) for mounting the maintenance cover, and
then check BAT-C2 cable connecting.
3.Remove one of the existing old batteries from the connector and connect a brand
new battery to that empty connector. However, don’t remove other batteries on
the connectors yet.
4.Repeat step No. 3 for each battery, by one by one.
5.After all batteries are replaced, mount the maintenance cover to robot.
Replacement Procedure B-2 : Without maintenance cover

- A700V,A400V,AP30V -
2.Remove the (4) cross recessed truss head screw (M6-10L)* for mounting the
cover, and gently pull the cover from the base.
3.Remove one of the existing old batteries from the connector and connect a brand
new battery to that empty connector. However, don’t remove other batteries on
the connectors yet.
4.Repeat step No. 3 for each battery, by one by one.
5.After all batteries are replaced, replace the cover.
*AP30 uses cross recessed truss head screw(M5-8L).
After replacement
1.Press the abnormal reset button to clear any errors.
2.Perform the procedure for battery exchange update (see page 2-24) on the POD
screen.
3.Make sure the warning sign of [battery voltage dropped] at auto operation screen
has gone away.
2-23
■Battery exchange update on touch panel (POD) when battery is replaced
The following operation on [Battery replacement] screen is required after battery
replaced.
The directory is as follows.
Maintenance menu
↓
Controller data
↓
Battery replacement
1. Press the [Replace] key

after the battery has been
replaced.
When encoder battery is

replaced, press [Replace]
key for robot.
When memory battery is
replaced, press [Replace]
key for controller.
2-24
2.3.4.Parts replacement
Standard Replacement Parts
The below parts are for Inspection C. (Please consult with Okura since lifetime of parts
vary depending on the conditions.)
Caution Enforcement
Turn main power off whenever replacing parts.

Otherwise you may get an electric shock.
No. Parts name Parts code location When to replace

Memory Inside controller,
1 backup ER6K-#17-A (in the duct above Every 2 years
battery CPU board)
ER6K-#17-A
/Qty.1
Ai1800(JIS),A1800V,
A1600V
/Qty.2
AP30
Encoder /Qty.4
2
backup In the robot base Every 2 years
Ai1800(UL/CE),
battery
Ai700,A700V,A400V
/Qty.5
Ai1800(UL/CE)
+C axis,
Ai700+C axis,
A700V+C axis
3 Fan
Servo power Recommend to
4
unit (See 2.1 Component arrangement replace every 7
Contactor diagram) years.
5
unit
6 Relay
Main power Contact Okura Controller panel Depend on the
7
lamp brilliance check
2-25
2.4. Spare parts
The followings are spare parts Okura recommend you to have at hand.
RC811/RC812 (JIS Type A1800V, A1600V)

No. Parts Type Qty Location
1 Servo power unit SPSU-1 1 Control panel
2 Contactor unit MCRU-1 1 Control panel
3 200A Servo amp AP107(with RC811) 1 Panel(for R,D,O axes)
AP507(with RC812)
4 20A Servo amp AP108(with RC811) 1 Panel(for T axis)
AP508(with RC812)
5 Servo motor SGMGV-55A3A-OY11 1 Robot(R,D,O)
6 Servo motor SGMJV-04A3A-OY11 1 Robot(T)
7 Battery ER6K-#17-A 1 Panel(CPU board)
1 Robot(Base)
8 Touch panel (POD) V808iCDN 1 Panel(POD)
RC821/RC822 (JIS Type A700V, AP30)

1 Servo power unit SPSU-2A 1 Control panel
2 Contactor unit MCRU-1-UL/CE 1 Control panel
3 100A Servo amp AP104(with RC821) 1 Panel(for R,D,O axes)
AP504(with RC822)
4 20A Servo amp AP110(with RC821) 1 Panel(for T axis)
AP508(with RC822)
5 Servo motor TS4836N8219E201 1 Robot(R,D,O)
6 Servo motor TS4609N7090E200 1 Robot(T)
4※ Robot(Base)
※If you use a C-axis, need five batteries.
If you use an AP30, need two batteries.
2-26
RC1100 (JIS TypeA1800V, A1600V)
1 Servo power unit SPSU-E1 1 Control panel
2 Contactor SC-N2/G 1 Control panel
3 Capacitor LQR2G392MSEHBB 1 Control panel
4 200A Servo amp AP507 1 Panel(for R,D,O axes)
5 20A Servo amp AP508 1 Panel(for T axis)
1 Robot(Base)
RC1200 (JIS Type Ai700,A700V, AP30)

4※ Robot(Base)
If you use an AP30, need two batteries.
RC1300 (JIS Type Ai1800)
6 Servo motor SGMGV-55A3A-OY11 1 Robot(R,D)
7 Servo motor SGMGV-75A3A-OY11 1 Robot(O)
1 Robot(Base)
2-27
RC830/RC830-CE (UL/CE Type A1800V, A1600V)
1 Robot(Base)
RC840/RC840-CE (UL/CE Type A700V)

4※ Robot(Base)
RC1500 (Ai1800)
1 Servo power unit SPSU-E1ULCE 1 Control panel
6 Servo motor SGM7V-55AXA-OY11 1 Robot(R,D,O)
7 Servo motor SGM7V-75AXA-OY11 1 Robot(O)
8 Servo motor SGM7J-08AXA-OY11 1 Robot(T)
4※ Robot(Base)
10 Touch panel (POD) V9080iCD 1 Panel(POD)
RC1600 (Ai700)
1 Servo power unit SPSU-E2ULCE 1 Control panel
4※ Robot(Base)
9 Touch panel (POD) V9080iCD 1 Panel(POD)
2-28
Fuse replacement
Circuit ID Current Voltage Rating

Rating
DC BUS Ai1800,SPSU-E1-F1,F2 50A DC４００V
A1800V A1600V SPSU-1A-F1,F2
Ai700 SPSU-E2-F1,F2 20A DC４００V
A700V SPSU-2A-F1,F2
I/O TB3 0.2A AC125V
(RC830,RC830-CE,RC840,RC840-CE)
ALC-IF
(RC1500,RC1600)
AC Power F3/F5 (Only JIS type) 8A AC250V
AC Power F4/F6 (Only JIS type) 6.3A AC250V
Service outlet F1 (Only JIS type) 2A AC125V
SPSU- F1, F2
When fusion occurred to F1 or F2 Fuse, replace the fuse.
6mm
3mm
Normal After Fusion

F1, F2
Explanation
Fuse set on DC300V Power circuit line for Over Current
Protection.
CAUTION
Check the voltage between P300 and N300 in TBR3 terminal is
0V. Confirm capacitor discharged.
Fuse Type:
CR2LS-50G/UL(Fuji Electric) A1600V A1800V Ai1800
CR2LS-20G/UL(Fuji Electric) A700V Ai700
Fuse Mounting Position

Set on Servo power unit. (SPSU-1,SPSU-2, SPSU-E1ULCE, SPSU-E2ULCE)
See 2.1 “Controller Internal Component Arrangement Diagram”.
1. Turn Off the main breaker.
2. Remove the screws for mounting the cover, and separate the cover form the
controller without touching Terminal.
3. Check the voltage between P300 and N300 in TBR3 terminal is 0V.
4. Remove screw for mounting the fuse, and replace with a new fuse by screw for
mounting.
2-29
5. Mount the cover by the screws.
6. Turn On the main breaker, Check that the error message “Error No. 501: Servo
power voltage too low” and “Error No. 502: Servo power voltage too high” are not
issued.
TB3 (Only RC840 RC830 UL/CE type)

When fusion occurred to TB3 Fuse, replace the fuse.
Explanation
Fuse set on output of End effector line for Over Current
Protection.
Fuse Type:
UL CSA FGMA 0.2A 125V （FUJI TERMINAL INDUSTRY CO LTD）

Set on TB3.
See.2.1 Controller Internal Component Arrangement Diagram.
Replacement Procedure Open

2. Open Fuse Block, and replace with a new fuse. Close
3. Close Fuse Block.
4. Turn On the main breaker,
Check the output of End effector.
Fuse Block
SAFE-IF001 F1-F5(Only RC1500 RC1600 UL/CE type)

When fusion occurred to SAFE-IF001 Fuse, replace the fuse.
Explanation
Fuse set on output of End effector line for Over Current
Protection.
Fuse Type:
UL CSA FGMA 0.2A 125V （FUJI TERMINAL INDUSTRY CO LTD）

Set on SAFE-IF001.
2. Replace with a new fuse.
3. Turn On the main breaker,
Check the output of End effector.
2-30
F3/F5 (Only JIS type)
When fusion occurred to F3/F5 Fuse, replace the fuse.
Explanation
Fuse set on AC200V line(Fan/Switching regulator) for Over
Current Protection.
Fuse Type:
SS6 8A 250V （SOC）

Set on Contactor Unit
3. Turn On the main breaker, Check the operation of Fan.
F4/F6 (Only JIS type)

When fusion occurred to F4/F6 Fuse, replace the fuse.
Explanation
Fuse set on AC200V line(RC506 board) for Over Current
Protection.
Fuse Type:
SS6 6.3A 250V （SOC）

Set on Contactor Unit
3. Turn On the main breaker, Check that the motor can power ON normally.
F1 (Only JIS type)

When fusion occurred to F1 Fuse, replace the fuse.
Explanation
Fuse set on Service outlet line for Over Current Protection.
Fuse Type:
FGBO 2A AC125V（FUJI TERMINAL INDUSTRY CO LTD）

Fuse box in the bottom of the controller ducts.
3. Turn On the main breaker, Check the voltage of the service outlet.
2-31
Robot manual
Maintenance
Version 08: 2017.06.12
<Caution>

Robot Manual UL-CE-VINSM-06
Installation and Adjustment

- Mechanical -

History

(Date)
02(2012.12.10) Change of the arm speed (A700V:DO axis) 3-3
Change of Floor conditions (A700V) 1-23
03(2013.2.7)
Addition of Stopping time and distance 3-2,3-3
Change of Floor conditions (A700V) 1-23
04(2013.10.22) Words correction. 3-1
Dimension lines are added.
05(2014.01.22) 1-6,1-7
Date update
Last page
Addition of System Description
1-1
Description of Ai1800 and Ai700 are added
1-2,1-4,1-5,1-9,1-11,
1-13,1-15~1-20,
06(2017.06.12) 1-22,1-23,1-36,
2-4,2-6,3-1,3-4
Description of Limiting device is added 1-24~1-35
Addition of Ai1800/Ai700’s specificatons Chapter 3
Introduction
NOTE
Safety Instructions

throughout this manual are enforcement or warning that
if not correctly operated or handled, you may be
seriously injured or killed.
IMPORTANT
Only AUTHORIZED PERSONNEL can operate, maintain the robot or work
on programming.
Table of Contents
1. SYSTEM DESCRIPTION 1-1
1.1. IDENTIFICATION OF EACH PART OF THE MAIN UNIT ······························ 1-2
1.2. OPERATION RANGE ······································································ 1-5
1.3. T-AXIS FLANGE DETAILS ·····························································1-11
1.4. CAPACITY ················································································· 1-14
1.5. ROBOT INSTALLATION DIMENSIONS ············································ 1-19
1.6. TRANSPORT METHOD ·································································· 1-20
1.7. LIMITING DEVICE ······································································· 1-24
1.8. INSTALLATION AND FOUNDATION ················································ 1-36
1.9. NECESSARY INFORMATION ON PROTECTIVE FENCE ····························· 1-37
1.10. PNEUMATIC SYSTEM ································································ 1-38
2. ADJUSTMENTS 2-1
2.1. HOW TO PLACE THE OPTIONAL STOPPER ·········································· 2-2
2.2. HOW TO ATTACH THE HAND TO ROBOT ············································ 2-4
2.3. CAUTIONS WHEN DISASSEMBLED ··················································· 2-6
3. TABLE OF BASIC SPECIFICATIONS 3-1

1. SYSTEM DESCRIPTION
WARNING
The Robot system shall be installed to avoid interference
with buildings, structures, utilities, other machines and
equipment that may create a trapping hazard or pinch points.
CAUTION
Robot control panel shall not be located inside of the robot
work envelope / workcell.
Robot control panel shall be located outside of the safety
guards.
CAUTION
Strong Electromagnetic Interference (EMI), Radio Frequency
Interference (RFI) and Electro Static Discharge (ESD) can
causes error of controller equipment. The Robot system shall
be installed to avoid interference with these influences that
machines and equipment generate.
CAUTION
<<Installation and Environment Condition>>

When installing the robot, it is necessary to satisfy the following
conditions.
1. Ambient temperature : 0 - 40 [degree]
2. Ambient humidity : 35 – 85 [%] (No condensation)
3. Area free of explosive or corrosive liquids or gases
4. Area not subject to vibration or shocks
5. Area free of excessive electromagnetic noise.
1-1
1.1. Identification of Each Part of the Main Unit
Names of each part of the main unit are as given in the diagram below.
Ai1800
Upper Arm
Parallel Link Link
Parallel Link (Lower)
T-Axis Frame
T-Axis Flange Rod
Lower Arm
Lever
Rotor
Base
1-2
A1800V/A1800V-W
Upper Arm
Parallel Link
Link
Link Lever

T-Axis Flange
Rod
Lower Arm
Lever
Rotor
Base
A1600V/A1600V-W
Link Lever Upper Arm

Parallel Link(Upper) Link
T-Axis Flange Parallel Link(Lower)
Lower Arm Rod
Lever
Rotor
Base
1-3
Ai700
Parallel Link (Upper) Upper Arm Link

Link Lever

T-Axis Flange
Rod
Lower Arm
Lever
Rotor
Base
A700V
Upper Arm
Parallel Link (Upper)
Link
Link Lever
T-Axis Flange
Rod
Lower Arm Lever
Rotor
Base
1-4
1.2. Operation Range
[Ai1800]
A-point
A-point
operation range
Guarding needs to locate apart from mechanical movable area plus hand size and extra
safety distance A.
★If the restricted space is not required, it is possible to set it up to ±180 degrees by
eliminating the R-axis limit switch.
1-5
[A1800V]
A-point
A-point
operation range
The dimensions in ( ) are when

mechanical cam is used.
Without mechanical cam for small footprint
safety distance A.
eliminating the R-axis limit switch. A usual setting range is ±175 degrees.
1-6
[A1800V-W]
A-point
A-point
operation range

Without mechanical cam for small-footprint
safety distance A.
1-7
[A1600V/ A1600V-W]
A-point 200
A-point
operation range
safety distance A.
1-8
[Ai700]
A-point
operation range
A-point
The dimensions in [ ] are

default teaching area.
safety distance A.
1-9
[A700V]
A-point
operation range
A-point 150
120
145
125
115
90 40

safety distance A.
1-10
1.3. T-axis Flange Details
Installed Hand Conditions:
① Inertia
Ai1800:
Typical inertia of hand (including products) must be 20.0kgm2 or less.
(At speed regulated condition, 50kgm2 is MAX.)
Ai700:
A1800V/ A1600V/ A700V:
A1600V-W/ A1800V-W:
(At a speed regulated condition, 90kgm2 is MAX.)
* In case over the typical inertia, acceleration / deceleration is restricted.
② Force applied on hand
Both centrifugal and inertial force are applied on the products in hand while
robot arm is moving around..
Those need to be included when hand is designed.
Estimated acceleration / deceleration times are listed below just for your
reference.
Ai1800/A1800V/ A1600V : 0.24 sec
Ai700/A700V : 0.28 sec
A1800V-W/ A1600V-W : 0.4 sec
③ How hand is to be mounted on arm end

The external dimensions of hands are to be smaller than shown on the below
diagrams.
The mounting taps are also shown on bottom left.
[Ai1800]
8-M10 TAP
1-11
[A1800V/A1800V-W]
φ200
8-M10 TAP
φ150
[A1600V/ A1600V-W]
1-12
[Ai700]
8-M10 TAP
[A700V]
8-M10 TAP
1-13
1.4. Capacity
The handling capacity of an A series robot palletizer varies depending on the [load
weight] (total weight of hand and handled article), and the layout.
Among layout factors, the R-axis rotation angle of the robot has the greatest influence
on handling capacity. As shown in the diagram, the robot's R-axis rotation angle runs
from the station conveyor to the pallet position in the layout diagram.
Station
R-Axis Rotation
angle
Pallet
Handling capacity also varies depending in the nature of work, for example, when
palletizing, fundamentally different robot movement paths are used with bags and cases,
as shown in the diagram, so handling capacity also differs.
Bags Cases
A series robot palletizers have standard patterns for robot movement paths. Based on
Okura's experience with palletizing technology.
The following page shows the palletizing capacity when a standard pattern is used. The
positional relationship between the station conveyor and the pallet is assumed to be like
that in the diagram.
Stack Height
1500mm
650mm
120mm
1-14
[Bag]
Ai1800
Payload [kg]
A1800V/A1800V-W/A1600V/A1600V-W
Payload [kg]
1700
60
1600 100
1500 140
60
1400
100
Handling Capacity[B/H]
1300 140
1200 250
350
1100
1000
900 A1800V
800
A1600V
700
600
A1600V-W
500 （Payload 250kg）
400 A1800V-W
（Payload 350kg）
0
0
50
60
70
80
90
10
11
12
13
14
15
16
17
18
R-axis Rotation Angle[degrees]
1-15
Ai700
Payload [kg]
1100
60(Max 140 [kg])
1000 100(Max 140 [kg])

140(Max 140 [kg])
900 160(Max 160 [kg])
Handling Capacity [B/H]
800
700
600
500
400
300
R-axis Rotation Angle [degrees]
A700V
Payload [kg]
1100
60
1000 100
140
900
Handling Capacity[B/H]
800
700
600
500
400
300
0
0
50
60
70
80
90
10
11
12
13
14
15
16
17
18
※ The above diagrams are calculated based on the averaged inertia. Other than the averaged, you
don’t use the above.
1-16
[Case]
Ai1800
A1800V/A1800V-W/A1600V/A1600V-W
Payload [kg]
1300
60
1200 100
140
1100 60
100
Handling Capacity[C/H]
1000
140
250
900
350
800
A1800V
700
A1600V
600
500 A1600V-W
（Payload 250kg）
400 A1800V-W
（Payload 350kg）
300
0
0
50
60
70
80
90
10
11
12
13
14
15
16
17
18
1-17
Ai700
Payload [kg]
900
60(Max 140 [kg])
100(Max 140 [kg])
800
140(Max 140 [kg])
160(Max 160 [kg])
Handling Capacity [C/H]
700
600
500
400
300
R-axis Rotation Angle [degrees]
A700V
Payload [kg]
900
60
100
800
140
Handling Capacity[C/H]
700
600
500
400
300
0
0
50
60
70
80
90
10
11
12
13
14
15
16
17
18
※ The above diagrams are calculated based on the averaged inertia. Other than the averaged, you
don’t use the above.
1-18
1.5. Robot Installation Dimensions
The robot base dimensions are as follows.
[Ai1800/A1800V/ A1800V-W/A1600V/ A1600V-W/Ai700/A700V]
8-φ23
10°
10°
45°
（487.5）
(696.3)
φ850
4-M20
□750
Bolt size
Ai1800 M20×70L
A1800V, A1800V － W, A1600V,
M20×50L
A1600V－W, Ai700, A700V
1-19
1.6. Transport Method
The diagram below shows the posture and hoist position (rope tension).
[Ai1800]
D axis：0.0°
O axis：131.0° Both sides at right and left
(6345.5N(647.5kgf))
AX = 1171 mm
AZ = 1703 mm
：Gravity center
IMPORTANT
Be sure to remove the hoist bolts during robot operation.
1-20
[A1800V/A1800V-W]
Both sides at right and left
A1800V (5978N(610kgf))
D axis：0.0° A1800V－W(6370N(650kgf))
O axis：130.0°
AX = 1191 mm
AZ = 1716 mm
：Gravity center
[A1600V/ A1600V-W]
A1600V (5782N(590kgf))
D axis：－4.3°
A1600V-W(5860N(598kgf))
O axis：134.3°
AX = 1122 mm
AZ = 1615 mm
：Gravity center
IMPORTANT
1-21
【Ai700】 Both sides at right and left
6541.5N（667.5kgf）
：Max Payload 140 kg
6737.5N（687.5kgf）
：Max Payload 160 kg
D axis： 0.0°
O axis：140.0°
AX = 1069 mm
AZ = 1914 mm
※ When transported by
fork lift
D axis：－17.0°
O axis： 130.0°
AX = 1147 mm
AZ = 1632 mm
：Gravity center
IMPORTANT
1-22
[A700V]
(6223N(635kgf))
D axis： 0.0°
O axis：140.0°
AX = 1069 mm
AZ = 1914 mm
※ When transported by
fork lift
D axis：－17.0°
O axis： 130.0°
AX = 1147 mm
AZ = 1632 mm
（※2104）：Gravity center
IMPORTANT
[CONTROLLER RC830/RC840] [CONTROLLER RC1500/RC1600]
1150mm 1200mm
940mm 960mm
1-23
1.7. Limiting device
R,D,O-axis has limiting device as below.
Mechanical stoppers(**) Limit switch(es)

R-axis adjustable fixed(*)
D,O-axis fixed adjustable
(*)Only a limit switch is used when larger than 250 revolution angles.
Mechanical stoppers do not use.
(**)Ai1800 and Ai700 are stopped by ALC. Mechanical stoppers do not use.
Capability
Mechanical stops are capable of stopping robot motion under rated payload, maximum speed
conditions and at maximum extension.
Ai1800
Location
Ai1800 has ALC as standard, so mechanical stoppers do not use.
R-axis
Limit switch
1-24
D-axis: (Only UL type) O-axis: (Only UL type)
Limit switch
How to adjust
R-axis
Stopper
LS dog：R axis
LS dog mounts to the rotor as shown above. The mounting position is changed by limit angle of R
axis. Check the mounting position(refer to the next page).
Needed bolt to mount the stopper.（per 1 bolt）

Bolt Type Material Size Qty. Tightening torque[N･m](kgf･cm)
Hexagon socket bolt 315 (3214)
SCM435 M16×50L 2
Strength class：12.9
1-25
The attached bolts are installed in the position which corresponds from a lower table.
It attaches in the installed bolts and brackets positions in accordance with the stopper's holes(A
～F) shown in the table.
Installed Bolts Position Installed Bolts Position
+1 +2 +3 +4 +5 +6 +7 +8 +9 +10 +11 +12 -1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12
0 B 0 E
-5 A -5 D
+5 C +5 F
+10 D A -10 C F
+15 E B -15 B E
+20 F C -20 A D
+25 D A -25 C F
+30 E B -30 B E
+35 F C -35 A D
+40 D A -40 C F
+45 E B -45 B E
+50 F C -50 A D
+55 D A -55 C F
+60 E B -60 B E
+65 F C -65 A D
+70 D A -70 C F
Limit Switch Angle [deg]

+75 E B -75 B E
+80 F C -80 A D
+85 D A -85 C F
+90 E B -90 B E
+95 F C -95 A D
+100 D A -100 C F
+105 E B -105 B E
+110 F C -110 A D
+115 D A -115 C F
+120 E B -120 B E
+125 F C -125 A D
+130 D A -130 C F
+135 E B -135 B E
+140 F C -140 A D
+145 D A -145 C F
+150 E B -150 B E
+155 F C -155 A D
+160 D A -160 C F
+165 E B -165 B E
+170 F C -170 A D
-175 F -175 C
+175 D +175 A
180 E 180 B
※ The hatched parts is angle that use the bolt position for installation of both the plus side and minus side.
※ Depending on the limit angle, the plus side and minus side stopper interfere with each other. If so,
please produce a special stopper.
front of robot.
counter-clockwise turning clockwise turning
Revers side
Bolts Position
1-26
The plates for adjustment shown in the above figures are attached so that the limit switch may be
effective at an angle of hope.
1-27
A1800V
Location
R-axis
Mechanical stoppers
Limit switch
Mechanical stoppers
Limit switch
1-28
How to adjust
R-axis +1 -1
+2 -2
The attached bolts are +3 -3

installed in the position which
corresponds from a lower ⅰphase
table. +4 -4
It attaches in the installed +5 -5

bolts and brackets positions ⅱphase
in accordance with the
stopper's holes(A～H) shown +6 -6
in the table.
+7 -7
※The stopper uses both sides

of the inside and outside. +8 -8
+9 -9
▲
Front of robot
+1 +2 +3 +4 +5 +6 +7 +8 +9 -1 -2 -3 -4 -5 -6 -7 -8 -9
0 A E 0 A E
+5 E A -5 E A
+10 C G -10 C G
+15 G C -15 G C
+20 A E -20 A E
+25 E A -25 E A
+30 C G -30 C G
+35 G C -35 G C
+40 A E -40 A E
+45 E A -45 E A
+50 C G -50 C G
+55 G C -55 G C
+60 A E -60 A E
+65 E A -65 E A
+70 C G -70 C G
+75 G C -75 G C
+80 A E -80 A E
+85 E A -85 E A
+90 C G -90 C G
+95 G C -95 G C
+100 A E -100 A E
+105 E A -105 E A
+110 C G -110 C G
+115 G C -115 G C
+120 A E -120 A E
+125 E A -125 E A
+130 C G -130 C G
※The shaded cells in above table show the installation with ⅱ phase.
1-29
1-30
A1600V／A700V
Location
R-axis:
Common to A1600V and A700V
R-axis:inside the base
Mechanical stoppers
Limit switch
A1600V D/O-axis: (Only UL type)

D-axis:inside the rotor O-axis:inside the rotor and on the lower arm
Mechanical stoppers
Limit switch
1-31
D-axis:inside the rotor O-axis:inside the rotor
Notes
R-axis and D,O-axis for A1600V stoppers absorb a shock by plastic modification.
If it should collide, please exchange for a new one. It can detach and attach only by operation of a bolt
in which the stopper is being fixed.
Please specify parts from a lower table at the time of stopper order.
R-axis D-axis O-axis

+ side D0802019
D0861003-2
- side D0802020 D0804006-1
1-32
How to adjust
A1600V/A700V R-axis
The attached bolts are

installed in the position which
corresponds from a lower
table. +1 -1
+2 -2
+3 -3
ⅰphase
It attaches in the installed
bolts positions in accordance +4 -4
with the stopper's holes(A～
H) shown in the table. +5 -5
ⅱphase
+6 -6
※The stopper uses both sides
of the inside and outside.
+7 -7
+8 -8
+9 -9
+1 +2 +3 +4 +5 +6 +7 +8 +9 -1 -2 -3 -4 -5 -6 -7 -8 -9
0 A E 0 A E
+5 E A -5 E A
+10 C G -10 C G
+15 G C -15 G C
+20 A E -20 A E
+25 E A -25 E A
+30 C G -30 C G
+35 G C -35 G C
+40 A E -40 A E
+45 E A -45 E A
+50 C G -50 C G
+55 G C -55 G C
+60 A E -60 A E
+65 E A -65 E A
+70 C G -70 C G
+75 G C -75 G C
+80 A E -80 A E
+85 E A -85 E A
+90 C G -90 C G
+95 G C -95 G C
+100 A E -100 A E
+105 E A -105 E A
+110 C G -110 C G
+115 G C -115 G C
+120 A E -120 A E
+125 E A -125 E A
+130 C G -130 C G
※The shaded cells in above table show the installation with ⅱ phase.
1-33
D-axis O-axis

D-axis O-axis
1-34
Ai700
Location
Ai700 has ALC as standard, so mechanical stoppers do not use.
R-axis
Limit switch
Ai700V D/O-axis: (Only UL type)

D-axis:inside the rotor O-axis:inside the rotor
How to adjust Limit switch
D/O-axis: (Only UL type)

D-axis O-axis
1-35
1.8. Installation and Foundation
Stand Strength and Rigidity
The following standard values must be satisfied for the bending direction (M) and twisting
direction (T) shown in the diagram below.
Ai1800/A1600V/ A1800V
[Strength]
The stage must withstand the following
repetitive load.
M =±16000 Nm
T =±12500 Nm
[Rigidity]
Sufficient rigidity is required to avoid vibration
during robot motion. Recommended values are
KM=5.4x106 Nm/rad or over
KT =5.4x106 Nm/rad or over
[Set-up conditions]
Floor conditions: Concrete 150mm thick or over, 3.0t/m2, No water gradient.
Concrete compression strength 21Mpa or over.
Fixing method: Chemical anchor (12)-M16 bolts
Hole Dia.19mm, Hole depth 130mm
Bolt tensile strength is Strength Class 4.6 or over.
Bolt yield is 240N/mm2 or more.
Ai700/A700V
[Strength]
The stage must withstand the following
repetitive load.
M =±7500 Nm
T =±6000 Nm
[Rigidity]
Sufficient rigidity is required to avoid vibration
during robot motion. Recommended values are
KM =3.9x106 Nm/rad or over
KT =3.9x106 Nm/rad or over
[Set-up conditions]
Floor conditions: Concrete 150mm thick or over,
3.0t/m2 (projected area 0.87m2), 2.0t/m2 (projected area 1.19m2).
No water gradient.Concrete compression strength 21Mpa or over.
Fixing method: Chemical anchor (8) - M16 bolts
Hole Dia.19mm, Hole depth 90mm
Bolt tensile strength is Strength Class 4.6 or over.
1-36
1.9. Necessary information on protective fence
Use parts which satisfy the following common requirements for a protective fence door switch,
emergency stop switch and intrusion detect switch.
Common requirement
Wire : IEC standard
Wire diameter : 0.5 sqmm or more
Wires length : 20 m or less
Voltage : 24 V
Current : 20 mA
Output : dry output
Standard : authenticated by NE/IEC standard, which include a dual channel mechanism
with normally closed contacts.
1. Protective fence door switch

Satisfy the common requirements above.
Door keys that are removable when the door is open
cannot close without the key replaced.
2. .Emergency stop switch

Satisfy common requirements above.
The system integrator shall install the emergency stop
botton to the desired location. Also the system
integrator shall install the emergency stop botton on
control panel other than robot its.
3. Intrusion detection switch

Satisfy common requirements above
This can be connected to control category three
Safety distance A
4. Height and region of protective fence
Protective fence height is recommended to be more
than 2700 mm.
Safety fence locates apart from robot mechanical
2
movable area plus hand size and extra safety distance A. Fence height
( Extra distance A must be based on EN294 on the basis
of fence height and guard clearance)
2
Follow EN953 in locating fixed guard.
5. Structure and dimension of protective fence

Protective fence requirement is having the capability to withstand the impact of the
handling work dropped and released by the robot at maximum speed, and to prevent
flying out the handling work from the fence inside at the same condition.
Maximum speed is calculated by the maximum velocities of the robot axes and the robot
position.
1-37
1.10. Pneumatic system
Pneumatic system is provided for hand.

Pneumatic source interface is set on Robot Base panel.
Air tube is passed in the flexible conduit and the interface is set on T-axis.
Air tube Option interface is set on Robot Rotor inside.
Air Pressure Max. 0.5Mpa, 72psi
Interface
Pneumatic source：Model KQE12-00(SMC)/ Fitting Diameter 12mm
Hand：Model KQH10-12(SMC)/ Fitting Diameter 10mm
Option：Model KQH12-00(SMC)/ Fitting Diameter 12mm
See “Installation and Adjustment -Electrical-“

“2.1 Inside-Robot Harness Cable” for panel locations and diagram.
Interface for hand
Interface of Air tube Option in Rotor inside.
Interface of pneumatic source
Locations
1-38
2. Adjustments
2-1
2.1. How to place the optional stopper
[A1800V]
1.Outlines
Standard mechanical cam can allow robot arm to make smaller foot print.
Area "A" can be used for programming only when the cam is taken away.
* Extreme end stops for moving forward and backward still work when no cam is mounted.
2676 mm 2929 mm
(a) When standard mechanical cams are mounted
(b) When standard mechanical cams are removed
Figure 1: Operation range with/without mechanical cams
2. How to remove mechanical cams
(1) Get robot arm at basic posture - operate in manual mode.
(2) Not unbolt but just loosen the bolts a bit.

Standard
mechanical cam
(3) Remove parallel pins.
Be careful with loose cams
as they may move.
(4) Unbolt and take the cams away.
* Remove the other side of cam.

Fixing bolt
Parallel pins
2-2
[A700V]
1.Outline
This optional cam can be used for is to
make robot operation range limited to as
same as old model of A700. See figure 1
for operation range.
With optional Without optional cam

1900mm cam 2300mm
1318mm
1750mm
Figure 1: A700V operation range
2.How to place the optional cam

①A robot is manually moved to the position where cam can be attached.
Required position : D-axis is between 0-10degrees (O axis angle is arbitrary),
* It is closer to AZ max/AX max or AZmax/AXmax.
②A cam is attached as shown in a figure.
2-3
2.2. How to attach the hand to robot
1. Put on the hand harness cable cover on hand.
Use only for A1600V, A1800V and Ai1800.
The photo right side is a hand.

It may be different in shape
from yours.
2. Attach the hand to robot. Hand can be attached at any angle.
3. You stand just in front center of robot and rotate the hand until it is parallel to
the robot arm. At that point, side vacuum pads or any support device attached is
to be left side.
4. Store only T-axis origin on controller. Don’t do the same for other axes.
2-4
5. Rotate the hand by 220 degrees clockwise.
6. Wind up the hand harness cables two and a half turns clockwise, being
connected only with robot side.
7. Connect the hand connectors and an air hose. Make sure if hand harness cable
and hose are not too tight. If they seem too tight, rotate the hand
counter-clockwise until the cables and hose are loose enough. Then set the
T-axis soft limit to that current position in angle.
8. Hand attachment is completed.
2-5
2.3. Cautions when disassembled
Grease is used in reduction gears for lubricant to A series robot.
Amount of grease in total is around between 1 to 2 litters. That for T axis is about 100
cc.
（Ai1800->R axis : about 10 litter, D and O axis : about 2 litter, T axis : about 300cc）
Grease is not detrimental but be careful of the followings
１．When get grease in eyes, wash them with clean water for 15 minutes and see a
doctor.
２．When get grease on skin, wipe them off carefully then thoroughly wash down by water
and soap.
３．When suck in grease, move to area in fresh air, wrap yourself with blanket to keep you
warm then see a doctor.
2-6
3. Table of Basic Specifications
【Ai1800】
Models Ai1800
Type Vertical articulated
Max payload 160 kg
Number of
4 axes
axes
R axis 360 °
Operation D axis 2,300 mm
range O axis 1,518 mm
T axis 440 °
R axis 143°/s
D axis 3.3 m/s
Arm speed
O axis 2.5 m/s
T axis 314°/s
Stopping
time and R axis 350ms/1310mm
distance
(including D axis 180ms/600mm
manual
mode O axis 190ms/406mm
operation)
<Case> 1,200 C/h
< Bag >1,720 B/h
Max capacity The capacity depends on layout and/or hand (like 2 picks at a time).
The max payload is not related to the capacity.
Use OXPA-Qm to figure out capacity.
Accuracy Repeatability ±1 mm
Arm height Max 2,400mm
Robot
1295 kg
weight
Equivalent noise level: 73.7dB(A)
Noise level
（Measured away：1.0m, off floor ：1.0m）
180 L/min(ANR)
Compressed
(With pallet dispenser、300 L/min(ANR) )
air required
Compressed air is to be at 0.5MPa or lower.
Installation Ambient temperature 0～40℃
condition Ambient humidity 35～85％
3-1
Stopping time and distance
R axis speed 10
payload
30.00
160kg
29.00 payload
28.00 140kg
payload
27.00
100kg
26.00
deg
25.00
24.00 payload
23.00 50kg
22.00
21.00
20.00
200 250 300 350 400
msec
D axis speed 10 payload

20.5 140kg
payload
20 100kg
19.5 payload
160kg
19
deg
18.5
18
payload
17.5 50kg
17
16.5
145 150 155 160 165 170 175 180 185
msec
O axis speed 10
22.5 payload
22 payload 140kg
100kg payload
21.5
160kg
21
20.5
deg
20
19.5 payload
19 50kg
18.5
18
100 150 200 250 300
msec
3-2
[A1800V Series]
Models A1800V A1800V-W
Max payload 140 kg 350kg
Number of
4 axes 4 axes
axes
R axis 360 °
T axis 440 °
R axis 152°/s 101°/s
D axis 3.3 m/s 1.3 m/s
Arm speed
O axis 2.5 m/s 1.94 m/s
T axis 285°/s 165°/s
Stopping
distance
manual
operation)
<Case> 1,200 C/h
500cycle/h
< Bag > 1,720 B/h
The max payload is not related to the capacity.
Use OXPA-Qm to figure out capacity.
Arm height Max 2,396 mm Max 2,396 mm
Robot weight 1220 kg 1300 kg
Equivalent noise level: 72.5 dB(A)
Equivalent noise level: 73.1 dB(A)
Peak noise level: 82.0dB(A)
Noise level （Measured away：1m, off floor ：
（Measured away：2.5m, off
1.6m）
floor ：1.6m）
180 L/min(ANR)
Compressed
air required
Standard paint color is NITTOKO (Japan Painting Industry) C25-80B (Mansell 5Y8/1).
3-3
[A1600V Series]
Models A1600V A1600V－W

Max payload 140 kg 250kg
Number of
4 axes 4 axes
axes
R axis 360°
T axis 440°
R axis 126°/s 95°/s
2.5 m/s 1.8 m/s
D axis
Arm speed (optional btwn1.6~2.5) (optional btwn 1.2~1.8)
O axis 1.7 m/s 1.2 m/s
T axis 285°/s 150°/s
Stopping
distance
manual
operation)
<Case>1,100 C/h <Case>600 C/h
<Bag>1,600 B/h <Bag>700 B/h
The max payload is not related to the capacity
See the capacity diagram for detail
Arm height Max 2,414 mm Max 2,414 mm
Robot weight 1180 kg 1195 kg
73.6 dBA
Noise level
Distance: 2m Height : 1.6 m
180 L/min(ANR)
Compressed
air required
conditions Ambient humidity 35～85％
3-4
【Ai700】
Models Ai700
Max payload 140kg / *160kg (*option)
Number of
4 axes
axes
R axis 360°
Operation D axis 2,300 mm （Note）
range O axis 1,750 mm （Note）
T axis 440°
R axis 75°/s
D axis 1.98 m/s (optional btwn 0.94~1.98)
Arm speed
O axis 1.28 m/s
T axis 188.7°/s
Stopping
distance
manual
operation)
<Case> 550 C/h
<Bag> 700 B/h
Arm height Max 2,787 mm
Robot
1335kg / *1375kg (*option)
weight
Equivalent noise level: 69.5dB(A)
Noise level
（Measured away：4m, off floor ：2.63m）
180 L/min(ANR)
Compressed
air required
conditions Ambient humidity 35～85％
（Note） In the operation range of D and O axes, there is zone where D and O axes do
not move at a time. Such old models as A300, A700 and A1600 are included in the
operation range.
3-5
Stopping time and distance
R axis speed 10
29.00 payload
160kg
27.00
25.00 payload
100kg
23.00 payload
deg
payload 140kg
21.00 50kg
19.00
17.00
15.00
300 350 400 450 500
msec
D axis speed 10
19 payload
160kg
18 payload
17 140kg
payload
16 100kg
15 payload
deg
14 50kg
13
12
11
10
100 150 200 250
msec
O axis speed 10 payload

17 160kg
payload
16 140kg
payload
15 100kg
14 payload
deg
50kg
13
12
11
10
100 120 140 160 180 200
msec
3-6
[A700V Series]
Models A700V
Max payload 140 kg
Number of axes 4 axes
R axis 360°
D axis 2,300 mm （Note）
Operation range
O axis 1,750 mm （Note）
T axis 440°
R axis 75°/s
D axis 1.92 m/s (optional btwn 0.9~1.92)
Arm speed
O axis 1.25 m/s
T axis 148°/s
Stopping time R axis 500ms/615mm
and distance
manual mode
operation) O axis 306ms/297mm
<Case> 550 C/h
<Bag> 700 B/h
Arm height Max 2,787 mm
Robot weight 1270kg
73.6 dBA
Noise level
Distance: 2m Height : 1.6 m
180 L/min(ANR)
Compressed air
required
（Note） In the operation range of D and O axes, there is zone where D and O axes do
not move at a time. Such old models as A300, A700 and A1600 are included in the
operation range.
3-7
Robot manual

- Mechanical -
Version 06: 2017.06.12
<Caution>

UL-CE-VINSE-08
Robot Manual

- Electrical -

History

(Date)
02 (2013.02.18) Addition of Updating history This page
Refer to the ‘Memory Switches’ manual. 5-6
Added The supplement of 'Required power 7-1
supply' Last page
Date update
03(2013.10.30) Addition of Updating history This page
Words correction. 6-17
04(2014.02.27) Addition of Updating history This page
Words correction. 3-8,3-10,7-1
05(2014.05.26) Description of RC522B is added. 3-1,3-5,3-6
06(2014.11.12) Load variation detection is added. 4-6,4-7
07(2015.12.18) Illustrations correction. 1-3
Information of working space etc are added Chapter 1
Description of Ai1800 and Ai700 are added 2-2,2-5,2-7
2-9,3-1,3-2,3-5~3-7,
3-10,3-12,3-15,
08(2017.06.12)
4-4,5-7,7-2
Description of RC501N is added 3-5
Description of Safety Module is added 3-17~3-19
Addition of RC1500/RC1600’s specification 7-2
Introduction
NOTE
Safety Instructions

IMPORTANT
programming.
Table of Contents
1. OUTLINE OF CONTROLLER 1-1
1.1. APPEARANCE OF CONTROLLER ······················································ 1-2
1.2. TEACHING PENDANT (INSTALLATION PERSONNEL ONLY) ················ 1-4
2. HARNESS CABLE CONNECTION 2-1

2.1. INSIDE-ROBOT HARNESS CABLE ·················································· 2-2
2.2. SPARE CABLES ··········································································· 2-7
2.3. CONNECTION OF MAIN POWER SUPPLY WIRES ································ 2-8
2.4. PROTECTION AGAINST LIGHTNING SURGE ····································· 2-9
2.5. OTHER NOTES (WIRING) ···························································· 2-9
3. CONTROLLER BOARDS AND UNITS 3-1

3.1. CPU BOARD (RC501/RC501N) ················································ 3-2
3.2. I/O BOARD (RC512 RC522/B) ················································ 3-8
3.3. SERVO POWER UNIT ································································· 3-10
3.4. CONTACTOR UNIT (MCRU-1-UL/CE)········································ 3-12
3.5. SAFETY RELAY BOARD (RC516) ················································ 3-13
3.6. AMP UNIT ··············································································· 3-15
3.7. FIELDBUS BOARD (ETHERNET/IP AB6214） ···························· 3-16
3.8. SAFETY MODULE（SICK） ························································ 3-17
（RC830、RC830-CE、RC840、RC840-CE） ································· 3-17
3.9. SAFETY MODULE（ALC） ·························································· 3-19
（RC1500、RC1500-CE、RC1600、RC1600-CE） ························· 3-19
4. ADJUSTMENTS 4-1
4.1. ORIGIN STORING ······································································· 4-2
4.2. BASIC POSTURE ········································································· 4-4
4.3. AMP UNIT ················································································· 4-5
4.4. LOAD VARIATION DETECTION ······················································ 4-6
5. SYSTEM STORAGE 5-1

5.1. PERIPHERAL EQUIPMENT NAME INPUT ·········································· 5-2
5.2. COMMUNICATION SETTING ·························································· 5-2
5.3. EXTERNAL PLC COMMUNICATION SETUP ······································· 5-3
5.4. PASSWORD SETTING ··································································· 5-5
5.5. MEMORY SWITCH ······································································· 5-5
5.6. PARAMETER SETTING (CONTROLLER DATA) ··································· 5-7
5.7. FIRMWARE UPDATE ····································································· 5-8
5.8. HOUR METER ············································································ 5-10
5.9. SOFT LIMIT ··············································································5-11
5.10. HAND SETUP ············································································ 5-12
5.11. PARAMETER SETTING (ROBOT DATA) ·········································· 5-13
5.12. ORIGIN STORING ······································································ 5-14
5.13. SERVO PARAMETER ··································································· 5-14
5.14. EXPANSION AXIS SETTING ························································· 5-15
6. MAINTENANCE FUNCTIONS 6-1

6.1. MENU STRUCTURE ······································································ 6-2
6.2. DATA MEMORY CONTENTS ···························································· 6-4
6.3. I／O MONITOR ·········································································· 6-5
6.4. OPERATION READY CONDITION ···················································· 6-6
6.5. KEY TRACE ················································································ 6-6
6.6. FILE OPERATION ········································································ 6-7
6.7. LOGIC ANALYZER ······································································· 6-9
6.8. ID NO – PRG NO ALLOCATION ··················································· 6-11
6.9. BATTERY REPLACE ····································································· 6-12
6.10. CONVEYOR INFORMATION ·························································· 6-12
6.11. STACKED COUNTER REVISION ····················································· 6-13
6.12. PROGRAM SELECTION METHOD ···················································· 6-14
6.13. POSITION & ACCELERATION / DECELERATION TIME ······················ 6-14
6.14. EXECUTED SEQUENCE COMMAND ·················································· 6-15
6.15. OVERLAP TRACE ········································································ 6-15
6.16. SMOV CALCULATION ································································· 6-16
6.17. DEVIATION TRACE ····································································· 6-16
6.18. POSITION COMMAND TRACE ······················································· 6-17
6.19. SERVO TORQUE INDICATE··························································· 6-18
6.20. COLLISION DETECTION ······························································ 6-19
6.21. EXPANSION AXIS TRACE ····························································· 6-19
7. TABLE OF BASIC SPECIFICATIONS 7-1

1. Outline of Controller
Names of part of controller and main parts are introduced in this section.
Working Space
When installation of the controller, it is necessary to secure working space in front of the
controller as illustrated below.
140
500
1100
Print Pocket
The system integrator shall be attached the print pocket to the right or left side of
controller when installation.
1-1
1.1. Appearance of Controller
1.1.1. Robot Controller
This is common among RC830 and RC840 (See 5. SYSTEM SPECIFICATIONS for model of
controller for detail.)
C830,RC840
1-2
RC1500,RC1600
1-3
1.2. Teaching Pendant (Installation Personnel Only)
Teaching pendant works at manual mode.
Note
・Manual operation on controller does not work once teaching pendnat is
connected.
① E/S push button switch

② Data display
③ ③ Enable switch
Cable length : 10M
How to set up teaching pendant

→See”Operation Manual” Section 4
1-4
2. Harness Cable Connection
2-1
2.1. Inside-Robot Harness Cable
The following shows the cable wiring inside robot and the composition of the cable
harness between robot and controller
[Ai1800]
Inside-robot wiring
BASE
RM931UL CN13
D-motor
RM915UL CN14
CN1 RM932UL
CN15
O-motor
CN7 RM916UL CN16
CN41 FAN
RM933UL CN11
RM934UL R-motor
CN2 RM917UL CN12
RM937UL RM935UL
CN6 T-AXIS
RM951ALC +RM955UL CN17 T-motor
CN3 CN22 D-encoder
CN23 O-encoder
CN21 R-encoder
RM971ALC
CN24 CN25 T-encoder
HAND
CN31 RM978UL CN32 RH981UL

RM972UL* CN33
CN26 CN27
CN37 BAT
RH984UL*
CN39 CN28 C-encoder
R-LS RH982AUL*
RM974UL
CN34 CN35 CN36
RH939UL*
RM939UL RM936UL*
CN5 CN18 CN19 CN20 C-motor
AIR 12mm
12mm
AIR 12mm
12mm 10mm
*option harness
Harness cables between robot and controller

CONTROLLER ROBOT
RC RB811UL CN1
1500 RB812UL CN2
RB822ALC CN3
RB815UL*
CN5
Danger Enforcement
Make sure if primary power supply is securely connected with
controller. Otherwise, you may get an electric shock.
2-2
[A1800V/A1800V－W]
Inside-robot wiring
BASE ROTOR
CN1 RK831 CN13

D-motor
CN8 RM815 CN14
CN2 RM832 CN15

O-motor
CN7 CN9 RM816 CN16
CN3 RK833 CN11

R-motor
CN10 RM817 CN12
T-AXIS
RM851 CN6
CN4 CN22 D-encoder CN17 T-motor
RM852 CN18 RM835

CN23 O-encoder
RK853 CN24 RM871 CN25 T-encoder
RK854 CN26
RK855 CN31 RK873 CN32 HAND
CN37 BAT RK875 RK781

CN40 FAN CN33
RM856 CN36
CN5 CN21 R-encoder RK782
RK857 CN34 RK874 CN35
RK858 R-LS CN39
AIR 12mm
12mm
AIR 12mm
12mm 10mm

CONTROLLER ROBOT
RB721 CN1
RB722 CN2
RB723 CN3
RB724 CN4
RB725
CN5
Danger Enforcement
2-3
[A1600V/ A1600V－W]
Inside-robot wiring
BASE ROTOR
RK731
CN1 CN13
D-motor
CN8 RM731
CN14
CN2 RM732
CN15
O-motor
CN7 CN9 RM735
CN16
CN3 RK733
CN11
R-motor
CN10 RM733
CN12
T-AXIS
RM751 CN6
RM752 CN18 RM737

CN23 O-encoder
RK754 CN26
CN37 BAT RK781
CN33
RM757 CN36
CN5 CN21 R-encoder RK782
RK758 RK774
CN34 CN35
RK759
R-LS CN39
AIR 12mm
12mm
AIR 12mm
12mm 10mm

CONTROLLER ROBOT
RB721 CN1
RB722 CN2
RB723 CN3
RB724 CN4
RB725
CN5
Danger Enforcement
2-4
[Ai700]
Inside-robot wiring
CN13 D-motor
RM7101UL
CN1
CN15 O-motor
RM7102UL CN11 R-motor
T-AXIS
RM7151ALC CN6
RM7103UL
CN23 O-encoder
RM7154ALC
CN24 CN25 T-encoder
RM7155UL*
CN26 CN27 HAND
RM7156UL*
CN21 R-encoder
CN28 C-encoder
CN37 BAT
RH781UL
RM7152UL CN31 RK773 CN32 CN33
RK782AUL*
RK774 CN36
CN34 CN35
R-LS CN39
RM7104UL*
RM7106UL RM7105UL*
CN5 CN18 CN19 CN20 C-motor
12mm AIR 12mm
12mm AIR 12mm 10mm
*option harness

CONTROLLER ROBOT
RC RB821UL CN1
1600 RB822ALC CN3
RB815UL*
CN5
Danger Enforcement
2-5
[A700V]
Inside-robot wiring
BASE ROTOR
CN1 RM741
CN13 D-motor
CN8
CN15 O-motor
CN7
CN2 RM742
CN11 R-motor
T-AXIS
CN4 RK761 CN6

CN22 D-encoder CN17 T-motor
RK762 CN18 RM736

CN23 O-encoder
RM764 CN26
CN37 BAT RK781
CN33
CN5 RK767 RK782 CN36

CN21 R-encoder
RK768 RK774
CN34 CN35
RK769 R-LS CN39
12mm AIR 12mm
12mm AIR 12mm 10mm
CONTROLLER ROBOT
RB728 CN1
RB729 CN2
RB724 CN4
RB725
CN5
Danger Enforcement
2-6
2.2. Spare Cables
The following spare cables for between robot and controller are provided for Okura A
series robot palletizer as shown on the below table.
[Ai1800/A1800V/A1600V/Ai700/A700V]
Robot main unit connector Connector in controller
Wire
Connector Pin No. Wire No. Connector No. Pin Wire No. size
No. No.
3 S3 1 S3
CN33 4 S4 CNH2 2 S4
[3191-15R1] 13 S5 [F31FSS-05V-KX] 3 S5
14 CLS 4 CLS
1 S6 A1 S6
2 S7 A2 S7
3 S8 A3 S8
4 S9 A4 S9
5 S10 A5 S10
0.3 ㎜２
6 S11 A6 S11
CN35 7 S12 CNH3 A7 S12
[3191-15R1] 8 S13 [F31FDS-16V-K] A8 S13
9 S14 B1 S14
10 S15 B2 S15
11 S16 B3 S16
12 S17 B4 S17
13 S18 B5 S18
14 S19 B6 S19
CN33，CN35
CNH2
CNH3
2-7
2.3. Connection of main power supply wires
Connect main power supply wires on the basis of bellows.
1. Introduce of electric wires must be relevant

position of controller.
2. Protection degree of the busing, for electric

wires introduction must be equal or more
than IP5X.
3. Connect external protective conductors to

terminal with mark PE by the side of main
breaker(NFB0).
4. Put main power supply wires separately in

the duct, and put a charging mark on the
duct.
5. In connecting main power supply wires and

Entrance of wires
external protective conductors bend wire
adequately (if needed). And fix them firmly
so that not to strain on the terminal.
6. Finally, fix the main power supply wires to

the duct, at least in 2 positions, by zip-tie
to prevent the tension.
Bottom view
Specification of exteral main power supply wires
Wires: UL standard
Wires size: minimum AWG#10
Conductor: copper
Temperature rating: minimum 90°C (194°F)
Terminal processing: A round terminal (UL Listed one) that suits the size of
the electric wire and tool of maker recommendation are used.
Grounding(PE)
Specification of external protective conductor

Wires: UL standard
Wires size: minimum AWG#10
Conductor: copper
Temperature rating: minimum 90°C (194°F)
Color: Green/yellow
Terminal processing: A round terminal (UL Listed one) that suits the size of
the electric wire and tool of maker recommendation are used.
Connecting screw size : M6
2-8
2.4. Protection Against Lightning Surge
There is surge absorber for protection inside of controller. (RC830, RC830-CE, RC840,
RC840-CE, RC1100, RC1200, RC1500 and RC1600)
Note
・Please prepare the appropriately earth leakage circuit breaker
at haih oder power supply side for your system.
2.5. Other Notes (Wiring)

2.5.1. Attaching insulation cover
Attach cover to O-axis and D-axis connector, which keep more than 10 mm clearance and
creepage distance not to touch.
2.5.2. Securing of Grounding Continuity
1. Connect following wires between robot body and protective conductors inside
controller.
Wires: IEC standard
Wires diameter: more than 10 sqmm
Color: green/yellow
2. Measure resistance value between each motor frames and external protective
conductor of controller, and confirm if the value is less than following resistance
value.
Resistance value : 0.1 ohm or less per 10 A
3. Attaching duct
Harness between controller and robot must be put in metal duct.
Divide power line and control line by separator.
Minimum size of duct is 150 mm wide and 100 mm deep.
4. Fix protective conductor terminal with specified screw to the robot as shown in the
figure. And fix insulator separately.
2-9
2.5.3. Cables to enter into control panel
Cables to enter into panel like I/O cables to/from peripheral conveyors need to be
installed following the below way.
1. The cables to enter through opening at bottom of panel need to be fixed around
opening to not come out.
The cables are fixed by saddles to bracket near opening or fixed by cable grips at
opening.
2. Fill in the opening after installed.
*Bracket near opening
2-10
3. Controller Boards and Units
The boards inside the controller and their configuration are as follows.
Teaching
Hand OXPA Touch Panel External PLC
Pendant Optional (POD)
RC501 or RC501N RC512 or RC522B

CPU Board I/O Board
RC516
Safety Board RC512 or RC522B
I/O Board
RC512 or RC522B
I/O Board
Amp Unit
Spare axis
Servo
motor
Amp Unit
Spare axis
Servo
motor
AP507
(AP504)*, ***
SPCU-1A Amp Unit R axis
(SPCU-2A) * Servo
(SPSU-E1UL/CE) ** motor
(SPSU-E2UL/CE) *** AP507

Servo Power Unit (AP504)*, ***
Amp Unit
D axis
Servo
motor
AP507
(AP504)*, ***
Amp Unit
O axis
Servo
*( A700V)
motor
**( Ai1800)
***( Ai700) AP510
Amp Unit
T axis
Servo
motor
3-1
3.1. CPU Board (RC501/RC501N)
The arrangement of LED's、switches and 7-segment displays on Main CPU board is as
follows.
RC501:
DIP switch DSW1 Explanation
No. Descriptions Default setting
１ Firmware Serial transfer OFF
２ System reserve OFF
３ System reserve OFF
４ System reserve OFF
５ Motor rotation test OFF
６ System reserve OFF
７ Execution of master DSP program loading ON
８ Execution of initialization OFF
3-2
LED Explanation
LED No. Lighting condition
D１ CPU(SH) being operated

D２ NMI Detected
D３（7seg） CPU(SH) 7-segment display
D４ USB access
D７ Master DSP 7-segment display
D８（7seg） Slave DSP (D/O axis) 7-seg display
D９（7seg） Slave DSP (R/T axis) 7-seg display
D１０（7seg） Slave DSP (C/X axis) 7-seg display
D１１ Memory backup battery voltage dropped
D１２ Encoder battery voltage dropped
D１３ Gate ON
D１４ Master DSP watchdog
* 7-segment light display is rotating under normal condition.
3-3
Jumper Explanation
Signs. Descriptions Default setting
Ｗ１ FPGA type setting TYPE1(YaskawaΣⅡ)

*It varies depending on the type of encoder 1-4 close /2-3 close
used.
TYPE2(YaskawaΣⅤ)
1-4 open/2-3 close
TYPE3(Tamagawa)
1-4 close/2-3open
Ｗ２ DSP reset mode setting Close
Ｗ３ Don’t touch (SH endian setting) Open
Ｗ４ Connection setting with FG & SG(CN2） Close
Ｗ５ SH manual resetting Close
Ｗ６ Anybus mode setting 1-6、2-5、3-4 Close

Ｗ７ Master DSP watchdog setting 2-3 Close
Ｗ８ ADC reference power setting on slave DSP 1-2 Close
Ｗ９ Connection with analog and digital GND Open
Ｗ１０ Connection setting with FG & SG（CN6） Close
Ｗ１１ Not installed yet （Direct Close）

Ｗ１２ Not installed yet （Open）
Ｗ１３ Slave DSP boot mode setting Open
Ｗ１４ Slave DSP boot mode setting Open
Ｗ１５ Slave DSP boot mode setting Open
Ｗ１６ Connection setting with FG & SG(CN2） Close
Ｗ１７ Connection setting with FG & SG（CN4） Close
Ｗ１８ Connection setting with FG & SG（CN7） Close
Ｗ１９ Connection setting with FG & SG（CN17） Close
Ｗ２０ Connection setting with FG & SG（CN18） Close
Ｗ２１ Connection setting with FG & SG（CN19） Close
3-4
RC501N:
DIP switch SW1 Explanation
１ Firmware Serial transfer OFF
２ System reserve OFF
３ System reserve OFF
４ System reserve OFF
５ Motor rotation test OFF
６ System reserve OFF
７ Execution of master DSP program loading ON
８ Execution of initialization OFF
3-5
LED Explanation

D1 CPU(SH) being operated
D2 NMI Detected
D3 （7seg） CPU(SH) 7-segment display
D4 USB access
D7 Master DSP 7-segment display
D8 （7seg） Slave DSP (D/O axis) 7-seg display
D9 （7seg） Slave DSP (R/T axis) 7-seg display
D10（7seg） Slave DSP (C/X axis) 7-seg display
D11 Memory backup battery voltage
dropped
D12 Encoder battery voltage dropped
D13 Gate ON
D14 Master DSP watchdog
* 7-segment light display is rotating under normal condition.
3-6
Jumper Explanation
Signs. Descriptions Default setting

W1 FPGA type setting Only Bit 2 is ON
*It varies depending on the type of For detail, refer to the
encoder used. following.
W2 DSP reset mode setting Close

W3 Don’t touch (SH endian setting) Open
W4 Connection setting with FG & SG(CN2） Close
W5 SH manual resetting Close
W6 Anybus mode setting 1-6、2-5、3-4 Close
W7 Master DSP watchdog setting 2-3 Close
W8 ADC reference power setting on slave DSP 1-2 Close
W9 Connection with analog and digital GND Open
W10 Connection setting with FG & SG（CN6） Close
W11 Not installed yet （Direct Close）
W12 Not installed yet （Open）
W13 Slave DSP boot mode setting Open
W16 Connection setting with FG & SG(CN2） Close
W1 Setting
Motor Type Robot Type Setting
A1800V/A1800V-W/A1800V-P 1 4
YaskawaΣV A1600V/A1600V-W/A1600V-P/A1600V-PW ON
OFF
Ai1800 1 4
Ai700 ON
Tamagawa A700V/A700V-P OFF
A400V
AP30V, AP30VH
3-7
3.2. I/O Board (RC512 RC522/B)
The arrangement of LED's and Jumper pins on the I/O board is as follows.
RC512
RC522B
CN3 CN4
D2
CN1
CN2
D1
JP1~3
※There arecompatible between RC522B and RC512.
3-8
Jumper Pin Explanation
Signs Descriptions Default setting

JP1 1st ：Only JP1 close
JP2 Board address setting 2nd ：Only JP2 close
JP3 3rd ：Only JP3 close
LED Explanation
LED No. Lighting conditions
D1 When 5VDC is supplied
D2 When 24VDC is supplied
3-9
3.3. Servo Power Unit
The arrangement of LED's displays on the servo power unit is as follows.
(SPSU-1A, SPSU-2A)
(SPSU-E1UL/CE, SPSU-E2UL/CE)
Jumper Pin Explanation

Signs Descriptions Default setting
JP1 Switching supply voltage over 2-3 close
3-10
LED Explanation

LD1 Regen resistor temperature normal
LD2 Soft charging completed
LD3 Servo power over voltage
LD4 Servo power low voltage
LD5 In course of charging 300VDC
3-11
3.4. Contactor Unit (MCRU-1-UL/CE)
Neither LED nor jumper pin is on contactor unit.
*RC1500/RC1600 don’t have contactor unit.
3-12
3.5. Safety Relay Board (RC516)
The arrangement of LED's and jumper pins’ displays on the safety relay board is as
follows.
LED17
LED8
LED1 LED9
Jumper Explanation
JP１A I/O Type selection (*) Upto system
JP１B I/O Type selection (*) Upto system
(*) Sink（option） Source（default）

JP1A 1-2 close 2-3 close
JP1B 1-2 close 2-3 close
NPN transistor PNP transistor array
IC7 array IC IC
*RC516 board is supposed to be shipped out being set on Source (default).
*Don’t use any IC else instead of the attached to replace IC7（transistor array
IC）.
3-13
■ LED Explanation
No. Lighting condition
LED1 24VDC power supply for external use
LED2 For internal use (for CN4 line) 24VDC power supply (lit at
overload)
LED3 In course of motor power turned ON
LED4 Abnormal reset button
LED5 Brake release（line 1）
LED6 Brake release（line 2）
LED7 Operation mode switch manual (line 1)
LED8 Operation mode switch manual (line 2)
LED9 Motor power switch neutral position
LED10 Motor power switch turning on
LED11 Ready to turn Motor power on
LED12 XRUN
LED13 Enable to turn motor power ON （RC501 output signal）
LED14 Brake release （RC501 output signal）
LED15 Buzzer（RC501 output signal）
LED16 In course of motor power turned ON
LED17 Soft charging completed
3-14
3.6. Amp Unit
■ What is the Amp Unit?
“Amp Unit” is composed of individual axis current board, IPM, heat sink and current
sensor.
Ai1800,A1600V,A1800V Ai700,A700V
Servo amp Amp Unit Board IPM type Amp Unit Board IPM type
R axis AP507 RC507 PM200CL1A060 AP504 RC504 PM100CL1A060
D axis AP507 RC507 PM200CL1A060 AP504 RC504 PM100CL1A060
O axis AP507 RC507 PM200CL1A060 AP504 RC504 PM100CL1A060
T axis AP510 RC510 PS21767 AP510 RC510 PS21767
（C axis）
Current board is connected with IPM as shown below.

･R,D,O axes：By connector
･T (C) axes： By soldering
RC507
(Example) Amp unit AP507 of R, D, O for A1600V, A1800V and Ai1800
3-15
3.7. Fieldbus board (Ethernet/IP AB6214）
The arrangement of LED’s displays on fieldbus board is as follows.
# Item
1 Network Status LED
2 Module Status LED
3 Link/Activity
4 Ethernet Interface
Network Status LED

Note: A test sequence is performed on this LED during startup.
LED State Description
Off No power or no IP address
Green On-line, one or more connections established (CIP Class 1
or 3)
Green, flashing On-line, no connections established
Red Duplicate IP address, FATAL error
Red, flashing One or more connections timed out (CIP Class 1 or 3)
Module Status LED

Note: A test sequence is performed on this LED during startup.
Off No power
Green Controlled by a Scanner in Run state
Green, flashing Not configured, or Scanner in Idle state
Red Major fault (EXCEPTION-state, FATAL error etc.)
Red, flashing Recoverable fault(s)
LINK/Activity LED

Off No link, no activity
Green Link established
Green, flickering Activity
Ethernet Interface
The Ethernet interface supports 10/100Mbit, full or half duplex operation.
3-16
3.8. Safety Module（SICK）
（RC830、RC830-CE、RC840、RC840-CE）
1043700
ＦＸ３－ＭＰＬ０００００１
ＦＬＥＸＩＳＯＦＴＳＹＳＴＥＭ
ＰＬＵＧ
1043784 ①
ＦＸ３－ＣＰＵ１３０００２
④ ④
ＦＬＥＸＩＳＯＦＴＭＡＩＮＭ ②
ＯＵＤＵＬＥ
1044125
ＦＸ３－ＸＴＩＯ８４００２
ＦＬＥＸＩＳＯＦＴＩＮＰＵＴ/ＯＵＴＰＵＴ
ＥＸＴＥＮＳＩＯＮＭＯＤＵＬＥ
（８ＩＮ／４ＯＵＴ）
3-17
■ LED Explanation
LED ① OFF：Power supply voltage is out of range.

(module
red/green（1Hz Flashing）
：During self test or Initializing the
condition）
system
green（1Hz Flashing）：system stopped
green：operating system
red（2Hz Flashing）：error
red（1Hz Flashing）：Invalid setting
rd：System error
LED ② OFF：During the configuration
(Setting yellow（2Hz Flashing）：saving the configuration data.
condition） yellow（1Hz Flashing）：Apay settings
yellow：afeter the setteing
LED ③ OFF：OK
LED EFI red：wait communications
LED ④ OFF：Power supply voltage is out of range.
(module red/green（1Hz Flashing）：error.
condition） green（1Hz Flashing）：system stopped
green：operating system
red（1Hz Flashing）：Invalid setting
red：system error
LED ⑤ OFF：in/out is Non-active
（Input LED） green：in/out is active
LED ⑥ green（1Hz Flashing）and LED④ red flashing at the same
（Output LED） time ：caused error (in/out is Non-active)
green（1Hz Flashing）and LED④ red flashing alternately ：
caused error (in/out is active)
If you need more information, please check the manual of the unit.
Please connect the unit and controller, via the TB3.
See Interface with PLC chapter 2 External Inputs Output Connection for Wiring.
※We will not bear any responsibility for logic changes.

.
3-18
3.9. Safety Module（ALC）
（RC1500、RC1500-CE、RC1600、RC1600-CE）
Symbol Name
(1) POWER Lamp
(2) ERROR Lamp
(1) (3) STATUS Lamp
(2) CN1 Power Connector Terminal
CN5 (3) CN2 Safety Input
CN8
CN3 Safety Input(Option)
CN2 CN9
CN10 CN4 Safety Input(Option)
CN5 Safety Relation Input
CN11
CN6 CN6 Safety Relation Input
CN7 Safety Output
CN3 CN12 CN8 Communication I/F for maintenance
CN9 Status Communication I/F
CN10 Status I/O Output
CN7 CN11 Absolute Encoder I/F
CN12 Incremental Encoder I/F
CN4
CN1
ALC monitors the following status in accordance with the mode of operation (AUTO,
MANUAL or TEACH) of the robot facility.
a) The status of an EMERGENCY STOP switch, a door switch, an ENABLE switch, safety
light curtains and other protective devices;
b) The status of whether the operating area, axis-angles, axis-angular speed, space
velocity are within the preset limits or not. The ALC determines the position and the
operating speed of a specific robot by calculation based on the motor encoder values.
Speed and area monitoring
ALC attains communication between each-axis encoder of a robot and a robot controller,
and then analyzes and monitor the operating speed and the operating area of the robot
independently from the robot controller.
For more detail about ALC, please see the ALC’s product required specification document.
3-19
4. Adjustments
4-1
4.1. Origin Storing
Operation for automatically calculating origin offset and setting it is called origin storing.
Origin storing is required in the following cases.
A. When encoder cable at motor connector is disconnected.
B. When latched error of [Encoder Battery Voltage Drop] needs to be reset.（＊１）
Procedure for moving to the origin storing screen is as follows.
System storing menu

↓
Motor axis data
↓
Origin storing
[ Operating procedure ]
①In manual operation, move the axis to be stored to the basic position
See [4.2 Basic posture] for the positions of each axis to store in detail.
②Press the appropriate axis button to be stored
③Press STORE key to store the origin.
However, when motors, etc. are replaced, do "Temporal storing" just to move arm near the origin
first in PTP mode then do the origin storing second.
CP / PM mode doesn't work for manual operation during Temp-storing.
Cycle main power every after Temp-storing or Storing is done.
④Current position (pulse) of a stored axis should be within range of

0 - 65535 pulse upon completion of storing in good order
* If an error occurs during the above operation (1), move arm holding an abnormal reset button
pressed down.
The operation works only at PTP mode (one motor driven at a time).
Important! (Caution when Temporal-storing is required other than the origin storing)
Do "Temporal storing" just to move arm near the origin first when
motors, etc. are replaced then do the origin storing second.
CP / PM mode doesn't work for manual operation during Temp
Storing.
4-2
（＊１）In case of "Encoder Battery Voltage Drop", The axis can be specified by the Error Message Sub
No.
1 (Bit 0): D axis
2 (Bit 1): O axis
4 (Bit 2): R axis
8 (Bit 3): T axis
When the errors in the two or more axes are generated, Sub No. becomes a total of the
number.
Danger Enforcement
The origin storing must be appropriately conducted keeping each axis

of arm at the exact matching mark position. Otherwise, arm may hit
the peripheral equipment.
4-3
4.2. Basic Posture
When the robot is set in the basic posture, and origin storing is performed, the system
reads the encoder pulses and amount of shift (number of pulses) off the robot basic posture,
and the offset value is automatically calculated.
[Ai1800/A1800V/A1600V/Ai700/A700V]
Axis Basic posture How to set to basic posture
Robot arm oriented in the opposite With A1600V,Ai700,A700VSeries）
direction of the base wiring connector at Move the R-axis, and align the
bottom is taken as the origin. scribed lines on the base and
base.
With Ai1800,A1800V ） Move the
R-axis, and align the match
marks on the base and rotor.
R
0 degree (horizontal) is taken as the Move the D-axis and align the
origin. match marks on the rotor and
lever.
Origin
90 degrees (vertical) is taken as the Move the O-axis and align the
origin. Origin match marks on the rotor and
arm.
Hand palm set in parallel with the robot Move the T-axis and align the
arm is taken as the origin. match marks (scribed mark).
T Choose the center position of T axis
cable turning around as the axis can
make multi-turns.
4-4
4.3. Amp Unit
To replace an amp unit follow the instruction below.
<Replacement procedure>
① Shut main power down.
② Disconnect the connectors to/from amp unit and wiring to terminals.
③ Unbolt the mounting screws out of amp unit. Replace whole unit
(including bracket and heat sink) at a time.
④ Connect the connectors and wiring to terminal.
⑤ Make sure if all the connections are correct then turn main power on.
4-5
4.4. Load Variation Detection
In case of collision, overload has previously errored out to mainly prevent servo motor from
being burnout. Therefore, the robot doesn't stop immediately when collision occurs if the
servo motor reserves strength and there is a possibility that peripheral equipment, handling
products, etc. are damaged a lot.
The Load variation detection is a function to reduce the damage to station, robot hand, etc.
When hand or arm of robot collides with such peripherals as stations, pallets, handling
products, etc, the robot is stopped detecting collision by setting parameter of load limit.
IMPORTANT
The function doesn't work during the manual operation, even when
this function is turned on.
It cannot eliminate the damage by the collision to peripherals at all

even when the collision detection function is turned on.
This function doesn't guarantee safety to the person. Please work

in compliance with all the provided standards.
4.4.1. How to Load Variation Detection
If caused load variation detection, This screen is displaied.
Please check the robot has collision to the peripheral equipment with follow the instruction on
the screen.
If caused collision. Select the yes button and Recover the robot with attention to safety.
If does not cause collision. Select the no button and press the abnormal reset button, then
resume the operation
If this error cause many time, please contact with the customer support desk of service
department.
4-6
4.4.2. False detection and the preventative measures
The sensitivity of the detection is decided depending on the servo parameter, when the load
variation detection function is turned on. The servo parameter is set at the system storage
mode.
The larger the value of the servo parameter set is, the larger the threshold is. So, the
detection falls down to less sensitive (It becomes more difficult to properly detect).
On the contrary, the smaller the value of the servo parameter is, the smaller the threshold is.
So, the detection goes up to more sensitive and the collision is much more accurately
detected. But higher sensitivity tends to allow the function to more often make false
detection. It can be seen in such that the robot may falsely collide despite usual operation.
In addition, the maximum value of the data by which load variation detection is judged is
recorded at the screen display “load variation detection”. It is judged that the robot collides
when this maximum value exceeds the threshold, and the robot stops.
The maximum value might change by addition of new products or new patterns. Moreover, it
is likely to change depending on an external factor like the temperature or the lubrication
condition of the grease etc, even if they are the same products, patterns and/or programs.
There is a possibility still remained that the change above mentioned may cause false
detection.
If false detection occurs frequently, it is necessary to fix the value of the servo parameter
again, because the root causes mentioned above can be possible. In that case, please
contact with the customer support desk of service department.
4-7
5. System Storage
The various system parameters are explained in the section. In ordinary operation, there is
no need to change the system parameters. However, resetting them is necessary when
special setting was made, motor has been replaced or other maintenance has been
conducted.
The directory to the system storage menu screen is: Select [S: System storage mode] on
basic menu and enter the password to go.
Ａ：Auto operation mode
Ｔ：Teaching mode
Basic menu
Ｓ：System storage mode
Ｍ：Maintenance mode
System storage menu branches off to [Controller data], [Robot data] and [Motor axis data].
Controller
data
Robot Motor axis

data data
5-1
5.1. Peripheral Equipment Name Input
The procedure for moving to the conveyor information is as follows.
System Storage Menu
↓
Controller Data
↓
Peripheral Equipment Name Input
1. Peripheral conveyor name

・ Enter conveyor names at the
conveyor manual mode screen.
・Pressing number of item you want
allows to turn to the input mode.
5.2. Communication Setting

The serial communication format of “S-I/O port” is determined. Procedure for moving to the
communication setting screen is as follows.
System storage menu

↓
Controller data
↓
Communication setting
The setting becomes effective when
main power is cycled.
5-2
5.3. External PLC Communication Setup
This is screen to set up
interfacing wit external PLC.
The directory to external PLC
I/F setting screen is as follows.
System storage menu
↓
Controller data
↓
External PLC I/F setting
１．PLC standard interface

Standard way of interfacing
with PLC is set up.
*See [I/O interfacing with PLC]
edition for detail.
２．PLC expansion interface

Expansion interfacing with PLC
is set up.
*Also set up the below when
[Centronix] is set up.
①Error notice
・If [Do] is selected, error code
is notified to PLC
when error occurs inside
controller.
②Prg No. addition
・ If [Do] is selected,
upper 6 bits and lower
6 bits are added next to ID
No. in this order.
③Layer data addition
・ If [Do] is selected, number of layer is set in front of quantity data of products per
each layer.
(D7 and D6 are always “1”.)
④Special data all notice
・If [Do] is selected, the quantity data of products for special stacking is sent.
* See [I/O interfacing with PLC] edition for detail.
３．Expansion serial communication

・If [BCR] is selected, BCR data can be received through serial port of RC501(CN4).
5-3
・If [VISION] is selected, it can link with VISION system through serial port of RC501(CN4).
４．Fieldbus communication
If [CC-link] is selected, it can link with CC-link on Mitsubishi PLC.
*A option board needs to be added. See the section of [Controller board and Unit] for
detail.
①Remove device setting

・If [Remove output (RY) is selected, robot output can be assigned to device M.
・If [Remove input (RX) is selected, robot input can be assigned to device M.
・If [Remote register (RWw)] is selected, robot output data (word) can be assigned to
device D.
・If [Remote register (RWr)] is selected, robot input data (word) can be assigned to device
D.
・Number of shared I/O are set by [Allocation number of I/O].
・Number of shared devices are set by [Allocation number of devices].
・If [Built-in + CC link setting] is selected, it is allocated as follows.
Remote output(RY) M500
Remote input(RX） M400
Remote register(RWw) D1500
Remote register(RWr) D1400
・If [Pre-set value] is selected, it is allocated as follows.
Remote output(RY) M5000
Remote input(RX） M6000
Remote register(RWw) D5000
Remote register(RWr) D6000
②Input data when data link is failed

・If [Data clear] is selected, device M allocated to [Remote input (RY)] is turned off when
data link is failed.
・If [Data reserve] is selected, it reserves the status before failure when data link is failed.
③Data link failure detection

・If [Effective] is selected, robot controller detects link failure.
Motor power is turned off when link failure is detected.
・If [Ineffective] is selected, robot controller does not detect link failure.
④CC-link setting
Items to be set Contents to be set Setting range
1 Station No. Station No. 1-64 (*1)Transmit speed
2 Communication Transmit speed 0-4 (*1)
0:156kbps
setting
3 Version CC-link Version 1/2 1:625kbps
4 Number of stations Number of stations 1-4 2:2.5Mbps
occupied occupied 3:5Mbps
5 Expansion cyclic Expansion cyclic 1/2/4/8 4:10Mbps
setting setting
Danger Enforcement
Never ever use any safety signals on fieldbus or serial
communication. Those may not be detected in case of
communication failure.
5-4
5.4. Password setting
In standard setting, the password setting is necessary only at the time of system storing.
Password setting can also be done with each screen of setting for auto operation, teaching
and conveyor data.
The directory is as follows.
System storage menu

↓
Controller data
↓
Password setting
[ Procedure for storing ]

①Select an item to be set by
pressing a key
②Input 4 passwords
③Press Set key
[Procedure for resetting]

①Select an item to be reset by pressing a key
②Press Clear key
Note
The memory switch 1-5 is turned on to make this setting effective.
- As the standard password is master one, it still works even after the system
storing
5.5. Memory Switch

The directory to memory switch screen is as follows.
System storage menu

↓
Controller data
↓
Memory switch
- Set the memory switch inside robot.

(Normally, no change is necessary.)
- The following items are set by turning

memory switches ON and OFF.
-For changing, press a switch to be
changed then turn it ON and OFF.
- Descriptions come out in the bottom frame upon pressing the numeral key in left side
5-5
Use key to move to next screen
(Use key to return)
Note
・Pressing No. of switches allows to display its explanation at bottom of screen.
・Refer to the ‘Memory Switches’ manual for the contents of a setting.
5-6
5.6. Parameter setting (Controller data)
The directory to parameter
setting screen is as follows.
System storage menu

↓
Controller data
↓
Parameter setting
１．Job number
・Enter the job number you work
on.
・The job number is shown up at
the basic menu.
２．Top of latch range

・ The range on and after the
device No. is set becomes
latched.
３．Number of I/O board

・ Number of RC512(RC522)
boards to be used is set.
４．IP address
・IP address, Net mask and default gateway of RC501(RC501N) board are set.
５．Touch panel (POD) IP address

・IP address to be set to touch panel is set.
5-7
5.7. Firmware update
The directory to Firmware update
is as follows.
System storage menu

↓
Controller data
↓
Firmware update
IMPORTANT
・Robot may be crashed if wrong firmware is written by mistakes.
・Only the qualified service person can work on the following procedure.
１．List of firmware
List of firmware files (SH software) in the [SH] folder in external memory selected is
displayed.
To select firmware file, pressing No. in the list allows to be reversed into blue color.
＊External memory (USB/CF) to be used can be selected by pressing [USB] ([CF])button.

＊When USB memory is used, insert a USB memory stick into controller before opening this
screen.
２．Firmware loading
It reads files selected at firmware list.
The version read out of file is shown up as [Version of selected file].
It can be compared with the [Current version].
３．Write firmware
Firmware of the version shown on [Version of selected file] is written to RC501.
Cycle main power after written.
Caution
Never ever shut down main power during writing it.
It won’t operate correctly if shut down.
5-8
４．Firmware backup
It reads firmware that is being executed on the current RC501 and that is stored into SH
folder of external memory. The file name is “RC_GEN2_123A.BIN” if [Current version]
display is “1.23A” for example.
６．System parameter initialization

When main power is cycled while the switch is being turned on, the system parameters
are initialized at the system to be booted. Don’t use this normally.
７．System file backup

①Export
Whole the files stored into RC501 are saved into folder of [BACKUP] in an external
memory. If there is already a folder of [BACKUP], a confirmation message to delete it
pops up. It will be overwritten if nothing done upon the message.
*Unnecessary files are recommended to be deleted as much as possible as all the files in
[BACKUP] folder are imported.
②Import
All files in folder of [BACKUP] in external memories are copied into RC501. After
imported, cycle main power.
Note
See [Note] of [6.6 File operation] for detailed folder structure.
5-9
5.8. Hour meter
The directory to the hour meter
screen is as follows.
System storage menu
↓
Controller data
↓
Hour meter
[Date change]
Display the key input screen by pressing the display data of item to be changed. Then,
enter a value to be set by numeral keys, and press Store key.
[User time clear]
Press CLEAR key after pressing the USER TIME key.
(All the items of the user time are cleared to “0”)
[Maintenance frequency]
Press [Change] key, display key input screen and enter values you want to change.
Alert message pops up at the interval you set. (It ranges between 1 – 32767 hours)
Note
Total hour cannot be cleared
5-10
5.9. Soft Limit
The directory to soft limit screen is as

follows.
System storage menu
↓
Robot data
↓
Soft limit
1． Soft limits
-This displays the range in which R, D, O
and T axis movement is possible, as an
angle
-The R-axis value is used for the R area
in 5
2. Teaching range
- This sets a movable range under the
automatic operation
- The range is to be indicated in arm
coordinate
- When the robot moves out of the
designated range, situation is to be “Out
of range error“
- During manual operation, the buzzer
sounds at the point of 200mm or 20
degree (30 for T-axis) to the range limit
3. Origin offset
-This is data for correcting the robot base posture (origin)
-This cannot be set or changed by the user.
- Numerical value is of the number of encoder pulse, meaning a deviation between the
encoder pulse origin and robot base posture (origin)
1. Acceleration/Deceleration time
-This sets the acceleration time and deceleration time for robot movement.(Unit :msec)
2. R area
- This is for informing the other control equipment of current R-axis angle
- For the R-axis angle, the range set with soft limit is divided into 7 segments
-These segments are labeled 1 -7 in order from minus side of R-axis angle
- As for the value indicating the segment in the system parameter, set a plus side border
angle in each segment 1 – 6
- A value is to be input in D6000 to indicate in which segment, 1 - 7, the robot is
3. Hand mass
- Set hand mass (work is not included)
- This is to be used for an automatic compensating calculation of handling rate
5-11
5.10.Hand Setup
The directory to hand setup
System storage menu

↓
Controller data
↓
Hand Setup
１．Hand manual operation name

input
[Input procedure]
① Press No. key to enter.
② Enter name on input
screen to pop up.
③ Press [Quit] key.
２・Hand weight (hand mass)

・Enter empty hand weight (hand mass).
(excluding products)
・This is used to calculate the automatic acceleration / deceleration time.
３．Inertia of T axis
Enter the inertia of T axis. Enter “0” if don’t want.
４．Number of T axis revolution
Enter the max number of T axis revolution. Enter “0” for the default.
５．Number of steps of C axis
Enter number of steps of C axis to automatically create a new program.
６．Distance off products
・Enter parameters to automatically generate steps for C axis at a new program creation.
・Positions of steps are calculated by the following equations.
(Step No.1 of C axis) = (width of product) － (value of close)
(Step No.2 of C axis) = (width of product) ＋ (value of [Inch open])
(Step No.3 of C axis) = (width of product) ＋ (value of [full open])
5-12
5.11. Parameter Setting (Robot Data)
The directory to parameter
setting screen is as follows.
System storage menu
↓
Robot data
↓
Parameter setting
１．Axis accuracy
・Arrival confirmation is performed
at this precision only when SPC is
selected due to step parameter
overlap
２．SMOV, SMOV2 parameter

Default Range What it means How it works
No.
1 100 0~100 Cornering status The bigger value, the smoother
[%] cornering
2 0 For straight movement in The bigger value, the shorter
upward motion linear motion
3 0 For straight movement in The bigger value, the shorter
Downward motion linear motion
4 100 SMOV inner judgment (Speed regulation for RX motion)
5 100 SMOV inner judgment (Speed regulation for RZ motion)
6 100 [mm] Step1 effective height Parameter that calculates No.1-3
7 100 Step3 effective height automatically
3. Robot type change (Never ever touch this key)
IMPORTANT
If the machine type is changed, all the programs are
erased.
Select type of robot pressing [Robot type] key.
４．Station No. and Pallet No.

Enter number of stations and that of pallets to be used for the system.
５．Acceleration / deceleration time

Enter time to calculate the specified acceleration / deceleration time unless those are
automatically executed having the factor of “0” in step parameter.
5-13
5.12. Origin Storing
See 4.1 Origin storing for detail.
5.13. Servo Parameter

This is a screen for displaying or
changing the necessary
parameters for the servo control.
The directory to the servo
parameter screen is as follows.
System storage menu

↓
Motor axis data
↓
Servo parameter
IMPORTANT
・Each parameter should be of within a due range, otherwise,
the robot may malfunction with the possibility of damage to
the robot, controller and/or peripheral equipment.
・Only qualified individuals should change this value.
5-14
5.14. Expansion Axis Setting
This screen is for setting
expansion axis.
The directory to expansion axis
setting is as follows.
System storage menu

↓
Motor axis data
↓
Expansion axis setting
Note) Amp unit is required to add expansion axis.
１．Set expansion axis

Select type of servo motor to be installed.
２．Relationship between expansion axis and C axis

What is difference from expansion axis to be used as C axis from not as C axis.
For C axis Not for C axis
Control Robot sequence commands Built-in PLC commands
method （HMOV/HMOVD/TRQC）（EXMOVA/EXMOVR）
*Can be synchronized with
robot sequence.
Step Store per every program Stored per every axis
storing Max 9 steps per a program Max 99 steps per a axis
３．Coordinates offset
・For the expansion axis that [Not use as C axis] is selected, enter the distance of offset
off the position where encoder origin is stored. Normally don’t need to enter as those
are the exact same position.
・For the expansion axis that [Use as C axis] is selected, enter the distance between
palms (paddles) where encoder origin is stored. Normally don’t need to enter as those
are the exact same position.
４．Operation range+-
Enter operation range for the expanded area.
５．Acceleration / deceleration time

Enter Acceleration / deceleration time.
5-15
６．Axis accuracy
Enter axis accuracy.
To enter [0] allows to set it zero overlap.
７．Origin offset
It is entered by itself when others are set at the origin storage screen.
It can also be entered on the screen.
８．Revolving direction
Select [Forward] or [Reverse].
９．Auto operation speed

To select [Synchronize] allows to enable to change by itself the speed proportional to
robot auto operation speed.
To select [Asynchronize] allows to operate it according to the specified.
１０．Unit
Select “mm” or “deg(angle)”.
１１．Teaching range offset (margin)

The teaching range is narrower than the operation range by the offset (margin) off this
range.
１２．Reduction ratio and moving speed

Enter reduction ratio and moving speed.
Number of motor revolution that is equivalent to the value entered is displayed.
Note
Cycle main power every after any setting is changed.
5-16
6. Maintenance Functions
Maintenance on Touch panel (POD) is explained.
6-1
6.1. Menu Structure
Select [M: Maintenance] on main menu. You can operate various maintenance functions
on the screen.
A:Automatic operation
mode
T:Teaching mode
Main menu
S:System storage mode
M:Maintenance mode
6.1.1. Move to maintenance menu under operation
Maintenance menu is basically selected only when a robot is stopped. To move to

maintenance menu under operation, press the hidden key located below on the auto
mode screen.
Main menu
Auto mode screen (under operation)
Maintenance Auto mode

mode screen screen
：under operation
：under stop
※ In the case of returning from

maintenance menu, it returns to auto
mode screen instead of back to main
menu screen.
Hidden key
6-2
6.1.2. Maintenance menu detail
The maintenance menu branches off to [Controller data], [Robot data] and [Motor axis
data].
Versions of software are displayed

over here.
Robot data
Controller
data
Motor
axis data
6-3
6.2. Data memory contents
Internal data memory contents (data held for each program) and external data
memory contents (Dn) can be monitored and modified on this screen.
Maintenance menu
↓
Controller data
↓
Data memory contents
【Internal data memory】

data held for each program.
D 0 ：stacking layer
D 1 ：stacking product
D 2 ：picking quantity
D 3 ：robot data
D 12 ：stop position (for the
1st bag)
D 13 ：stop position (for the
2nd bag)
D 14 ：centering position
D 15 ：pressing height
D 4 ～ 11 ：universal
【External data memory】

D 1000 ～ D3999 ：user area
D 5000 ～ D 5999 ：system and user area (the system is for input) * 1
D 6000 ～ D 6999 ：system and user area (the system is for output) * 1
D 7000 ～ D 7019 ：supervisor area *2
(*1：Universal area can be used by user.)
(*2：Don’t change normally although those could be.)
● Press both [Dis Prog No.=] and [Display Start No.=] keys. Enter the required program
No. on the key input screen.
●Press [Continuous start] key allows to monitor continuously.
6-4
6.3. I／O Monitor
The directory to I/O monitor screen is as follows.
Maintenance menu
↓
Controller data
↓
I/O Monitor
The status of various relays
can be monitored and/or
changed on the relay monitor
screen.
The contents of relays are
normally retained and
continue to be displayed when
and after you get into the
screen. If [Continuous start]
is pressed, the screen is
continuously updated at every
designated interval.
The status of internal or external relays being operated is separately displayed.
【Internal relays】
Eight internal relays per a program are available.
Those are used for relay logical operation.
Ｒ０～Ｒ７：Universal usage
[Force ＯＮ／ＯＦＦ procedure]
・Press a relay displayed that you want to change.
【External relays】
The allocation of external relay No. is as follows. □（Blue）ＯＦＦ
Ｘ０～Ｘ７Ｆ Input relay {when (3)-RC512(RC522)s are used} ■（Red）ＯＮ
Ｙ０～Ｙ６７ Output relay {when (3)-RC512(RC522)s are used}
Ｍ５０００～Ｍ５７ＦＦ User and system relay (system area for input)※１
Ｍ６０００～Ｍ６７ＦＦ User and system relay (system area for output)※１
Ｍ７０００～Ｍ７０４Ｆ Supervisor relay ※２
(*1：Universal area can be used by user.)
(*2：Don’t change normally although those could be.)
[How to display]
① Select type of relays (X, Y, M).
② Press [Display start No.=] key to display input screen.
③ Enter relay No. you want to display.
[Force ＯＮ／ＯＦＦ procedure]

① Press a relay displayed that you want to change.
※ Cannot do Force ON/OFF with input relay and supervisor.
6-5
6.4. Operation ready condition
The directory to operation
status screen
is as follows.
Maintenance menu
↓
Controller data
↓
Operation status
1. If motor power ON
enabling and
operation start enabling are
fulfilled
or not is displayed.
In case all conditions are
highlighted,
you can turn motor power or
operation on.
* In case either motor power or operation is not turned, check if every condition in this
screen comes on.
2. You can see the status of inputs/outputs ON/OFF to/from each CPU at bottom of
screen.
6.5. Key trace

The directory to key trace
screen is as follow.
Maintenance menu
↓
Controller data
↓
Key trace
１．You can see the

recent 112 logs of
touch panel (POD)
operation.
※What’s displayed
Date and time：
DD HH:MM
Screen：
Basic screen No.
Sub：Overlap screen No.
Key：Operation contents
Results：Operation results (detailed code)
6-6
6.6. File operation
Files can be transferred
between external
memory and robot controller.
The directory to file operation
screen is
as follows.
Maintenance menu
↓
Controller data
↓
File operation
１．Transfer direction
Select file transfer
direction.
Display of the button
toggles between
[external memory <-> robot] whenever it is pressed.
２．File list
①When [external memory -> robot] is selected, file list of external memory as origin side
is displayed. Robot (memory inside controller) is target side in this case.
② When [robot -> external memory] is selected, file list of robot as origin side is
displayed. External memory is target side in this case.
③ Pressing No. in the list allows to select file to be transferred (or deleted). The
selected file turns to reversed blue color.
*External memory can be selected with [USB] or [CF].

*Folder of external memory can be selected with [Work folder] or [Backup folder].
(See the note)
*All the files displayed in the list are [prog] only. However, pressing [system] allows to
display system file or pressing all for all files. Password is required to see the all
though.
３．All selection
All the files at origin are selected.
４．Transfer
The selected files are transferred to the target.
*Instruction of overwriting all programs

If [YES] is chosen, files at the target side with same names are forced to be
overwritten all.
If [NO] is chosen, a confirmation message of overwriting pops up when files with
same names exist at the target side.
6-7
５．Log file transfer
Five recent trace data is transferred to external memory.
The file name is changed to that added on with date at the upfront.
(Example: 20100930150157_risc.err)
６．Deletion
Files chosen are deleted.
７．Cancel
Pressing [Cancel] during transferring allows to cancel the process.
Note
External memory
Either USB memory or CF (compact flash) can be connected.
USB memory is regularly used.
・USB memory of 2GBytes or less is to be used.
・The below mentioned folders are to be prepared by computer.
Folder structure of external memory

１）Work folder
Create a folder on root directory in external memory with a exact same name
as [job number] set at [S1-6: Parameter setting ] screen (see section 5.6).The
root directory becomes work folder unless [job number] is designated. File
sending/receiving can be done between job folder of external memory and
robot controller. This kind of file accessing can easily be achieved directory
to/from external memory without computer.
２）Backup folder
¥BACKUP¥
This is a folder that system files of robot is stored as a backup at a time.
３）Folder for firmware (SH software)

¥SH¥
This is a folder that SH software is saved.
6-8
6.7. Logic analyzer
The directory to logic analyzer
is as follows.
Maintenance menu
↓
Controller data
↓
Logic analyzer
Select (8)-points out of relays

(X/Y/M) of robot controller,
set a trigger to one of the
selected relays.
The status of timing (as
timing chart) of the relays
before and after the triggered
is shown.
１．How to setup
①Select relays to be monitored
Pressing relay No. shown at left side allows to show ten key and enable to enter
relay No.
※Relay No. to not be selected is shown like 「_ _ _ _」.
②Trigger setting
After entering relay No., press No. ( １～８) at left side to be highlighted in red
color.
The highlighted is trigger.
③Trigger level setting

Touching [TRIGER-EDGE] at bottom left allows to toggle between UP or DOWN.
When [UP] is chosen, rising timing of relay is going to be triggered. When [DOWN],
it is going down timing.
④ Recording time setting

Time interval (100 – 500ms) for one DIV (a division in memory) is to be set using
＋ ― keys. Recording time is also shown depending on the set time.
※Example, when if it is set to 100ms (min), the recording time is 8 seconds. The
sampling frequency is 10msec.
1DIV set Record time Sampling frequency

100ms 8 sec 10ms
200ms 16 sec 20ms
300ms 24 sec 30ms
400ms 32 sec 40ms
500ms 40 sec 50ms
6-9
⑤Recorded data after triggered
Enter number of data after triggered you want. The max number is 80 DIV so 40DIV
is mid point of trigger to enable to evenly see both sides.
２．After setting is completed, press RUN/STOP button to monitor. The indicator below the
button is changed whenever pressed.
※Impossible to set up under RUN status.
※Even if screen is switched over, the status of RUN/STOP can be kept.
※Once triggered, it comes to STOP status.
３．How to see data after triggered

Data of (8)-pages (10DIV/PAGE) can be seen. Page scrolling can be done with ＜＞
buttons.
※Once triggered, the same data can be kept as is until it comes to [RUN] status
even after screen is changed to something else. But all data is cleared when main
power is cycled.
6-10
6.8. ID No – Prg No allocation
IDNo-PrgNo. allocation screen is displayed only at the time of the starting mode from
external PLC ( [X/Y] is selected at sys-para PLC control interface).
The directory to ID NO – Prg No allocation screen is as follows.
Maintenance menu
↓
Controller data
↓
IDNo－PrgNo allocation
- ID and program allocation

for
Centronix communication can
be shown and registered.
- To press [Cancel] allows to

cancel all the allocation of
IDNo.1 to 127.
-To press [Change] allows to

display IDNo. allocation
change screen.
ID No.assignment change
1. Enter ID No. with ten key.
Some number next to [Present Prg No.]
is shown up if it exists.
Cursor moves by itself to location of Prg No.
input
after entering ID No.
* A cursor can be also moved manually by

pressing [IDNo.] key or [PrgNo.] key.
2. Enter PrgNo. with ten-key.

Press [Cancel] key to cancel PrgNo. that is already assigned.
3. Press [Set] key after entering ID No. & Prg No.
6-11
6.9. Battery replace
The directory to battery
replacement
Maintenance menu
↓
Controller data
↓
Battery replace
Press respective
corresponding [Replace]
button when battery is
replaced for either [for robot],
[for controller] or [for touch
panel]. The current date is
stored. Or you can directly
change year, month and/or
day pressing those displayed.
Note
If wrong date is entered, waring message for replacing battery will be wrong
accordingly.
6.10. Conveyor information

The directory to conveyor
information is as
Follows.
Maintenance menu
↓
Controller data
↓
Conveyor information
Start, stop, and latch

clearance of
Built-in PLC can be carried out
- Press [Change] key to change

operation or stop in corresponding PLC.
Password is required (For system registration).
- Press [Latch clearance] key to clear latching in Built-in PLC (regular speed + high
speed).
Only under stop state, both regular and high speed PLC can be cleared.
6-12
6.11. Stacked counter revision
The directory to stacked
counter revision
is as follows.
Maintenance menu
↓
Robot data
↓
Stacked counter revision
Initialize Pallet Selected
1.To press pallet key to

initialize allows
to display the count value of
the
corresponding program.
2. Press [Initialize Pallet Selected] key to initialize the counter value of the displayed
program.
※In case [All] key is selected in pallet selection, the counter values of all pallet (1 - 6)
are initialized.
※Press [Initialize All Programs] key to initialize the counter values of all program stored
in robot counter.
Counter Revision
Counter value of each program No. can be changed in this screen.
● Press [Prog No.=] key and input the program No. to revise the counter.
●Press [Change] to input the value to revise.
● Press [Enter] to execute the counter revision.
* To hold a count value not per pallet but per program, counter revision of the
program which is not being stacked is also possible.
* In case of moving to maintenance menu under operation, this screen is not

displayed.
6-13
6.12. Program selection method
The directory to program
selection method
is as follows.
Maintenance menu
↓
Robot data
↓
Program selection method
See 1.3 Program confirmation

procedure on manual of
[Teaching pallet on floor] for
detail.
6.13. Position & acceleration / deceleration time

The directory to acceleration/
Deceleration time screen is as
follows.
Maintenance menu
↓
Robot data
↓
Position, acc/dec time
Last executed 12 steps trace

data is displayed.
(Displayed data are position,
acceleration time, and
deceleration time.)
*The screen is being

automatically updated.
6-14
6.14. Executed sequence command
The directory to executed sequence command is as follows.
Maintenance menu
↓
Robot data
↓
Executed sequence command
Up to (40) sequence commands robot has executed are displayed on the executed
sequence command screen. Scroll key can move screen upward or downward to show
you all the rest of the commands.
① ② ③ ④
[Screen explanation]
1. Executed sequence
No.
Numbering is made in
order of new to old.
2. Program No.
Program Nos to be
executed are displayed.
3. Line No.
Line Nos. in sequence
program to be executed
are displayed.
4. Sequence command
Sequence commands to
be executed are
displayed.
6.15. Overlap trace

The directory to overlap trace
is as follows.
Maintenance menu
↓
Robot data
↓
Overlap trace
１．Up to (12)-overlapping
among steps executed are
displayed.
6-15
6.16. SMOV calculation
The directory to SMOV
Calculation screen is as
follows.
Maintenance menu
↓
Robot data
↓
SMOV calculation
１．Executed step No.,

position data and
acc/dec time are
displayed when SMOV
is executed.
6.17. Deviation trace

The directory to deviation
trace is as follows.
Maintenance menu
↓
Motor axis data
↓
Deviation trace
It displays max and min

deviation
of each axis of robot.
※ Press [Max val clear] key

to clear Max value.
(Max value is stored even if
the power is OFF.)
6-16
6.18. Position command trace
The directory to position
command trace is as follows.
Maintenance menu
↓
Motor axis data
↓
Position command trace
The position data of each axis

can be displayed as an
instruction value to CPU
(DSP) for servo motor
control.
※ Last data for about 20

seconds can be shown.
But, in case a motor
power is off, the data is
not updated by itself.
In case a motor power is
turned off by occurrence of
failure, the data for about
20 seconds before the error
can be shown.
● Press [Write] key to save

data to file.
* [Write] operation cannot be

performed during operation.
* The data saved to file can
be taken in by Oxpa-Qm, and
can be treated as CSV file.
● Press [Gragh] key to display

speed and position data in
graph.
* Press [Axial change] key to

show the graph of a different
axis.
6-17
6.19. Servo torque indicate
The directory to servo torque
indicate is as follows.
Maintenance menu
↓
Motor axis data
↓
Servo torque indicate
１．Measurement of torque
Press [Start/Clear] button
to start.
(960) – data are recorded
in the preset sampling
frequency.
The measurement is
completed up to 960 data.
If [Start/Clear] is pressed
during measured, it is
cancelled.
●Press [Save To File] to save

the measured data.
※ The data saved to file can
be taken in by OXPA-Qm
as CSV file.
●Press [Data display] key to

show speed, torque in
graph.
※ Selecting axis allows to

show each axis data.
Press [Speed/Torque] key
to toggle to show Speed
or Torque.
２．Trace data indicate

While robot is in operation, torque is always being monitored and recorded
automatically. The sampling time is 24 msec and the data is up to 960.
Press [Trace indicate] to show the trace data and press [Trace save] to save data to
file.
6-18
6.20. Collision detection
The directory to collision
detection is as follows.
Maintenance menu
↓
Motor axis data
↓
Collision detection trace
6.21. Expansion axis trace

The directory to expansion
axis trace is
as follows.
Maintenance menu
↓
Motor axis data
↓
Expansion axis trace
It shows the data of positions

and acc/dec time of last (12)
- steps to be executed.
6-19
7. Table of Basic Specifications
RC840 RC830
Model
(A700V) (A1800V , A1600V)
4-axes simultaneous + 2 axes (for hand axis etc.
Number of control axis
Control System
optional)
Path control system PTP (R,T Axes) CP (O,D Axes)
Position detection Absolute encoder
system
Position control system Digital closed loop
Motor control system Digital AC servo control
Program storage system SRAM (battery back-up)
Memory
Compact flash (option)

Max 1200 patterns (Varies depending on stacking
Memory capacity
program)
Display device 8.7 inch FTP color LCD touch panel (KANJI supported)
Display
External storage device PC (Needs special program to transfer data )
- Teaching play-back and numerical input

Teaching, Operation
Teaching system
- Off-line programming by computer
Number of simultaneous Max 14 pallets, 4 stations
loading points
Repeat speed 10 levels (1 ~10)
Editor functions Revise, Addition, Delete, Transfer, Copy, Labels
Outside
Remote operation Teaching Pendant (For Installation Personnel)
Standard input 4 (124 Max option)
Number of I/O points
Standard output 3 ( 99 Max option)
USB x 1 / Ethernet x 1 / RS422 x 1
I/O
External communication CC-Link x (option)

(All the software is optional)
I/O points of Hand Input 4, Output 4
Dimension [mm] 940W x 640D x 1150H mm
Weight [kg] 210 kg 215Kg
Ambient temperature 0 ~ 40 Degrees C
Storage temperature 0 ~ 50 Degrees C
Controller
Altitude 1000 m or less

Relative humidity 35 ~ 85 %
[CE]AC 380/400/415/480V ±10% 50/60 Hz, 3phase
[UL] AC 208V ±10% 50/60 Hz, 3phase
Required power supply
2.5 kVA for robot(*1) + 6.5 kVA for robot(*1) +
(peripheral conveyors) (peripheral conveyors)
Conveyor control Typical simple layout can be controlled by built-in PLC
(*1)It may change with the layout and the handling capacity
7-1
RC1600,RC1600-CE RC1500,RC1500-CE
.Model
(Ai700) (Ai1800)
4-axes simultaneous + 2 axes (for hand axis etc.
Number of control axis
Control System
optional)
Path control system PTP (R,T Axes) CP (O,D Axes)
Position detection Absolute encoder
system
Position control system Digital closed loop
Motor control system Digital AC servo control
Program storage system SRAM (battery back-up)
Memory
Compact flash (option)

Max 1200 patterns (Varies depending on stacking
Memory capacity
program)
Display device 8.7 inch FTP color LCD touch panel (KANJI supported)
Display
External storage device PC (Needs special program to transfer data )
- Teaching play-back and numerical input

Teaching, Operation
Teaching system
- Off-line programming by computer
Number of simultaneous Max 14 pallets, 4 stations
loading points
Repeat speed 10 levels (1 ~10)
Editor functions Revise, Addition, Delete, Transfer, Copy, Labels
Outside
Remote operation Teaching Pendant (For Installation Personnel)
Standard input 4 (124 Max option)
Number of I/O points
Standard output 3 ( 99 Max option)
USB x 1 / Ethernet x 1 / RS422 x 1
I/O
External communication CC-Link x (option)

(All the software is optional)
I/O points of Hand Input 4, Output 4
Dimension [mm] 960W x 660D x 1200H mm
Weight [kg] RC1600 : 180kg RC1500 : 185Kg
RC1600-CE : 230kg RC1500-CE : 260kg
Ambient temperature 0 ~ 40 Degrees C
Storage temperature 0 ~ 50 Degrees C
Controller
Altitude 1000 m or less

Relative humidity 35 ~ 85 %
[CE]AC 380/400/415/480V ±10% 50/60 Hz, 3phase
[UL] AC 208V ±10% 50/60 Hz, 3phase
Required power supply
2.5 kVA for robot(*1) + 6.5 kVA for robot(*1) +
(peripheral conveyors) (peripheral conveyors)
SCCR 5kA
Conveyor control Typical simple layout can be controlled by built-in PLC
7-2
Robot manual

- Electrical -
Version 08: 2017.06.12
<Caution>

7-3
UL-CE-NTRS-05
Robot Manual
Troubleshooting
- Error Messages -

History
Version(Date) Descriptions Pages

02(2014.04.01) Words correction. 1-11,1-13
03(2014.11.12) Load variation detection is added. 1-13,1-14
03(2014.11.12) Notation changes 1-4
04(2015.01.22) Notation changes 1-4,1-11
05(2017.06.12) Discription of overload error is added 1-13
Introduction
NOTE
Safety Instructions

IMPORTANT
programming.
Table of Contents
1. HOW TO FIX IT WHEN IN TROUBLE 1-1
1.1. ERROR MESSAGES ······································································· 1-2
1. How to fix it when in trouble
Okura robot palletizer A Series has capability to display error messages after doing
self-diagnosis when it is in trouble. How error messages are composed of is explained in
this section. Diagnosis menu is also introduced which can help you to figure out the root
cause(s).
1-1
1.1. Error messages
An error message is displayed when robot is
faulty. The robot cannot continue to be operated.
Error messages are displayed at the bottom of

the POD screen. As shown in the diagram at
right, an error message is composed of an error
No. , an error message and how to
handle/recover.
To stop buzzer sounding, press Silence Alarm.
Upon pressing the abnormal reset button, after

recovery action was taken, the error message
goes away.
Even in an abnormal condition, screen can be

aborted by pressing Back key, and the screen is
returned to the one before errored out, lighting
the Error lamp at right- bottom of screen in red.
The error message screen comes out back again
upon pressing this lamp.
The following explains the meaning and handling method for each error message.
Error
Error message Cause Recovery
No.
Warning at CPU board
Memory’s battery Replace CPU board (RC501)
１５４ (RC501) memory backup
memory backup battery.
low (warning) battery, time to replace
Encoder's battery Warning at encoder backup
１９７ low (warning) battery, time to replace
Replace encoder backup battery
Note
Operation can be continued even an error message regarding battery
low comes out, but be aware of possible data vanishing unless due
action of “the sooner the better” is to be taken against this message.
Error
No.
Voltage decrease of CPU board
Replace CPU board (RC501)
１５３ Battery voltage drop (RC501) memory backup
backup battery
battery
６０４
Encoder battery Voltage decrease of encoder
～ voltage drop backup battery
Replace encoder backup battery
６０８
1-2
IMPORTANT
Do not turn the main power off until the replacement of the
battery is completed, when an either of battery voltage drop, or
encoder battery voltage drop occurs.
1-3
Error
No.
１０１ R-axis out of processing Previous "Origin Storing" Do "Origin Storing" at the current
range position is wrong. position first. In manual
T-axis out of processing operation, move the robot to the
１０２
range basic origin point and do again
"Origin Storing".
１０３ I-axis out of processing
range
１０６ R- axis out of operation Robot moved to out of Switch to manual mode with key
range operation range switch and select PTP mode.
Hold down the abnormal reset
１０７ AX- axis out of operation
range button, turn motor power on,
press start button, then move
１０８ AZ axis out of operation therobot back into the operation
range
range
１０９ T- axis out of operation
range
１１０ C-axis out of operation
range
１１１ I-axis out of soft limit
range
１１４ R-area processing error R-area angles defined in Check R area data in system
system parameter have parameter. Too narrow interval is
logical mistake not accepted. When not using
R-area, enter negative value of
soft-limit.
１１５ Break in position data Data calculation for arm If the error occurs only once, it
movement at the main can be corrected by resetting.
CPU is not completed in Make motion speed faster when
time automatic operation speed is
lower than 10.
If already 10, shorten acc-dec
time of following steps.
Note
If the error of “Break in position data” occurs in specified step, acc-dec
time for that step may have been set too long.
１１７ DMOV T-axis If operation is continued, Check if the stacking sequence

uncontinuously T-axis may move out of program is correct. Stop the
the operation range. operating if it occurs in manual
mode.
It may also occur during
operation in manual
PM mode.
１２１ Height revision data Height data received from Check if the height data from PLC
PLC is out of the range. is correct.
(Too high)
１２２ SMOV execute twice During executing SMOV, Check if the command is
SMOV executed twice. overlapped in the stacking
sequence program.
１２３ Stacking counter Number of picking up Check if there is nothing wrong in
processing error works is wrong. the stacking program.
1-4
Error
No.
１２４ Received data wrong Received data is out of Check if all the positions of steps
operation range. in the stacking sequence program
Error when CALC are inside the operation range.
command in palletizing is
executed.
１２５ No step specified Specified step does not Check if the stacking sequence
exist program is correct.
１２６ Wrong pallet Tried to discharge Check if the PLC program is
discharge not-ongoing program correct.
1-5
Error
No.
１２７ Program selection In PGS selection, the If some products on the pallet,
mistake program was switched discharge the pallet by pressing a
over to other program pallet discharge button.
before completion of (Or discharge the pallet in
current stacking when conveyor manual mode and then
Single or Multi-pallet is initialize stacking counter.)
selected.
Explanation
In an occasion of program change, be aware of the PGS type as one of key functions.
Changing any program No. is to be done by sequence command of PGSEL.
However, you can choose a condition to not simply automatically change one program to
other by PGSEL.
PGS is available in 3 types based on the conditions.
1. Single pallet
2. Multiple pallet
3. Every workpiece
No. PGS Descriptions Required conditions to switch over

Type
1 Single Only on pallet station. The stacking counter numbers of
Pallet Resulted in “Program Select Error” as layer and work of the ongoing
the following conditions are not program are “1” initialized.
fulfilled at a time. The stacking counter numbers of
(1) Stacking is completed under layer and work of a program newly
currently executing program selected are also “1” initialized.
(2) Stacking begins from starting point

of newly set program.
2 Multiple Multiple pallet stations. Possible to switch over one to the
Pallet Possible to switch over one to the other pallet with the ongoing
other pallet station of which ongoing program.
stacking program is memorized When switch over to a different/new
respectively. program per pallet station, the
When switched over to the other stacking counter numbers of layer
program per pallet, the above item (1) and work are “1” initialized at both
needs to be met. ongoing and different/new
programs.
3 Every Possible to switch over without any
Work conditions.
piece
1-6
Error
No.
１２８ Program sum check The content of the Check if the stacking program has
error pertinent program has no problem. If there is something
been destroyed at destroyed, resume it.
program selection
１２９ No program stored The pertinent program is Select the exact program. If not
not stored at a time of available, creation a new stacking
program selection program.
１３０ No program ENDP At program execution, the Insert ENDP on the pertinent
program contains no program.
ENDP (end program).
１３１ Number of layers / Due to a counter Enter the correct value.
products out of range correction error, the layer
or product counter value
exceeded the setting in
the program during
program execution
１３２ Position data processing A specific step necessary Add a step if missed. Or the
error for position data height is to be checked in case of
calculation is missing or “drop high” or “pallet floor
the position data is placement”.
outside of the moving
area
１３３ Undefined instruction During program executed, Correct the pertinent program.
error logical error occurred in
the program with which it
１３４ IF/ELS nesting error
cannot move forward.
１３５ IF/LP nesting too deep
１３６ Designated step not A step designated by, for Check the stacking program.
stored instance, MOV does not
exist
１３７ Program selection out of Tried to execute the Correct the position data &
operation range program in which step(s) parameter of stacking program
is (are) out of operation
range.
１３８ Pallet No. is wrong Pallet No. of the selected Check the stacking program.
program is wrong.
１３９ SMOV processing error It failed during SMOV Check the overlapping & the
processing position data of SMOV and next
two steps
１４０ SMOV parameter error Processing parameter of Check if the SMOV-parameter in
SMOV is wrong. system-parameter is correct.
１４１ Program No. is out of Program No. of OSFT in Check if the sequence command
range sequence command is out is no problem.
of range
１４２ Program check sum error When MOV command was Cycle main power after turning
in MOV executed, it errored out. Motor Power off.
1-7
Error
No.
１４３ Pallet Count Changed [Sub code: 0-3] [Sub code: 0-3]
# of pallets (*2) from PLC Remove whole things out of
is changed during on-pallet and pickup station.
stacking (*1) pallet Check if the pallet location and
on-floor. photo eyes around are no
problem.
(*1) On half way: Interval Do conveyor reset and counter
from pallet to pallet. reset.
(*2) # of pallets from
PLC: Instructed by PLC [Sub code: 10]
through D5001 or (X10 - Check the PLC logic.
x12).
[Sub code: 10]
# of pallets is instructed
by PLC not in case of
pallet on –floor.
１４４ Obtaining Bit device is Internal processing error Replace RC501

abnormal
１４５ Setting Bit device is
abnormal
１５０ Message between
tasks is abnormal
１５１ Initial pulse mismatch The pulse when power Reset the error in manual
was last turned off differs mode when the cause is clear
greatly from the initial since such as main power is
pulse when turning main
shut off during arm operation.
power on
If the cause is unclear, check
the posture and its present
position of robot. If present
position is right, reset it on
manual mode. If present
position is not right, encoder
resetting or the origin position
storage is necessary. See the
installation and adjustment
(electrical) for detail.
Note
The A Series robot employs absolute encoders, and the pulse when power is turned
OFF is stored in the controller, and this is compared with the initial pulse when
power is turned back on. If the difference is not within the allowable pulse range, -
(minus) 10 - 65550, which is equivalent to one rotation of the encoder, this is
regarded as initial pulse mismatch error.
This occurs when there is something wrong with the encoder or servo amp, but it
may also happen when a power failure or similar situation occurs during arm
movement.
１５２ Trap occurrence Control unit failed Cycle main power.
1-8
Error
No.
１５５ Periodical Maintenance The term on the It is just a alert message so that
and Inspection hour-meter has been operation can be continued.
passed. Press Abnormal reset to reset it
(example) The message after confirmed.
pops up every 5000 hours
at 5000 hr-maintenance
period.
１５６ Tele-com. Between Data exchange between Just cycle main power if error
DSP is failed DSPs is failed. occurs infrequently
Replace RC501 when error occurs
frequently.
１５７ Built-in PLC No reply upon notice sent Check the program of PLC.
communication error to built-in PLC
１５８ S - I/O Initialize error S-I/O port initialization Cycle main power if error occurs
failed only once.
If occurs frequently replace
RC501.
１５９ POD communication Communication failed Check the communication cable
error or POD
１６０ Teaching pendant Communication failed Check the communication cable
communication error or teaching pendant
１６１ BCR communication Wrong data is received Check if communication cables

error from BCR. failed or something wrong
with BCR.
１６２ Fieldbus initialization Link of fieldbus cannot be 1. Remove faulty factor on the
error connected. Master unit.
1.Abnormality occurred 2. Change "Remote Device"
on the Master unit of PLC. value.
2."Remote device" value 3. Replace Fieldbus-Board
is faulty. 4. Fix fieldbus cable.
3.Fieldbus-Board is
faulty.(see: LED)
4. Fieldbus cable is
disconnected.
１６３ Link of fieldbus is
disconnected.
1. Failed on the Master 1. Remove faulty factor on the
unit of PLC. Master unit.
Fieldbus link error
2.FieldBus-Board is 2. Replace Fieldbus-Board
faulty.(see: LED) 3. Fix Fieldbus cable.
3.Fieldbus cable
disconnection.
１６４ SubNo1.3.4:
Initialization is
executed by operation: SubNo6.2.7:
System parameter Firmware and system Transfer correct system
initialization parameter do not parameter through
match. OXPA-Qm.
Sub No2, 7: Sys-para
wrong.
1-9
Error
No.
１６８ Servo boot failure Sending programs for Install two DSP programs.
DSP cannot be completed. Cycle main power to reset if
The DSP program may errored out only once. If error
not be installed. continues, replace RC501.
１６９ RAMDISK crashed Partially damaged in Initialize the RAMDISK. After
memory. Couldn’t repair that, transfer all the files from
by itself. OXPA-Qm
１７０ RAMDISK is crashed Auto repaired partly
Auto repair because RAMDISK is
partly crashed.
１７１ RAMDISK initialization Memory is initialized.
*) Cycle main power
with turning DSW8 ON
on RC501 to initialize.
１７２ RAMDISK initialization Failed in initializing Replace RC501.

failure memory
１７４ Reference Bit device is Internal processing error Replace RC501.
abnormal (No Right to access)
１７５ Word device reference
abnormal
１８０ PLC Centronix Communication failed Check if communication cable
communication error or PLC is failed.
１８１ Receiving unexpected Received invalid data Check the program of PLC.
command request from PLC
１８２ Data memory No. error Data memory No. Check the PLC program.
received form PLC is
wrong.
１８３ Turn-information error Data request from PLC ・Check the program of PLC.
was wrong or there was a
turn information creation ・Create a stacking program.
demand for not existing
program ID.
１８４ ID-No．out of range Data received form PLC is Check the program of PLC
wrong.
１８５ Count value out of
range
１８６ Wrong selection of
pallet No.
１８９ DC24V failed 24VDC is incorrectly Check if wirings and outputs
supplied. of AVR are no problem.
１９１ Panel internal Temperature inside Check if cooling fan is failed.
temperature wrong control panel is too high
(50degree C or more)
1-10
Error
No.
１９２ Limit switch ON Limit switch is actuated. Release motor brake and rotate
arm by hands until no limit switch
is hit. After that, reset the limit
switch.
Move arm in manual operation
until getting back inside operation
range, holding pressing a
abnormal reset button.
* See [Maintenance] on how to
release motor brake and limit
switch for detail.
１９３ Emergency stop Emergency stop switch is Reset the emergency stop switch
being pressed (On the
operation panel,
teaching pendant, or
external switch)
Note
1. External emergency stop
There are 2 points of terminals for the external emergency stop.
In case the external emergency stop is not employed, PES11 is connected
with PES12 and PES21 is connected with PES22 on the TBR7.
2. Teaching pendant
In case the teaching pendant is not used,
Put on jumper pin to CN3 on RC506
１９４ Entrance sensor In automatic operation, After finding out the cause,
entrance sensor get beam of photo eye
detects through back.
someone/something Reset error pressing
to interrupt photo eye. [Abnormal reset] button.
１９５ Guarding door open Guarding door with a After finding out the cause,
plug switch is opened. close door and put plug switch
back in to press [Abnormal
reset] button.
１９８ Primary power voltage The primary power supply Check the primary power
too low voltage dropped during voltage. Cycle main power
motor-power supply after voltage is resumed.
turned on, or primary
power is blackout.
２００ D-axis, out of soft limit Robot is out of the soft Switch to manual mode with key
range limit switch and select PTP mode.
Hold down the abnormal reset
２０１ O-axis, out of soft limit
range button, turn motor power on,
press start button, then move
２０２ R-axis, out of soft limit therobot back into the operation
range
range
２０３ T-axis, out of soft limit
range
２０４ C-axis, out of soft limit
range
２０５ Out of soft limit
２０６ D axis instruction Instruction value Cycle main power.
value error output to DSP is too
1-11
Error
No.
２０７ O axis instruction large than the previous Replace RC501 if the error
value error one (moving distance) occurs frequently.
２０８ R axis instruction
value error
２０９ T axis instruction
value error
２１０ C axis instruction
value error
２１１ Instruction value error
２１２ Operation failed at D It unexpectedly moves Check if servo parameters are
axis motor power ON during motor power on. correct. If no problem at all,
２１３ Operation failed at O do the followings.
axis motor power ON ・Replace RC501
２１４ Operation failed at R ・Replace servo amp
axis motor power ON
２１５ Operation failed at
Taxis motor power ON
２１６ Operation failed at C
axis motor power ON
２１７ Operation failed at
motor power ON
５０１ Servo power voltage low DC(300V line) ・ Check primary power
Insufficient voltage voltage.
５０２ Servo power voltage too DC(300V line) ・ Check fuse on servo power
high too high voltage unit.
５０４ Servo parameter SubNo.0 ： Too old SubNo.0 ： Update with latest
wrong version of servo servo parameter.
parameter SubNo.1：Make sure the model
SubNo.1：Wrong model and enter the correct servo
SubNo.2 ： Wrong parameter.
expansion parameter SubNo.2：Correct the memory
SubNo.3 ： Updated switch and expansion
during motor power on parameter.
SubNo.4 ： Sum check SubNo.3,4：Cycle main power.
wrong
５０５ Communication failed Data transaction Reset it if infrequently occurs.
between DSPs between main DSP and If frequently occurs, replace
sub DSP. RC501.
５０６ RC501 Break in Data calculation for arm Make speed faster when
position data movement in the main automatic operation speed is
CPU is not completed in lower than 10.
time If already 10, shorten acc-dec
time of following steps.
５０７ Type of encoder Encoder of servo motor Make sure if jumper pin on
miss-matched is mismatched with RC501 is correct.
that of CPU board.
５０８ RC501 no response Processing delayed at Cycle main power.
RC501（40ms） If it continues, replace RC501.
1-12
Error
No.
５０９ Version of slave SDP Version of main DSP is Get correct version of
mismatched mismatched to that of software.
slave one.
５１０ Regenerative resister Temperature at ・Check if cooling fan works.
temperature abnormal regenerative resister is
・ Check the contact of fasten
too high
terminal for connecting sensor on
controller back side.
・Check regenerative transistor of
servo power unit.
５２０ D axis deviation error Deviation exceeded limit Check the operation mainly
mechanically.
５２１ O axis deviation error
Improve the program so that
５２２ R axis deviation error robot can be operated smoother.
５２３ T axis deviation error
Deviation limits are as follows
５２４ C axis deviation error
Unit: degrees
５２５ Deviation error
A1800Ｖ A1600Ｖ
R 20° 20°
D 23.5° 20°
O 23.5° 20°
T 50.2° 50.2°
５２６ D axis overload SubNo.0 ・ Check wiring, discontinuity

・ It is continuously etc. (around brake)
５２７ O axis overload
operated over the ・ Review /improve acc/dec
５２８ R axis overload rated torque.
time.
５２９ T axis overload SubNo.10/20(D axis)
・ Review the setting of
５３０ C axis overload SubNo.11/21(O axis) wrong torque command in
・ Over-torque servo parameter.
５３１ Overload
instruction last more
than the limit
５３２ D axis over speed Exceeding a value for Review the set value
abnormal speed detection Check conductivity of wiring and
５３３ O axis over speed was recorded harness (shield, FG)
５３４ R axis over speed
５３５ T axis over speed
５３６ C axis over speed
５３７ Over speed
５３８ D axis IPM abnormal Protection circuit inside Cycle main power.
IPM energized in the
５３９ O axis IPM abnormal Replace IPM.
following cases.
５４０ R axis IPM abnormal - OC to the motor
５４１ T axis IPM abnormal - Decrease in control
voltage
５４２ C axis IPM abnormal
- High temperature
５４３ IPM abnormal
５４４ D axis Load variation A load variation detection Does the robot have collision to
detection was detected. the peripheral equipment?
Yes → Recover the robot with
1-13
Error
No.
attention to safety.
５４５ O axis Load variation
detection No → Press the abnml reset
button, then resume the
５４６ R axis Load variation operation.
detection
If frequently occurs, please
５４７ T axis Load variation contact with the customer
detection support desk of service
５４８ C axis Load variation department.
detection
５４９ Load variation detection
５５０ D axis encoder Tele-communication Check conductivity of harness
tele-com failed between encoder and (shield, FG)
RC501 is not possible. Replace servo motor
５５１ O axis encoder
tele-com failed Replace RC501
５５２ R axis encoder

tele-com failed
５５３ T axis encoder
tele-com failed
５５４ C axis encoder
tele-com failed
５５５ Encoder tele-com
failed
５５６ D axis encoder over Encoder rotated higher Store origin point
speed speed than rated Replace motor
５５７ O axis encoder over
speed
５５８ R axis encoder over
speed
５５９ T axis encoder over
speed
５６０ C axis encoder over
speed
５６１ Encoder over speed
５６２ D axis encoder excess Information of excess Store origin point
rotation error rotation may be wrong Replace motor
５６３ O axis encoder excess
rotation error
５６４ R axis encoder excess
rotation error
５６５ T axis encoder excess
rotation error
５６６ C axis encoder excess
rotation error
５６７ Encoder excess rotation
error
５６８ D axis encoder counter Excess rotation counter Store origin point
over flow over flow Replace motor
５６９ O axis encoder counter
over flow
1-14
Error
No.
５７０ R axis encoder counter
over flow
５７１ T axis encoder counter
over flow
５７２ C axis encoder counter
over flow
５７３ Encoder counter over
flow
５７４ D axis encoder counter Information of one Store origin point
error rotation may be wrong. Replace motor
５７５ O axis encoder counter
error
５７６ R axis encoder counter
error
５７７ T axis encoder counter
error
５７８ C axis encoder counter
error
５７９ Encoder counter error
５８０ D axis encoder full Encoder was rotating Store origin point
absolute status higher than rated when Replace motor
powered on.
５８１ O axis encoder full
absolute status
５８２ R axis encoder full
absolute status
５８３ T axis encoder full
absolute status
５８４ C axis encoder full
absolute status
５８５ Encoder full absolute
status
５８６ D axis encoder over heat Encoder’s inner When error occurred during
temperature is too high. operation, lower the ambient
５８７ O axis encoder over heat temperature than 40 deg C
around the servo motors.
５８８ R axis encoder over heat
５８９ T axis encoder over heat When error occurred upon power
５９０ C axis encoder over heat ON, replace the servo motor.
５９１ Encoder over heat

５９２ D axis encoder absolute Position information may Cycle main power.
position information be wrong Check current position of robot.
error
５９３ O axis encoder absolute
position information
error
５９４ R axis encoder absolute
error
５９５ T axis encoder absolute
error
1-15
Error
No.
５９６ C axis encoder absolute
error
５９７ Encoder absolute
error
５９８ D axis encoder abnormal Encoder is faulty Store origin point
Replace motor
５９９ O axis encoder abnormal
６００ R axis encoder abnormal
６０１ T axis encoder abnormal
６０２ C axis encoder abnormal
６０３ Encoder abnormal
３００ Abnormal signal is Take due remedial action on the
emitting from PLC PLC.
～
Refer to the PLC manual for
３９９ errors
1-16
Robot Manual
Troubleshooting
– Error messages -
Version 05：2017.06.12
<Caution>

OS-NMSW-11
Robot Manual
Memory Switches
- GenV / GenⅦ -
1-1
Updating history
Version Content SH soft Ver. Page

(Date) (rc_gen2.bin)
01(2012.3.5) Newly released 1.01D
02(2012.12.26) Miss-spelling correction 1.01D 1-6, last page
03(2013.5.22) Changed 1.01D 1-6, 1-7, last

page
04(2013.10.1) SW4-5, 4-6, 4-7 & 4-8 are 1.01L(4-6) 2-10, 2-11,
1.01L(4-5, 4-7) 2-12, last
added. 1.02A(4-8) page
05(2014.02.03) SW5-1, 5-2, 5-3, 5-4 are 1.02E 1-2, 2-11,

2-12, last
added. page
06(2014.04.01) SW4-5 some more 1.02E 2-14
Last page
description are added.
07(2014.05.26) SW5-3 is added. 1.02J 1-8,2-18,2-19
Last page
08(2014.11.12) SW3-2 some more 1.02K 1-2,2-10,2-11
2-20
description are added. Last page
SW5-5, 5-6 is added.
09(2015.01.22) SW5-7 is added. 2.00 1-8,2-20
1-9
Type of controller is added. Last page
10(2015.12.18) SW5-8 ,SW6-1andSW6-2 are 2.00G 1-8,2-20,2-21
1-9
added. Last page
1-8,1-9,2-21
11(2017.06.12) SW6-6 is added. 5.00
Last page
1-2
Introduction
Robot Palletizer. It should be useful not only to beginners who are using an
Okura Palletizer for the first time, but also to experienced users, who can use
this Manual to reconfirm their knowledge. Please read this Manual carefully
and use the Palletizer with a clear understanding of its content.
NOTE
forbidden.
Safety Instructions

injured or killed.
IMPORTANT
Only AUTHORIZED PERSONNEL can operate, maintain the robot
or work on programming.
The definition of “AUTHORIZED PERSON” is that the only
personnel who can operate the robot and/or robot system, are
those who have enough knowledge or experience of robot
operation and have also been trained to operate the robot. They
must also have been authorized by the employer.
1-3
Table of Contents
1. Table of Memory Switch 1-5
2. Descriptions in depth on Memory Switches 2-1
1-4
1. Table of Memory Switch
Factory
SW *-* Name ON OFF Type
default
T-axis spins to designated T-axis spins, taking
position, not taking shortcut shortcut direction.
direction. This intended to be Under the
used for aging. Example, in left case, it spins the other

T-axis spinning
1-1 case target position is -179 way until 181, spinning 2 All OFF
direction
degrees when current position degrees only.
is 179 degrees, it moves
around until -179, spinning 358
degrees.
M6021(Y21) If teaching pendant is Status of safety device

1-2 All ON
assignment connected or not when RC506 is in use.
Height of step 9 at 1st work / Standard motion
1st layer is changed to exact
same as that of last layer cycle.
It moves like variable picking.
If and when arm / end effector

SW1
Variable picking
1-3 may seem to hit peripheral All OFF
for special case
conveyors, this is to be turned
ON when the program isn't set
to Variable-picking and also
COUNT instruction is between
MOV8 & MOV9.
No data shifting upward when Standard calculation

Movement at pallet
1-4 there is enough head room All OFF
on floor
above step 5 and 8.
Password is valid once the Password is invalid.
1-5 Password setting password has been set in the Master password: **** All OFF
system parameter screen.
T-axis is not synchronized. T-axis is synchronized with
Only T-axis moves directly to other axes. End

1-6 DMOV movement All ON
the target position. effector moves in parallel.
1-5
Robot operates alone. Signals Robot collaborates with
1-7 Operation control from PLC are ignored. signals from PLC. All ON
Communication Log outputs to debug Not outputs
log outputs to PORT.

1-8 All OFF
expanded PORT
(for debugging)
Option at When reset, No output out of relay.
Sequence signal of 1st work / 1st layer is

2-1 All OFF
resetting OFF.
Y1F (M601F) is ON for 1000mS.
Language on Other Japanese

2-2 All ON
screens
In DA1800 mode In Standard mode
2-3 DA1800 All OFF
DA1800 One program is used for Standard
2-4 One program for multi-pallets. All OFF

multi-pallets
Timer value In use Not in use
2-5 All OFF
setting screen
Product code When program is selected, Not written
SW2 2-6 Product code is overwritten into All OFF

device.
Which timing At motor power turned off. At error
2-7 Traced data is All OFF

stored at
While position data of STA at a Standard
layer & a product is changed,
the other same data at STA is
never automatically copied
Recalculating even if grip

2-8 All OFF
position of STA direction is the same each
other. Moreover, the position
data at STA
is not re-calculated, even if the
direction is changed.
1-6
PC communication Downloading is impossible Always possible to
3-1 control from PC while motor power is download. All ON

being turned ON.
Load variation Workable Unworkable

3-2 All ON
detection
Collision & Workable Unworkable
3-3 All OFF
Retraction
3-4 T axis path T axis path improved Standard

All (*1)
SW3 Acceleration-decel The minimum time is Standard

3-5 All (*1)
eration time shortened.
Station timer Controlled by Built-in PLC Controlled by robot

3-6 All OFF
control (D2500 - D2515 are used) (D6219 - D6234 are used)
A700 cold-area Parameter for cold-area specs: Standard
specifications T axis reducer: 1/89 -> 1/81

3-7 All OFF
EE mounting flange is lowered
by 5mm.
RC516 (ULCE) / RC516 used RC506 used

3-8 All ON
RC506(JIS)
………. Always OFF
4-1 System reserved All OFF
D4/D5 Initial values of Counters are Not set it at all

4-2 All OFF
set to D4/D5.
AP508 or AP510 AP508 or AP510 used for T & C AP108 or AP110 used
4-3 All (*2)
used axes amps
Battery Replace battery after switching Replace battery at
4-4 replacement over to manual mode maintenance menu during All OFF
SW4 auto mode
4-5 A400 High capacity A400 high capacity A400 standard capacity
A400 OFF
Sequence reset at Not reset at discharging Reset at discharging

4-6 All OFF
discharging without arm movement without arm movement
R-axis reversing Reversing protection Reversing protection

4-7 All OFF
protection ineffective effective
Port to OXPA Port to OXPA at CN4(RS422) on Port to OXPA at CN7(USB)

4-8 ALL OFF
RC501 on RC501
SW5 5-1 System reserve ALL OFF
1-7
5-2 Built-in OXPA Not in use Standard ALL OFF
In use Not in use
5-3 Pattern display ALL OFF
5-4 Type of RC506 506B 506A

ALL OFF
DMOV Accl/Decl ENABLE Standard (DISABLE)

5-5 ALL OFF
coefficient
Individual end ENABLE Standard (DISABLE)
5-6 ALL OFF
effector weight
Communication Use Modbus Use serial
5-7 ALL ON
method changes
Discharge works ENABLE Standard
5-8 are counted to ALL OFF

production data.
The way of set Position commands are copied Change by stacking type
6-1 ALL OFF
position command. from registered pattern automatically
Prg alloc req ENABLE DISABLE

6-2 ALL OFF
during no ope
6-3 System reserve ALL OFF
SW6
6-4 Ai700 MAX payload 160kg 140kg Ai700 OFF
6-5 System reserve ALL OFF
6-6 ALC use Use ALC Standard ALL (*2)
6-7
6-8
(*1) How to setup SWs depending on the type of robots

Type of Robots 3-4 3-5
Ai1800 X X
A1800V, A1800V-P
X X
A1800N, A1800N-P
A1800V-W,
A1800N-W
A1600V, A1600V-P
A1600III-N,
A1600IIIN-P
A1600V-W,
A1600V-WP
A1600IIIN-W,
A1600IIIN-WP
Ai700 X
1-8
All of A700 series
(A700V, A700V-P,
X
A700IIIN,
A700IIIN-P)
All of A400 series
(A400V, A400N)
All of AP30 series
(*2) Memory switches of which standard setting is needed to be changed depending

on the type of controller
Type of controller 4-3 6-6
RC810
RC820
RC811
RC821
RC812 X
RC822 X
RC813 X
RC823 X
RC830 X
RC830-CE X
RC840 X
RC840-CE X
RC1100 X
RC1200 X
RC1200-A (ALC) X X
RC1300 X
RC1300-A (ALC) X X
RC1500 X X
RC1500-CE X X
RC1600 X X
RC1600-CE X X
1-9
2. Descriptions in depth on Memory Switches
Memory Switch 1-1 T axis spinning
T axis is spinning over

+/-180deg so that two points
are overlapped as shown on
the left diagram. (Point C is
200deg while point B is
-160deg.)
Here is about how Memory

Switch 1-1 works.
When it is OFF, T axis chooses
shorter way if the target point
is overlapped like point C.
Fig: 1
When it moves from point A to point B, it spins CW by 300deg at SW1-1 ON.

However, it just moves CCW straight to point C in stead of point B at SW1-1
OFF. It can complete spinning of about 90 degrees in CCW.
Memory Switch 1-2 M6021 assignment

M6021(Y21) works as follows.
When SW ON : It shows the status of if teaching pendant is connected or not.
If connected, M6021 is turned ON.
When SW OFF: It shows the status of such safety devices as E/E etc.
M6021 is turned on at safety. However, M6021(Y21) is always
OFF when SW3-8 is ON (RC516 is used).
* The default is ON.
2-1
Memory Switch 1-3 Variable picking for special case
In stacking with variable picking, COUNT command is located right after Step
9 in standard robot sequence logic. So, hand spins by 180 deg above station
conveyor when gripping direction is changed. The hand may hit products
around.
In order to avoid this kind of trouble, it is necessary for you to relocate COUNT
command after Step 8.
MOV9, 1 and 2 are executed under the same value of COUNT.
COUNT after Step 9 COUNT after Step 8

Fig 3
There is a disadvantage in doing this way. Hand may hit stacked products on
pallet after last product is set down and arm goes up as arm moves to step 9
of 1st product of 1st layer.
For a measure to solve this, a standard program with variable picking has step
9 of 1st product of 1st layer at the same height as the top layer. But a program
without variable picking is standard so that the sequence logic needs to be
modified if it is without variable picking.
With this memory switch ON, the height of step 9 is always at the same one as
the top layer to end up with sharing sequence logics.
2-2
Step 9 at top layer
Step 9 of 1st product

of 1st layer
Fig 4
Memory Switch 1-4 Movement at pallet on floor

At pallet on floor, the stacking positions are all depending on the height of
pallets stacked. So, the associated other positions are also decided by the
stacking positions.
When heights at step 4(9) are higher than step 5(8), those are standstill, but
step 5(8) are higher, those are shifting with step 5(8).
Fig 5
2-3
In other complicated cases like adding step 10, 11 or making step 8 equal to
step 4 (case of up and over movement), such movement is shown below. The
step 4(9) is shifting whatever. Therefore, step 4, 5, 10, 11 or 8 may be out of
range if the teaching range is not high enough.
Fig 6
Under the conditions of turned memory switch 2-1 on, some steps which do
not need to shift upward won’t go up. (The below example shows you that step
4 and 10 won’t go up until step 5 and 10 are equal to those.)
Fig 7
Memory Switch 1-5 Password setting

When any password other than the default is used, this SW2-2 enables you to
2-4
set it up.
As a default, the password is required only when you move into the system
parameter screen from the main menu. However, other passwords can be set
up at when you move to automatic, teaching mode or maintenance screen.
If memory switch 2-2 is turned on and passwords are setup at the system
parameter setting, those can become effective. It is possible for you to set up
a different password for each menu.
Memory Switch 1-6 DMOV movement
Fig 8 Fig 9
In DMOV movement, T axis spins in the other direction following R axis to

rotate as shown on the above diagrams.
In this T axis spinning, if starting point of T axis is point C as shown on Fig 1,
as T axis spins CCW, it will spin 360deg all of sudden at over 220 deg. It errors
out with [117 DMOV movement of T axis discontinued]. In such case, if this
memory switch is turned on, T axis is in PTP mode to avoid the same error.
(If the movement at Fig 9 is improper, hand needs to be re-mounted at a bit
different angle.)
Memory Switch 1-7 Operation control

This is a switch to choose robot to be operated alone or instructed by PLC
2-5
(linked).
In controller alone, the way to stop operation from PLC is E/S only.
Memory Switch 1-8 Communication log outputs to expanded PORT

(for debugging)
This is for debugging purpose only. Do not turn it on for the other purpose.
It should be always OFF during daily operation.
At SW1-8 ON, messages which show the communicating conditions are output
to debugging PORT: CN6 of RS232C on RC501.
Memory Switch 2-1 Option at sequence resetting

Resetting sequence allows program 0 to be executed. At a time, if SW2-1 for
controlling internal relays is ON, Y1F (M601F) is turned on for 1000ms. The
signals of 1st product – 1st layer of all pallets are turned off {example of pallet
1 is Y0C(M600C)}. The latter process is necessary for the signal to be used for
1st layer - 1st product. Without the signal, it would be more difficult to recover
from a trouble.
(See the below for detail.)
The signal of 1st layer - 1st product is in such that a product of 1st layer - 1st
product is set down and is detected by a photo eye to see if the actual product
on pallet is equal to COUNT.
The flow of detecting the error is as follows:
- Photo eye above pallet is blocked and signal is turned ON. (A product of 1st
layer - 1st product has been set down.)
- At automatic operation, the signal of 1st layer - 1st product is reset to OFF
upon program 0 executed.
- When stacking gets started, the signal of 1st layer – 1st product is turned ON.
- Since photo eye has been turned ON and also the signal of 1st layer – 1st
product is ON, PLC processes to error out to stop operation and shut power
down.
In order to recover from the situation, the signal of 1st layer – 1st product
needs to be set to OFF. But it can be possible only when automatic operation
2-6
gets started to set it to OFF. But, automatic operation can start only when the
signal is OFF.
Under this sunk situation. SW3-1 is turned ON and sequence resetting is done
to get out of that.
Memory Switch 2-2 Language in screens

This is used to switch over to other language on POD or teaching pendant.
At OFF: Japanese
At ON: English
The basic screens and some messages in POD are stored inside POD so that
the required data for POD is to be relocated at a time of SW 2-2 ON.
Memory Switch 2-3 DA1800

In corrugated sheet industry, some special functions are required. To turn SW
2-3 on makes them effective.
- Height compensation
Stack it to the designated height on and after second layer.
- Height calculation
Position of arm in height is detected by a sensor to be stored into data
memory when it is turned ON (OFF).
- Pallet shift (See Memory Switch 4-3 for detail)
- Sequence resetting is carried out by itself when a program is received from
a local computer.
Memory Switch 2-4 DA1800 One program for multi-pallets

At DA1800, when SW 4-3 is turned on, products are stacked to different
pallets in size depending on the specified shifting values to be pre-stored in
data memories, once program 1 is transferred from a local computer.
The process is explained below. (It repeats 9 times or continues until data
memory turns to zero.)
1) Download data of every 4-values at a time out of data memories
(starting from D1000, four each). Data to be downloaded are the
shifting distances of 1st one :PX, 2nd one: PY, 3rd one: Pβ, and 4th
2-7
one: PZ, respectively, to be in mm multiplied by 10.
1st turn is D1000 thru D1003, 2nd is D1004 thru D1007, …. 9th is
D1032 thru 1035.
2) To see if data of PX is “0”. If so, it ends the process.
3) Only the steps on pallets are shifted by the values downloaded.
4) Programs are saved.
Unless data from D1000 thru D1035 are zero, programs up to 10 are created
/ saved.
Memory Switch 2-5 Timer value setting screen

In bag stacking, the stopping position of bags may be inconsistent due to
features of each bag like the material of bag, the features of contents, filling up
ratio, etc. It is a lot of works that those stopping positions need to be
controlled one by one. Therefore, screen of stopping timer is available to set
up the time each. Once SW 4-5 is turned on, a button to jump pops up to let
you enable to set it up.
Memory Switch 2-6 Product code

This is used to employ product codes. The product codes corresponding to
data suck up through barcode reader drive the assigned programs. (in this
case, data from barcode reader is equal to product code.) When it is turned on,
product code corresponding to program (product) is downloaded to the
designated data memory in D6516 - .
Memory Switch 2-7 Which timing Trace data is stored at

In automatic operation, such trace data as executing sequence logic,
instructing values, torques, and speed data are automatically stored when
error occurs.
Other than this timing, turning SW 2-7 on allows such data to be stored when
motor power is shut down.
2-8
Memory Switch 2-8 Recalculating position of STA (SH Ver 2.03J -)
In variable picking, there are two data available in picking positions at station.
The gripping position is defined with both the direction in step auxiliary data
and the actual position data. When newly created in the same gripping
direction, the same position data are stored. But when edited later on, either
one can be changed while the other one stays as is. If you do not want to have
consistency between two data, SW 5-3 is to be turned ON.
(Example) COUNT Grip direction T axis angle
1-1 0 -10
1-2 2 170
2-1 2 170
2-2 0 -10
Assuming to try to do the following change under the above situations,
1) Direction at “1-2” is changed to “0”.
2) T axis angle at “1-2” is changed to “-10”.
At OFF: It keeps the consistency of data.

COUNT Grip direction T axis angle
1-1 0 -10
1-2 0 -10
2-1 2 170
2-2 0 -10
The position data is changed to that at grip direction of “0”.
2) T axis angle at “1-2” is changed to “160”
1-1 0 -10
1-2 2 160
2-1 2 160
2-2 0 -10
Assumed that all data with grip direction of “2” are changed, those
data are changed such.
At ON : Data consistency is discarded.

2-9
1-1 0 -10
1-2 0 170
2-1 2 170
2-2 0 -10
2) T axis angle at “1-2” is changed to “160”
1-1 0 -10
1-2 2 160
2-1 2 170
2-2 0 -10
Memory Switch 3-1 PC communication control

While motor power is being turned on with SW 3-1 turned on, communication
with PC / laptop is prohibited.
Message of [Access failed / shut down motor power] pops up on PC / laptop
screen.
During motor power turned on, whichever the SW 3-1 is set to ON or OFF,
system parameters are prohibited to be downloaded.
Memory Switch 3-2 Load variation detection

The Load variation detection is a function to reduce the damage to station,
robot hand, etc. When hand or arm of robot collides with such peripherals as
stations, pallets, handling products, etc, the robot is stopped detecting
collision by setting parameter for Load variation detection.
1) It works under the following conditions.
- MSW 3-2 turned on
- During automatic operation (This detector does not work while operated in
manual mode even if it is set to effective side.)
- The servo parameters of the Load variation detection parameters 1 – 3 are
set to other than “0”.
2) The threshold of the Load variation detection is to be adjusted depending on
the parameters 1 – 3.
The larger the value is, the lower the sensitivity of detection becomes (the
harder to detect). If it would detect something by mistakes, it needs to be
reset to a larger value than the factory default.
2-10
Please contact with the customer support desk of service department.
Memory Switch 3-3 Collision & retraction

1) Memory SW 3-3 is turned on, Collision & retraction works at step 2 at speed
5 under the following conditions.
(1) When robot arm is going to step 2 from where it is positioned to wait.
(2) When robot arm continues to move to step1 through 2 at speed 5 (unless
smaller than speed 5) from where it is positioned to wait.
* If smaller than speed 5, it moves at the specified.
* Timer value of the stop detection is to be entered at screen [S1-6: RC
Parameters].
2) Robot arm retracts up to height of D1 immediately after it collides with
something during going to & doing step 2 while the Collision & retraction is
workable.
It moves up to 500mm high if D1 is over 500mm.
IMPORTANT
1) This function doesn’t guarantee safety to the person. Please work
in compliance with all the provided standards.
2) It may not properly work depending on the layout.
3) This function can work only at the following type of robots. It never be
workable in case of other than those even with MSW 3-3 turned on:
A1600IIIN, A1600IIIN-P, A1800, A1800-P, A1600V, A1600V-P, A1800V,
A1800V-P
Memory Switch 3-4 T axis path

This will decide how to automatically (at acceleration / deceleration factor of
step parameter = 0) calculate acceleration / deceleration time for T axis.
At OFF: To estimate inertia of hand based on the weight. (The value is
selective out of five with increment of 20kg.)
Inertia by R axis rotated is discarded.
At ON: To estimate inertia of hand based on the size (approximation
with lines) and weight, or directly enter the number.
Inertia by R axis is included.
2-11
Memory Switch 3-5 Acceleration – deceleration time
Turning MSW3-5 on allows acceleration & deceleration time to be
automatically calculated. As a result, both are shortened so that the stacking
speed can be increased depending on the layout.
On the other side, remember that arm may be shacked more than used to be.
* The default value is recommended.
* Both MSW 3-5 and 3-4 are turned on for the purpose.
Memory Switch 3-6 Station timer control

When SW2-5 is ON, the setting data of stop timer is saved into data memories.
The SW3-6 is used for setting up both memory area and how to use the data.
At OFF:
Each data is separately controlled by program in controller.
The data is saved into internal data memories of D12 – D15.
When started, the data is copied to the corresponding area per a station
on/from D6219. If program is switched over, the data of previous program is
saved and a new program is loaded as shown on the below diagram.
Fig: 10
At ON, each data is saved into D2500 – D2515 backup by battery.
It is only the processes happened to controller that the data of data memories
are displayed and is possible to be changed by keys.
If separate data per each program needs to be used, both previous data to be
2-12
saved and new data to be loaded are to be executed by built-in PLC before
switched over.
Memory Switch 3-7 A700IIIN & -V cold-area specifications

When robot arm of A700IIIN or A700V is used, MSW3-7 needs to be set to ON.
* Because the reducer of T axis is different.
* Nothing happens if other type of robots than A700IIIN or A700V is set up.
Memory Switch 3-8 RC516(ULCE) / RC506(JIS)

This MSW3-8 is used to set up type of safety board.
RC830 / RC830-CE / RC840 / RC840-CE of control panels for series GenV UL &
CE use a safety board of RC516 so that SW3-8 is to be turned on.
For other controller, SW3-8 is set to OFF for use of RC506.
* The default is OFF.
Memory Switch 4-1 System reserved

Don’t change the setting as it is system reserved.(Fixed to OFF)
Memory Switch 4-2 D4 / D5

If this SW 4-2 is turned on, initial values of stacking count are stored into
internal data memories when a program is selected or started.
D4=Initial value of layer count,
D5=Initial value of product count
These are normally used in depalletizing to make sure if the current count
values are the initial ones when pallet is replaced.
(The value is from “0” to …., D4=0 and D5=0 for 1st layer-1st product)
Memory Switch 4-3 AP508 or AP510 used

This is used to set up the type of amp for T axis.
Such earlier types of controllers as RC810, RC811, RC820 and RC821 use
2-13
AP108 so that this SW4-3 needs to be set to OFF.
It is set to ON for others than above.
Memory Switch 4-4 Battery replacement at manual mode

If this MSW4-4 is set to ON, you can go to [Battery replacement] screen at
manual mode. (Requested by COLLC)
Memory Switch 4-5 A400 High capacity

Setting MSW4-5 on allows A400 to increase the bag stacking capacity by 10
percent. It works only for bag stacking on and after the serial number of
VK013.
Cannot change by user
Memory Switch 4-6 Sequence logic reset at discharging without

arm movement
In regular operation, when it is discharged without arm movement, the
stacking counter is reset and program 0 is executed.
If SW4-6 is turned on, program 0 is not executed.
Don’t turn it on at variable picking because hand may go down spinning from
step 1 to step 2.
(This option is special function for a specific system. Keeping it off is strongly
recommended even if there is no variable picking.)
Memory Switch 4-7 R-axis reversing protection at multi-stacking

In 2-station & 2-pallet system, the arm moves as the below Fig. 10 shows
when the program is switched over after stacking on to pallet 2 from station 1.
In regular operation, since step 1 is with FULL overlapping, this movement is
under deceleration in the opposite direction (R-axis starts to reverse on half
way) so that the arm itself and/or the gear reducer of R-axis may be damaged.
In order to avoid this, the movement controlling is specially processed at
PGSEL command not to switch the program over until MOV is completed. This
2-14
special processing, however, is limited to the standard step number so that it
may be failed in processing if non-standard step is added.
A solution in this situation, for instance, is that memory SW4-7 is turned on
then overlapping at step 1 is changed to ZRO.
Station1 Station2
Pallet1 Pallet2
Fig. 10
Memory Switch 4-8 Port to OXPA

If serial – Ethernet converter is to be connected for OXPA remote
communication, not the regular USB port on CN7 but CN4 (RS422) on RC501
is to be used turning SW4-8 on. The SH5-Ver.1.02A or later is required.
2-15
1) Setting SW4-8
SW4-8 Channel No. (CH) Connector No. on RC501 (CN)
OFF (default) CH1 CN7(connected through
(OXPA-QmV Port) USB connector on panel)
ON CH4 (Aux Port) CN4
(directory connected with RC501)
2) Communication setting
CH1 and CH4 are to be set depending on the situation of memory SW4-8
setting.
2-16
3) Pin-assignment of Port CN4
CN4 (RS422) D-Sub9pin Female
Pin No. Signal name Pin No. Signal name
1 TX+ 6 TX-
2 RX+ 7 RX-
3 RTS+ 8 RTS-
4 CTS+ 9 CTS-
5 (GRD) -
* Female connectors are on the board so male ones are to be at cables.
Memory Switch 5-1 System Reserve

This is reserved for the system usage then cannot be used. (fixed to OFF)
Memory Switch 5-2 Built-in OXPA

If the Built-in OXPA is in use or not can be toggled with this switch. When it
is set to ON, you cannot use it. If set to OFF. You can use it. While the memory
SW5-2 is turned to ON, [New] – [OXPA] switch, [Edit] – [Edit] switch on the
teaching menu screen (screen 70) are hidden to prohibit you from using the
Built-in OXPA.
The factory default is OFF.
2-17
Memory Switch 5-3 Pattern Display
When SW5-3 turn on, the pattern display key is appeared on Automatic
operation screen, Program Allocation screen and teaching menu screen. When
push this key, the layer pattern of selected program is come up.
You can confirm layer pattern only maked by OxpaQM or bult-in OxpaQM.
Automatic operation screen
Program Allocation screen
2-18
Teaching menu screen
Memory Switch 5-4 Selection of RC506A or RC506B used

The type of Safety Relay board is to be set as follow. When RC506B is used,
this SW5-4 is turned to ON and when RC506A is used, it is turned to OFF
(factory default).
When this SW5-4 is turned on, POD moves to screen 42 (reset input waiting)
then waits until the safety signals on RC506 complete to be reset (Abnormal
reset bottom to be turned on) after power is cycled then.
Once resetting the safety signals are completed, it becomes effective if the
memory SW3-8 is turned off.
2-19
Memory Switch 5-5 DMOV Accl/Decl coefficient
When SW5-5 is turned on, you can set Accl/Decl coefficient of DMOV as with
MOV.
When SW5-5 is turned off, Accl/Decl time is the value that is set in system
parameter.
Memory Switch 5-6 Individual end-effector weight

When SW5-6 is turned on, you can individually set end-effector weights and T
axis inertias up to 4 kinds. These parameters are set at POD screen 61 (Hand Setup) or
OxpaQm. When SW5-6 is turned off, settable end-effector weight and T axis
inertia are only one kind.
Memory Switch 5-7 Communication method changes

Change communication method between RC501 and POD.
ON: modbus communication
OFF: serial communication
I need to match the software version of SH and POD.
IF the version is mismatched, not work normally.
* Memory switch 5-7 can be changed only by OXPA.
2-20
Memory Switch 5-8 Discharge works are counted to production data
If SW5-8 is turned on, add the D5002 data to production data, when discharge
arm movement.
When D5002 data is negative or over the number of normal picks works, robot
stops and shows error 126 [Half finish discharge abnormal].
If SW5-8 is turned off, don’t add the D5002 data to production data.
Memory Switch 6-1 The way of set position command

When SW6-1 is turned on, make program by use of registered pattern’s
position commands.
When SW6-1 is turned off, make program by select matching position
commands for stacking type.
Memory Switch 6-2 Program allocation request during no operation

When SW6-2 is turned on, receive program allocation request by PLC during
operation and no operation. When SW6-2 is turned off, receive program
allocation request by PLC during operation only.

Memory Switch 6-4 Ai700 MAX payload up

At OFF: Max payload is 140kg.
At ON: Max payload is 160kg.
If used in 160kg, it needs to add the counter weights.
*The default is OFF.

Memory Switch 6-6 ALC use

When SW6-6 is turned on, use ALC.
RC1600 / RC1600-CE / RC1500 / RC1500-CE of control panels for series
GenVII UL & CE use the ALC as standard, so that SW6-6 is to be turned on.
*The default is OFF.
2-21
Robot Manual
Memory Switches
Version 11: Jun 12, 2017

<Caution>
forbidden.
Flexible Automation System
Okura Yusoki Co.., Ltd.
2-22

02 Robot Manual-20170706

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

02 Robot Manual-20170706

Uploaded by

Copyright:

Available Formats

Robot Manual

Version No. 2.09

Date of issue 2017.07.06

Okura Yusoki Co., Ltd.

Okura Yusoki Co., Ltd.

Version (Date) Contents Page

Product: Robot Palletizer

Applicable EC Directive(s): Machinery Directive 2006/42/EC - Annex I

Applicable Standard(s): EN775(ISO10218-1), EN563

Representative who compile the relevant technical documentation in EU:

Product: Robot Palletizer

Applicable EC Directive(s): Machinery Directive 2006/42/EC - Annex I

Applicable Standard(s): ISO10218-1:2011

Representative who compile the relevant technical documentation in EU:

NEVER WORK ON, CLEAN, SERVICE, OPEN OR REMOVE ANY

AVOID PERSONAL INJURY BY TAKING

MACHINE BEFORE PERFORMING ANY MAINTENANCE OR

ALWAYS LOCKOUT THIS MACHINE AT THE MAIN CONTROL

PANEL, PNEUMATIC POWER INLET AND HYDRAULIC TANK (IF

APPLICABLE) BEFORE PERFORMING ANY MAINTENANCE OR

Each A Series Robotic Palletizer is equipped with a variety of protective features.

4. In cases where a machine cycles automatically, be sure everyone is aware of the

7. Do not operate or perform maintenance or repair on a machine when taking any

8. Never reach into moving parts to clear a jam of any type.

ALWAYS PRACTICE SAFETY, if in doubt, check it out first.

From a practical standpoint, the ultimate

Customer/Integrator Safety Responsibility

Emergency Stop Button

There is one enabling device on the teaching pendant.

Each system is operated under unique conditions. It is ultimately the customer’s

A risk assessment shall consider, but is not limited to:

Training Program Content

Personnel should be retrained in the event of operating system changes, or whenever

SAFEGUARDING MAY INCLUDE, BUT NOT BE LIMITED TO, PRESENCE-SENSING DEVICES,

Fixed Enclosure/Perimeter Fencing/Barrier Guards

1) Provided to keep operating/maintenance personnel from areas of

Adjustable Barrier/Gate Guard/Access Door

1) Located at point of operation or where work is being performed.

Belt/Pulleys, Chain/Sprockets, Gear Guards

1) Permanent, but with removable mounting.

Safety-related control system

1) Main Breaker located on panel-interrupts all electrical power to

1) Located on and around various components included with the

In conclusion, it is each employer’s responsibility to implement federal and state plant

1. In this description of general rules for protective measure, the specific

Refer to the Operation Manual before using in order to prevent an accident.

Do not bypass or change any operation or safety devices.

After teaching, perform the first operation check at low speed.

1. Check programming by repeating operations in AUTO mode.

1. Maintenance of robots must be performed by authorized personnel only

4. When maintenance operation is finished, checks must be performed by the

1) A series Robot Palletizer is for indoor palletizing or

2) Read the entire Manual. Thoroughly review Manual and

4) Never operate the system without wearing safe work clothes.

7) Do not touch the inside of the controller unless absolutely

No. label Meaning

2. Initializing starts on the panel display

1. Visually confirm that all personnel are Okay!

2. Switch motor Power On and visually

Note: Manual operation speed is controlled to 250mm/sec or less.

1.4.2. During Automatic Operation

1. Absolutely never go inside the perimeter

2. During normal operation, authorized