Yrg RCX3 e V1.31

YAMAHA ELECTRIC GRIPPER
YRG Series
RCX3 series controller
User’s Manual
EUT8213131
Ver. 1.31 E93

General contents
Introduction 1
1. Safety 1-1
1.1 Safety 1-1
1.2 Essential precautions 1-2
1.3 Operation 1-4
1.4 Warranty 1-7
2. Overview of gripper 2-1

2.1 Features and functions 2-1
2.2 Product check 2-2
2.3 Part names and functions 2-3
2.4 Installation conditions 2-4
2.5 System configuration 2-5
2.6 Preparations for electric gripper use 2-6
3. Installation and wiring 3-1

3.1 Installing the gripper 3-1
3.2 Installing the finger 3-4
3.3 Connection and wiring 3-6
3.3.1 Connecting to the controller (gripper control board) 3-6
3.3.2 Connecting the robot (for gripper) cable and relay cable 3-7
3.3.3 Connecting to the gripper main body 3-8
3.3.4 Wiring to the DC24V power supply 3-9
4. Verification and preparation 4-1

4.1 Verifying the robot controller settings 4-1
4.2 Status LEDs on the gripper control board 4-2
4.3 Weight parameters 4-3
4.3.1 Robot parameters 4-3
5. Operation 5-1
5.1 Turning the power on and off 5-1
5.1.1 Turning the power on 5-1
5.1.2 Turning the power off 5-2
5.1.3 Power on timing chart 5-2
5.2 Servo operation 5-3
5.2.1 Emergency stop reset and alarm reset 5-3
5.2.2 Servo on/off 5-3
5.2.2.1 When operating in the "Servo Operation (All)" screen 5-3
5.2.2.2 When specifying the servo status for an individual gripper 5-4
5.3 Manual movement 5-5
5.3.1 Manual movement settings 5-6
General contents i
5.3.2 Operation content if manual movement is specified 5-8
5.3.2.1 When the "Manual Holding of Gripper" parameter is "0
(INVALID)" 5-8
5.3.2.2 When the "Manual Holding of Gripper" parameter is "1
(VALID)" 5-8
5.4 Executing the point trace 5-9
5.4.1 PTP Motion (Absolute Position Movement) 5-10
5.4.2 Holding Movement 5-11
5.4.3 Setting the speed 5-12
5.4.4 Changing the display unit 5-12
5.4.5 Point jump display 5-12
5.5 Return-to-origin 5-13
5.5.1 Return-to-origin operation 5-14
5.5.2 Overall return-to-origin 5-15
5.5.3 Gripper return-to-origin 5-17
5.6 Emergency stop 5-18
5.7 Status monitor 5-19
6. Parameter 6-1
6.1 Parameter settings 6-1
6.2 Parameter list 6-2
6.3 Gripper parameters 6-3
6.4 Option parameters 6-10
7. Gripper point data creation 7-1

7.1 Point data input and editing 7-1
7.2 Point data input by teaching 7-2
7.3 Point data input by direct teaching 7-4
7.4 Point data trace 7-4
8. Robot language commands 8-1

8.1 Robot language command details 8-1
8.2 Robot language command details 8-3
8.2.1 Dedicated commands for gripper axis 8-3
GDRIVE 8-3
GDRIVEI 8-4
GHOLD 8-6
GHOLDI 8-8
GOPEN 8-10
GCLOSE 8-11
GSERVO 8-12
GORIGIN 8-12
GSTATUS 8-13
GWHERE 8-13
GWHRXY 8-13
GJTOXY 8-14
GXYTOJ 8-14
GTOLE 8-14
[Function] 8-14
ii General contents
8.2.2 Other commands for gripper axis 8-15
MOTOR 8-15
8.3 Operation chart of electric gripper 8-16
9. Online commands 9-1

9.1 Online command list 9-1
9.2 Online command details 9-2
9.2.1 Operation and setting commands 9-2
Point data teaching 9-2
Specify inching movement amount 9-2
Manual movement speed change 9-3
Manual movement : inching 9-4
9.2.2 Reference commands 9-6
Acquire servo status 9-6
Acquire return-to-origin status 9-6
Acquire status 9-7
Acquire current position as pulse coordinates 9-7
Acquire current position as XY coordinates 9-8
Acquire inching movement amount 9-8
Acquire manual movement speed 9-9
10. Remote command 10-1

10.1 Remote command format 10-1
10.1.1 Remote command specifications 10-1
10.1.2 Remote status description 10-3
10.2 Sending and receiving remote commands 10-4
10.3 Remote command & remote status tables 10-5
10.4 Remote command description 10-8
10.4.1 Status reset command 10-8
10.4.2 Category 1 remote commands 10-9
10.4.2.1 GDRIVE command 10-10
10.4.2.2 GDRIVEI command 10-19
10.4.2.3 GHOLD command 10-28
10.4.2.4 GHOLDI command 10-40
10.4.2.5 GOPEN command 10-52
10.4.2.6 GCLOSE command 10-56
10.4.2.7 Gripper return-to-origin command 10-60
10.4.2.8 Gripper jog movement commands 10-61
10.4.2.9 Gripper inching movement commands 10-69
10.4.2.10 Gripper inching movement amount setting command 10-75
10.4.2.11 Gripper point teaching command 10-77
10.4.2.12 Gripper servo commands 10-79
10.4.2.13 Gripper manual movement speed change command 10-81
10.4.3 Category 6 remote commands 10-83
10.4.3.1 Gripper status reference 10-84
10.4.3.2 Gripper servo status reference 10-86
10.4.3.3 Gripper current position reference 10-88
10.4.3.4 Gripper speed status reference 10-94
10.4.3.5 Gripper return-to-origin status reference 10-96
10.4.3.6 Gripper inching movement amount reference 10-98
General contents iii

11. Troubleshooting 11-1
11.1 Alarm messages 11-1
11.1.1 Alarm group number list 11-3
11.1.2 Alarm classification number list 11-4
11.1.3 Warning number list 11-4
11.1.4 Alarm group number [26] "Gripper-related alarms" 11-4
12. Periodic inspection and maintenance 12-1

12.1 Before beginning work 12-1
12.2 Periodic inspection 12-3
12.2.1 Daily inspection 12-3
12.2.2 Six-month inspection 12-3
12.3 Applying grease 12-4
13. Specifications 13-1

13.1 Gripper basic specifications 13-1
13.2 Gripper control board specifications 13-1
13.3 Gripper specifications 13-2
iv General contents
Introduction
Thank you for purchasing an electric gripper for Yamaha robots (subsequently referred to as
"gripper").
This manual explains the safety precautions, handling, adjustment, inspection, and maintenance
work procedures in order to correctly and safely operate the gripper at its optimal operation level.
Please thoroughly read this manual before installing the gripper. After reading this manual, store it
in a safe place where all concerned personnel can refer to it immediately.
• This manual and gripper should be handled as a set.
• When the gripper is relocated, transferred, or sold, please explain a new manager or owner to
thoroughly read this manual.
• For gripper with specifications other than the standard specifications, if the explanation is not
particularly stated in this manual, please refer to the explanation of the standard specifications.
• For the specifics of gripper operation, refer to the relevant manual of the RCX 3 series controller;
User's, Operator's and Programming Manual.
• For details about YAMAHA robot or controller operations and cautions, please read the user’s
manual of the robot or controller you are using and follow the instructions stated in such
manual.
• This manual covers of the RCX340 and RCX320 controller.
Introduction 1
MEMO
2 Introduction
1.1 Safety
1. Safety
1
1.1 Safety
Before using this gripper, be sure to follow the safety precautions and instructions to operate the electric
gripper safely and correctly.
Also, bear in mind that not all safety items can be listed in detail, so that accurate judgment by the operator or
service personnel is essential for operating the robot and controller safely. 2
Furthermore, be sure to carefully read the user’s manual (including the Safety Instructions) for the robot and/or
controller to be used and strictly observe the safety instructions and cautions. Negligence of necessary safety
measures or improper handling may cause not only fault or damage to the gripper, robot, and/or controller, but
also a serious accident including injury of work personnel (installation engineers, operators, and adjustment and
inspection engineers) or even death.
3
This manual classifies safety caution items and operating points into the following levels, along with symbols
for signal words "WARNING", "CAUTION" and "NOTE".
w WARNING
This indicates a potentially hazardous situation which, if not avoided, could result in
4
death or serious injury.
c CAUTION
This indicates a potentially hazardous situation which, if not avoided, could result in 5
minor or moderate injury, or damage to the equipment.
n NOTE
Explains the key point in the operation in a simple and clear manner.
6
Refer to the user's manual by any of the following methods to operate or adjust the gripper safely and
correctly.
1. Install, operate or adjust the robot and controller while viewing the manual on your computer screen.
2. Install, operate or adjust the robot and controller while referring to a printout of the necessary pages from
the manual.
7
3. Install, operate or adjust the robot and controller while referring to the printed version of the manual
(available for an additional fee).
TIP
Manuals are available by downloading from our website (Member Site).
Registering is required for accessing the member site:
8
https://www2.yamaha-motor.co.jp/Robot/Member/loginagain/lang_div/en
It is not possible to list all safety items in detail within the limited space of this manual. So it is
essential that the user have a full knowledge of basic safety rules and also that the operator makes
9
correct judgments on safety procedures during operation.
For installation and operation of the electric gripper, please refer to the applicable laws and regulations.
Note that the warning labels and user’s manual are intended for the Japanese market. If the electric
gripper is exported outside Japan, it is necessary to change warning labels and user’s manual to those
suitable for a destination country.
10
Chapter 1 Safety 1-1

1.2 Essential precautions

1 Particularly important cautions for handling or operating the gripper are described below. In
addition, precautions during installation, operation, inspection, and maintenance are also provided
in each chapter. Be sure to comply with these instructions to ensure safe operation of the electric
gripper.
2 • The gripper is designed as components for general industrial machinery.

Only system designers or personnel who have enough knowledge or experience are allowed
to select a product model and handle it.
• The compatibility of the gripper with the customer’s system must be determined and verified
at the customer’s risk.
3 • When the gripper is incorporated into a system (machine unit or robot), it is absolutely
required that the system satisfies applicable laws and regulations related to the safety
precautions. Make sure that the system satisfies applicable laws and regulations, and
operate the electric gripper in a safe and correct manner in conformity with the laws and
4 regulations.
• The gripper is exempted from the application of the compact robot.
• Do not use the gripper for applications described below.
1. Medical units or devices with life-support system or their equivalents
5 2. Mechanisms or machine units for movement or transportation of personnel
3. Important safety components for machine units.
This product is not designed for applications that require a high level of safety.
(1) Use caution to prevent hands or fingers from being pinched or crushed.
6 • Strictly observe the caution to prevent hands or fingers from being pinched or crushed by
the movable parts when carrying or teaching the robot or gripper.
• Attach the Warning labels supplied with the gripper to legible locations near the robot
equipped with the electric gripper or the robot.
7
w WARNING
Moving parts can pinch or crush.
Keep hands away from movable parts.
8 Warning label
10
1-2 Chapter 1 Safety

(2) Cautions on disposal
c CAUTION
• Do not throw this product into a fire. Doing so may cause the product to explode
1
or toxic gas to produce.
• If the product cannot be operated or if the product is no longer used, dispose of
it appropriately as industrial waste.
2
(3) Cautions on use for applications particularly requiring safety
c CAUTION
If the customer studies to operate this electric gripper under conditions or in an
environment other than those not stated in the product catalog or user’s manual or 3
to use it for applications particularly requiring the safety, such as air craft facility,
combustion equipment, amusement machinery, inside of the clean room, safety
device, or other unit that improper operation may greatly affect other person’s life
or property, take appropriate safety measures into consideration, such as operation
with a sufficient allowance to the rating or performance, or failsafe measures. If
4
such case arises, always contact YAMAHA.
(4) Use of dedicated parts

5
c CAUTION
Be sure to use YAMAHA’s dedicated parts for the cables between the gripper main
body and controller.
(5) Cautions on storage 6

c CAUTION
• Protect this gripper from the direct sunlight or moisture content and take dew
condensation preventive measures, and then store the gripper in a location with
a height of 30 cm or more from the floor level inside a dark cold place.
• Do not apply any vibration or impact to the gripper during storage.
7
(6) Cautions on ser vo state selection during emergency stop
c CAUTION
• The servo state of the electric gripper can be selected when pressing the
8
emergency stop button on the RPB programming box. (For details, see "5.4
Emergency stop".)
Select the servo state through the verification at the customer's risk and
responsibility by taking the intended purpose of the electric gripper into 9
consideration.
• The workpiece gripped by the electric gripper may drop when the power is
turned off.
The customer shall take necessary safety measures.
10

1.3 Operation
(7) Cautions on workpiece removal
1 c CAUTION
• To remove the workpiece with the power turned off, detach the finger and
remove the workpiece since the double-cam type incorporates a speed
reduction mechanism. If it is attempted to forcibly remove the workpiece or
open the finger, this may cause damage to the gripper.
2 • Remove the workpiece from the gripper before stopping the operation of the
electric gripper for an extended period of time. If the electric gripper is stopped
with the workpiece kept held for an extended period of time, this may adversely
affect movable parts.
3 • The self-lock is not activated in the single-cam type. You can move the finger
manually even with the power turned off.
1.3 Operation
4 After the installation, adjustment, inspection, maintenance, or repair work of the gripper has been
carried out, perform the operation checks described below.
(1) Check items before turning on the power to the controller
5
Before turning on the power to the controller, check the following items.
1. Is the gripper installed securely and correctly?
2. Are the electrical connections to the electric gripper correct?
3. Are the connections with auxiliary units correct?
6 4. Are the safety protection measures taken correctly?.

5. Are the contentions for the installation environment observed strictly?
(2) Check items after turning on the power to the controller

After the power to the controller has been turned on, check the following items from a position
7 outside the safety protection fence.

1. Is the start, stop, or mode selection operated correctly as intended?
2. Is the electric gripper operated as intended? Is the motion of the gripper limited by the
software limit?
8 3. Are the signal exchanges with auxiliary units correct?

4. Are the teaching and playback functions correct?
5. Do the safety protection fence and interlock function correctly as intended?
6. Does the auto operation function correctly?
10

1.3 Operation
w WARNING
• When starting the operation or adjustment after the gripper has been installed in
the system, strictly observe the safety measures of the system. Failure to do so 1
may cause serious personal injury.
• Before supplying the electric power to the product or operating the product, be
sure to confirm the safety in the working area of the product. If the electric power
is supplied carelessly, the operator may be in contact with movable PARTS,
causing electrical shock or personal injury.
2
• Do not touch connectors with the electric power supplied. Electrical shock or
malfunction may otherwise result.
• Do not touch exposed terminals of the controller. Electrical shock may otherwise
result. 3
• Do not allow personnel who use a pacemaker to get access to an area within
1 m of the product. The strong magnetism of the magnet inside the product may
cause the pacemaker to malfunction.
• Do not splash the water onto the product, wash it, or operate it under the water.
Personal injury, electrical shock, or fire caused by production malfunction may 4
otherwise result.
• Do not touch the product during operation. Doing so may cause your finger to be
pinched or entangled into other device, resulting in serious personal injury.
• If a power failure occurs during operation, turn off the power. If not turned off, the
product may move suddenly after the electric power is recovered. This may
5
cause damage to the machine unit or serious personal injury.
• Before moving movable parts of the product manually for the direct teaching,
make sure that the servo is turned off. Serious personal injury may otherwise result.
• If unusual heat, smoke, or odor is found in the product, turn off the power 6
immediately. Damage to the product or fire may otherwise result.
• If a fatal Alarm occurs in the product, turn off the power immediately. Personal
injury, or damage or breakage of the machine unit caused by production
malfunction may otherwise result. After the power has been turned off, do not
turn it on again unless the cause of the error is located and removed completely. 7
• Turn on the power to the units from the host unit in order. If not, the product may
move suddenly, causing serious personal injury or damage to the machine unit.
• Do not put your finger or any object in the opening of the product. Fire, electrical
shock, or serious personal injury may otherwise result.
• Consider the inertial force of the workpiece, and design the gripper finger and
8
tool so that the workpiece will not be ejected from the gripper.
• If the robot undergoes an emergency stop during automatic operation, inertia
may cause the workpiece to be ejected from the gripper.
• If a power failure occurs during automatic operation, inertia may cause the 9
workpiece to be ejected from the gripper.
• If the robot to which the gripper is attached collides with a nearby device during
automatic operation, inertia may cause the workpiece to be ejected from the
gripper.
• Install a safety fence to keep workers away from the robot when it is in automatic 10
operation. Your finger may be pinched in the gripper, causing personal injury.

1.3 Operation
• When designing the system, provide safety measures so that equipment breakage
or personal injury will not occur even if the workpiece is ejected from the gripper.
1
c CAUTION
The motor is heated up and the product surface is hot during operation. Take
appropriate measures so that the heat does not adversely affect workpieces
2 around the product.
10

1.4 Warranty
1.4 Warranty
For information on the warranty period and terms, please contact our distributor where you 1
purchased the product.
■ This warranty does not cover any failure caused by:

1. Installation, wiring, connection to other control devices, operating methods, inspection or
maintenance that does not comply with industry standards or instructions specified in the
YAMAHA manual; 2
2. Usage that exceeded the specifications or standard performance shown in the YAMAHA
manual;
3. Product usage other than intended by YAMAHA;
4. Storage, operating conditions and utilities that are outside the range specified in the manual; 3
5. Damage due to improper shipping or shipping methods;
6. Accident or collision damage;
7. Installation of other than genuine YAMAHA parts and/or accessories;
8. Modification to original parts or modifications not conforming to standard specifications
designated by YAMAHA, including customizing performed by YAMAHA in compliance with 4
distributor or customer requests;
9. Pollution, salt damage, condensation;
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood
damage, etc;
11. Breakdown due to causes other than the above that are not the fault or responsibility of
5
YAMAHA;
■ The following cases are not covered under the warranty:

1. Products whose serial number or production date (month & year) cannot be verified. 6
2. Changes in software or internal data such as programs, points, calibration, or registered
models that were created or changed by the customer.
3. Products whose trouble cannot be reproduced or identified by YAMAHA.
4. Products utilized, for example, in radiological equipment, biological test equipment
applications or for other purposes whose warranty repairs are judged as hazardous by
7
YAMAHA.
T H E WA R R A N T Y S TAT E D H E R E I N P R OV I D E D B Y YA M A H A O N LY C OV E R S D E F E C T S I N
PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY
AND ALL OTHER WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT
8
LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA. MOREOVER, YAMAHA SHALL
NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER
RELATING TO THE PRODUCT. 9
This manual does not serve as a guarantee of any industrial property rights or any other rights and
does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for
any problems involving industrial property rights which may arise from the contents of this manual.
10
Ver.1.03_201802

MEMO

2.1 Features and functions
2. Over view of gripper

1
2.1 Features and functions
This YAMAHA gripper for robots is so designed that it achieves highly accurate holding power,
position, and speed controls through the closed loop control using the stepping motor and rotary
encoder.
2
A dedicated option board for the RCX340/RCX320 controller is installed, allowing the gripper to be
easily controlled by making system generation settings.
Use of a special cam structure ensures lightweight and compact gripper main body even with high
holding power. 3
n Features
● Holding power control
The holding power of the gripper can be set to a desired level ranging from 30 to 100% (in 4
1% steps).
● Speed control
The movement speed (20 to 100%) or acceleration (1 to 100%) of the gripper can be set to a 5
desired level (in 1% steps).
● Multi-point position control

The positioning points of the gripper can be set freely. 6
● Easy parameter setup
Dedicated gripper parameters and option parameters can be used.
7
● Programming using robot language commands
Control programs for the gripper are easily created using YAMAHA robot language commands.
10
Chapter 2 Overview of gripper 2-1

2.2 Product check
2.2 Product check

1 1. Packing box
The robot controller is high precision equipment and is carefully packed in a cardboard box
to avoid shocks and vibrations. If a serious damage or dent is found on the package, please
contact your YAMAHA sales dealer without unpacking the box.
2. Unpacking
2 Make sure that you do not drop the package or give any shock to it during unpacking.
w WARNING
Handle the parts and components with care so that you do not drop anything.
Dropping the gripper could result in equipment breakage or personal injury.
3 After unpacking, carefully check the parts and components listed below.
■ Parts and components
Name Q’ty Remark
(1) Main body Gripper 1
4 (2) Option board Gripper control board 1 (Note 1)
Robot (for gripper) cable 1
(3) Cables
Relay cable 1 (Note 2)
(4) Accessories Connector for 24V power supply 1 (Note 3)
5 (Note 1) This board has already been installed in the controller you have purchased.
(Note 2) This cable is intended to connect the electric gripper main body and robot (for gripper) cable.
(Note 3) This connector is intended to connect the gripper control board and DC24V power supply.
(1) Electric gripper
6
(2) Gripper control board (incorporated into the controller)
(3) Cable
7 • Robot (for gripper) cable • Relay cable
(4) Accessories
9 • Connector for 24V power supply
Parts and components shown above are intended for one gripper set. Make sure that the
10 components you have received meet the contents of your order. The cable model may vary
depending on the cable length. For details, see "3.3.2 Connecting the robot (for gripper)
cable and relay cable".
2-2 Chapter 2 Overview of gripper

2.3 Part names and functions
2.3 Part names and functions

This section explains the part names and functions of the gripper control board. 1
The gripper control board is an option to be assembled into the controller and has already been
installed in an optimal slot of the controller before shipment.
n Part names and functions of gripper control board

Part names and functions 2
PWR
3
RDY
RUN
ALM
PWR
RDY
RUN
(1)
ALM
24V
0V
(2) 4
24V
0V
(3)
5
(Figure when viewed from the front of the controller)
Name Function
(1) ACT Connector to be connected to the gripper main body. 6
(2) POWER Board drive power input connector.
Four LEDs show the status of the gripper control board.
(3) Status LEDs For details about LED indications, see "4.2 Status LEDs
on the gripper control board".
■ Gripper main body

7
Part names and functions
• Single cam type • 3-finger type

8
4
4
1 3
1 9
2
2 3
1. Finger installation tap hole
2. Guide block (open/close slider)
3. Finger positioning pin 10
4. Cable

2.4 Installation conditions
2.4 Installation conditions

1 Be sure to strictly observe the following environmental conditions when installing the gripper.
Items Specifications
Working temperature 0 to 40°C
Working humidity 35 to 90% RH (no condensation)
2 Altitude 0 to 1000 meters above sea level
Avoid installing near water, cutting water, oil, dust,
metallic chips and organic solvent.
Avoid installation near corrosive gas and corrosive
3 Ambient environments
materials.
Avoid installation in atmosphere containing inflammable
gas, dust and liquid.
Avoid installation near objects causing electromagnetic
interference, electrostatic discharge and radio frequency
interference.
4 Vibration Do not subject to impacts or vibrations.

Allow sufficient space margin to perform jobs (teaching,
Working space
inspection, repair, etc.)
5 w WARNING
Avoid installing the electric gripper in locations where the ambient conditions may
exceed the working temperature or humidity stated above, or in environments
where excessive moisture, corrosive gas, metallic powder, or dust is produced.
Malfunctions, failures or short circuits may otherwise result.
6
w WARNING
• This gripper does not comply with the explosion-proof specifications.
• Do not use the electric gripper in environments containing inflammable gas,
dust or liquids.
Explosions or fire could otherwise result.
7
w WARNING
Avoid using the electric gripper in locations subject to electromagnetic interference,
electrostatic discharge or radio frequency interference. Malfunctions of the gripper
8 may otherwise result.
w WARNING
Do not use the gripper in locations subject to excessive vibration. Gripper main
body installation bolts may otherwise become loose, causing the gripper to fall
9 down.
w WARNING
The cable on the gripper main body is not flexible. Do not move the cable and do
not secure the cable while applying a tension to it. Doing so may cause
10 malfunction, trouble, or earth leakage.
2-4 Chapter 2 Overview of gripper

2.5 System configuration
2.5 System configuration

Use of YAMAHA gripper makes it possible to construct a system configuration shown below. 1
System configuration example
2
Programming box RPB
PWR
RDY
RUN
ALM
3
24V
0V
4
Drive power supply
for gripper
DC24V
Relay cable 6
PC
7
Gripper
YAMAHA robot
• SCARA
• Cartesian robot XY-X
8
• Single-axis robot
10

2.6 Preparations for electric gripper use
2.6 Preparations for electric gripper use

1 This section explains the basic preparation procedures until the robot is operated with the
YAMAHA gripper. For details about how to install or operate the robot main body and robot
controller, see relevant manuals published separately.
Basic procedure Refer to: (Note 1, Note 2)
2 Install the Install the gripper on the robot. This manual 3.1 Installing the gripper
Installation, connection and wiring
gripper. Install the finger on the gripper. This manual 3.2 Installing the finger
Chapter 3 1. Unpacking
Install the controller.
~
10. Precautions for cable
routing and installation
• Make cable and connector connections.
• Ground the controller. This manual 3.3 Connection and wiring
3 • Configure an emergency stop circuit. Chapter 4 Parallel I/O interface

Chapter 5 SAFETY I/O interface
When a serial I/O board is added:
Set the station number, communication speed, etc. (Setup See the serial I/O instruction
depends on the serial I/O type.) manuals for detailed
information.
Power ON
4 Verify that the wiring and power voltage are correct. Turn on the power and servo. Chapter 1 3. Power-ON procedures
Chapter 3 11. Checking the robot

Check that no alarm is issued after turning power on.
controller operation
Chapter 7 1. "SYSTEM" mode

Check that the robot type setting in the controller matches (Robot type can be
Robot type check the robot that is actually connected.
checked on the initial
5 Verify the gripper Verify that the gripper control board is installed in the
board. controller and that it is set valid.
screen in SYSTEM mode.)
This manual 4.1 Verifying the robot controller settings
This manual 4.2 Verifying the gripper control
board status
Initial setting
Set the following parameters to optimize the robot operation. Chapter 7 10.5 Robot parameters
• Tip weight (workpiece weight + tool weight) • Tip weight
Parameter initial • Soft limits (movement range) Chapter 7 10.6 Axis parameters
6 setting * Before determining soft limit positions by jog movement, • + Soft limit
return-to-origin must first be complete. • – Soft limit
* Set the "Axis tip weight" parameter if the robot is set to • Axis tip weight
"MULTI" or has an auxiliary axis. This manual 6.2 Parameter list
• + Soft limit
* Always set this parameter when using the robot for the
first time. After that, change it as needed. • – Soft limit
Absolute reset/ Perform the absolute reset or return-to-origin to teach the OP

return-to-origin origin position. Chapter 3 5. Origin return
7 * Always perform absolute reset when using the robot for
the first time. After that, reperform it only when the origin
position becomes indefinite (return-to-origin incomplete).
This manual 5.5 Return-to-origin
Chapter 7 10. Parameters

Parameter setting Set parameters according to the operation conditions. This manual 6. Parameter settings
OP
Chapter 3 3. Displaying and editing point data
8
Data setting
Point data editing Create or edit point data according to the robot operation. This manual 7. Gripper point data creation
OP
Chapter 4 6. Displaying, editing and
setting pallet definitions
Programming Create programs according to the robot operation. 2. "PROGRAM" editing
* Programming is unnecessary if not using a program See the programming manual
such as in operation with I/O commands. for information about the
programming language.
9 This manual 8. Robot language commands

Trial operation Operation
Check that the safety devices such as an emergency stop circuit function correctly. OP
Chapter 3 Stopping the program
Make a trial run using step operation and make adjustment as needed.
~
Executing the next step
10 OP Automatic operation
Chapter 3 Changing the automatic
~
Start operation.
movement speed
(Note 1) [OP] “Chapter XX” stated in the “Refer to” field shows a chapter No. in the operator’s manual for RCX3 series controller.
(Note 2) “Chapter XX” stated in the “Refer to” field shows a chapter No. in the user’s manual for RCX3 series controller.
2-6 Chapter 2 Overview of electric grippe

3.1 Installing the gripper
3. Installation and wiring

1
w WARNING
• Before starting the installation or adjustment work, post a sign stating "UNDER
WORK. POWER ON PROHIBITED" to prevent the power from being TURNED on
unintentionally. If the power is turned on unintentionally, this may cause electrical
shock or personal injury due to sudden movement of the product. 2
• Before handling the product, wear appropriate safety gears to ensure the safety.
• Do not bump or throw away the product package. Be sure to handle the product
package with great care so that excessive impact is not applied to it.
• Do not stand or put heavy object on the product package so that excessive
force is not applied to it.
3
• After unpacked, hold the gripper main body to handle it. Do not hold the cable
or connector to transport the electric gripper.
4
Follow the instructions below to secure the gripper to the installation plate.
For details about tap hole positions, see "13.3 Gripper specifications".
5
c CAUTION
• Keep an adequate space for the maintenance work when installing the product.
If an adequate space is not kept, the daily inspection or maintenance work
cannot be performed correctly, causing system stop or product breakage.
• When installing the electric gripper, avoid holding the movable part or cable of
the product. Product breakage may otherwise result.
6
• The cable is not flexible. Avoid extreme bending of the cable and secure the
cable so that it does not move. Take appropriate measures so that any excessive
force is not applied to the root of the cable.
7
(1) Installation bolt
• Fix the electric gripper securely using installation tap holes at four locations.
• The installation tap hole part is made of aluminum. So, if the installation bolt is tightened at
an excessive torque level, this may cause the tap hole to break. Be sure to tighten the bolts at 8
an appropriate torque level.
• The installation tap hole is a through-hole. If a bolt to be screwed-in beyond the effective
depth of the gripper main body is used, this may cause damage to parts inside the gripper.
Never use a bolt with a screw-in length exceeding the effective depth.
On the other hand, if the length of the installation bolt is too short, this may cause insufficient 9
clamping force.
10
Chapter 3 Installation and wiring 3-1

Max. length of installation bolt
1 Installation bolt
Thickness of
installation plate
2 Effective depth of
Max. length
gripper main body
Effective length and recommended tightening torque
3
Effective Recommended tightening
Model name Tap hole
depth (mm) torque (N•m)
YRG-2005SS M3 3 0.56 to 0.69
4
YRG-2010S
M3 6 (5) 0.56 to 0.69
YRG-2005W
YRG-2815S
M4 8 (6) 1.35 to 1.65
YRG-2810W
YRG-4225S
M5 8, 10, (7.5) 2.7 to 3.3
YRG-4220W
5 YRG-2020FS
M4 6 1.35 to 1.65
YRG-2020FT
YRG-2840FS
M5 7.5 2.7 to 3.3
YRG-2840FT
YRG-2004T M3 3 0.56 to 0.69
6 YRG-2013T M3 6 (5) 0.56 to 0.69
YRG-2820T M4 8 (6) 1.35 to 1.65
YRG-4230T M5 8 (7.5) 2.7 to 3.3
A numeric value stated in ( ) shows the effective depth for installation of the electric
7 gripper on the top surface.
w WARNING
Strictly observe the above instructions about installation bolt to securely fix the
gripper. Failure to follow the instructions may cause the gripper or workpiece to be
loose or fallen down, resulting in equipment breakage or personal injury.
8
c CAUTION
The recommended tightening torque shows a general value. You should determine
an appropriate level by taking the installation bolt you are using and/or the material
9 of the seating surface into consideration.
10
3-2 Chapter 3 Installation and wiring

(2) Positioning pin hole

A positioning pin hole that is aligned with the center axis of the finger is provided on the
surface opposite to the finger installation surface. 1
Use of this positioning pin hole makes it possible to maintain the gripper installation accuracy
and installation reproducibility.
(However, the YRG-2005SS and YRG-2004T is excepted.)
Positioning pin hole 2
3
Positioning pin hole
4
n NOTE
For details about positioning pin hole position and size of each gripper, see "13.3
Gripper specifications".
5
10

3.2 Installing the finger

1 Tap holes have been made in the guide block of each gripper to install a tool, such as finger.
Follow the instructions below to install a tool, such as finger on the gripper.
For details about tap hole positions, see "13.3 Gripper specifications".
(1) Installation bolt
2 • When installing the finger, tighten the bolt while holding the finger firmly so that any
excessive force or shock is not applied to the guide block.
• The installation tap hole in the guide block is a through-hole. If a bolt to be screwed-in
beyond the effective depth of the guide block is used, this may cause the gripper to
malfunction or break. Never use a bolt with a screw-in length exceeding the effective depth.
3 On the other hand, if the length of the installation bolt is too short, this may cause insufficient
clamping force.
Finger installation bolt
4 Gripper main body Gripper main body
Guide rail
5 Effective depth
Finger installation
part
Installation
bolt Guide block
6 Finger
Positioning pin
Tap hole and effective depth
Effective
7 Model name Tap hole
depth (mm)
YRG-2005SS M2 3.5
YRG-2010S
M3 5
YRG-2005W
YRG-2815S
8 YRG-2810W
M4 5
YRG-4225S
M5 8
YRG-4220W
YRG-2020FS
M3 5
YRG-2020FT
9 YRG-2840FS
YRG-2840FT
M4 7.5
YRG-2004T M2 4
YRG-2013T M3 8
YRG-2820T M3 6
10 YRG-4230T M4 8

w WARNING
• Strictly observe the above instructions about installation bolt to securely fix a tool,
such as finger. Failure to follow the instructions may cause the finger or workpiece 1
to be loose or fallen down, resulting in equipment breakage or personal injury.
• Install a safety fence to keep workers away from the robot when it is in automatic
operation.
2
c CAUTION
When installing the finger, tighten the installation bolt at a tightening torque level
suitable for the finger material.
3
(2) Positioning pin
Use of positioning pins provided on the guide block makes it possible to maintain the finger
installation accuracy and installation reproducibility.
Positioning pin
4
5
Positioning pin
n NOTE
For details about positioning pin position and size of each gripper, see "13.3 Gripper
specifications". 7
10

3.3 Connection and wiring

1 This section explains the cable connection and wiring necessary to operate and control the gripper.
w WARNING
• An appropriate safety circuit or device should be so designed that system
breakage or personal injury does not occur if the product stops in case of a
2 system trouble, such as an emergency stop or a power failure.
• Perform the product wiring while referring to the wiring procedures stated in the
user’s manual to connect all cables correctly. Connect the cables and connectors
securely so that any cable or connector is not loose or disconnected. Product
malfunction or fire may otherwise result.
3
c CAUTION
Before connecting the cables, make sure that the controller and gripper are
powered off completely. If the cable is connected or disconnected with the power
turned on, this may cause the gripper to break.
4
3.3.1 Connecting to the controller (gripper control board)
Connect the 10-pin connector (female) of the robot (for gripper) cable supplied with the gripper
5 to the 10-pin connector (male) of the gripper control board installed in the controller. To connect
the connector, make the connector orientations matched with each other and insert the connector
securely until a click sounds.
Connector (male)
7 of controller Connector (female)

of connection cable
10

● List of controller connector signals

Terminal No.
A1
Symbol
EA
Function
Encoder signal input A-phase
1
A1 B1
A2 EZ Encoder signal input Z-phase
A3 0V Encoder 0V power output
A4 BN Motor output B-phase
A5 B Motor output B-phase 2
B1 EB Encoder signal input B-phase A5 B5
B2 +5V Encoder +5V power output
B3 SLD Shielding line
B4
B5
A
AN
Motor output A-phase
Motor output A-phase
Connector for gripper connection 3
(Controller side)
w WARNING
Avoid damage to the robot (for gripper) cable or relay cable. Damaged cable,
excessive bending, pulling, winding, or wedging may cause fire, electrical shock, 4
or malfunction due to earth leakage or faulty conducting.
c CAUTION
The accessory connection cable consists of two harnesses that separate the
encoder lines from the motor lines. To connect the gripper to the controller, this 5
connection cable should be used.
This cable has excellent flexibility. However, do not store the cable in a movable
wiring duct (cable guide, etc.) with a radius of 66 mm or less.
6
3.3.2 Connecting the robot (for gripper) cable and relay cable
Connect the robot (for gripper) cable and relay cable.
As shown in the table below, the cable model number may vary depending on the cable length.
Each cable consists of two harnesses that separate the encoder lines from the motor lines. To 7
connect the connector, make the connector orientations matched with each other and insert the
connector securely until a click sounds.
c CAUTION
Be sure to adjust the total length of the robot (for gripper) cable and relay cable to 8
14m or less. If the total length exceeds this level, this may cause malfunction due to
noise.
10

● Cable model number
1 Robot (for gripper) cable model number Length

KCF-M4751-3 3.5m
Relay cable model number Length
KCF-M4811-1 0.5m
KCF-M4751-5 5m KCF-M4811-2 1m
KCF-M4751-A 10m KCF-M4811-3 1.5m
KCF-M4811-4 2m
2 KCF-M4811-5
KCF-M4811-6
2.5m
3m
KCF-M4811-7 3.5m
KCF-M4811-8 4m
4
Robot (for gripper) cable Relay cable
5 w WARNING
Avoid damage to the robot (for gripper) cable or relay cable. Damaged cable,
excessive bending, pulling, winding, or wedging may cause fire, electrical shock,
6 3.3.3 Connecting to the gripper main body

Connect the connector (male) of the harness that comes from the gripper main body to the
connector (female) of the relay cable. To connect the connector, make the connector orientations
matched with each other and insert the connector securely until a click sounds. After the
7 connection has been complete, put the connector hood.
Connector (female)
8 of relay cable Connector (male)

of gripper
Connector hood
9 w WARNING
• Avoid damage to the robot (for gripper) cable or relay cable. Damaged cable,
excessive bending, pulling, winding, or wedging may cause fire, electrical shock,
• The cable on the gripper main body is not flexible. Do not move the cable and
do not secure the cable while applying a tension to it. Doing so may cause
10 malfunction, trouble, or earth leakage.

3.3.4 Wiring to the DC24V power supply

The following shows the terminal layout of the power connector on the
controller side (gripper control board).
1
● Power connector 1
Terminal No. Connection Function
2
1
2
+24V
0V
Motor power supply,
Power supply 0V
2
3
Frame ground (terminal for
3 FG
D-grade grounding work)
Power connector
(Controller side)
3
c CAUTION
Do not connect the terminals incorrectly. Doing so may cause a malfunction.
(1) Wiring to the power connector

Prepare electric wires to be connected to the DC24V power supply and connect the wires to 4
the power connector supplied with the gripper.
● Length of exposed wire lead
Strip the wire to expose 7 mm of bare lead.
7mm AWG size : 28 to 16 5
● Wiring
6
Follow the steps below to insert the wire lead into the opening in the power connector and
make sure that the electric wire is not disconnected.
q Loosen the screw on the

top with a small flat-blade
w Insert the wire lead
stripped into the electric
e Loosen the screw on the
top with a flat-blade
8
screwdriver. wire insertion port screwdriver. Lightly pull
correctly until it is in the electric wire to make
contact with the far side. sure that it is not discon-
nected.
Tighten the screw on the top of the power connector with tightening torque shown below. 9
Tightening torque: 0.22 to 0.25N•m
w WARNING
Connect the grounding line to the frame ground terminal securely to prevent
malfunction caused by noise. 10

c CAUTION
• When inserting the electric wire, pay special attention so that frayed wire leads
1 are not in contact with other conductor.
• If the electric wire insertion portion deteriorates for some reason, strip the electric
wire and connect it again.
2 (2) Preventive measures for malfunction caused by noise

If the gripper operation may become unstable due to noise, it is recommended to insert a ferrite
core or noise filter into the power supply line.
3 c CAUTION
Locate the ferrite core or noise filter as close to the controller as possible.
Connecting the power connector
5
24
V
0V
6
Controller side
7 Ferrite core, etc.
10

4.1 Verifying the robot controller settings
4. Verification and preparation

1
4.1 Verifying the robot controller settings
From the PBX programming box (hereafter referred to as "PBX"), you can verify whether or not the
gripper control board is installed in the robot controller. To verify the gripper control board, follow
the steps below.
From the initial screen, select "System"-"Properties" to access the properties screen.
2
Press the F2 key (Option); the type and version of the option boards connected to the option slots
of the controller are displayed.
If "Gripper" is shown as a BoardName, the gripper control board is installed.
3
“OPTION” screen
10
Chapter 4 Verification and preparation 4-1

4.2 Status LEDs on the gripper control board
4.2 Status LEDs on the gripper control board

1 Four status LEDs are provided at the location on the gripper control board as shown in the figure
below. These LEDs show the board status. The meaning of each LED indication is described in the
table below.
Status LEDs
2
PWR
RDY
RUN
ALM
PWR
3
RDY
RUN Status LED
24V
ALM
POWER
0V
READY
RUN
ALARM
4 24V
0V
5
(Figure when viewed from the front of the controller)
Functions of status LEDs
6 LEDs Function
Lit (green) when the motor drive power (24V)
POWER is turned on.
READY Lit (yellow) during correct operation.
7
RUN Lit (yellow) when the gripper is in operation.
ALARM Lit (red) if an alarm occurs.
10
4-2 Chapter 4 Verification and preparation

4.3 Weight parameters
4.3 Weight parameters

4.3.1 Robot parameters 1
The tip weight (workpiece weight + tool weight) of the robot is set for the "Tip weight [kg]/
WEIGHT" parameter in "kg" units.
At this time, the weight of the gripper (see the table below) is also added to the tool weight.
Weight of gripper main unit 2

Gripper model Weight
YRG-2005SS 90g
YRG-2010S 160g 3
YRG-2815S 300g
YRG-4225S 580g
YRG-2005W 200g
YRG-2810W 350g 4
YRG-4220W 800g
YRG-2020FS 420g
YRG-2840FS 880g
5
YRG-2020FT 420g
YRG-2840FT 890g
YRG-2004T 90g
YRG-2013T 190g
YRG-2820T 340g
YRG-4230T 640g 6
For details on the "Tip weight/WEIGHT" parameter, refer to the "RCX3 Series Controller Operator's
Manual".
10
Chapter 4 Verification and preparation 4-3

MEMO
4-4 Chapter 4 Verification and preparation

5.1 Turning the power on and off
5. Operation
1
This section explains how to turn on and off the power, assuming that the electric gripper has been
connected completely according to the instructions stated in "3. Installation and wiring" and the
controller operates correctly.
2
5.1.1 Turning the power on
1 Connect the programming box to the controller.
Connect the programming box connector to the programming box connector terminal
on the front panel of the controller.
3
2 Supply the power from the DC 24V power connector.
The "POWER" LED on the gripper control board lights up. (For details, see "4.2 Status LEDs
on the gripper control board".)
4
3 Supply the main power (power for motor drive) and control power from
the power terminal on the front panel of the controller.
The "PWR" LED and 7-segment LED will light, and the initial screen will appear. (After the
"PWR" LED is lit, it takes up to five seconds per gripper until the controller can start up
correctly. If four grippers are being used, it takes up to 20 seconds.)
5
n NOTE
• If an alarm message such as "9.704: Parameter destroyed" or "Memory destroyed"
is displayed when the power is turned on, you must use system mode to initialize
the parameters and memory before you perform absolute reset or return-to-
6
origin. For details, refer to the Controller RCX 3 Series User's Manual.
• If the warning message "C.50: Memory backup battery low" is displayed while
the power is on, replace the lithium battery inside the controller (the battery is
good for approximately four years).
• After the robot controller has been turned off, wait at least 5 sec. before turning
7
the power on again. If the power is turned on again too quickly after it has been
turned off, the controller may not start up correctly.
4 Turn on the servo. 8

For details on the servo-on operation, refer to "5.2 Servo operation".
n NOTE
• If the "Servo on when power on" parameter is "0 (Disable)", then the system always
starts in the servo-off status when the power is turned on, regardless of the serial I/O
settings. For details, refer to the Controller RCX 3 Series User's Manual.
9
• It takes a maximum of 5 sec. per gripper to complete the gripper servo on. So,
when Four grippers are used, it takes a maximum of 10 sec.
5 Execute return-to-origin. 10
For details on return-to-origin, refer to "5.5 Return-to-origin".
Chapter 5 Operation 5-1

5.1.2 Turning the power off
1 1 Turn off the main power (power for motor drive) and control power of
the controller.
2 Turn off the DC 24V power.

2
n NOTE
Do not turn the power off while the program is running. Doing so may cause internal
system data conflict to occur. In this case, when the power is turned on again, the
program may not restart correctly.
3 Before turning the power off, be sure to exit or stop the program.
5.1.3 Power on timing chart

4 *1
on
Controller control power
off
5 on
Controller main power
(Power for motor drive)
off
6 DC 24V power
on
off
*1 Be sure to turn on the DC 24V power at the same time or before the controller control power
7 and main power are turned on.
It is recommended to turn on the controller control power and main power 100 ms or longer
after the DC 24V power has been turned on.
10
5-2 Chapter 5 Operation

5.2 Ser vo operation

5.2.1 Emergency stop reset and alarm reset 1
1 On the programming box,
turn the emergency stop
button clockwise to reset
emergency stop. 2
2 Reset the alarm. Step 2 QUICK MENU
Press the [QUICK MENU] key on the
programming box. The "QUICK
MENU" screen will appear. Use the
cursor keys to select [Alarm Reset],
3
and then press the Enter key.
The confirmation screen will
appear.
Use the cursor keys to select [YES],
4
The alarm status is then reset.
n NOTE
The serious alarm cannot be reset.
Step 2 Confirm alarm reset
5
In this case, it is necessary to turn
off the controller power, and then
turn it on again.
5.2.2 Ser vo on/off 7

Perform this operation if you want to temporarily turn the servo on/off when performing direct
teaching, or to turn the servo on after an alarm has occurred.
The procedure for turning the gripper servo on/off is described below.
5.2.2.1 When operating in the "Ser vo Operation (All)" screen 8

Operations in the "Servo Operation (All)" screen apply to all axes.
1 Access the "Servo Operation (All)" screen.

On the programming box, press the QUICK MENU key. The quick menu appears.
Use the cursor keys to select [Servo Operation], and press the enter key.
9
n NOTE
The "Servo Operation (All)" screen can also be accessed from the initial screen via
"Operation"-"Servo Operation". 10

2 Turn the servo on or off. Step 2 "SERVO OPERATION (ALL)" screen

Use the cursor keys to select one
1 of the following items, and then
press the enter key. If you select
[ON], the servo turns on for all
robot axes and grippers. If you
select [OFF], the servo turns off for
2 all robot axes and grippers. If you

select [POWER], only the motor
power of the robot axes turns on.
3
5.2.2.2 When specifying the ser vo status for an individual gripper
You can also specify the servo status for an individual gripper.
4 1 Access the "Servo Operation

(All)" screen.
On the programming box, press
the QUICK MENU key. The quick
menu appears.
5 Use the cursor keys to select [Servo
Operation], and press the enter
key.
2 Press the F2 key (Gripper) to Step 2 "SERVO OPERATION (GRP)" screen

6 access the "Servo Operation
(Gripper)" screen.
3 Select and specify the status

of an individual gripper or
all grippers.
7 Use the cursor keys to select [ON]
or [OFF] for an individual axis or all
axes, and press the enter key to
specify the servo status.
10

5.3 Manual movement
5.3 Manual movement

The robot can be operated with the JOG (manual movement) key. In a similar manner to the robot 1
axis, the gripper can also be operated with the JOG (manual movement) key.
The manual movement with the JOG (manual movement) key is described as follows.
w WARNING
Pressing the JOG key will move the robot. To prevent hazards, do not enter the robot 2
operation area.
n NOTE
3
• The electric gripper cannot be moved unless the return-to-origin has been
completed. Before starting the manual movement, be sure to perform the
return-to-origin.
• The minimum speed for manual gripper movement is 20%.
• For details on software limits, refer to "6.3 Gripper parameters".
10

5.3 Manual movement
5.3.1 Manual movement settings
1
Step 1 "Jog" screen
1 Access the "Jog" screen.
From the initial screen, use the
cursor keys to select [Operation],
and press the enter key. Next select
[Jog] and press the enter key.
2 The "Jog" screen appears.
3 n NOTE
Example of pulse units
"[pulse]" is shown at the right of "CURRENT" in the upper part of the programming box screen.
7 Example of millimeter units
"[mm]" is shown at the right of "CURRENT" in the upper part of the programming box screen.
"[mm](tool)" is shown if the tool coordinate is selected.
10

5.3 Manual movement
2 Access the gripper jog screen

1
Press the F8 key (Gripper) to access the gripper jog screen.
Example shown in “mm” units
4
The following table shows the keys that are available in the "Jog (Gripper)" screen and the
corresponding submenu content.
Valid keys Menu Function
#1+ to #4- Manually move the gripper. 5
F1 SPEED Sets the manual movement speed.
F2 INCH Sets the inching movement amount.
F3 TEACH Performs the teaching of the point currently displayed.
F4
UNIT Changes the display unit of the current position to [pulse],
[mm], and [mm] (tool) in order.
6
F5 EDIT Moves to the "POINT EDIT" screen.
F6 TRACE Moves to the "PTP (All Axis)" screen.
F7 JUMP Displays the point data of the specified point number.
F8 AXIS Move to the "Jog" screen. 7
Operation depends on the setting of the "Manual Holding of Gripper" option parameter. (See "6.4
Option parameters")
10

5.3 Manual movement
5.3.2 Operation content if manual movement is specified
1 5.3.2.1 When the "Manual Holding of Gripper" parameter is "0 (INVALID)"

Manual movement holding operations are disabled.
This is the same as operation of the robot axes, as follows. When you press a jog key, the axis
corresponding to that key performs inching operation (a fixed amount of movement each time
2 you press the key once). If you continue holding down the key, it moves continuously toward the
software limit position. Movement stops when you release the jog key or when the software limit is
reached.
By pressing the F8 (Inch Amount) key you can specify the distance (inching distance) that inching
operations will move.
3 When the current position indication is in pulse units, the distance moved by inching is the inching
movement amount [pulses].
When the current position indication is in millimeter units, the distance moved by inching is the
inching amount x 0.001 mm.
Due to the conversion precision within the gripper IF board, the inching distance might not be
4 uniform.
If you press a jog key and attempt to move to a position beyond the +/- software limits of each axis,
the message "26.332" (Gripper Soft Limit Over) is displayed, and movement is not possible.
5 5.3.2.2 When the "Manual Holding of Gripper" parameter is "1 (VALID)"

Manual movement operations are switched to holding movement.
With this setting, the gripper can hold the workpiece.
When you press a jog key, the axis corresponding to that key performs inching (a fixed amount of
6 movement each time you press the key once).
If you continue holding down the key, it moves continuously toward the software limit position.
Movement stops when you release the jog key or when the software limit is reached.
Because the manual movement operation is switched to holding movement, the distance moved by
7 inching operation will be as follows.

• When the current position indication is in pulse units, the distance moved by inching is:
The number of pulses equivalent to (inching movement amount + conversion value of
limit width into pulse).
Example) When the inching movement amount is 100,
8 the gripper is the YRG-2815S, and the limit width is 2.00 mm (189 pulses)
Inching distance = 100 + 189 pulses = 289 pulses
• When the current position indication is in millimeter units, the distance moved by inching is:
(inching movement amount x 0.001 + limit amount) mm.
9
Example) When the inching movement amount is 200, the gripper is the YRG-2815S,
and the limit width is 2.00 mm (189 pulses),
Inching distance = 200 x 0.001 + 2.00mm = 2.20mm
Due to the conversion precision within the gripper IF board, the inching distance might not be
uniform.
10 If you press a jog key and attempt to move to a position beyond the +/- software limit of
each axis, the message "26.332" (Gripper Soft Limit Over) is displayed, and movement is not
possible.

5.4 Executing the point trace

By actually moving the gripper, you can verify the point data that you created. 1
As the motion type, you can use PTP motion (absolute position motion) or holding motion.
w WARNING
The Robot Will Move When You Perform Point Trace. To Prevent Hazards, Do Not Enter
The Robot Operation Area. 2
c CAUTION
Point trace cannot be executed unless return-to-origin has been completed.
3
To access the "Gripper (PTP)" screen where point trace can be executed, start from the initial
screen and choose "Operation"-"Point Trace" to access the "PTP Motion (All Axes)" screen.
Then press the F9 key (Gripper). The "Gripper (PTP)" screen appears as shown below.
"GRIPPER (PTP)" screen 4
7
The following table shows the available keys in the "Gripper (PTP)" screen and the corresponding
sub-menu content.
Moves the cursor.
/
RUN Executes the point trace.
8
STOP Stops the point trace.
F1 SPEED Sets the movement speed for the point trace.
Holding Switches to holding movement.
F2
Movement 9
UNIT Changes the display unit of the current position to [pulse],
F4
[mm], and [mm] (tool) in order.
F5 MANUAL Moves to the "JOG“ screen.
F6 EDIT Moves to the "POINT EDIT" screen.
F7 Specify number Displays the point data of the specified point number. 10
F8 Robot Moves to the "PTP Motion (All Axes)" screen.

5.4.1 PTP Motion (Absolute Position Movement)
1 The specified gripper moves in PTP mode.
1 Access the "PTP Motion (All Step 1 "PTP (All)" screen

Axes)" screen.
cursor keys to select [Operation]
2 and then press the enter key. Next,
select [Point Trace] and press the
enter key. The "PTP Motion (All
Axes)" screen appears.
3 2 Press the F9 key (Gripper).

The "Gripper (PTP)" screen
appears.
3 Select the point number that

Step 2,3 "GRIPPER (PTP)" screen
you want to check.
4 Use the cursor keys to select [ ] or
[ ] in the screen, and then press
the enter key to change the point
number.
Alternatively, select [P00000],
5 directly enter the point number,
and then press the enter key.
You can also use the F7 key
(Specify Number) to make a
selection.
6 For details, refer to "5.4.5 Point
jump display".
4 Select the gripper number

that you want to check.
7 Use the cursor keys to select [ ] or
[ ] in the screen, and then press the
enter key to change the gripper
number.
Alternatively, select [Gripper 1],
8 directly enter an axis gripper number,

5 Execute point trace.

When you press the RUN key, the
gripper moves via PTP (absolute
9 position movement) to the position

of the selected point.
When you press the STOP key, the
point trace movement is halted.
* For details on how to specify
10 the speed, refer to "5.4.3

Setting the speed".

5.4.2 Holding Movement

The selected gripper will move in holding mode. This allows the workpiece to be held during
movement.
1
1 Access the "PTP Motion (All Step 1 "PTP (All)" screen
Axes)" screen.
cursor keys to select [Operation] 2
and then press the enter key. Next,
select [Point Trace] and press the
enter key. The "PTP Motion (All
Axes)" screen appears.
3
2 Press the F9 key (Gripper).
The "Gripper (PTP)" screen appears.
3 Press the F2 key (Holding

Movement).
Access the "Gripper (Hold)" screen.
Step 2 "GRIPPER (PTP)" screen
4
4 Select the point number that
you want to check.
Use the cursor keys to select [ ] or
[ ] in the screen, and then press 5
the enter key to change the point
number.
Alternatively, select [P00000],
directly enter the point number,
You can also use the F7 key (Specify Step 3,4 "GRIPPER (HOLD)" screen
6
Number) to make a selection.
For details, refer to "5.4.5 Point jump
display".
5 Select the gripper number

that you want to check.
7
Use the cursor keys to select [ ] or
[ ] in the screen, and then press the
enter key to change the gripper
number.
Alternatively, select [Gripper 1],
8
directly enter an axis gripper number,
6 Execute point trace.

When you press the RUN key, the
gripper moves in holding mode to
9
the position of the selected point.
When you press the STOP key, the
point trace movement is halted.
* For details on how to specify
the speed, refer to "5.4.3
Setting the speed".
10

5.4.3 Setting the speed
1 Here you can specify the program speed.

The movement speed is determined by the product of the automatic movement speed and the program speed.
Movement speed [%] = (automatic speed x program speed) / 100
In the case of a gripper, the speed is limited to 20 to 100%; if less than 20%, the actual speed will be 20%.
The speed of the robot assigned to the gripper is used as both the automatic speed and the program speed.
2 In the "Step 1, 2 Setting the speed" screen below, the first line "RBT: 1" indicates the robot that is assigned to
the gripper. In this example, this is robot 1.
The method of setting the speed is the same for both PTP motion (absolute position movement) and holding
movement.
Step 1,2 Setting the speed
3 1 Enter the set speed.
Press the F1 key (SPEED) on the PTP
screen to display the "SPEED"
setting screen.
Enter a numeric value and press
the Enter key.
4 2 Set the value you have

entered.
Use the cursor keys to select [OK],
5 5.4.4 Changing the display unit

In the point trace screen, you can press the F4 key (Unit) to switch the current position shown in
the programming box between pulse units and millimeter units.
The method of switching the display units is the same for both PTP motion (absolute position
6 movement) and holding movement.

For details, refer to the Controller RCX 3 Series Operator's Manual.
5.4.5 Point jump display
7 Point data can be displayed from the point number you specify.
The point jump display method is the same for both PTP motion (absolute position movement) and
holding movement.
1 Display the jump destination

point number entry screen.
Press the F7 key (JUMP) on the PTP
8 screen. The number designation
screen will appear.
Step 3 Entering the point number
2 Enter the point number and

press the Enter key.
9 3 Confirm the input.

Use the cursor keys to select [OK],
n NOTE
Valid point numbers are from 0 to
10 29999.

5.5 Return-to-origin
Before starting the operation of the robot by turning on the power, it is necessary to perform 1
the return-to-origin. The return-to-origin operation adjusts the position of each robot axis to its
mechanical origin position to reset the position data in the controller.
The return-to-origin needs to be performed for the axes with the incremental specifications. Since
the gripper axis has the incremental specifications, perform the return-to-origin in either way
described in "5.5.2 Overall return-to-origin" or "5.5.3 Gripper return-to-origin". 2
Parameters are related to return-to-origin include the following. For details on each parameter,
refer to the item for each parameter in "6. Parameter".
Category Parameter name Contents
Gripper return-to- Specifies whether gripper return-to-origin is 3
Robot parameter origin priority executed before or after robot return-to-origin.
Origin sequence Sets the order of return-to-origin axes.
Origin speed Sets the speed of the return-to-origin
Origin shift
operation.
Sets the offset of the origin position data.
4
Axis parameter
Origin method Sets the return-to-origin method.
Origin direction Sets the direction of the return-to-origin
operation.
■ Checking the return-to-origin status 5

To check the gripper's return-to-origin completion status, choose "Operation"-"Origin Return"
from the initial screen.
When you press the F2 key (Gripper), the "ORIGIN RTN (GRIPPER)" screen appears. Note the
return-to-origin status. 6
"ORIGIN RTN (GRIPPER)" screen
9
Axis (gripper number) Return-to-origin status Return-to-origin method
NG (Incomplete) Torque (Stroke end)
1
None following
+ Z-phase detection method
10

5.5.1 Return-to-origin operation
1 The return-to-origin method can be either "stroke end + Z-phase detection method" or "stroke end"
("Torque" in screen).
For the "stroke end + Z-phase detection method", set the "Return-to-origin method" parameter to
"1"; for "stroke end" set the "Return-to-origin method" parameter to "0".
Each return-to-origin operation is described below.
For details on the return-to-origin operation, refer to "5.5.2 Overall return-to-origin" or "5.5.3
2 Gripper return-to-origin".
1. Return-to-origin using the "stroke end + Z-phase detection" method
3 (2)
(1)
Return-to-origin
(3) direction
4 (4) Return-to-origin
start position
5
Stroke end Z-phase of rotary encoder
(1) The return-to-origin can start from any position.

(2) Upon starting the return-to-origin, the axis starts moving in the return-to-origin direction.
6 (3) After the stroke end has been detected as the guide block has been lightly in contact with
the stroke end, the axis moves in the reverse direction until the Z-phase of the rotary
encoder is detected.
(4) When the Z-phase is detected, the axis moves again in the return-to-origin direction to
7 determine the origin position.
2. Return-to-origin using stroke end
(2)
8 (1) Return-to-origin
direction
(3)
Return-to-origin
start position
Stroke end
10 (1) The return-to-origin can start from any position.
(2) Upon starting the return-to-origin, the axis starts moving in the return-to-origin direction.

(3) After the stroke end has been detected as the guide block has been lightly in contact with the
stroke end, the axis moves slightly in the reverse direction to determine the origin position.
1
c CAUTION
In the case of stroke end, if an obstruction interferes with the guide block during
return-to-origin, or if there a load is placed on the guide block, the stroke end is not
detected correctly, possibly causing the return-to-origin operation to end at an
incorrect position.
Use stroke end only if the operation of detecting the Z-phase causes a problem with
2
the stroke end + Z-phase detection method.
5.5.2 Overall return-to-origin 3

The following explains how to perform the return-to-origin of all axes with the incremental
specifications including the gripper axis.
For details and cautions regarding return-to-origin, refer to the Controller RCX 3 Series Operator's
Manual.
4
c CAUTION
If you want to include grippers in the all axes return-to-origin, you must set the
"Include Gripper in Origin" parameter to "1(YES)". (See "6.4 Operation Parameters")
5
1 Access the "Origin Return Step 1 "ORIGIN RTN (TRQ/SENS) " screen
(Return-to-origin)
(Torque(Stroke End)/Sensor)"
screen.
From the initial screen, use the cursor
keys to select [Operation] and then 6
press the enter key. Next select
[Origin Return (Return-to-origin)] and
press the enter key.
2 Execute return-to-origin. 7
Use the cursor keys to select ALL
(All Axes), and press the enter key.
The return-to-origin execution Step 2 Return-to-origin execution confirmation screen
confirmation screen appears.
8
10

n NOTE
• When performing return-to-origin for all axes, if there are any mark method axes,
1 an absolute reset is performed for all mark method axes, and then return-to-
origin is performed for the non-mark-method axes including the grippers.
• In the confirmation screen, press the RUN key to begin return-to-origin. When the
operation is complete, press the enter key to return to the "ORIGIN RTN (TRQ/SENS)"
2 screen.
• To interrupt return-to-origin, press the STOP key. When the operation is complete,
press the enter key to return to the "ORIGIN RTN (TRQ/SENS)" screen.
The message "1.8 Stop executed" is displayed.
• After return-to-origin is completed, it is not necessary to perform return-to-origin
3 once again even if emergency stop is pressed.
• If the controller power supply is shut off, return-to-origin must be performed once
again.
3 Verify the screen display.

4 After completion of the return-to-
origin operation (absolute search
operation in the case of an axis Step 3 "ORIGIN RTN (TRQ/SENS)" screen
with semi-absolute specifications),
the "Origin Return (Torque/Sensor)"
5 screen indicates "Ref." (machine

reference) and "Status" (status).
Press the ESC key to return to the
initial screen.
6 c CAUTION
Verify that the machine reference
is within the permissible value and
that the status is "OK".
7 n NOTE
For details on return-to-origin
operation, refer to the Controller
RCX 3 Series Operator's Manual".
Step 4 "ORIGIN RTN (GRIPPER)" screen
8 4 Verify the result of the

gripper return-to-origin.
Press the F2 key (Gripper).
The "Origin Return (Gripper)"
screen indicates "Status".
Verify that the status is "OK".
9 Press the ESC key to return to the
initial screen.
10

5.5.3 Gripper return-to-origin

The following explains how to perform the return-to-origin of only the gripper axis.
1
1 Access the "Origin Return Step 1 "ORIGIN RTN (TRQ/SENS) " screen
(Return-to-origin)
(Torque(Stroke End)/Sensor)"
screen.
From the initial screen, use the cursor
keys to select [Operation] and then
2
press the enter key. Next select
[Origin Return (Return-to-origin)] and
press the enter key.
3
Step 2 "ORIGIN RTN (GRIPPER)" screen
2 Access the "Origin Return
(Gripper)" screen.
Press the F2 key (Gripper).
4
The "ORIGIN RTN (GRIPPER)" screen
appears.
5
3 Execute return-to-origin.
Use the cursor keys to select the
gripper for which you want to perform
return-to-origin, or ALL (all grippers),
Step 3 Confirm return-to-origin (gripper) execution
6
The return-to-origin execution
confirmation screen appears.
When you press the RUN key in the
confirmation screen, return-to-origin 7
begins. When the operation ends,
press the enter key to return to the
"ORIGIN RTN (GRIPPER)" screen.
To interrupt return-to-origin, press the
STOP key. After operation halts, press 8
the enter key to return to the ""ORIGIN Step 4 "ORIGIN RTN (GRIPPER)" screen
RTN (GRIPPER)" screen.
The message "1.8 Stop executed" is
displayed.
9
4 Verify the result of gripper
return-to-origin.
The "ORIGIN RTN (GRIPPER)" screen
indicates "Status".
Verify that the status is "OK".
Press the ESC key to return to the 10
initial screen.

5.6 Emergency stop
5.6 Emergency stop

1 The operation when the emergency stop button on the programming box is pressed may vary
depending on the set value of the "Gripper servo when E.stop" parameter as described below. (For
details, see "6.4 Other parameter details".)
Make an appropriate setting suitable for the application.

2 Set value Function
ON Only the gripper axis remains servo on. Other axes are servo off.
When the emergency stop button is pressed, the gripper continues
holding the workpiece since the servo is not turned off.
3 OFF All axes including the gripper axis are servo off.
For details on using the emergency stop button of the programming box, refer to the Controller RCX
3 Series Operator's Manual.
4 w WARNING
Emergency stop may cause the holding force to be released. This may allow the
workpiece to drop, resulting in equipment breakage or personal injury.
10

5.7 Status monitor
5.7 Status monitor

You can verify the gripper status through the status monitor of the programming box. To verify the 1
gripper status, follow the steps below.
In the initial screen, use the cursor keys to select [Monitor] and then press the enter key.
The monitor hierarchy menu appears; select [Gripper Status] and press the enter key.
The gripper status is displayed.
Gripper Status screen

2
5
• Meaning of each status
Servo Origin READY ZON HOLD INPOS BUSY
Contents Servo
Return
to-origin
READY ZON HOLD INPOS BUSY 6
status signal signal signal signal signal
status
Servo Beyond Beyond
OFF Incomplete Preparing Release Complete
OFF area area
ON
Servo
Complete Correct
Within
Holding
Within
Running 7
ON area area
• Ready signal : Turns "ON" when the gripper has completed preparations.
• ZON signal : Turns "ON" when a workpiece is being held within the specified range.
• HOLD signal : Turns "ON" when a workpiece is held.
• INPOS signal : This signal indicates that the target position has been reached;
8
it turns "ON" when the target position is reached following return-to-
origin or positioning operation. This signal also turns "ON" when the
target position is reached without holding a workpiece following a
holding movement operation.
9
• BUSY signal : This signal is on while the gripper is operating.
10

MEMO

6.1 Parameter settings
6. Parameter
This section explains the parameters used for the gripper. Parameters used with the gripper are 1
explained here. These include parameters used for individual grippers (gripper parameters) and
common parameters (option parameters).
c CAUTION
• Parameters are important data that match the specifications between the robot and the 2
controller. Improper settings will cause alarms or malfunctions. Make these settings with care.
• Make sure that the data files (such as program, points, point comments,
parameters, shift, hand, pallet, etc.) saved in the controller before and after
making these settings are saved on a computer or other external storage device.
• Incorrect parameter settings may cause extremely serious damage to robot operation or 3
expose workers to danger. You must contact Yamaha before making changes.
• Parameter changes may require return-to-origin.
From the initial screen, choose "Edit"-"Parameters" to access the "Parameter" screen.
4
6.1 Parameter settings
Here's how to set parameters that are related to robot operation, gripper operation, and controller
settings.
5
1 Press F7 (Gripper) to select the category of parameter.
The "PARAMETER" screen for the selected category will appear.
2 Select the parameter. 6

Use the cursor keys to select a parameter.Alternatively, you can press the F2 key (Specify
Number) to access a pop-up screen where you can enter a parameter number.
Press the F1 key (Edit). Use the numeric keys to enter the parameter.
7
For details on each parameter, refer to "6.3 Gripper parameters" and "6.4 Option parameters".
For parameters other than the above, refer to the Controller RCX 3 Series Operator's Manual.
3 Press the ESC key to exit the parameter editing.

Valid keys and submenu descriptions on the parameter category selection screen are shown below.
Valid keys
F1
Menu
CONT
Function
Sets the controller setting related parameters.
8
F2 ROBOT Sets the robot operation related parameters.
F3 AXIS Sets the axis related parameters.
Sets the driver related parameters.
9
F4 DRIVER
(Contact your distributor for changing this parameter.)
F5 IO Sets the I/O related parameters.
F6 OPTION Sets the option board related parameters.
F7 GRIPPER Sets the gripper related parameters.
F8 CAMERA Sets the iVY2 system camera related parameters.
F9
F10
LIGHT
TRACKING
Sets the iVY2 system light related parameters.
Sets the tracking system related parameters.
10
Chapter 6 Parameter 6-1

6.2 Parameter list
6.2 Parameter list

1 ■ Gripper parameters
For details on parameters, refer to "6.3 Gripper parameters".
Name Identifier Setting range Initial value Unit
This value depends
+Soft limit GPLMT+ 0 to 9999 0.1mm
2 -Soft limit GPLMT- -9999 to 0
on the model.
0 0.1mm
Accel coefficient GACCEL 1 to 100 100 %
Completion distance of This value depends
GTOLE 1 to 9999 0.01mm
positioning on the model.
3
This value depends
Constant moving distance GCMVDST 1 to 9999 0.01mm
on the model.
This value depends
Limit width GLMTWDH 1 to 9999 0.01mm
on the model.
Origin shift GSHIFT -9999 to 9999 0 0.01mm
4 Origin speed GORGVL 20 to 50

This value depends
on the model.
%
This value depends

Holding speed GHOLDVEL 20 to 50 %
on the model.
Manual holding power GMHLPW 30 to 100 30 %
5 0: Stroke end (GTORQUE)

1: Stroke end This value depends
Origin method GORGSNS -
+ Z-phase detection on the model.
method (GTORQUE_Z)
0: Open
6
Origin direction GORGDIR 0 -
1: Close
Gripper status
GSTATS 0 to 27 0 -
output(DO & SO)
7 ■ Option parameters
For details on parameters, refer to "6.4 Option parameters".
Name Identifier Setting range Initial value Unit
0 : OFF
Gripper servo when emergency stop GEMGMD 1 -
1 : ON
8 Include Gripper in Origin GORGMD

0 : NO
1 : YES
1 -
0: Invalid
Manual Holding of Gripper GMHLMD 1 -
1: Valid
Gripper origin sequence GORGORD 0 to 4321 1234 -
9 Gripper origin priority GORGPRI

0: After
0 -
1: Before
10
6-2 Chapter 6 Parameter

6.3 Gripper parameters

Here you can edit gripper-related parameters. 1
"Parameter > Gripper" screen
4
The keys that are valid in the gripper parameter screen and the contents of the sub-menus are
described below.
/ Moves up or down the cursor. 5
F1 EDIT Edits the parameter.
F2 JUMP Moves the cursor to the specified number.
■ Setting by entering numeric values 6

The setting method is explained using constant moving distance as an example.
1 Select "Constant moving

distance" and press the F1
key (Edit). 7
2 Enter the constant moving Step 2 Enter the constant moving distance
distance.
The screen shows the range of
values that can be specified.
Use the cursor keys to select the 8
gripper for which you want to
make the setting.
Use the 0 to 9 keys to input a value,
9
3 Press the ESC key to exit the
"EDIT" screen.
10

■ Setting by selection entr y

The setting method is explained using return-to-origin direction as an example.
1
1 Select "Origin direction"
and press the F1 key (Edit).
2 Specify the return-to-origin Step 2 Specify the return-to-origin direction
2 direction.
A list of the selectable values is
shown for [1] through [12].
Use the 0--9 keys to select a value,
3 n NOTE
Here you should enter the value
itself that you want to specify for
the controller, not [1] through [12].
For example if you want to specify
4 "0" for the controller in the
illustration shown at the right,
press the 0 key of the
programming box, not the 1 key.
5 3 Press the ESC key to exit the

edit screen.
c CAUTION
Set the parameters correctly so that excessive impact or moment is not applied to
6 the finger during operation. Excessive impact or moment may damage the product
or shorten the service life.
■ +Soft limit / GPLMT+

7 ■ -Soft limit / GPLMT-
Use "+" software limit and "-" software limit to specify the range that the gripper can move.
Before performing point teaching or automatic operation, verify that the specified point data is
within the software limit range.
8 c CAUTION
• Since this is an important parameter that determines the movable range of the
gripper, its value must be specified accurately.
• If return-to-origin has not been completed, jog movement of the gripper cannot
be performed.
9
10

n NOTE
1
The set value for distance-related data such as point data, constant moving
distance, and the limit width parameter is the sum of the values for the two fingers.
When the gripper is operated, the two fingers function simultaneously. Set values
such as point data, constant movement distance, and the limit width parameter for
each finger will be half of the set value.
Example) When the limit width is 2.00 mm:

The limit width for each finger is 1.00 mm, and the total for both fingers is
2.00 mm.
2
■ Accel coefficient / GACCEL
Specifies the acceleration for gripper movement caused by a movement command, in the range
of 1 to 100%. When parameters are initialized, this is set to 100. 3
n NOTE
If the tip swings when movement is accelerated, decreasing this value will reduce
the swinging.
4
c CAUTION
If the acceleration coefficient is decreased, it takes longer for stop to occur in
response to the STOP key or a stop signal (DIO6, SIO6). Do not radically decrease
the acceleration coefficient.
5
■ Completion distance of positioning / GTOLE
This specifies the tolerance range for completion of positioning at a target position when the gripper
finishes moving. When initialized, the parameter is set to a value that is unique to that axis.
When the gripper axis enters the area specified by the positioning completion distance, it is
6
determined that positioning has completed. This means that if the program issues consecutive PTP
operation commands, a larger value for this parameter allows a shorter positioning completion time.
c CAUTION
• Since this is an important parameter that determines the axis behavior near the
7
target position, its value must be specified accurately.
• If the positioning completion distance is set to an extremely small value, the
positioning completion time for the axis might become inconsistent.
• The maximum value for the positioning completion distance is determined by
the motor. 8
n NOTE
distance, and the limit width parameter is the sum of the values for the two fingers.
9
The limit width for each finger is 1.00 mm, and the total for both fingers 10
is 2.00 mm.

■ Constant moving distance / GCMVDST

This parameter specifies the distance for absolute position (or relative position) holding
1 movement of the gripper or for constant speed movement of the gripper during holding
operation. The gripper moves from a point that is the amount of the constant movement
distance before the target position (holding position), at the speed specified by the "Holding
speed" parameter.
2 (See the diagram in the next page ("Holding speed", "Constant moving distance", and "Limit
width" parameters)
n NOTE
3 distance, and the limit width parameter is the sum of the values for the two fingers.
4 The limit width for each finger is 1.00 mm, and the total for both fingers
is 2.00 mm.
■ Limit width / GLMTWDH

5 This parameter specifies the limit width for absolute position (or relative position) holding
movement of the gripper or for constant speed movement of the gripper during holding
operation. After passing the target position (holding position), the gripper moves by the amount
of the limit width at the speed specified by the "Holding speed" parameter.
6 (See the diagram in the next page ("Holding speed", "Constant moving distance", and "Limit width"
parameters)
n NOTE
• If the effective holding area is exceeded, the gripper stops at the position of
7 "movement amount + limit width". At this time, the HOLD signal turns OFF and
the INPOS signal turns ON. If the gripper stops within the effective holding area,
the ZON signal also turns ON.
• The set value for distance-related data such as point data, constant moving distance,
and the limit width parameter is the sum of the values for the two fingers.
8 When the gripper is operated, the two fingers function simultaneously. Set values
such as point data, constant movement distance, and the limit width parameter
for each finger will be half of the set value.
The limit width for each finger is 1.00 mm, and the total for both fingers
9 is 2.00 mm.
10

"Holding speed", "Constant moving distance", and "Limit width" parameters
Constant
moving 1
distance Limit width
Speed Max. speed
Effective holding area

2
Holding speed
Distance
Movement distance
Holding position 3
■ Origin shift / GSHIFT
The position after return-to-origin is shifted by the value specified for this parameter.
When this parameter is initialized, a value of "0" is set.
Regardless of the origin shift setting value, the current position following return-to-origin will
be 0 [pulse].
4
n NOTE
• Set this parameter to compensate for any deviation that occurs when the work
position is disturbed for some reason.
• Note that the procedure for setting the origin shift parameter of the gripper is 5
different than the procedure for setting the parameter of an axis other than the
gripper.
• The set value for distance-related data such as point data, constant moving
distance, and the limit width parameter is the sum of the values for the two
fingers.
6
such as point data, constant movement distance, and the limit width parameter
for each finger will be half of the set value.

The limit width for each finger is 1.00 mm, and the total for both fingers
is 2.00 mm.
7
c CAUTION
• Since this is an important parameter that determines the gripper position, its
value must be specified accurately. Change it only if necessary. 8
• If you change this parameter, the gripper enters the return-to-origin incomplete
state.
• This parameter becomes valid following return-to-origin.
• Origin shift must not be set to a value greater than the software limit.
• If you change the origin shift, you must also change the software limit by the 9
amount of the shift.
Example) Assume that the "+" software limit is B pulses and the "-" software limit is
C pulses. If you set the origin shift parameter to A pulses, you must

change each software limit as follows.
+Soft limit (B - A) pulses
10
-Soft limit (C - A) pulses

■ Origin speed / GORGVL

This parameter specifies the return-to-origin speed in the range of 20 to 50%.
1
■ Holding speed / GHOLDVEL
This parameter specifies the speed, in the range of 20 to 50%, for absolute position (or relative
position) holding movement of the gripper or within the effective holding area during holding
2 operation.
(See the diagram in the previous page ("Holding speed", "Constant moving distance", and "Limit
width" parameters)
3
c CAUTION
If the holding speed is set to a greater value than the maximum speed, the holding
speed will be the same as the maximum speed.
■ Manual holding power / GMHLPW

4 This parameter specifies the holding power during manual movement, in the range of 30--
100%.
n NOTE
For details on manual holding operation, refer to "Manual Holding of Gripper" in "6.4
5 Option parameters".
■ Origin method / GORGSNS

This parameter specifies the method by which the gripper performs return-to-origin.
6 This can be either "1 : GTORQUE_Z" (Stroke end + Z-phase detection method) (initial value) or
"0 : GTORQUE" (Stroke end).
n NOTE
In the case of "GTORQUE_Z" (Stroke end + Z-phase detection method), movement is
7 inverted until Z-phase detection after detecting the end of the stroke.
■ Origin direction / GORGDIR
8
This parameter specifies the direction in which the gripper performs return-to-origin.
0 : Open..................... The direction in which the guide block opens is the return-to-origin direction
For manual movement, the direction in which the guide block opens
is the "-" direction.
1 : Close..................... The direction in which the guide block closes is the return-to-origin direction
9 For manual movement, the direction in which the guide block closes
is the "-" direction.
c CAUTION
• If the return-to-origin direction is changed without consulting Yamaha and a
10 problem arises due to this change, Yamaha accepts no liability for any such
problems.
• If this parameter is changed, return-to-origin will be incomplete.

6.4 Option parameters
■ Gripper status output(DO & SO) / GSTATS

This parameter specifies to/not to output the gripper dedicated signal (status) to the general-
purpose DO/SO. 1
The settable values are as follows.
Setting Meaning
0 (Initial value) The gripper status is not output.
2 to 7 Outputs the gripper status to the specified DO/SO port. 2
10 to 17 Example) Specifies 10:
20 to 27 The gripper status is output to the DO10()/SO10()
Assignment to each bit is shown as the table below.
3
The gripper status information is output to the specified port as the table below.
For details regarding each status, refer to "Status monitor" in Chapter 5.
Value
Bit Signal name
4
0 1
7 Servo status Servo OFF Servo ON
6 Return to-origin status Incomplete Complete
5 (Not used.) – –
4 READY signal Preparing Correct
3
2
ZON signal
HOLD signal
Beyond area
Release
Within area
Holding
5
1 INPOS signal Beyond area Within area
0 BUSY signal Complete Running
n NOTE
DO/SO variables of the port specified by "Gripper status output(DO & SO)" 6
parameter reflect the output status regardless of the presence or absence of option
board.
When the serial or parallel I/O board is inserted, The gripper status information is
output externally.
7
10

6.4 Option parameters

1 Here you can set parameters related to the gripper option.
"Parameter>Option" screen
4
The keys available when editing option board parameters and the contents of the sub-menus are as follows.
/ Moves up or down the cursor.
5 F1 EDIT Edits the parameter.
F2 JUMP Moves the cursor to the specified number.
Details of the parameters related to the gripper option board are explained below.
For other option parameters, refer to the Controller RCX3 Seies Operator's Manual.
6 ■ Gripper ser vo when emergency stop / GEMGMD

This parameter specifies the servo status of the gripper when the emergency stop button is
pressed.
1 : ON. . .... When the emergency stop button is pressed, the gripper servo is not turned OFF.
7 Since the servo is not turned off even if the emergency stop button is pressed, the
gripper continues to grip the workpiece.
0 : OFF..... When the emergency stop button is pressed, the gripper servo is turned OFF.
■ Include Gripper in Origin / GORGMD
8 This parameter specifies whether the gripper is included in a return-to-origin operation for the
entire robot.
0 : NO. . .... The gripper is not included in the axes affected by a return-to-origin for the entire robot.
1 : YES...... The gripper is included in the axes affected by a return-to-origin for the entire robot.
9 n NOTE
• If you set this parameter to "0: NO", use the online command @GORIGIN to
perform return-to-origin for the gripper.
• This parameter affects the following operations.
• Return-to-origin by DI14 or DI17
10 • Return-to-origin by the robot language (ORIGIN)
• Return-to-origin by the remote command of return-to-origin

■ Manual Holding of Gripper / GMHLMD
This parameter specifies whether the workpiece will be held during manual movement online
commands (@GJOG, @GJOGXY). 1
0 : INVALID... Holding operations is disabled during manual movement online commands
(@GJOG, @GJOGXY). If the workpiece is held, "26.801: Gripper overload"
occurs and the workpiece cannot be held.
1 : VALID. . ..... Holding operations are enabled during manual movement online commands
2
(@GJOG, @GJOGXY).
n NOTE
The holding power during manual movement can be specified by the gripper
parameter "Manual holding power". 3
■ Gripper origin sequence / GORGORD
This parameter specifies the numerical order in which the grippers perform return-to-origin
operation to confirm the motor position. If this parameter is initialized, the setting is 1234. 4
1, 2, 3, and 4 correspond to the respective gripper numbers. Starting from the left, the gripper
of the corresponding number will perform return-to-origin in that order. All axes that are not
specified will simultaneously perform return-to-origin at the end.
■ Gripper origin priority / GORGPRI 5

This parameter specifies whether gripper return-to-origin is performed before or after robot
return-to-origin.
After. . ....... Gripper return-to-origin is performed after all robot return-to-origin has been completed.
Before...... All robot return-to-origin is performed after gripper return-to-origin has been completed. 6
10

MEMO

7.1 Point data input and editing
7. Gripper point data creation

This section explains how to create positioning point data of the gripper.For details on point data 1
display and editing, refer to the "Controller RCX 3 Series Operator's Manual".
Grippers use point data in the following ways.
Point data format

2
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
Gripper 1 Gripper 2 Gripper 3 Gripper 4 Not used. Not used.
Example : 1. Online command @GTEACH 100
When this command is executed, the current position data (pulse units) of the
3
grippers being used is saved as the axis 1 through axis 4 data of P100. The data for
grippers that are not being used and for unused axes will be 0.
2. GDRIVE(2, P100)
When this command is executed, gripper 2 moves to the position of the axis 2 data 4
of P100.
n NOTE
The set value of the data related to the distance, such as point data, constant
moving distance, or limit width parameter is the total of values set for two fingers. 5
As the electric gripper is operated, two fingers function at the same time. The value
of the point data, constant moving distance, or limit width parameter set for one
finger is 1/2 of its set value.
Example) When the gripper current position is 0.00 mm and the gripper axis moves
to the 10.00mm-position using the absolute position movement:
6
Each finger moves 5.00 mm and the total movement of both fingers is
10.00 mm.
7
7.1 Point data input and editing
1 Select "Point edit" mode.

From the initial screen, choose
Step 2 "POINT EDIT" screen
8
"Edit"-"Point Edit" to access the
"Point Edit" screen.
2 Select the point data that

you want to enter.
9
In the "Point Edit" screen (Edit
Point Edit), use the cursor keys to
select the point data that you
want to enter/edit.
Data of the selected point number
10
is displayed in yellow.
Chapter 7 Gripper point data creation 7-1

7.2 Point data input by teaching
3 Enter point data for the axis that is assigned as the gripper.
1
For details on the data entry format,
refer to the "Controller RCX 3 Series Operator's Manual".
4 Set the point data registration.

To complete the point data registration, press the Enter key or right cursor key until
2 the cursor moves to the point name area.

To cancel the point data registration, press the ESC key.
■ Restoring the point data

When pressing the ESC key while the point data is edited, the data you have entered is canceled
3 and it returns to the data before entering.
This function is valid only for the point data before the registration is completed.

4 You can take the current gripper position to the point data in the "MANUAL>POINT" mode.
You can load the current position of the gripper into the point data.
To directly load the current position of the point data, use the "JOG" screen.
5 w WARNING
The robot moves during teaching. To avoid danger, do not enter the robot
movement range.
6 c CAUTION
When using multiple robots, be sure to check the current target robot.
For details, refer to the "Controller RCX 3 Series Operator's Manual".
7 n NOTE
In the return-to-origin incomplete status, the teaching of the point data cannot be
performed. Be sure to perform the teaching after the return-to-origin has been
performed.
8 1 Select the point.

In the "Point Edit" screen (Edit->Point
Step 1 "POINT EDIT" screen
Edit), use the cursor keys or the jump

function to select the point number
that you want to enter.
9 * For details on the jump

function;
refer to the "Controller RCX 3
Series Operator's Manual".
10
7-2 Chapter 7 Gripper point data creation

2 Access the "Jog" screen. Step 2 "JOG" screen
1
Press the F6 key (Jog). The "Jog"
screen appears.
Step 3 "JOG (GRIPPER)" screen

3
3 Access the "Jog (Gripper)"
screen.
Press the F8 key (Gripper). The "Jog
(Gripper)" screen appears.
4
5
4 Move the gripper.
Use the jog keys to move the
6
gripper.
The current position display
changes as the gripper moves.
5 Perform the teaching.

When the axis reaches the target
Step 5 Teaching confirmation pop-up screen
7
position, press the F3 key (TEACH).
The confirmation pop-up screen
appears.
Select [OK] and press the Enter
key.
8
When selecting [CANCEL], the
teaching is canceled.
The input format of the point data

to perform the teaching is the
9
same as the current position
display.
10
Chapter 7 Gripper point data creation 7-3

7.3 Point data input by direct teaching
7.3 Point data input by direct teaching

1 As the robot servo is turned off, the point data of a position where you have moved the gripper
manually can be taken.
Obtaining the point data of the current position is done using the "JOG" screen.
2 w WARNING
• In order to perform direct teaching in the emergency stop status, the "Gripper
servo when emergency stop" parameter must be set to "0(off)". (See "6.4 Option
parameters")
• Before you perform direct teaching, you must press the emergency stop button
on the programming box to make it impossible for the servo to be turned on by
3 an external operation.
1 Activate emergency stop.

Press the emergency stop button on the programming box
4
2 Perform point data teaching.
For the teaching method, refer to "7.2 Point data input by teaching". However, the jog
keys cannot be used, so you will move the gripper by hand.
5
n NOTE
Automatic operation and manual operation are not possible if the robot is in the
servo off status. To put the robot in the servo on status, use the programming box or
dedicated input.
6 Refer to "5.2 Servo operation" or the "Controller RCX 3 Series Operator's Manual".
7.4 Point data trace

7 You can check the point data position you have entered by moving the gripper actually.
For details, refer to "5.4 Executing the point trace".
w WARNING
Emergency stop may cause the holding force to be released. This may allow the
8 workpiece to drop, resulting in equipment breakage or personal injury.
10
7-4 Chapter 7 Gripper point data creation

8.1 Robot language command list
8. Robot language commands

This section explains the dedicated robot language commands used for YAMAHA electric gripper. 1
Refer to the Controller RCX 3 Series Programming Manual for robot language information beyond
basic items such as the robot language command statement format, variables, and constants.
Always refer to the above programming manual when performing programming operations.
2
8.1 Robot language command details
Format
• The shaded section can be omitted.
• The italic items should be written in the specific format.
3
• The items surrounded by | | are selectable.
n NOTE
All robot language commands support online commands.
4
Language Function
command name
Moves to an absolute position.
Format
5
GDRIVE GDRIVE (Gripper number, Position ) , (Gripper number, Position ) ..., Option
Point expression Point expression
Moves to a relative position.
6
GDRIVEI GDRIVEI (Gripper number, Movement amount ) , (Gripper number, Movement amount ) ..., Option
Moves to an absolute position with holding of a workpiece.

GHOLD GHOLD (Gripper number, Position ) , (Gripper number, Position ) ..., Option
Moves to a relative position with holding of a workpiece

GHOLDI GHOLDI (Gripper number, Movement amount
Point expression
) , (Gripper number, Movement amount
Point expression
) ..., Option 7
Moves at a constant speed with holding of a workpiece. (Open)
GOPEN
GOPEN (Gripper number) , (Gripper number)..., Option
Moves at a constant speed with holding of a workpiece. (Close)
8
GCLOSE
GCLOSE(Gripper number) , (Gripper number)..., Option
Gripper servo control
GSERVO GSERVO ON (Gripper number)

OFF
GORIGIN
Returns the gripper axis to its origin.
GORIGIN (Gripper number) 9
Obtains the status.
GSTATUS
GSTATUS (Gripper number)
Obtains the current position of the gripper (joint coordinates)
GWHERE
10
GWHERE
Obtain the current position of the gripper (Cartesian coordinates)
GWHRXY
GWHRXY
Chapter 8 Robot language commands 8-1

8.1 Robot language command list
Cartesian coordinate conversion

GJTOXY
GJTOXY(Point expression)
1 GXYTOJ
Joint coordinate conversion
GXYTOJ(Point expression)
Reference or set the tolerance
GTOLE
GTOLE Expression / GTOLE (Gripper number)=Expression / GTOLE(Gripper number)
Motor power supply control
2 MOTOR
MOTOR ON
OFF
PWR
3 n NOTE
The controller's system generation settings allow a gripper number to be assigned to
any desired option slot. (This is set when the system is shipped from the factory.)
If you are using multiple grippers, the number 1 is assigned to the lower-numbered
option slot in which a gripper control board is installed, and the number 2 is
4 assigned to the board in the higher-numbered option slot (example 2).
Example 1: Only one gripper board is installed Example 2: Two gripper boards are installed
Option Gripper Option Gripper
Board setting Board setting
slot number slot number
5 1 --- --- 1 --- ---
2 --- --- 2 Gripper control board 1
3 Gripper control board 1 3 --- ---
4 --- --- 4 Gripper control board 2
10
8-2 Chapter 8 Robot language commands


This section explains each robot language command. 1
8.2.1 Dedicated commands for gripper axis
GDRIVE
GDRIVE ( Gripper number , Position

Point expression
) , (Gripper number, Position
Point expression
) ..., Option
2
<Gripper number> Range: 1 to 4
Function
Executes absolute movement commands for the gripper.
3
Explanation
After all gripper operation for the gripper specified by <Gripper number> has been
completed, movement begins, and the command ends when the target position is reached.
The axis can also be specified by using a variable. If multiple axes are specified, they will not
arrive at the same time.
4
Example:
GDRIVE (1, P10) �� Gripper 1 moves from the current position to a position specified by P10.
Point data setting types 5

• Direct numeric value input
Directly specify coordinate data in <Position>.
If the numeric value is an integer, this is interpreted as "pulse" units. If the numeric value is
a real number, this is interpreted as "mm" units, and each axis will move from the 0-pulse
position to a pulse-converted position. 6
Example:
GDRIVE (1, 500) �� Gripper 1 moves from the current position to the 500-pulse position.
GDRIVE (3, 10.0) �� Gripper 3 moves from the current position to the 10.0mm-position.
• Point definition
Specify a movement position in <Point expression>. Axis number data, to which the gripper
7
specified by <Gripper number> is assigned, is used.
The gripper moves to the position determined by the units used for the point expression.
When this is interpreted as a "mm" units, and each axis will move from the 0-pulse position
to a pulse-converted position.
Example:
8
GDRIVE (1, P10) �� Gripper 1 moves from the current position to the position specified by P10.
n NOTE
The coordinate data specified as movement destination is the total of values set for
9
two fingers.
As the electric gripper is operated, two fingers function at the same time. The
coordinate value of the point data set for one finger is 1/2 of its set value.
Example) When the gripper current position is 0.00 mm and the gripper axis moves
to the 10.00mm-position using the absolute position movement:
Each finger moves 5.00 mm and the total movement of both fingers is 10
10.00 mm.

Option types
• Speed setting
1 SPEED = Speed
S
Range: 20 to 100 (Unit: %)
2 <Speed> specifies the program movement speed. If this is unspecified, the value of the
current setting is used as the program movement speed (default value 100%, settable in a
range of 1 to 100% by the SPEED statement).
The movement speed is determined by the product of the automatic movement speed and
the program movement speed. This value is limited to 20 to 100%; if it is less than 20%, the
3 value will be 20%.
The speed of the robot assigned to the gripper is used as both the automatic movement speed
and the program movement speed.
The robot assignment for a gripper is a system generation setting and is specified at the
factory. Normally, it is assigned to robot 1.
4
This is valid only for the specified GDRIVE statement.
Example:
GDRIVE (1, 5.0), S=30 ��Gripper 1 moves from the current position to the 5.0-mm
position with the program speed set at 30%.
GDRIVEI
5 GDRIVEI ( Gripper number , Movement amount ) , (Gripper number, Movement amount ) ..., Option
6 Function
Executes a relative movement command for the gripper.
Explanation
After the operations of all gripper axes specified by <Gripper number> have been complete,
7 the specified gripper axis starts moving. When the gripper axis reaches the specified
movement amount, the command is terminated. The axis can also be specified by the
variable. When multiple axes are specified, these axes do not reach their target positions at
the same time.
Example:
8 GDRIVEI (1, P10) �� Gripper 1 moves the movement amount specified by P10 from the
current position.
Point data setting types

9 Directly specify coordinate data in <Position>.

When the coordinate data is an integer, this is interpreted as "pulse" units. When the
coordinate data is a real number, this is interpreted as "mm" units, and each axis will move
by the pulse-converted amount.
Example:
10 GDRIVEI (1, 500) �� Gripper 1 moves from the current position to the +500-pulse position.
GDRIVEI (3, 10.0) �� Gripper 3 moves from the current position to the +10.0mm-position.

Specify a movement amount in <Point expression>. Axis number data, to which the gripper
specified by <Gripper number> is assigned, is used. 1
The gripper moves the movement amount by the units used for the point expression. When
this is interpreted as "mm" units, and each axis will move to a pulse-converted position.
Example:
GDRIVEI (1, P10) �� Gripper 1 moves the movement amount specified by P10 from the
current position.
2
n NOTE
The coordinate data specified as movement destination is the total of values set for
two fingers.
As the electric gripper is operated, two fingers function at the same time. The 3
Example) When the gripper axis moves to the +10.00mm-position from the current
position using the relative position movement: "+ 5.00 mm" is specified
for each finger and the total movement of both fingers is "+ 10.00 mm".
4
Option types
• Speed setting
SPEED
S
= Speed
5
Specify a program movement speed in <Speed>. If not specified, the program movement
speed uses the current set value. (Default value: 100%. The program movement speed can be
set in the range of 1 to 100% by the SPEED statement/SPEED2 statement.)
6
The movement speed is determined by the product of the automatic movement speed and
the program movement speed. This value is limited to 20 to 100%; if it is less than 20%, the
value will be 20%.
The speed of the robot assigned to the gripper is used as both the automatic movement speed 7
8
This option is enabled only for the specified GDRIVEI statement.
Example:
GDRIVEI (1, 5.0), S=30 ��Gripper 1 moves from the current position to the +5.0-mm
10

GHOLD
1 GHOLD ( Gripper number , Position

Point expression
) , (Gripper number, Position
Point expression
) ..., Option
Function
2 This command moves the gripper axis to a position close to the specified position at a
trapezoidal acceleration/deceleration and moves it at a holding speed specified by the
parameter immediately before holding. In this motion, the holding power can be specified by
the command option <Power>.
Explanation
3 After the operations of all gripper axes specified by <Gripper number> have been complete,
the specified gripper starts moving. When it is judged that the gripper reaches the target
position or holds a workpiece, the command is terminated. The operation completion
conditions can be checked using GSTATUS.
Example:
4 GHOLD (1, P10) �� Gripper 1 moves from the current position to a position specified
by P10.
Point setting types
5
Directly specify coordinate data in <Position>.
position to a pulse-converted position.
Example:
6 GHOLD (1, 500) �� Gripper 1 moves from the current position to the 500-pulse
position.
GHOLD (3, 10.0) �� Gripper 3 moves from the current position to the 10.0mm-position.
7 Specify a movement position in <Point expression>. Axis number data, to which the gripper
The gripper moves to the position determined by the units used for the point expression.
When this is interpreted as "mm" units, and each axis will move from the 0-pulse position to
a pulse-converted position.
8 Example:
GHOLD (1, P10) �� Gripper 1 moves from the current position to the position specified
by P10.
n NOTE
• Set a workpiece holding position (target position) so that it does not exceed the
9 value that the limit width is subtracted from the software limit.
• The coordinate data that is specified as the movement destination is the total
value of the two fingers.
When the gripper is operated, the two fingers move simultaneously. For one
finger, coordinate data specified as a point will be 1/2 of the specified value.
Example) When the gripper current position is 0.00 mm and the gripper axis moves to the
10 10.00mm-position using the absolute position movement:
Each finger moves 5.00 mm and the total movement of both fingers is 10.00 mm.

Option types
• Speed setting
SPEED = Speed
1
S
<Speed> specifies the program movement speed. If this is unspecified, the current setting is 2
used as the program movement speed (default value 100%, settable by the SPEED statement
in the range of 1 to 100%). The movement speed is determined by the product of the
automatic movement speed and the program movement speed. This value is limited to 20%
to 100%; if it is less than 20%, the value will be 20%. The speed of the robot assigned to the
gripper is used as both the automatic movement speed and the program movement speed.
3
This option is enabled only for the specified GHOLD statement.
Example:
GHOLD (1, 5.0), S=30 ��Gripper 1 moves from the current position to the 5.0mm-
position with the program speed set at 30%. 4
• Power setting
T = Power

5
Specify a workpiece holding force in <Power>. If not specified, the power becomes 100%.
If a value less than 30% is set, the power is then set to 30%.
This option is enabled only for the specified GHOLD statement.
Example: 6
GHOLD (1, 5.0), T=40 ��Gripper 1 moves from the current position to the 5.0mm-
position. The holding power is 40%.
Example:
-software limit = 0.00 mm
+software limit = 14.3 mm
Limit width = 0.4 mm
7
When the parameters are set as shown above:
GHOLD(1, 0.0) ��"26.332: Gripper Soft limit over" occurs and the operation
8
cannot be performed.
GHOLD(1, 14.3) ��"26.332: Gripper Soft limit over" occurs and the operation
cannot be performed
GHOLD(1, 0.4) ��If the gripper does not hold a workpiece, it stops at the 0.0mm-
position.
GHOLD(1, 13.9) ��If the gripper does not hold a workpiece, it stops at the
14.3mm-position. 9
c CAUTION
Set an appropriate workpiece holding force (%) for the gripper movement
command so that any excessive impact or moment is not applied to the finger
during operation. If applied, this may cause damage to the product or service life
to be shortened.
10

GHOLDI
1 HOLDI ( Gripper number , Movement amount ) , (Gripper number, Movement amount ) ..., Option
Function
2 This command moves the gripper axis to a position close to the specified movement amount
at a trapezoidal acceleration/deceleration and moves it at a holding speed specified by the
parameter immediately before holding. In this motion, the holding power can be specified by
the command option <Power>.
Explanation
3 After the operations of all gripper axes specified by <Gripper number> have been complete,
the specified gripper axis starts moving. When it is judged that the gripper reaches the
specified movement amount or holds a workpiece, the command is terminated.
The operation completion conditions can be checked using GSTATUS.
4
Example:
GHOLDI (1, P10) �� Gripper 1 moves the movement amount specified by P10 from the
current position.
Point setting types
• Direct coordinate data input
5 Directly specify coordinate data in <Position>.

position to a pulse-converted position.
Example:
6 GHOLDI (1, 500) �� Gripper 1 moves from the current position to the +500-pulse position.
GHOLDI (3, 10.0) �� Gripper 3 moves from the current position to the +10.0mm-position.
Specify a movement amount in <Point expression>. Axis number data, to which the gripper
7 The gripper moves the movement amount by the units used for the point expression. When
this is interpreted as "mm" units, and each axis will move by the pulse-converted amount.
Example:
GHOLDI (1, P10) �� Gripper 1 moves the movement amount specified by P10 from the
current position.
8 n NOTE
• Set a workpiece holding position (target position) so that it does not exceed the
value that the limit width is subtracted from the software limit.
• The coordinate data specified as movement destination is the total of values set
for two fingers.
9 As the electric gripper is operated, two fingers function at the same time. The
Example) When the gripper axis moves to the +10.00mm-position from the
current position using the relative position movement:
"+ 5.00 mm" is specified for each finger and the total movement of
10 both fingers is "+ 10.00 mm".

Option types
• Speed setting
SPEED = Speed
1
S
Specify a program movement speed in <Speed>. If this is unspecified, the current setting is 2
used as the program movement speed (default value 100%, settable by the SPEED command in
the range of 1 to 100%). The movement speed is determined by the product of the automatic
movement speed and the program movement speed. This value is limited to 20% to 100%; if
it is less than 20%, the value will be 20%.
The speed of the robot assigned to the gripper is used as both the automatic movement speed 3
This option is enabled only for the specified GHOLDI statement.
Example: 4
GHOLDI (1, 5.0), S=30 ��Gripper 1 moves from the current position to the +5.0mm-
• Power setting
T = Power
5
This option is enabled only for the specified GHOLDI statement.
6
Example:
GHOLDI (1, 5.0), T=40 ��Gripper 1 moves from the current position to the
+5.0mm-position.
The holding power is 40%. 7
Example:
-software limit = 0.00 mm
+software limit = 14.3 mm
8
Limit width = 0.4 mm
When the parameters are set as shown above and the gripper current position is "0.00 mm":
GHOLDI (1, 14.3) ��" 26.332: Gripper Soft limit over" occurs and the operation
cannot be performed.
9
GHOLDI (1, 13.9) ��If the gripper does not hold a workpiece, it stops at the
14.3mm-position.
c CAUTION
during operation. If applied, this may cause damage to the product or service life 10
to be shortened.

GOPEN
1 GOPEN (Gripper number) , (Gripper number)..., Option
Function
2 This command moves the gripper axis to the stroke end at a constant speed in the open
direction. In this motion, the holding power is specified by the command option <Power>.
Explanation
the specified gripper axis starts moving. When it is judged that the gripper reaches the target
3 position or holds a workpiece, the command is terminated.
Example:
GOPEN (1) �� Gripper 1 moves from the current position in the open direction.
4 Option types
• Speed setting
SPEED = Speed
S
5 Range: 20 to 50 (Unit: %)
set in the range of 1 to 100% by the SPEED statement.)
The movement speed is determined by the product of the automatic movement speed and the
6 program movement speed. This value is limited to 20% to 50%. (If the value is less than 20%,
it is set to 20%. If the value is 50% or more, it is set to 50%.) The speed of the robot assigned
to the gripper is used as both the automatic movement speed and the program movement
speed. The robot assignment for a gripper is a system generation setting and is specified at
the factory.
Normally, it is assigned to robot 1.
7 This option is valid only for the specified GOPEN statement.
Example:
GOPEN (1), S=30 �� Gripper 1 moves from the current position in the open direction
with the program speed set at 30%.
• Power setting
8 T = Power

9 This option is enabled only for the specified GOPEN statement.

Example:
GOPEN (1), T=40 �� Gripper 1 moves from the current position in the open direction.
The holding power is 40%.
10 c CAUTION
to be shortened.

GCLOSE
GCLOSE (Gripper number) , (Gripper number)..., Option 1

Function
This command moves the gripper axis to the stroke end at a constant speed in the close
direction. In this motion, the holding power is specified by the command option <Power>. 2
Explanation
the specified gripper axis starts moving. When it is judged that the gripper reaches the target
position or holds a workpiece, the command is terminated.
3
Example:
GCLOSE (1) �� Gripper 1 moves from the current position in the close direction.
Option types
• Speed setting 4
SPEED = Speed
S

5
set in the range of 1 to 100% by the SPEED statement.)
The movement speed is determined by the product of the automatic movement speed and the
program movement speed. This value is limited to 20% to 50%.(If the value is less than 20%,
it is set to 20%. If the value is 50% or more, it is set to 50%.) The speed of the robot assigned
to the gripper is used as both the automatic movement speed and the program movement
6
speed. The robot assignment for a gripper is a system generation setting and is specified at
the factory.
Normally, it is assigned to robot 1.
This option is valid only for the specified GCLOSE statement.
Example: 7
GCLOSE (1), S=30 �� Gripper 1 moves from the current position in the close direction
with the program speed set at 30%.
• Power setting
T = Power
8
Specify a workpiece holding force in <Power>. If not specified, the power becomes 100%. If
a value less than 30% is set, the power is then set to 30%.
9
This option is enabled only for the specified GCLOSE statement.
Example:
GCLOSE (1), T=40 �� Gripper 1 moves from the current position in the close direction.
The holding power is 40%.
c CAUTION
10
to be shortened.

GSERVO
1 GSERVO ON (Gripper number)

OFF

Function
2 Controls servo on/off for the gripper of the specified number or for all grippers. If the
gripper number is specified, only the specified gripper is the target. If the gripper number is
unspecified, all grippers are the target.
ON --------Turns the servo on.
3 OFF -------Turns the servo off.

Example:
GSERVO ON �� Turns the servo on for all grippers.
GSERVO OFF �� Turns the servo off for all grippers.
GSERVO ON(2) �� Turns the gripper 2 servo on.
4
GORIGIN
GORIGIN (Gripper number)
5 <Gripper number> Range: 1 to 4
Function
Executes return-to-origin for the gripper of the specified number or for all grippers. If this is
halted mid-way, return-to-origin will be incomplete.
6 If <Gripper number> is not specified, return-to-origin is executed for all grippers.
Example:
GORIGIN �� Return-to-origin is executed for all grippers.
GORIGIN (3) �� Return-to-origin is executed for gripper 3.
10

GSTATUS
GSTATUS (Gripper number) 1

Function
This command obtains the status information on gripper with the specified number.
The obtained result is a value that each status is assigned to relevant bit. The meaning of
each bit is described in the table below.
2
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Return-
Meaning Servo
to-origin Not used READY ZON HOLD INPOS BUSY
status
3
status
Beyond Beyond
0 Servo OFF Incomplete Preparing Release Complete
area area
(0: Fixed)
Within Within
1 Servo ON Complete Correct Holding Running
area area
Example:
● Operation branch after completion of gripper operation
GHOLD (1, 10.0) �� Moves gripper 1 from the current position to the
4
10.0mm-position.
STS% = GSTATUS (1) AND &B110 �� Obtains the status information on gripper 1.
INP% = STS% AND &B10 �� Obtains the status of the INPOS bit.
HLD% = STS% AND &B100 �� Obtains the status of the HOLD bit.
IF INP% <> 0 THEN �� Checks the status of the INPOS bit.
5
*** Operation completion as the gripper reaches the target position. ***
ELSEIF HLD% <> 0 THEN �� Checks the status of the HOLD bit.
*** Operation completion as the gripper holds a workpiece. ***
ENDIF
6
GWHERE
GWHERE
Function 7
Reads the current gripper position as joint coordinates (pulses).
The current positions of grippers 1 to 4 are read to axis 1 through axis 4 of the point data.
The current position of an unused gripper is 0.
Example:
P10 = GWHERE �� Read the current gripper position and register it to P10. P10 is 8
defined as joint coordinates (pulses).
GWHRXY
GWHRXY
9
Function
Reads the current gripper position as Cartesian coordinates (mm).
The current positions of grippers 1 to 4 are read to axis 1 through axis 4 of the point data.
The current position of an unused gripper is 0.00.
Example: 10
P10 = GWHRXY �� Read the current gripper position and register it to P10. P10 is
defined as Cartesian coordinates (mm).

GJTOXY
1 GJTOXY (Point expression)
Function
The joint coordinate data (unit: pulse) specified in <Point expression> for axis 1 through axis
2 4 is converted by this command into Cartesian coordinate data (unit: mm) for the gripper.
Example:
P10 = GJTOXY(GWHERE).....Converts the current gripper position data into Cartesian
coordinate data.
3 GXYTOJ
GXYTOJ (Point expression)
4 Function
The Cartesian coordinate data (unit: mm) specified in <Point expression> for axis 1 through
axis 4 is converted by this command into joint coordinate data (unit: pulse) for the gripper.
Example:
P10 = GXYTOJ(P10) �� Converts P10 to joint coordinate data.
5 GTOLE
1. GTOLE Expression
2. GTOLE (Gripper number) = Expression
6 <Gripper number> Range: 1 to 4

<Expression> : Differs depending on the specified gripper (unit: mm)
Example:
The positioning completion distance parameter of the specified gripper is changed to the
7 value of <Expression>.
Expression 1 changes all grippers.
Expression 2 changes only the specified gripper.
[Function]
8 GTOLE (Gripper number)

Description
9 Obtains the positioning completion distance parameter of the gripper specified by <Gripper
number>.
Example:
C = GTOLE(2) �� Assigns the gripper 2 positioning completion distance parameter to
10 variable C.
GTOLE(2) = 1.0 �� Changes the gripper 2 positioning completion distance parameter
to 1.0.

8.2.2 Other commands for gripper axis

MOTOR 1
MOTOR ON
OFF
PWR
Function
2
Controls motor power on/off. At this time, servo on/off for all robots and all grippers can also
be controlled simultaneously.
• ON �� Motor power turns on. Simultaneously, the servos for all robots
also turn on. If grippers are specified, the servos for all grippers 3
also turn on.
(The gripper DC24V power is not turned on.)
• OFF �� Motor power turns off. Simultaneously, the servos for all robots
turn off, and the dynamic brake is applied. For axes equipped with
a brake, the brake is applied and locked. If grippers are specified,
4
the servos for all grippers also turn off.
(The gripper DC24V power is not turned off.)
• PWR �� Only the motor power turns on.
(Gripper DC24V power is not turned on. Gripper DC24V power 5
must be turn on at the same time as or before turning on the
controller's control power. After turning on the DC24V power, we
recommend that you wait 100ms or longer before turning on the
controller control power.)
Example: 6
MOTOR ON �� Motor power turns on, and the servos turn on for all robots and all
grippers.
10

8.3 Operation chart of electric gripper
8.3 Operation chart of electric gripper

1 The following shows the operation chart of the movement commands for the electric gripper.
● GDRIVE / GDRIVEI
Speed • The gripper moves to the

Max. speed
specified position (GDRIVE)
2 or by the specified movement
amount (GDRIVEI) using the
trapezoidal speed control.
• If the gripper is stopped by an
3 Movement distance
Distance external force during movement
to the specified position, relevant
alarm occurs.
Specified position
4 ● GHOLD / GHOLDI
Constant • The gripper moves to a position
movement
distance Limit width close to the specified position
Speed Max. speed using the trapezoidal speed
5 Effective holding area

control, moves at a constant
speed immediately before
holding, and holds a workpiece.
Holding speed • If the gripper holds a workpiece
Distance in the area determined by the
6 Movement distance "limit width" and "constant
movement distance" parameters,
Holding
the HOLD bit and ZON bit turn
position
on.
7 • If the gripper stops at a position

beyond the effective holding
area, only the INPOS bit turns on.
• If the gripper holds a workpiece
before the effective holding area,
8 only the HOLD bit turns on.
● GOPEN / GCLOSE
Speed • The gripper moves to the stroke
9 end at a constant speed in the

open (GOPEN) or close (GCLOSE)
Holding speed (variable) direction. When the gripper
reaches the stroke end, the
Distance INPOS bit turns on.
10 Stroke end
• If the gripper holds a workpiece
during stroke movement, the
HOLD bit turns on.

9.1 Online command list
9. Online commands
This section explains the dedicated online commands used by Yamaha grippers. 1
For other online commands, refer to the "Controller RCX 3 Series Programming Manual".
9.1 Online command list

2
■ Operation and setting commands
Function Command Options
Point data teaching (pulse) GTEACH mmmmm (mmmmm:point number)
Point data teaching (mm) GTCHXY mmmmm (mmmmm:point number) 3
Inching movement amount setting GIDIST k (k:inching movement amount)
Manual movement speed change GMSPEED k (1-100)
Manual movement (inching movement in GINCH km (k:1-4,m:+,-)
pulse units)
Manual movement (inching movement in GINCHXY km (k:1-4,m:+,-)
4
mm units)
Manual movement (jog movement in GJOG km (k:1-4,m:+,-)
pulse units)
Manual movement (jog movement in mm GJOGXY km (k:1-4,m:+,-) 5
units)
■ Operation and setting commands

Function Command Options 6
Acquire servo status GSERVO
Acquire return-to-origin status GORIGIN
Acquire status GSTATUS (Gripper number)
Acquire current position (pulse units) ? GWHERE 7
Acquire current position (mm units) GWHRXY
Acquire inching movement amount GIDIST
Acquire manual movement speed GMSPEED
10
Chapter 9 Troubleshooting 9-1

9.2 Online command details

1 This section explains each of the online commands.
9.2.1 Operation and setting commands

Point data teaching
2 Command format
@GTEACH mmmmm[cr/lf]
@GTCHXY mmmmm[cr/lf]
3 Response format
OK[cr/lf]
mmmmmm : Point number for registering point data 0 to 29999
4 Meaning
The current gripper position is registered in the point data of the specified point number.
If point data already exists in the specified point number, the point data is overwritten.
The units of the point data differ depending on the command.
GTEACH .............................. pulse units
5 GTCHXY .............................. mm units
Example
Command : @GTEACH 100[cr/lf]
Response : OK[cr/lf]
6
Specify inching movement amount
Command format
7
@GIDIST k[cr/lf]
Response format
OK[cr/lf]
8 k : Movement amount for inching 1 to 10000
Meaning
Specifies the movement amount for inching operation of the gripper.
9 The inching movement amount of the @GINCH command uses this value as pulse units.
The inching movement amount of the @GINCHXY command uses this value as 0.001 to
10.000(mm).
Example
Command : @GIDIST 50[cr/lf]
10 Response : OK[cr/lf]
9-2 Chapter 9 Troubleshooting

Manual movement speed change

Command format
1
@GMSPEED k[cr/lf]
Response format
OK[cr/lf] 2
k : Manual movement speed 1 to 100
Meaning
Changes the speed of gripper manual movement mode.
3
n NOTE
The speed of manual movement (jog/inching) is determined by
the maximum speed x gripper manual movement speed [%].
However, the movement speed is limited by the following conditions.
• If the gripper manual movement speed is less than 20 [%], the gripper will move
4
at a speed of 20 [%].
• If "Manual Holding of Gripper" is enabled and the gripper manual movement speed
exceeds 50 [%], the gripper will move at a speed of 50 [%] in jog movement.
5
Example
Command : @GMSPEED 50[cr/lf]
Response : OK[cr/lf]
6
10

Manual movement : inching
1 Command format
@GINCH km[cr/lf]
@GINCHXY km[cr/lf]
Response format
2 When movement starts : RUN[cr/lf]
When movement ends : END[cr/lf]
k : Gripper number 1 to 4
m : Movement direction / +, -
3
Meaning
Performs manual movement (inching movement) of the specified gripper. The gripper operates
in the same way as when inching movement is performed in manual mode using the jog keys of
4 the programming box (move a fixed amount each time a key is pressed). The movement amount
unit and operation type for each command are as follows.
GINCH .................................. Only the specified axis is moved in pulse units.
GINCHXY .............................. Only the specified axis is moved in mm units.
5 Example
Command : @GINCH 1+[cr/lf]
Response : RUN[cr/lf] ............................. When movement starts
END[cr/lf] ............................. When movement ends
10

Manual movement: Jog

Command format
@GJOG km[cr/lf]
1
@GJOGXY km[cr/lf]
Response format
When movement starts : RUN[cr/lf]
2
When movement ends : END[cr/lf]
k : Gripper number 1 to 4
m : Movement direction / +, -
3
Meaning
Performs manual movement (jog movement) of the specified gripper. The gripper operates in
the same way as when a jog key of the programming box is continuously held down in manual
mode. 4
In order to continue the jog commands, an online command must be used to input execution
continuation process (^V (=16H)) at 200ms intervals. If this is not input, error stop occurs.
After movement starts, the gripper will also stop if any of the following states occurs.
• The software limit position is reached
• The interlock signal turns off 5
• The STOP key of the programming box is pressed
• An execution halt process (^C (=03H)) is input by an online command
The movement amount unit and operation type for each command are as follows.
GJOG .................................. Only the specified axis is moved in pulse units. 6
GJOGXY .............................. Only the specified axis is moved in mm units.
Example
Command : @GJOG 1+[cr/lf]
Response : RUN[cr/lf] ............................. When movement starts
END[cr/lf] ............................. When movement ends
7
10

9.2.2 Reference commands
1 Acquire ser vo status

Command format
@?GSERVO[cr/lf]
2 Response format
X Y, Y, Y, Y [cr/lf]
X : Servo status of all grippers 0 : Servo off status
1 : Servo on status
3 Y : Servo status of individual grippers From the left, this indicates the status of gripper 1,
gripper 2, ... gripper 4.
0 : Servo off status
1 : Servo on status
4 Inapplicable grippers are omitted; only "," is returned.

Meaning
Acquires the servo status of the grippers.
Example
5 Command : @?GSERVO[cr/lf]
Response : 1 1,1,,[cr/lf]
Acquire return-to-origin status
6 Command format
@?GORIGIN[cr/lf]
Response format
7 X Y, Y, Y, Y [cr/lf]
X: Return-to-origin status of all grippers 0 : Incomplete
1 : Complete
Y: Return-to-origin status of individual grippers From the left, this indicates the status of
8
0 : Return-to-origin incomplete
gripper 1, gripper 2, ... gripper 4.
1 : Return-to-origin complete
Inapplicable grippers are omitted; only "," is
returned.
9 Meaning
Acquires the return-to-origin status of the grippers.
Example
Command :@?GORIGIN[cr/lf]
10 Response : 1 1,1,,[cr/lf]

Acquire status
Command format
@?GSTATUS (Gripper number)[cr/lf]
1
Response format
xxxxxxxx [cr/lf]
<Gripper number> : 1 to 4 2
xxxxxxxx . . ..............................From the left, this indicates the servo status, return-to-origin
status, unused (0: fixed), READY signal status, ZON signal status,
HOLD signal status, INPOS signal status, and BUSY signal status.
0 : Signal off status
Meaning
1 : Signal on status 3
Acquires status information for the specified gripper.
The following table shows the meaning of each signal.
4
Return
Servo
Contents to-origin READY ZON HOLD INPOS BUSY
status
status
Servo Beyond Beyond
0 Incomplete Preparing Release Complete
OFF area area
1
Servo
ON
Complete Correct
Within
area
Holding
Within
area
Running 5
Example
Command : @?GSTATUS[cr/lf]
Response : 11110010[cr/lf]
Acquire current position as pulse coordinates

6
Command format
@?GWHERE[cr/lf]
Response format
7
xxxxxx yyyyyy zzzzzz rrrrrr 0 0[cr/lf]
xxxxxx.................... Current position of gripper 1 in pulse units
yyyyyy.................... Current position of gripper 2 in pulse units
zzzzzz.................... Current position of gripper 3 in pulse units 8
rrrrrr....................... Current position of gripper 4 in pulse units
Meaning
Acquires the current positions of the grippers in pulse units.
9
n NOTE
• An alarm occurs if not even one gripper is connected.
• The current position data of an unconnected gripper is 0.
Example
Command : @?GWHERE[cr/lf]
10
Response : 500 1000 0 0 0 0[cr/lf]

Acquire current position as XY coordinates
1 Command format
@?GWHRXY[cr/lf]
Response format
2 xxxxxx yyyyyy zzzzzz rrrrrr 0.0 0.0[cr/lf]

xxxxxx.................. Current position of gripper 1 in mm units
yyyyyy.................. Current position of gripper 2 in mm units
zzzzzz.................. Current position of gripper 3 in mm units
rrrrrr..................... Current position of gripper 4 in mm units
3
Meaning
Obtains the current positions of the grippers in mm units.
4 n NOTE
• An alarm occurs if not even one gripper is connected.
• The current position data of an unconnected gripper is 0.0.
Example
5 Command : @?GWHRXY[cr/lf]
Response : 10.00 20.00 0.0 0.0 0.0 0.0 [cr/lf]
Acquire inching movement amount

6 Command format
@?GIDIST[cr/lf]
Response format
7 k [cr/lf]
k : Inching movement amount
Meaning
8 Acquires the gripper inching movement amount.
Example
Command : @?GIDIST[cr/lf]
Response : 100[cr/lf] .. ....... The inching movement amount is 100 pulses if inching with pulse
9 units, or 0.1(mm) if inching with mm units.
10

Acquire manual movement speed
Command format 1
@?GMSPEED[cr/lf]
Response format
k [cr/lf] 2
k : Manual movement speed
Meaning
Acquires the gripper manual movement speed.
3
Example
Command : @?GMSPEED[cr/lf]
Response : 50[cr/lf]
10

MEMO

10.1 Remote command format
10. Remote command

1
If a CC-Link or DeviceNet (TM) serial I/O unit is installed, the remote registers of the serial I/O unit
can be used to issue commands directly from the master module.
This section explains the dedicated remote commands used by Yamaha grippers.
For other remote commands, refer to the manual of the applicable serial I/O unit.
2
10.1.1 Remote command specifications
Functions such as shown below are assigned to each address.
1. Master module output Controller input
3
Remote command Assigned address
DeviceNet PROFIBUS
Address Contents CC-Link EtherCAT
EtherNet/IP PROFINET
WI0 Execute command code
Command data
RWwn nCH n Qn
4
WI1 RWwn + 1 n + 1CH n+2 Qn + 2
WI2 RWwn + 2 n + 2CH n+4 Qn + 4
WI3 RWwn + 3 n + 3CH n+6 Qn + 6
to
WI15
to
RWwn + 15
to
n + 15CH
to
n + 30
to
Qn + 30
5
2. Controller output Master module input
Remote command Assigned address

DeviceNet PROFIBUS
6
Address Contents CC-Link EtherCAT
EtherNet/IP PROFINET
Status RWrn mCH m Im
WO0 Normal Abnormal
end end 7
Alarm group
WO1 RWrn + 1 m + 1CH m+2 Im + 2
number
Alarm
WO2 category
number
RWrn + 2 m + 2CH m+4 Im + 4
8
WO3 Not used RWrn + 3 m + 3CH m+6 Im + 6
to to to to to
WO15 RWrn + 15 m + 15CH m + 30 Im + 30
n, m : Value is determined by station number, MAC ID, or node address 9
I, Q : Input/output address symbol
n NOTE
Remote commands must be held until the status changes to a normal end (0x0200) or
an abnormal end (0x4000). If a remote command is changed before the status 10
changes to an end, the status of the executed remote command will not be reflected.
Chapter 10 Remote command 10-1

● To execute a remote command, assign the command code that you want to execute in WI0, and
assign the command data in WI1 to WI15.
1 When the controller receives a remote command, it executes that process, and sends the status
(result) and other information to the master module via WO0 and WO1 to WO15. When the
remote command ends, you must assign the status reset command (0x0000 (hex)) in WI0 to clear
the status. Remote commands can be executed if the status is command ready status (0x0000
2 ●
(hex)).
Command data which adds to remote commands differs according to the particular remote
command. For details, Refer to "10.4 Remote command description" in this chapter. Command
data must always be entered before trying to set the remote command.
● Contents of the remote command response sent as the remote command results differ according
3 to the particular remote command. For details, Refer to "10.4 Remote command description" in
this chapter.
● Data is set in binary code. When setting two pieces of 8-bit data such as character code data,
set the upper bit data into the higher address. If the data size is greater than 16 bits, set the
upper bit data into the higher address. (little endian)
4 For example, to set "12" in WI4, enter 0x3231 (hexadecimal)
(character code: "1" = 0x31, "2" = 0x32)
For example, to set 0x01234567 (hexadecimal) (=19,088,743) in the WI4 and WI5 registers, set
0x0123 (hexadecimal) in WI5 and set 0x4567 (hexadecimal) in WI4.
5
● The status code is sent to "WO0" when the remote command ends correctly.
● When the remote command ends incorrectly, an alarm group number is sent to WO1 and
alarm category number is sent to WO2 as a response. See the troubleshooting section of the
robot controller user's manual for description of the alarm group number and alarm category
number. For example, when 0x0002 (hexadecimal) was set in WO1 and 0x014E (hexadecimal)
6 was set in WO2, this shows that a "soft limit over" alarm has occurred.
10
10-2 Chapter 10 Remote command

10.1.2 Remote status description

The controller starts processing when the remote command is received and sends the status (results)
to the master module by way of WO0.
1
Status contents
Meaning
WO0 WO1 WO2 WO3 to
0x0000 0x0000
Command ready
status
2
Command run
0x0100 0x0000
status
0x0200 Response data Normal end status
Alarm category Abnormal end 3
0x4000 Alarm group number 0x0000
number status
n NOTE
an abnormal end (0x4000). If a remote command is changed before the status 4
changes to an end, the status of the executed remote command will not be reflected.
■ Code 0x0000 ..................................................................... Command ready status

Indicates a state where remote command is not being executed and a new remote command
can be received. Remote status must always be set to command ready status (0x0000) in order
5
to execute a remote command. To change the remote status to command ready status (0x0000),
execute the status reset command (0x0000).
■ Code 0x0100 ......................................................................... Command run status

Indicates a state where the controller has received a remote command and is in command run status.
6
In some cases the command run status (0x0100) might not be sent to the master module due to
problems caused by a short remote command execution time versus the controller scan time (5ms).
■ Code 0x0200 ............................................................................ Normal end status

Indicates a state where the remote command was run correctly.
7
■ Code 0x4000 ......................................................................... Abnormal end status
Indicates remote command ended abnormally.
The alarm group number and alarm category number are sent to WO1 and WO2.
• Alarm group number WO1
8
Indicates the alarm group number for the cause of the abnormal end.
• Alarm category number WO2
Indicates the alarm category number for the cause of the abnormal end.
* For example if the remote command was ended by emergency stop input, WO1 is set to 9
alarm group number 0x000C, and WO2 is set to alarm category number 0x0258.
* For information on the alarm, refer to the troubleshooting section of the robot controller
user's manual.
10

10.2 Sending and receiving remote commands
10.2 Sending and receiving remote commands

1 Sending and receiving remote commands
Remote command WI0 2 5
2 Command data WI 1 ～ 1
WI 15
Status WO0 3 4 6
3 Response WO 1～
WO 15
4 6
n NOTE
an abnormal end (0x4000). If a remote command is changed before the status
4 changes to an end, the status of the executed remote command will not be reflected.
1. Command data setting

2. Remote command setting
3. Status shifts to command run status (0x0100).
5 (If the command is quickly executed, status may sometimes shift to normal end status
(0x0200)
without changing to command run status (0x0100).)
4. Shifts to response change and normal end status (0x0200) or to abnormal end status (0x4000).
6 5. Status reset command (0x0000) setting
6. Status and response shifts to command ready status.
Example: Typical send/receive when running a PTP motion command (all axes, program speed
7 50%) to point 19 is shown below.
1. To run the PTP motion command for the designated point, enter the value in the
registers shown below.
WI1 : command flag (0x0004 = speed setting)
WI3 : speed setting (0x0032 = 50%)
8 WI4 : point setting (0x0013 = point 19)
2. Enter the PTP motion command (0x0001) for the designated point into the "WI0".
3. The robot controller receives the remote command and starts running it if the command
code and command data can be executed. Status now shifts to command run status
9 (0x0100). The robot moves to the position designated as point 19 at the program speed
(50% of normal speed). If the command cannot be executed, status shifts to abnormal
end status (0x4000) and the WO1 and WO2 values change to alarm codes.
4. When finished executing the remote command, status changes to normal end status
(0x0200). Response information is changed at the same time if present.
10 5. The current remote command has now finished, so set the status reset command (0x0000)
in "WI0" in order to issue the next command.
6. The status and response shift to command ready status (0x0000).

10.3 Remote command & remote status tables

Remote commands and remote status codes are shown in hexadecimal notation. 1
■ Remote Command
Command contents
Meaning
Category WI0
Special 0x0000 Status reset command
2
Movement command and associated
1 0xR0nn
command
2 0xR1nn Definition and reference command
3 0xR2nn Arithmetic command
3
4 0x03nn I/O port command
5 0x04nn Program operation setting command
6 0xR5nn Data handling command 4
7 0x06nn Utility mode setting operation command
* nn is determined by the particular remote command.
* "R" indicates the number of the robot in question (0 to 4).
5
■ Remote Status
Command contents
Meaning
WO0 WO1 WO2 WO3 to
0x0000 0x0000
Command ready 6
status
Command run
0x0100 0x0000
status
0x0200 Response data Normal end status
7
Alarm category Abnormal end
0x4000 Alarm group number 0x0000
number status
10

■ Remote command restrictions

• All remote commands are disabled when dedicated inputs have been disabled by a safety setting.
1 • Only the following remote commands are enabled when the programming box has control authority.
Command contents Command code WI0
Status reset command 0x0000
Point data reference 0x0101
2 Point comment data reference

Pallet data reference
0x0105
0x0109
Shift data reference 0x010D
Hand data reference 0x0111
Static variable referencing 0x0214
3 Parameter referencing 0xR224
Input/output port referencing 0x0304
Version information reference 0x0501
System configuration referencing 0xR502
4 Servo status reference

Current position reference (pulse units)
0xR503
0xR505
Current position reference (millimeter units) 0xR506
Task status reference 0x0507
Task execution reference 0x0508
5 Message reference 0x0509
Speed status reference 0xR50A
Arm designation status reference 0xR50B
Arm status reference 0xR50C
6 Return-to-origin status reference

Current torque value (percentage of max. torque) reference
0xR50F
0xR510
In-controller date reference 0x0511
In-controller time reference 0x0512
Option slot module information referencing 0x0513
7 Inching movement amount referencing 0x0514
Remote command latest alarm referencing 0x0515
Current torque value (percentage of rated torque) reference 0x0516
Gripper status data reference 0x0570
8 Gripper servo status reference

Gripper current position reference (pulse units)
0x0571
0x0572
Gripper current position reference (millimeter units) 0x0573
Gripper speed status reference 0x0574
Gripper return-to-origin status reference 0x0575
9 Gripper inching movement amount reference 0x0576
* "R" indicates the number of the robot in question (0 to 4).
* For remote commands other than gripper, refer to each network user's manual.
10 n NOTE
For details regarding safety settings and programming box control authority, refer to
the robot controller user's manual.

■ Categor y 1
No. Command contents Command code WI0
GDRIVE command Point designation 0x0060 1
Direct Millimeter
1-1 0x0061
designation units
Pulse units 0x0062
GDRIVEI command Point designation
Direct Millimeter
0x0063
2
1-2 0x0064
designation units
Pulse units 0x0065
GHOLD command Point designation 0x0066
1-3
Direct Millimeter
0x0067
3
designation units
Pulse units 0x0068
GHOLDI command Point designation 0x0069
1-4
Direct
designation
Millimeter
units
0x006A 4
Pulse units 0x006B
1-5 GOPEN command 0x006C
1-6 GCLOSE command 0x006D
1-7 Gripper return-to-origin command 0x006E 5
Gripper jog movement command Pulse units 0x006F
1-8 Cartesian coordinate
0x0070
system units
1-9
Gripper inching movement
command
Pulse units
Cartesian coordinate
0x0071
6
0x0072
system units
Gripper inching movement
1-10 0x0073
amount setting command
1-11 Gripper point teaching command 0x0074 7
Gripper servo command ON 0x0075
1-12
OFF 0x0076
Gripper manual movement speed
1-13 0x0077
change command
* The 1-1 GDRIVE movement command, 1-2 GDRIVEI movement command, 1-3 GHOLD
8
movement command, 1-4 GHOLDI command, 1-5 GOPEN command, and 1-6 GCLOSE
command are valid only for one axis at a time.
■ Categor y 6
No.
6-1
Command contents
Gripper status data reference
Command code WI0
0x0570
9
6-2 Gripper servo status reference 0x0571
Gripper current position Pulse units 0x0572
6-3
reference Millimeter units 0x0573
6-4 Gripper speed status reference 0x0574 10
6-5 Gripper return-to-origin status reference 0x0575
6-6 Gripper inching movement amount reference 0x0576

10.4 Remote command description

1 10.4.1 Status reset command
This command is executed to set the status to command ready status (0x0000).
Remote commands cannot be executed unless in command ready status (0x0000). Therefore,
this command must be executed to execute the next remote command after executing the remote
2 command.
■ Command
Address Contents Value
3 WI0
WI1
Command code
Not used
0x0000
0x0000
to
WI15
4 ■ Status
WO0 Status code
WO1 Response
5 to
0x0000
WO15
10

10.4.2 Categor y 1 remote commands

These are remote commands mainly for movement commands.
No. Command contents Command code WI0
1
1-1 GDRIVE command Point designation 0x0060
Direct Millimeter
0x0061
designation units
Pulse units 0x0062 2
1-2 GDRIVEI command Point designation 0x0063
Direct Millimeter
0x0064
designation units
1-3 GHOLD command

Pulse units
Point designation
0x0065
0x0066
3
Direct Millimeter
0x0067
designation units
Pulse units 0x0068
1-4 GHOLDI command Point designation 0x0069 4
Direct Millimeter
0x006A
designation units
Pulse units 0x006B
1-5
1-6
GOPEN command
GCLOSE command
0x006C
0x006D
5
1-7 Gripper return-to-origin command 0x006E
1-8 Gripper jog movement command Pulse units 0x006F
Cartesian coordinate
system units
0x0070
6
1-9 Gripper inching movement Pulse units 0x0071
command Cartesian coordinate
0x0072
system units
1-10 Gripper inching movement
amount setting command
0x0073 7
1-11 Gripper point teaching command 0x0074
1-12 Gripper servo command ON 0x0075
OFF 0x0076
1-13 Gripper manual movement speed
0x0077 8
change command
* The 1-1 GDRIVE movement command, 1-2 GDRIVEI movement command, 1-3 GHOLD
movement command, 1-4 GHOLDI command, 1-5 GOPEN command, and 1-6 GCLOSE
command are valid only for one axis unit.
10

10.4.2.1 GDRIVE command
1 Execute this command group to move the specified gripper to an absolute position.
This command is valid only for one axis at a time.
● Point designation
This command moves the specified gripper to a target position in PTP motion by specifying the
point number.
2 ■ Command
WI0 Command code 0x0060
WI1 Command flag bit0 (0: Fixed) 0
3 bit2 – bit1 Speed designation flag bb
bit13 – bit3 (0: Fixed) 0
bit14 Current position output p
designation flag (Pulse
4 bit15
units)
Current position output m
designation flag
(Millimeter units)
WI2 Gripper number 0xgggg
5 WI3 Specified speed 0xssss
WI4 Point number 0xpppp
WI5 Not used 0x0000
to
6 WI15
bb : Specify the speed setting method in 2 bits.
Value Meaning Assignment range

00 Speed is not specified. -
7 10 Speed is specified in %. 1 to 100
p,m : Specify in 1 bit whether to output current position.
Value Meaning
8 0
1
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot
be designated at the same time. Doing so will result in the "5.238 Illegal option".
9 gggg : Specify the gripper number in 16 bits.

Specified range : 1(=0x0001) to 4(=0x0004)
10

ssss : Specify the program movement speed in 16 bits.

The movement speed is determined by the product of the automatic
movement speed of the assigned robot and the program movement speed. 1
This value is limited to 20 to 100%; if a value less than 20% is specified, it
will be set to 20%.
pppp : Specify the point number in 16 bits.
Specified range: 0 (=0x0000) to 29999 (=0x752F)
2
■ Status
Normal end
WO0
WO1
Status code
Not used
0x0200
0x0000
3
WO2
WO3
WO4 Gripper 1 data 0xbbbbbbbb
WO5 4
WO7
WO9 5
WO11
WO12 Not used 0x0000
to
WO15 6
bbbbbbbb : 3Shows the current position output data in 32 bits. (little endian)
Data is shown in integers when point display units are in pulses.

Data is shown in integers (x1000) when point display units are in millimeters.
The point units system conforms to the unit system which has been
7
specified for the current position output flag.
Abnormal end
Address
WO0 Status code
Contents Value
0x4000
8
WO1 Alarm group number 0xaaaa
WO2 Alarm category number 0xbbbb
WO3 Not used 0x0000
to 9
WO15
aaaa : Indicates the alarm group number

bbbb : Indicates the alarm category number 10


Example: Address Value

If you want to use the point designation
1 GDRIVE movement command to
WI0
WI1
0x0060
0x4004
move gripper 1 at 50% of the program WI2 0x0001
movement speed to point number 100 WI3 0x0032
and output the current position in pulse
WI4 0x0064
2 units, specify the command shown at
right.
WI5 0x0000
WI6 0x0000
WI7 0x0000
WI8 0x0000
3 WI9
WI10
0x0000
0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
4 WI14 0x0000
WI15 0x0000
Values are expressed as shown at right

Address Value
5 when the axis current positions are as
follows:
WO0 0x0200
WO1 0x0000
Gripper 1 = 123456
WO2 0x0000
Gripper 2 = -123
WO3 0x0000
Gripper 3 =0
6 Gripper 4 =0
WO4
WO5
0xE240
0x0001
WO6 0xFF85
WO7 0xFFFF
WO8 0x0000
7 WO9 0x0000
WO10 0x0000
WO11 0x0000
WO12 0x0000
8 WO13
WO14
0x0000
0x0000
WO15 0x0000
10

● Direct designation (millimeter units)

This command moves the specified gripper to a target position in PTP motion by directly
specifying the data in millimeters. 1
■ Command
WI1 Command flag bit0 (0: Fixed) 0 2
bit2 – bit1 Speed designation flag bb
units)
3
bit15 Current position output m
designation flag
(Millimeter units)
WI2 Gripper number 0xgggg 4
WI3 Specified speed 0xssss
WI4 Movement data 0xpppppppp
WI5
WI6
to
Not used 0x0000
5
WI15

6
10 Speed is specified in %. 1 to 100
7
Value Meaning
0 No output.
1 Output.
8
gggg
: Specify the gripper number in 16 bits.
9
movement speed of the assigned robot and the program movement speed.
will be set to 20%.
10
pppppppp : Specify the gripper's target position data in 32 bits. (little endian)
Data should be integers (x1000) in millimeter units.

■ Status
Normal end
1 Address Contents Value
WO0 Status code 0x0200
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
3 WO8 Gripper 3 data 0xbbbbbbbb
WO9
WO11
4 WO12 Not used 0x0000
to
WO15
5
bbbbbbbb : Shows the current position output data in 32 bits. (little endian)
The point units system conforms to the unit system which has been specified
for the current position output flag.
6 Abnormal end
7 WO2 Alarm category number 0xbbbb
WO3 Not used 0x0000
to
WO15
8 aaaa : Indicates the alarm group number

bbbb : Indicates the alarm category number

10


If you want to use the direct designation
1
WI0 0x0061
(millimeter units) GDRIVE movement WI1 0x8004
command to move gripper 3 at 50% WI2 0x0003
of the program movement speed by WI3 0x0032
5.000mm and output the current position WI4 0x1388
in millimeter units, specify the command
shown at right.
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0000
3
WI9 0x0000
WI10 0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000
Values are expressed as shown at right Address Value

when the axis current positions are as
follows:
WO0
WO1
0x0200
0x0000
5
Gripper 1 = 10.000 WO2 0x0000
Gripper 2 = 0.000 WO3 0x0000
Gripper 3 = 5.000 WO4 0x2710
Gripper 4 = 0.000 WO5 0x0000 6
WO6 0x0000
WO7 0x0000
WO8 0x1388
WO9
WO10
0x0000
0x0000
7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10

● Direct designation (pulse units)

This command moves the specified gripper to a target position in PTP motion by directly
1 specifying the data in pulses.
■ Command
2 WI1 Command flag bit0 (0: Fixed) 0
3 designation flag (Pulse

units)
designation flag
(Millimeter units)
4 WI2 Gripper number 0xgggg
WI5
5 WI6
to
Not used 0x0000
WI15

6 Value Meaning Assignment range
7
Value Meaning
0 No output.
1 Output.
8 * The "pulse units" and "millimeter units" current position output designation flags cannot
gggg : Specify the gripper number in 16 bits.

9 ssss : Specify the program movement speed in 16 bits.
will be set to 20%.
10 pppppppp : Specify the gripper's target position data in 32 bits. (little endian)
Data should be integers in pulse units.

■ Status
Normal end
Address Contents Value 1
WO1 Not used 0x0000
WO2
WO3 2
WO4 Gripper 1 data
0xbbbbbbbb
WO5
WO6 Gripper 2 data
0xbbbbbbbb
WO7
WO8 Gripper 3 data 3
0xbbbbbbbb
WO9
WO10 Gripper 4 data
0xbbbbbbbb
WO11
WO12 Not used 0x0000 4
to
WO15
5
Abnormal end 6
WO2 Alarm category number 0xbbbb 7
WO3 Not used 0x0000
to
WO15
aaaa : Indicates the alarm group number 8

10


1
WI0 0x0062
(pulse units) GDRIVE movement WI1 0x4004
command to move gripper 2 at 50% of WI2 0x0002
the program movement speed by 5000 WI3 0x0032
pulses and output the current position in WI4 0x1388
2 pulse units, specify the command shown
at right.
WI5 0x0000
WI6 0x0000
WI7 0x0000
WI8 0x0000
3 WI9
WI10
0x0000
0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
4 WI14 0x0000
WI15 0x0000

follows:
WO0
WO1
0x0200
0x0000
Gripper 1 = 123456 WO2 0x0000
Gripper 2 = 5000 WO3 0x0000
Gripper 3 =0 WO4 0xE240
6 Gripper 4 =0 WO5 0x0001
WO6 0x1388
WO7 0x0000
WO8 0x0000
7 WO9
WO10
0x0000
0x0000
WO11 0x0000
WO12 0x0000
WO13 0x0000
8 WO14 0x0000
WO15 0x0000
10

10.4.2.2 GDRIVEI command

This group of commands is executed in order to make the specified gripper execute relative
position movement. It is valid only for one axis at a time.
1
This command moves the specified gripper in PTP motion a distance by specifying the point
number.
■ Command
2
bit2 – bit1 Speed designation flag bb 3
bit15
units)
Current position output m
4
designation flag
(Millimeter units)
WI3 Specified speed 0xssss 5
WI5 Not used 0x0000
to
WI15
6

00
10
Speed is not specified.
Speed is specified in %.
-
1 to 100
7
Value Meaning
0 No output. 8
1 Output.
9
10


1

will be set to 20%.
Specified range : 0(=0x0000) to 29999(=0x752F)
2
■ Status
Normal end
3 WO0
WO1
Status code
Not used
0x0200
0x0000
WO2
WO3
4 WO5
WO7
5 WO9
WO11
to
6 WO15
7
Abnormal end
8 Address
WO0 Status code
Contents Value
0x4000
WO3 Not used 0x0000
9 to
WO15
10 bbbb : Indicates the alarm category number


If you want to use the point designation WI0 0x0063
GDRIVEI movement command to WI1 0x4004 1
movement speed by the distance WI3 0x0032
specified by point number 100 and WI4 0x0064
output the current position in pulse units,
specify the command shown at right.
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0000
3
WI9 0x0000
WI10 0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

follows:
WO0 0x0200 5
WO1 0x0000
Gripper 1 = 123456 WO2 0x0000
Gripper 2 = -123 WO3 0x0000
Gripper 4 =0 WO5 0x0001 6
WO6 0xFF85
WO7 0xFFFF
WO8 0x0000
WO9 0x0000 7
WO10 0x0000
WO11 0x0000
WO12 0x0000
8
WO13 0x0000
WO14 0x0000
WO15 0x0000
10


This command moves the specified gripper in PTP motion a distance by directly specifying the
1 data in millimeters.
■ Command
3 designation flag (Pulse

units)
designation flag
(Millimeter units)
WI5
5 WI6
to
Not used 0x0000
WI15

6 Value Meaning Assignment range
7 p,m : Specify in 1 bit whether to output current position.
Value Meaning
0 No output.
1 Output.
8 * The "pulse units" and "millimeter units" current position output designation flags cannot
9
will be set to 20%.
10 pppppppp : Specify the gripper's target position data in 32 bits. (little endian)

■ Status
Normal end
WO1 Not used 0x0000
WO2
WO3 2
WO5
WO7
WO8 Gripper 3 data 0xbbbbbbbb 3
WO9
WO11
to
WO15
5
Abnormal end 6
WO3 Not used 0x0000
to
WO15

10


1
WI0 0x0064
(millimeter units) GDRIVEI movement WI1 0x8004
the program movement speed 5.000mm WI3 0x0032
from the 0.000mm position and output WI4 0x1388
2 the current position in millimeter units,
WI5 0x0000
WI6 0x0000
WI7 0x0000
WI8 0x0000
3 WI9
WI10
0x0000
0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
4 WI14 0x0000
WI15 0x0000

follows:
WO0
WO1
0x0200
0x0000
Gripper 1 = 10.000 WO2 0x0000
Gripper 2 = 0.000 WO3 0x0000
Gripper 3 = 5.000 WO4 0x2710
6 Gripper 4 = 0.000 WO5 0x0000
WO6 0x0000
WO7 0x0000
WO8 0x1388
7 WO9
WO10
0x0000
0x0000
WO11 0x0000
WO12 0x0000
WO13 0x0000
8 WO14 0x0000
WO15 0x0000
10


This command moves the specified gripper in PTP motion a distance by directly specifying the
data in pulses. 1
■ Command
WI1 Command flag bit0 (0: Fixed) 0 2
units)
3
designation flag
(Millimeter units)
WI2 Gripper number 0xgggg 4
WI5
WI6
to
Not used 0x0000
5
WI15

6

7
Value Meaning
0 No output.
1 Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot 8

9
will be set to 20%.
10
Data should be integers in pulse units.

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


(pulse units) GDRIVEI movement
WI0
WI1
0x0065
0x4004 1
the program movement speed from pulse WI3 0x0032
0 to pulse 5000 and output the current
WI4 0x1388
position in pulse units, specify the
command shown at right.
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0000
WI9
WI10
0x0000
0x0000
3
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

Address Value
follows:
WO0 0x0200 5
WO1 0x0000
Gripper 1 = 123456
WO2 0x0000
Gripper 2 = 5000
WO3 0x0000
Gripper 3 =0
Gripper 4 =0
WO4
WO5
0xE240
0x0001
6
WO6 0x1388
WO7 0x0000
WO8 0x0000
WO9 0x0000 7
WO10 0x0000
WO11 0x0000
WO12 0x0000
WO13
WO14
0x0000
0x0000
8
WO15 0x0000
10

10.4.2.3 GHOLD command
1 This group of commands is executed to make the specified gripper execute absolute position
holding movement. It is valid only for one axis at a time.
This command moves the specified gripper to the target position via absolute position holding
movement by specifying a point number.
2 ■ Command
bit7 Holding force h
designation flag
4 bit13 – bit8
bit14
(0: Fixed)
Current position output
0
p
units)
5 designation flag
(Millimeter units)
6 WI4
WI5
Point number
Not used
0xpppp
0x0000
to
WI7
WI8 Specified holding force 0xqqqq
7 WI9 Not used 0x0000
to
WI15
8 bb : Specify the speed setting method in 2 bits.

10

h : Specify in 1 bit whether the holding force is specified.
Value
0
Meaning
Holding force not specified
1
1 Holding force is specified
Value Meaning 2
0 No output.
1 Output.
3
ssss

: Specify the program movement speed in 16 bits.
The movement speed is determined by the product of the automatic 4
will be set to 20%.
5
qqqq : Specify the holding force in 16 bits.
Specified range : 30(=0x001E) to 100(=0x0064)
If this is not specified, it will be 100%. If the specified value is less than
30%, it will be set to 30%. 6
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


If you want to use the point designation
1
WI0 0x0066
GHOLD movement command to move WI1 0x4084
gripper 1 at 50% of the program speed WI2 0x0001
and 50% holding force to point number WI3 0x0032
100 and output the current position in WI4 0x0064
pulse units, specify the command shown
at right.
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0032
3
WI9 0x0000
WI10 0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

Address Value
follows:
WO0 0x0200 5
WO1 0x0000
Gripper 1 = 123456
WO2 0x0000
Gripper 2 = -123
WO3 0x0000
Gripper 3 =0
Gripper 4 =0
WO4
WO5
0xE240
0x0001
6
WO6 0xFF85
WO7 0xFFFF
WO8 0x0000
WO9 0x0000 7
WO10 0x0000
WO11 0x0000
WO12 0x0000
WO13
WO14
0x0000
0x0000
8
WO15 0x0000
10


1 movement by directly specifying data in millimeter units.
■ Command
3 bit13 – bit8
designation flag
(0: Fixed) 0
units)
4 bit15 Current position output m
designation flag
(Millimeter units)
5 WI3
WI4
Specified speed
Movement data
0xssss
0xpppppppp
WI5
WI6 Not used 0x0000
WI7
6 WI8 Specified holding force 0xqqqq
WI9 Not used 0x0000
to
WI15

10

Value
0
Meaning
1
Value Meaning 2
0 No output.
1 Output.
3
ssss

will be set to 20%.
5
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


(millimeter units) GHOLD movement
WI0
WI1
0x0067
0x8084 1
the program movement speed and 50%
WI3 0x0032
holding force to 5.000mm and output
WI4 0x1388
the current position in millimeter units,
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0032
WI9
WI10
0x0000
0x0000
3
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

follows:
WO0
WO1
0x0200
0x0000
5
Gripper 1 = 10.000 WO2 0x0000
Gripper 2 = 0.000 WO3 0x0000
Gripper 3 = 5.000 WO4 0x2710
Gripper 4 = 0.000 WO5 0x0000 6
WO6 0x0000
WO7 0x0000
WO8 0x1388
WO9
WO10
0x0000
0x0000
7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10


1 movement by directly specifying data in pulse units.
■ Command
3 bit13 – bit8
designation flag
(0: Fixed) 0
units)
designation flag
(Millimeter units)
5 WI3
WI4
Specified speed
Movement data
0xssss
0xpppppppp
WI5
WI6 Not used 0x0000
WI7
WI9 Not used 0x0000
to
WI15

10

Value
0
Meaning
1
Value Meaning 2
0 No output.
1 Output.
3
ssss

will be set to 20%.
Data should be integers (x1000) in pulse units.
5
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


If you want to use the direct designation WI0 0x0068
(pulse units) GHOLD movement WI1 0x4084 1
of the program movement speed and WI3 0x0032
50% holding force to 5000 pulses and WI4 0x1388
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0032
3
WI9 0x0000
WI10 0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

WO0 0x0200
follows: WO1 0x0000 5
Gripper 1 = 123456 WO2 0x0000
Gripper 2 = 5000 WO3 0x0000
Gripper 4 =0
WO5 0x0001 6
WO6 0x1388
WO7 0x0000
WO8 0x0000
WO9 0x0000
WO10 0x0000 7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10

10.4.2.4 GHOLDI command
1 This group of commands is executed to make the specified gripper perform relative position
holding movement. It is valid only for one axis at a time.
This command moves the specified gripper the specified distance via relative position holding
movement by specifying a point number.
2 ■ Command
designation flag
4 bit13 – bit8
bit14
(0: Fixed)
0
p
units)
5 designation flag
(Millimeter units)
6 WI4
WI5
Point number
Not used
0xpppp
0x0000
to
WI7
to
WI15

10

Value
0
Meaning
1
Value Meaning 2
0 No output.
1 Output.
3
ssss

will be set to 20%.
5
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


If you want to use the point designation WI0 0x0069
GHOLDI movement command to WI1 0x4084 1
movement speed and 50% holding force WI3 0x0032
the distance specified by point number WI4 0x0064
100 and output the current position in
pulse units, specify the command shown
WI5 0x0000 2
WI6 0x0000
at right.
WI7 0x0000
WI8 0x0032
3
WI9 0x0000
WI10 0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

WO0 0x0200
follows: WO1 0x0000 5
Gripper 1 = 123456 WO2 0x0000
Gripper 2 = -123 WO3 0x0000
Gripper 4 =0
WO5 0x0001 6
WO6 0xFF85
WO7 0xFFFF
WO8 0x0000
WO9 0x0000
WO10 0x0000 7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10


1 movement by directly specifying data in millimeter units.
■ Command
WI0 Command code 0x006A
3 bit13 – bit8
designation flag
(0: Fixed) 0
units)
designation flag
(Millimeter units)
5 WI3
WI4
Specified speed
Movement data
0xssss
0xpppppppp
WI5
WI6 Not used 0x0000
WI7
WI9 Not used 0x0000
to
WI15

10

Value
0
Meaning
1
Value Meaning 2
0 No output.
1 Output.
3
ssss

will be set to 20%.
5
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10

Example:
Address Value
(millimeter units) GHOLDI movement
WI0
WI1
0x006A
0x8084
1
of the program movement speed and
WI3 0x0032
50% holding force 5.000mm from the
WI4 0x1388
0.000mm position and output the current
position in millimeter units, specify the
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0032
WI9
WI10
0x0000
0x0000
3
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

follows:
WO0
WO1
0x0200
0x0000
5
Gripper 1 = 10.000 WO2 0x0000
Gripper 2 = 0.000 WO3 0x0000
Gripper 3 = 5.000 WO4 0x2710
Gripper 4 = 0.000 WO5 0x0000 6
WO6 0x0000
WO7 0x0000
WO8 0x1388
WO9
WO10
0x0000
0x0000
7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10


1 movement by directly specifying data in pulse units.
■ Command
WI0 Command code 0x006B
3 bit13 – bit8
designation flag
(0: Fixed) 0
units)
designation flag
(Millimeter units)
5 WI3
WI4
Specified speed
Movement data
0xssss
0xpppppppp
WI5
WI6 Not used 0x0000
WI7
WI9 Not used 0x0000
to
WI15

10

Value
0
Meaning
1
Value Meaning 2
0 No output.
1 Output.
3
ssss

will be set to 20%.
5
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


(pulse units) GHOLDI movement
WI0
WI1
0x006B
0x4084
1
the program movement speed and 50%
WI3 0x0032
holding force 5000 pulses from the 0
WI4 0x1388
pulse position and output the current
position in pulse units, specify the
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0032
WI9
WI10
0x0000
0x0000
3
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

Address Value 5
WO0 0x0200
follows:
WO1 0x0000
Gripper 1 = 123456
WO2 0x0000
Gripper 2 = 5000
WO3 0x0000
Gripper 3 =0
WO4 0xE240 6
Gripper 4 =0
WO5 0x0001
WO6 0x1388
WO7 0x0000
WO8 0x0000 7
WO9 0x0000
WO10 0x0000
WO11 0x0000
8
WO12 0x0000
WO13 0x0000
WO14 0x0000
WO15 0x0000
10

10.4.2.5 GOPEN command
1 This command is executed to make the specified gripper perform constant speed holding movement
(open direction). It is valid only for one axis at a time.
■ Command
2
WI0 Command code 0x006C
3 designation flag
units)
designation flag
(Millimeter units)
5 WI3
WI4
Specified speed
Not used
0xssss
0x0000
to
WI7
to
WI15

8
10

Value
0
Meaning
1
Value Meaning 2
0 No output.
1 Output.
3
ssss

: pecify the program movement speed in 16 bits.
will be set to 20%, and if a value greater than 50% is specified, it will be set
to 50%.
qqqq : Specify the holding force in 16 bits. 5
30%, it will be set to 30%.
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


If you want to use the GOPEN movement
command to move gripper 1 at 50%
WI0
WI1
0x006C
0x4084 1
50% holding force via constant speed WI3 0x0032
holding movement (open direction) and
WI4 0x0000
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0032
WI9
WI10
0x0000
0x0000
3
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

Address Value
follows:
WO0
WO1
0x0200
0x0000
5
Gripper 1 = 123456
WO2 0x0000
Gripper 2 = -123
WO3 0x0000
Gripper 3 =0
WO4 0xE240
WO6 0xFF85
WO7 0xFFFF
WO8 0x0000
WO9
WO10
0x0000
0x0000
7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10

10.4.2.6 GCLOSE command
1 This command is executed to make the specified gripper perform constant speed holding movement
(close direction). It is valid only for one axis at a time.
■ Command
2
WI0 Command code 0x006D
3 designation flag
units)
designation flag
(Millimeter units)
5 WI3
WI4
Specified speed
Not used
0xssss
0x0000
to
WI7
to
WI15

8
10

Value
0
Meaning
1
Value Meaning 2
0 No output.
1 Output.
3
ssss

will be set to 20%, and if a value greater than 50% is specified, it will be set
to 50%.
qqqq : Specify the holding force in 16 bits. 5
30%, it will be set to 30%.
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


If you want to use the GCLOSE movement WI0 0x006D
command to move gripper 1 at 50% WI1 0x4084 1
50% holding force via constant speed WI3 0x0032
holding movement (close direction) and WI4 0x0000
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0032
3
WI9 0x0000
WI10 0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000

follows:
WO0
WO1
0x0200
0x0000
5
Gripper 1 = 123456 WO2 0x0000
Gripper 2 = -123 WO3 0x0000
WO6 0xFF85
WO7 0xFFFF
WO8 0x0000
WO9
WO10
0x0000
0x0000
7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10

10.4.2.7 Gripper return-to-origin command
1 This command executes return-to-origin for the specified gripper.

■ Command
WI0 Command code 0x006E
WI1 Not used 0x0000
WI3 Not used 0x0000
to
WI15

If the gripper number is 0, all grippers will perform return-to-origin.
■ Status
4 Normal end
WO1 Not used 0x0000
to
5 WO15
Abnormal end
6 WO0
WO1
Status code
Alarm group number
0x4000
0xaaaa
WO3 Not used 0x0000
to
7 WO15

8 Example :
Address
WI0
Value
0x006E
If you want to use the gripper return- WI1 0x0000
to-origin command to make gripper 1 WI2 0x0001
perform return-to-origin, specify the WI3 0x0000
9 command shown at right. to
WI15
If execution is successful, the indication Address Value
10
will be as shown at right. WO0 0x0200
WO1 0x0000
to
WI15
10.4.2.8 Gripper jog movement commands
● Pulse unit system jog movement 1

This command is executed to make the specified gripper perform jog movement.
This command makes PTP motion on an individual axis.
The movement speed is determined by the maximum speed x gripper manual movement speed [%].
2
• If "Manual Holding of Gripper" is enabled and the gripper manual movement speed exceeds
50 [%], the gripper will move at a speed of 50 [%] in jog movement.
If you want to end the jog movement command, change the stop signal (SIO6) of the dedicated
3
input to OFF.
The status code indicates abnormal end (0x4000) and the alarm code indicates end due to a
stop input (WO1: 0x000C, WO2: 0x0190).
After verifying the stop, change the dedicated input's stop signal to ON. 4
■ Command
WI0 Command code 0x006F
WI1 Command flag bit13 - bit0 (0: Fixed) 0 5
designation flag (Pulse units)
6
designation flag (Millimeter units)
WI3 Operation direction 0xdddd
WI4 Not used 0x0000
to
WI15 7
Value Meaning
0 No output.
1 Output. 8
gggg : Specify the gripper number in 16 bits. 9

dddd : Specify the gripper number in 16 bits.
Value
0
Meaning
+ direction
10
1 - direction

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
10

Abnormal end (if jog movement is ended by stop input)

WO0 Status code 0x4000 1
WO1 Alarm group number 0x000C
WO2 Alarm category number 0x0190
WO3 Not used 0x0000
WO4
WO5
Gripper 1 data 0xbbbbbbbb
2
WO7
WO9 3
WO11
to 4
WO15
Data is shown in integers (x1000) when point display units are in millimeters. 5
Abnormal end
WO3
to
Not used 0x0000 7
WO15

8
10


If you want to use the gripper pulse
1 unit system jog movement command to
WI0
WI1
0x006F
0x4000
move gripper 1 in the "+" direction and WI2 0x0001
output the current position in pulse units, WI3 0x0000
WI4 0x0000
2 WI5 0x0000
WI6 0x0000
WI7 0x0000
WI8 0x0000
3 WI9
WI10
0x0000
0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
4 WI14 0x0000
WI15 0x0000
After the stop signal has ended the jog Address Value
5 movement command, and the gripper

positions are as follows,
WO0
WO1
0x4000
0x000C
Gripper 1 = 12345
WO2 0x0190
Gripper 2 = -123 WO3 0x0000
Gripper 3 =0 WO4 0x3039
6 Gripper 4 =0 WO5 0x0000
then the indication will be as shown at WO6 0xFF85
right. WO7 0xFFFF
WO8 0x0000
7 WO9 0x0000
WO10 0x0000
WO11 0x0000
WO12 0x0000
WO13 0x0000
8 WO14 0x0000
WO15 0x0000
10

● Cartesian coordinate system jog movement

This command is executed to make the specified gripper perform jog movement.
This command makes move in Cartesian coordinates. 1
The movement speed is determined by the maximum speed x gripper manual movement speed [%].
at a speed of 20 [%]. 2
• If "Manual Holding of Gripper" is enabled and the gripper manual movement speed exceeds
50 [%], the gripper will move at a speed of 50 [%] in jog movement.
If you want to end the jog movement command, change the stop signal (SIO6) of the dedicated
input to OFF.
The status code indicates abnormal end (0x4000) and the alarm code indicates end due to a
3
stop input (WO1: 0x000C, WO2: 0x0190).
After verifying the stop, change the dedicated input's stop signal to ON.
■ Command
4
WI1 Command flag bit13 - bit0 (0: Fixed) 0
designation flag (Pulse 5
units)
designation flag
WI2 Gripper number

(Millimeter units)
0xgggg
6
WI4 Not used 0x0000
to
WI15 7
Value Meaning
0
1
No output.
Output.
8

9
dddd : Specify the gripper number in 16 bits.
Value
0
Meaning
+ direction
10
1 - direction

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
10

Abnormal end (if jog movement is ended by stop input)

WO1 Alarm group number 0x000C
WO2 Alarm category number 0x0190
WO3 Not used 0x0000
WO4
WO5
2
WO7
WO9 3
WO11
to 4
WO15
Data is shown in integers (x1000) when point display units are in millimeters. 5
Abnormal end
WO3
to
Not used 0x0000 7
WO15

8
10


If you want to use the gripper Cartesian
1
WI0 0x0070
coordinate system jog movement WI1 0x8000
command to move gripper 1 in the "-" WI2 0x0001
direction and output the current position WI3 0x0001
in millimeter units, specify the command WI4 0x0000
2 shown at right.
WI5 0x0000
WI6 0x0000
WI7 0x0000
WI8 0x0000
3 WI9
WI10
0x0000
0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
4 WI14 0x0000
WI15 0x0000
After the stop signal has ended the jog Address Value
5 movement command, and the gripper

positions are as follows,
WO0
WO1
0x4000
0x000C
Gripper 1 = 12.345 WO2 0x0190
Gripper 2 = - 0.123 WO3 0x0000
Gripper 3 = 0.000 WO4 0x3039
6 Gripper 4 = 0.000 WO5 0x0000
then the indication will be as shown at WO6 0xFF85
right. WO7 0xFFFF
WO8 0x0000
7 WO9
WO10
0x0000
0x0000
WO11 0x0000
WO12 0x0000
WO13 0x0000
8 WO14 0x0000
WO15 0x0000
10

10.4.2.9 Gripper inching movement commands
● Pulse unit system inching movement 1

This command is executed to move the gripper by inching.
The inching movement distance is specified by the gripper inching movement amount setting
command.
This command moves the specified gripper by the specified amount of pulses.
If the movement amount "100" is specified, the gripper moves 100 pulses. 2
■ Command
WI1 Command flag bit13 - bit0 (0: Fixed) 0 3
units)
bit15 Current position output
designation flag
m
4
(Millimeter units)
WI4 Not used 0x0000 5
to
WI15
Value Meaning
6
0 No output.
1 Output.
7
dddd : Specify the gripper number in 16 bits. 8
Value Meaning
0 + direction
1 - direction
9
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
2 WO3
WO5
WO7
WO9
WO11
to
WO15
5
6 Abnormal end
WO3 Not used 0x0000
to
WO15

10


If you want to use the gripper pulse unit WI0 0x0071
system inching movement command to WI1 0x4000 1
move gripper 2 in the "+" direction and WI2 0x0002
output the current position in pulse units, WI3 0x0000
specify the command shown at right. If WI4 0x0000
the inching movement amount setting is
50, the gripper moves 50 pulses.
WI5 0x0000 2
WI6 0x0000
WI7 0x0000
WI8 0x0000
WI9 0x0000
WI10 0x0000 3
WI11 0x0000
WI12 0x0000
WI13 0x0000
WI14 0x0000 4
WI15 0x0000
After the pulse unit system inching Address Value

movement command has been executed
and operation has stopped, and the
WO0
WO1
0x0200
0x0000
5
gripper positions are as follows,
WO2 0x0000
Gripper 1 = 12345
WO3 0x0000
Gripper 2 = - 123 WO4 0x3039
Gripper 4 =0 WO6 0xFF85
then the indication will be as shown at WO7 0xFFFF
right. WO8 0x0000
WO9
WO10
0x0000
0x0000
7
WO11 0x0000
WO12 0x0000
WO13 0x0000
WO14 0x0000 8
WO15 0x0000
10

● Cartesian coordinate system inching movement

This command is executed to move the gripper by inching.
1 The inching movement distance is specified by the gripper inching movement amount setting
command.
This command moves the specified gripper by the specified movement amount in Cartesian
coordinates.
2 If the movement amount "100" is specified, the gripper moves 0.100mm.
■ Command
3 WI1 Command flag bit13 - bit0

bit14
(0: Fixed)
0
p
units)
4 designation flag
(Millimeter units)
5
WI4 Not used 0x0000
to
WI15
6 Value Meaning
0 No output.
1 Output.
7 be designated at the same time. Doing so will result in the "5.238 Illegal option".

8 dddd : Specify the gripper number in 16 bits.
Value Meaning
0 + direction
1 - direction
10

■ Status
Normal end
WO1 Not used 0x0000
WO2
WO3 2
WO5
WO7
WO8 Gripper 3 data 0xbbbbbbbb 3
WO9
WO11
to
WO15
5
Abnormal end 6
WO3 Not used 0x0000
to
WO15

10


If you want to use the gripper Cartesian
1
WI0 0x0072
coordinate system inching movement WI1 0x8000
command to move gripper 2 in the "+" WI2 0x0002
direction and output the current position WI3 0x0000
in millimeter units, specify the command WI4 0x0000
2 shown at right. An inching amount setting
of "50" results in a movement amount of
WI5 0x0000
WI6 0x0000
0.050mm.
WI7 0x0000
WI8 0x0000
3
WI9 0x0000
WI10 0x0000
WI11 0x0000
WI12 0x0000
WI13 0x0000
4 WI14 0x0000
WI15 0x0000
5 After the Cartesian coordinate system Address Value

inching movement command has been WO0 0x0200
executed and operation has stopped, and
WO1 0x0000
the gripper positions are as follows,
WO2 0x0000
6 Gripper 1 = 12.345
WO3 0x0000
Gripper 2 = - 0.123 WO4 0x3039
Gripper 3 = 0.000 WO5 0x0000
Gripper 4 = 0.000 WO6 0xFF85
7 then the indication will be as shown at

right.
WO7
WO8
0xFFFF
0x0000
WO9 0x0000
WO10 0x0000
WO11 0x0000
8 WO12 0x0000
WO13 0x0000
WO14 0x0000
WO15 0x0000
10

10.4.2.10 Gripper inching movement amount setting command

This command is executed to specify the movement amount when the gripper performs inching
movement. The movement amount of the pulse unit inching movement command uses this value as
1
pulse unit.
The movement amount of the Cartesian coordinate system inching movement command uses this
value as 0.001 to 10.000 (mm).
2
c CAUTION
Millimeter unit movement amount can be specified in 0.001mm units just as for the
robot axes, but since the unit for specifying gripper movement commands is
0.01mm, accuracy in 0.001mm units is not guaranteed.
■ Command
3
WI1 Not used 0x0000
WI2 Inching movement amount 0xdddd 4
WI3 Not used 0x0000
to
WI15
5
dddd
: Sets the movement amount.
■ Status
Normal end 6
WO1 Not used 0x0000
to
WO15
7
Abnormal end
WO3 Not used 0x0000
to
WO15
9
10


If you want to use the gripper inching WI0 0x0073
1 movement amount setting command to WI1 0x0000
specify 100 as the inching movement WI2 0x0064
amount, specify the command shown at WI3 0x0000
right. to
2 WI15

when executed correctly. WO0 0x0200
3 WO1
to
0x0000
WO15
10

10.4.2.11 Gripper point teaching command

This command is executed to teach the current position of the gripper to the specified point
number.
1
c CAUTION
Millimeter unit point data can be specified in 0.001mm units just as for the robot
axes, but since the setting unit for gripper movement commands is 0.01mm,
accuracy in 0.001mm units is not guaranteed. 2
■ Command
WI0 Command code 0x0074 3
WI1 Not used 0x0000
WI3 Point unit 0xaaaa
WI4
to
Not used 0x0000
4
WI15
Specified range: 0(=0x0000) to 29999(=0x752F)
aaaa : Specifies the point unit system. 5
Value Meaning
0 Pulse units
1 Millimeter units
6
■ Status
Normal end
WO0
WO1
Status code
Not used
0x0200
0x0000
7
to
WO15
Abnormal end 8
WO2
WO3
Alarm category number
Not used
0xbbbb
0x0000
9
to
WO15



If you want to use the gripper point
1 teaching command to teach the current
WI0
WI1
0x0074
0x0000
position of gripper 1 through gripper 4 WI2 0x0FA0
in the pulse unit system to point 4000,
WI3 0x0000
WI4 0x0000
2 to
WI15

when executed correctly.
3
WO0 0x0200
WO1 0x0000
to
WO15
10

10.4.2.12 Gripper ser vo commands

These commands are executed to operate the servo status of the specified gripper.
1
Servo ON :
This command is executed to turn ON the servo of the specified gripper. If the gripper number is
not specified, servo ON is performed for all grippers.
Servo OFF :
2
This command is executed to turn OFF the servo of the specified gripper. If the gripper number is
not specified, servo OFF is performed for all grippers.
■ Command
3
WI0 Command code Servo ON 0x0075
Command code Servo OFF 0x0076
WI3 Not used 0x0000
to
WI15
5
If the gripper number is 0, servo control is performed for all grippers.
■ Status
6
Normal end
to
WO15
Abnormal end
8
to
WO15

10


If you want to use the gripper servo WI0 0x0076
1 command to turn the gripper 1 servo WI1 0x0000
OFF, specify the command shown at WI2 0x0001
right. WI3 0x0000
to
2 WI15

3 WO1
to
0x0000
WO15
10

10.4.2.13 Gripper manual movement speed change command

This command is executed to change the gripper's manual movement speed.
1
n NOTE
The speed of manual movement (jog/inching) is determined by
the maximum speed x gripper manual movement speed [%].
• If the gripper manual movement speed is less than 20 [%], the gripper will move 2
• If "Manual Holding of Gripper" is enabled and the gripper manual movement speed
exceeds 50 [%], the gripper will move at a speed of 50 [%] in jog movement.
3
■ Command
WI3 Not used 0x0000
to
WI15 5
ssss : Specify the manual movement speed in 16 bits.
Specified range : 1(=0x0001) to 100 (=0x0064)
■ Status
Normal end 6
WO1 Not used 0x0000
to
WO15
7
Abnormal end
WO3 Not used 0x0000
to
WO15
9
10


If you want to use the gripper manual
1 movement speed change command to set
WI0
WI1
0x0077
0x0000
the gripper's manual movement speed
to 20%, specify the command shown at WI2 0x0014
right. WI3 0x0000
to
2 WI15

3 WO1 0x0000
to
WO15
10

10.4.3 Categor y 6 remote commands

Category 6 remote commands are data handling commands.
A command list is given below.
1
No. Contents Command code( WI0)
6-1 Gripper status information reference 0x0570
6-2 Gripper servo status reference 0x0571
6-3 Gripper current position Pulse units 0x0572 2
reference Millimeter units 0x0573
6-4 Gripper speed status reference 0x0574
6-5 Gripper return-to-origin status reference 0x0575
6-6 Gripper inching movement amount reference 0x0576
3
10

10.4.3.1 Gripper status reference
1 This command is executed to acquire status information for the specified gripper.
■ Command
2 WI1
WI2
Not used
Gripper number
0x0000
0xgggg
WI3 Not used 0x0000
to
WI15
Specified range : 1(=0x0001) to 4 (=0x0004)
■ Status
4 Normal end
WO1 Not used 0x0000
WO2 Gripper number 0xgggg
5 WO3 Gripper status 0x00bb
WO4 Not used 0x0000
to
WO15
6 gggg : Indicates the gripper number.

bb : Indicates the gripper status as an 8-bit bit pattern.
The meaning of each bit is as follows.
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
7 Meaning Servo
status
Return-to-
origin Not used
READY
signal
ZON
signal
HOLD
signal
INPOS
signal
BUSY
signal
status
Beyond Beyond
0 Servo OFF Incomplete Preparing Release Complete
area area
(0: Fixed)
Within Within
1 Servo ON Complete Correct Holding Running
8 area area
• Ready signal : This signal becomes "1" when the gripper is put in the preparation completion status.
• ZON signal : This signal becomes "1" when the gripper holds a workpiece within the
predetermined area.
9 • HOLD signal : This signal becomes "1" when the gripper holds a workpiece.
• INPOS signal
: This signal shows that the gripper reaches the target position. The signal
becomes "1" after completion of the return-to-origin or positioning operation.
The signal also becomes "1" when the gripper reaches the target position
10
without holding of a workpiece by the gripper movement operation command.
• BUSY signal : This signal becomes "1" during operation of the gripper.

Abnormal end
WO3 Not used 0x0000
to
WO15
2
3
Use the gripper status reference command WI0 0x0570
to obtain gripper status information. WI1 0x0000
WI2 0x0001 4
WI3 0x0000
to
WI15

5
BUSY signal : Complete WO1 0x0000
INPOS signal : Within area WO2 0x0001
HOLD signal : Release WO3 0x00F2 6
ZON signal : Beyond area WO4 0x0000
READY signal : Correct to
Return-to-origin status : Complete WO15
Servo status : ON
7
10

10.4.3.2 Gripper ser vo status reference
1 This command is executed to acquire servo status information for the grippers.
■ Command
2 WI1
WI2
Not used
Not used
0x0000
0x0000
to
WI15
■ Status
3 Normal end
WO1 Not used 0x0000
4 WO2 Gripper 1 servo status 0xaaaa
WO3 Gripper 2 servo status 0xaaaa
5 WO6
to
Not used 0x0000
WO15
aaaa : Indicates the gripper's servo status.
6 Value Contents
0 Servo OFF
1 Servo ON
9 No gripper
7 Abnormal end
WO3 Not used 0x0000
to
WO15

10


Use the gripper servo status reference WI0 0x0571
command to acquire gripper servo status WI1 0x0000 1
information. WI2 0x0001
WI3 0x0000
to
WI15 2
Address Value
WO0 0x0200
Gripper 1 : Servo ON
WO1 0x0000 3
WO2 0x0001
Gripper 2 : Servo OFF
WO3 0x0000
Gripper 3 : No gripper
WO4 0x0009
Gripper 4 : No gripper
4
WO5 0x0009
WO6 0x0000
to
WO15
10

10.4.3.3 Gripper current position reference
1 ● Pulse units designation

This command is executed to reference the current gripper position in pulse units.
■ Command
2 WI0 Command code 0x0572
WI1 Command flag bit 0 Continuous output a
mode
bit15 – bit 1 Not used 0
3
WI2 Not used 0x0000
to
WI15
a : ENABLES/DISABLES the continuous output mode.
4 Value Meaning
0 DISABLE
1 ENABLE
When enabled, a stop occurs at the status initializing command (=0x0000).
5 ■ Status
Normal end
WO2
WO3
7 WO5
WO7
WO9
WO11
to
9 WO15
Data is shown in integers.
10

Continuous output mode

WO1 Not used 0x0000
WO2
WO3
WO4
WO5
2
WO7
WO9 3
WO11
to
WO15
4
Data is shown in integers.
Abnormal end 5
WO3 Not used 0x0000
to
WO15

10


Use the gripper pulse units designation
1
WI0 0x0572
current position reference command to WI1 0x0000
acquire the current positions of gripper 1 to
through gripper 4. WI15
2 Values are expressed as shown at right

Address Value
WO0 0x0200
Gripper 1 = 12345 WO1 0x0000
Gripper 2 = -123 WO2 0x0000
Gripper 3 =0
3 Gripper 4 =0
WO3
WO4
0x0000
0x3039
WO5 0x0000
WO6 0xFF85
WO7 0xFFFF
4 WO8 0x0000
WO9 0x0000
WO10 0x0000
WO11 0x0000
5 WO12
WO13
0x0000
0x0000
WO14 0x0000
WO15 0x0000
10

● Millimeter units designation

This command is executed to obtain the current gripper position in millimeter units.
■ Command
1
WI1 Robot designation bit 0 Continuous output a
mode 2
bit15 – bit 1 Not used 0
WI2 Not used 0x0000
to
WI15
3
a : ENABLES/DISABLES the continuous output mode.
Value Meaning
0 DISABLE
1 ENABLE 4
When enabled, a stop occurs at the status initializing command (=0x0000).
■ Status
Normal end
5
WO1 Not used 0x0000
WO2
WO3 6
WO5
WO7
7
WO9
WO11
to
WO15
Data is shown in integers (x1000). 9
10

Continuous output mode

1 WO0 Status code 0x0100
WO1 Not used 0x0000
WO2
WO3
2 WO4
WO5

WO7
3 WO9
WO11
4 to
WO15
Data is shown in integers (x1000).
5 Abnormal end
WO3 Not used 0x0000
to
WO15

10


Use the gripper millimeter units
1
WI0 0x0573
designation current position reference WI1 0x0000
command to acquire the current positions to
of gripper 1 through gripper 4. WI15

2
Gripper 1 = 12.345 WO1 0x0000
Gripper 2 = - 0.123 WO2 0x0000
Gripper 3 = 0.000 WO3 0x0000 3
Gripper 4 = 0.000 WO4 0x3039
WO5 0x0000
WO6 0xFF85
WO7
WO8
0xFFFF
0x0000
4
WO9 0x0000
WO10 0x0000
WO11 0x0000
WO12 0x0000 5
WO13 0x0000
WO14 0x0000
WO15 0x0000
10

10.4.3.4 Gripper speed status reference
1 This command is executed to acquire information on the current gripper speed status.
■ Command
2 WI1
to
Not used 0x0000
WI15
■ Status
Normal end
WO1 Not used 0x0000
WO2
4 WO3 Gripper manual movement speed 0xaaaa
WO4 Not used 0x0000
to
WO15
5 aaaa : Shows the speed setting (1 to 100).
Abnormal end
6 WO1 Alarm group number 0xaaaa
WO3 Not used 0x0000
to
7 WO15

10


Use the gripper speed status reference
command to acquire the speed status.
WI0
WI1
0x0574
0x0000 1
to
WI15

Address Value 2
WO0 0x0200
Gripper manual movement speed: 50%
WO1 0x0000
WO2 0x0000
WO3
WO4
0x0032
0x0000
3
WO5 0x0000
to
WO15
4
10

10.4.3.5 Gripper return-to-origin status reference
1 This command is executed to acquire information for the gripper return-to-origin status.
■ Command
2 WI1
to
Not used 0x0000
WI15
■ Status
Normal end
WO1 Not used 0x0000
WO2 Gripper 1 return-to-origin status 0xaaaa
4 WO3 Gripper 2 return-to-origin status 0xaaaa
WO6 Not used 0x0000
5 to
WO15
aaaa : Indicates the gripper's return-to-origin status.
Value Meaning
6 0 Return-to-origin incomplete
1 Return-to-origin complete
9 Gripper not connected
Abnormal end
8 WO3
to
Not used 0x0000
WO15

9 bbbb : Indicates the alarm category number
10


Use the gripper return-to-origin status WI0 0x0575
reference command to acquire the return- WI1 0x0000 1
to-origin status. to
WI15

Address Value 2
WO0 0x0200
Gripper 1 : Return-to-origin complete WO1 0x0000
Gripper 2 : Return-to-origin incomplete WO2 0x0001
Gripper 3 : Not connected
Gripper 4 : Not connected
WO3
WO4
0x0000
0x0009
3
WO5 0x0009
WO6 0x0000
to
WO15 4
10

10.4.3.6 Gripper inching movement amount reference
1 This command is executed to acquire information for the gripper's movement amount when
performing inching movement.
■ Command
to
WI15
■ Status
3 Normal end
WO1 Not used 0x0000
4 WO2
WO3
Inching movement
Not used
0xaaaa
0x0000
to
WO15
dddd : Indicates the gripper's inching movement amount.
5 1(=0x0001) to 10000(=0x2710)
Abnormal end
6 WO1 Alarm group number 0xaaaa
WO3 Not used 0x0000
to
7 WO15

Address Value
8 Example: WI0 0x0576
Use the gripper inching movement WI1 0x0000
amount reference command to obtain the to
inching movement amount. WI15
9 Address Value
WO0 0x0200
WO1 0x0000
WO2 0x00064
10 Inching movement amount : 100
WO3 0x0000
to
WO15

11.1 Alarm messages
11. Troubleshooting
11
11.1 Alarm messages
If an alarm occurs, relevant alarm message appears on the screen of the programming box. For details
about contents of each alarm message, see the list.
The alarm code consists of two elements, "group" and "classification". Each code is classified as follows.
XX . YYY
12
Classification number Classified by the axis operation or resetting procedure if an alarm occurs.
Group number Classified into groups [0] to [30] according to the alarm contents.
[Error message display format]

13
Group number
Alarm code
Classification number
Alarm message
12.600 : Emergency stop on

The group number and classification number of the alarm are
expressed in hexadecimal notation.
Meaning/Cause
Action
Shows the measures to reset or avoid the alarm.
Shows the alarm meaning and the cause of the alarm occurrence.
n NOTE
If the alarm cannot be solved even after taking the corrective action, contact your
distributor.
* The alarm occurrence status and alarm history can be checked from the programming box.
Information on the alarm occurrence location (axis or option unit, etc.) may be added next to the alarm code.
■ ■ Checking the alarm occurrence status
Alarm code Occurrence location

11.1 Alarm messages
Alarm occurrence location list
11 T*
Task
*… Task number
SYS Startup, memory check, generation
ONL Online command
12 RMT
SEQ
Remote command
Sequence program
SIN Standard input
Controller
C*
13 C*O*
*… Controller number
Option board
*… Controller number, option slot number
Robot, axis
R*/R*A*
*… Robot number, axis number
Physical motor
M*/C*M*
*… Controller number, motor number
For example, when “17.403:M1” is displayed, this shows that the position reset position error
occurs in motor 1.
In the same manner, when “14.400:T02” is displayed, this shows that the communication
shutdown error occurs in task 2.

11.1 Alarm messages
11.1.1 Alarm group number list

The alarm message is classified into groups [0] to [30] according to the alarm contents.
The contents of each group are shown below.
11
Group number Contents
[0] Operation messages
[1] System events 12
[2] Alarm related to the robot movement range
[3] Alarm related to the program file operation
[4] Alarm related to the data input
Operation alarm related to the syntax of the robot
13
[5]
language (compile)
[6] Alarm related to the robot language execution
[7] (Not used.)
[8] (Not used.)
[9] Alarm related to the memory
[10] Alarm related to the environment and general hardware
[11] (Not used.)
[12] Alarm related to the option board
[13] (Not used.)
[14] Alarm related to the communication
[15] (Not used.)
[16] (Not used.)
[17] Alarm related to the motor control
[18] (Not used.)
[19] Alarm related to the YC-Link/E
[20] Alarm related to the iVY2 system
[21] Serious software alarm
[22] Serious hardware alarm
[23] (Not used.)
[24] (Not used.)
[25] (Not used.)
[26] Gripper-related alarms
[27] (Not used.)
[28] Alarm related to the driver I/F
[29] (Not used.)
[30] (Not used.)

11.1 Alarm messages
11.1.2 Alarm classification number list
11 Error code Type Level

Axis operation
in case of error
History
LED
display
Reset method Example
0 Correct - - - × - -
HALT, HOLD,
1 to 199 - - - × Operation
Message break point
restart
12 200 to 299 - -
Individual
× CPU start
300 to 399 - operation × Corresponding No point

Operation
stop operation
error
Operation restart
13
400 to 499 - Interlock
stop
Operation PIO24V off,
500 to 599 Level 3
External stop SIO link error
Save
error Emergency stop,
600 to 699 Level 2 Servo brake Reset
main power off
Operation Display command
700 to 799 Level 3 Fan error
stop
800 to 899 Internal Level 2 Servo brake Overload
error Over-current, driver
Immediate
900 to 999 Level 1 System restart communication
servo off
failure
11.1.3 Warning number list

Axis
Warning LED
Type Level operation in History Reset method Example
number display
case of error
General Warning Warning cause Overload
c1 to c99 - - -
warning Status is removed. warning
11.1.4 Alarm group number [26] "Gripper-related alarms"

When an alarm 26.600 to 699 or 26.800 to 899 is displayed, the gripper enters the following
status.
• Return-to-origin incomplete
• Servo off
c CAUTION
To return from the alarm state, the following steps are required.
1. Remove the cause of the alarm.
2. Clear the emergency stop flag.
3. Reset the alarm.
4. Turn on the servo of all axes.
5. Perform return-to-origin for the gripper that generated the alarm.

11.1 Alarm messages
[ 6] Alarm related to the robot language execution

11
6.265 : Timeout
Code : &H0006 &H0109
Meaning/Cause Servo on/Servo off of the gripper has not completed.

Action Check the gripper connection.
12
6.321 : Illegal option slot no
Code : &H0006 &H0141
Meaning/Cause An option slot number outside the range of 1 to 4 was specified.

13
Action Specify an option slot number in the range of 1 to 4.
[ 9] Alarm related to the memory
9.400 : Gripper origin data destroyed

Code : &H0009 &H0190
Part or all of the data saved following gripper return-to-origin
Meaning/Cause
completion was destroyed.
Action Execute return-to-origin for the gripper.
9.730 : Gripper status data destroyed

Code : &H0009 &H02DA
Part or all of the data required for gripper operation was
Meaning/Cause
destroyed. Data required for gripper operation was initialized.
Action Re-perform the gripper generation.
[21] Serious software alarm
21.915 : System error (NULL access)

Code : &H0015 &H0393
Meaning/Cause Software error occurred.

Action Contact your distributor.

11.1 Alarm messages
[26] Gripper-related alarms

11
26.332 : Gripper soft limit over
Code : &H001A &H014C
The operating position exceeds the software limit value specified
12 Meaning/Cause
by the parameter.
・ Change the operating position to be within the software limit.
Action ・ Change the software limit value.
・ Change the limit width.
13
26.336 : Gripper servo off
Code : &H001A &H0150
Meaning/Cause A movement command was executed in the servo OFF status.

Action Turn the servo ON.
26.337 : Gripper stop signal on

Code : &H001A &H0151
You attempted to execute the program or move the gripper while
Meaning/Cause
the gripper's stop signal was ON.
26.350 : Gripper data error

Code : &H001A &H015E
Option data such as a movement command sent to the gripper
Meaning/Cause
control board exceeds the input range.
26.351 : Gripper type error

Code : &H001A &H015F
You attempted to make gripper generation settings using an
Meaning/Cause
undefined type number.
26.395 : Gripper type isn't assigned

Code : &H001A &H018B
Meaning/Cause The gripper type number is not assigned.

Action Use system generation settings to assign the gripper type number.

11.1 Alarm messages
26.396 : Gripper cannot get error

Code : &H001A &H018C 11
Meaning/Cause Failed to obtain an error generated by the gripper itself.
26.397 : Gripper disconnected

12
Code : &H001A &H018D
a. The specified gripper is disconnected.
Meaning/Cause
b. Generation is incomplete for the specified gripper.
Action
a. Connect the gripper. 13
b. Make gripper settings.
26.398 : Illegal gripper no

Meaning/Cause A gripper number outside the range of 1 to 4 was specified.

Action Specify a gripper number in the range of 1 to 4.
26.399 : Gripper timeout error

Code : &H001A &H018F
Execution of a command sent to the gripper control board ended
Meaning/Cause
in timeout.
26.435 : Gripper origin incomplete

Code : &H001A &H01B3
Meaning/Cause Return-to-origin has not been performed.

Perform return-to-origin so that the gripper is in the return-to-
Action
origin complete status.
26.604 : Gripper 24V Power supply voltage low

Code : &H001A &H025C
The DC24V power supply voltage is less than 80% of the rated
Meaning/Cause
value.
Check the power supply capacity, and if it is insufficient, adjust
Action
the power supply voltage to be within the rated range.

11.1 Alarm messages
26.608 : Gripper 24V Power off

11 Code : &H001A &H0260
a. The DC24V power supply is not wired.
Meaning/Cause b. The DC24V power supply is not being provided.
c. The DC24V power supply cable is disconnected.
12 Action
a. Check the wiring of the DC24V power supply.
b. Check the DC24V power supply.
c. Check the DC24V power supply cable.
26.612 : Gripper over voltage

13 Code : &H001A &H0264
The DC24V power supply voltage is greater than 130% of the
rated value.
Meaning/Cause
a. Power supply voltage increased due to regeneration
b. The DC24V power supply voltage is incorrect.
a. Decrease the duty of the mechanism.
Action b. Check the DC24V power supply voltage and adjust it to be
within the rated range.
26.801 : Gripper over load

Code : &H001A &H0321
Motor overload
a. Motor is defective
Meaning/Cause b. Parameters are incorrect
c. Power supply line capacity is insufficient
d. Excessive friction within the mechanism itself.
a. If you notice problems such as excessively heavy motion
when moving the motor manually, replace the motor.
b. Initialize the parameters.
Action c. Check the power supply capacity, and if it is insufficient,
adjust the power supply voltage to be within the rated range.
d. Check the moving parts of the mechanism for heavy motion.
If motion is excessively heavy, make readjustments.

11.1 Alarm messages
26.802 : Gripper over current

Code : &H001A &H0322 11
Motor over current
a. Motor wiring is shorted
Meaning/Cause
b. Gripper control board is defective
c. Parameters are incorrect
a. Test the conductivity of the motor wiring, and if a fault is found,
12
replace the motor.
Action
b. Replace the gripper control board.
c. Initialize the parameters.
13
26.803 : Gripper machine reference over
Code : &H001A &H0323
The encoder Z-phase position deviated from the initial value
stored in the controller.
・ The gripper main body was replaced.

・ A finger was replaced with the origin set to the close side.
Meaning/Cause ・ The CPU board of the controller was replaced.
・ The CPU software version of the controller was changed.
・ An obstacle was struck while returning to the origin point.
・ The encoder Z-phase has faulty wiring or has malfunctioned.
・ The gripper drive section or transmission section has
malfunctioned.
・ Perform return-to-origin again.
Action ・ Remove the obstacle and perform return-to-origin again.
・ Replace the gripper main body.
26.806 : Gripper position deviation error

Code : &H001A &H0326
a. Mechanical lock occurred in the gripper drive section.
Meaning/Cause b. Motor cable is broken or wired incorrectly.
c. Parameters are incorrect.
a. Check the gripper drive section for mechanical lock.
Action b. Check the motor cable and encoder cable connections.
c. Initialize the parameters.
26.807 : Gripper internal fault

Code : &H001A &H0327
Meaning/Cause An error occurred within the gripper control board.


11.1 Alarm messages
26.809 : Gripper watchdog error

11 Code : &H001A &H0329
Meaning/Cause The software entered a runaway state due to external noise.

12 26.810 : Gripper feedback error 1

Code : &H001A &H032A
a. External force caused the finger to overrun the software limit.
Meaning/Cause
b. External noise caused the encoder to miscount.
13 a. Turn on the power and check that no external force is applied
Action to the finger, and then perform return-to-origin.
b. Contact your distributor.
26.811 : Gripper encoder wire breakage

Code : &H001A &H032B
a. The encoder cable is disconnected.
Meaning/Cause
b. The guide block is locked.
a. Check the encoder cable connection.
Action
b. Unlock the guide block.
26.814 : Gripper current deviation error

Meaning/Cause Motor cable is broken or miswired

Action Check the motor cable connections.
26.899 : Gripper parameter send fail

Code : &H001A &H0383
Sending the gripper parameter to the gripper control board
Meaning/Cause
failed.
26.97 : Undefined gripper type number

Code : &H001A &H0061
Meaning/Cause The gripper of the specified type number does not exist.
Action Enter the correct gripper number.

26.98 : Gripper overlap assign
Code : &H001A &H0062 11
a. You are attempting to register a different gripper in an option
slot for which generation settings were already made.
Meaning/Cause
b. You are attempting to assign a different option slot to a gripper
for which generation settings were already made.
a. Change the option slot number.
12
Action
b. Stop making gripper settings.
26.99 : Gripper undefined error

Code : &H001A &H0063 13
Meaning/Cause Undefined error was detected on the gripper control board.

MEMO

12.1 Before beginning work
12. Periodic inspection and maintenance

11
Periodic inspection and maintenance are essential to ensure safe and efficient operation of
YAMAHA robots. This chapter describes periodic inspection items and procedures for the gripper.
Before beginning work, read the precautions below and also in Chapter 1 "Using the Robot Safely"
and follow the instructions.
12
w WARNING
If the adjustment or inspection procedure calls for operation of the gripper, stay out
of the movable area of the gripper during operation. Additionally, keep watching
the gripper movement and surrounding area so that the operator can stop the
13
operation immediately if any danger occurs.
w WARNING
• Before starting the adjustment or inspection without operation of the gripper, be
sure to turn off the power switch on the controller and the switch on the external
power distribution panel.
• When the maintenance or inspection of the robot controller is performed under
YAMAHA’s direction, start the work 30 min. after the power has been shut down. If
any hot or high voltage remaining portion exists in the robot controller, this may
cause burn or electrical shock.
• When making only electrical inspections and requiring no mechanical
movement of the gripper, press the emergency stop button.
• Use only lubricant and greases specified by yamaha sales office or representative.
• Use only parts specified by yamaha sales office or representative. Take sufficient
care not to allow any foreign matter to contaminate them during adjustment,
parts replacement or reassembly.
• When adjustment or maintenance is complete, retighten the bolts and screws
securely.
• Post a sign stating "UNDER ADJUSTMENT/INSPECTION" on the gripper so that other
personnel do not operate any switch carelessly. As needed, install an appropriate
switch key lock mechanism or ask someone to keep watch.
• If the gripper is incorporated into the system (machine unit or robot), strictly
observe the laws and regulations related to the safety measures of the system
and perform the inspection or maintenance work in asafe manner.
• Do not disassemble or assemble product parts other than those specified.
Personal injury, electrical shock, or fire may otherwise result.
• Do not modify the gripper main body or controller. If modified,
not only designated specifications are not satisfied, but also the modification
may adversely affect the operator’s safety. Additionally,never cut or reconnect
the product cable to extend or shorten the cable length. Fire may otherwise result.
Chapter 12 Periodic inspection and maintenance 12-1

• Before starting the maintenance, inspection, or repair work of the product, be

sure to shut down the electric power supply completely and strictly observe the
11 cautions below.
1. Post a sign stating "UNDER WORK. POWER ON PROHIBITED" at a legible
location to prevent a third person from powering on carelessly.
2. When multiple work personnel perform the maintenance and inspection work,
12 keep close communication among them to confirm the safety when turning on
or off the power or when moving movable parts.
• Do not start the inspection work without fully understanding of the work contents.
Additionally, perform the inspection at specified intervals. Negligence of the
inspection may cause the service life of the drive part to be shortened, resulting
13 in malfunctions. If any trouble is found during the inspection, immediately stop

the operation.
• Never touch terminals during the insulation resistance test. Electrical shock may
otherwise result. (Since the electric gripper uses the DC power supply, do not
conduct the withstand voltage test.)
When applying grease to the gripper, take the following precautions.
w WARNING
Precautions when handling grease:
• Inflammation may occur if this gets in the eyes.
Before handling the grease, wear your safety goggles to ensure the grease will
not come in contact with the eyes.
• Inflammation may occur if the grease comes into contact with skin. Be sure to
wear protective gloves to prevent contact with skin.
• Do not take orally or eat. (Eating will cause diarrhea and vomiting.)
• Hands and fingers might be cut when opening the grease container, so use
protective gloves.
• Keep out of the reach of children.
• Do not heat the grease or place near an open flame since this could lead to
sparks and fires.
Emergency treatment:
• if grease gets in the eyes, wash liberally with pure water for about 15 minutes and
consult a physician for treatment.
• If grease comes in contact with the skin, wash away completely with soap and water.
• If taken internally, do not induce vomiting but promptly consult a physician for
proper treatment.
12-2 Chapter 12 Periodic inspection and maintenance

12.2 Periodic inspection
12.2 Periodic inspection

12.2.1 Daily inspection 11
Check the following points on a daily basis, before and after system operation.
Checkpoints Check items Notes
Gripper main
• Check for loose bolt.
• Check for loose finger mounting.
If any loose part
is found, retighten 12
body it with a specified
torque.
• Check for scratch or excessive bend. If any scratch or
• Check for abrasion. abrasion is found,
Cables
• Check that connectors are connected securely.
replace the
defective cable
13
as needed.
• Check for unusual noise, vibration, or
unsmooth operation.
Operation status
• Check that the emergency stop functions
correctly.
● Cleaning
• Clean the electric gripper with a soft cloth rag that does not scatter thread craps to wipe off
the contamination.
• If the electric gripper is contaminated extremely, use neutral detergent. It is prohibited to use
solvent to clean the gripper.
• When removing dirt or dust with the air blow, it may enter the inside of the gripper.
Do not use the air blow for the cleaning work.
12.2.2 Six-month inspection

Take the following precautions when performing 6-month inspection.
Check the following points every 6 months and adjust or replace parts if needed.
Checkpoints Check items Notes

• If any dust or contamination is found, clean it.
After cleaning, apply grease.
• If the linear guide movement part is dry or if See section 12.3
linear guide the grease is insufficient, apply grease. in this Chapter.
Recommended grease:
Multemp PS No. 2 (Kyodo Yushi) or
its equivalent (Lithium grease)
If any scratch or
• Check for scratch or excessive bend. abrasion is found,
Cables • Check for abrasion. replace the
• Check that connectors are connected securely. defective cable
as needed.
• Check for unusual noise, vibration, or
unsmooth operation.
Operation status
• Check that the emergency stop functions
correctly.
Chapter 12 Periodic inspection and maintenance 12-3

12.3 Applying grease
12.3 Applying grease

11 When applying grease to the linear guide according to periodic inspection, follow the procedure
below.
Recommended grease: Multemp PS No. 2 (Kyodo Yushi) or its equivalent (Lithium grease)
12 1) Make sure that the power to the controller is off.
2) Use a syringe to apply the recommended grease to the clearance between the guide
block and guide rail of the finger (ball part at 4 locations).
13 After the grease has been applied, wipe off excess grease or grease sticking to
surrounding parts.
w WARNING
• Apply an adequate amount of grease to specified locations. Electronics
devices, such as stepping motor or rotary encoder are incorporatedinto the
gripper main body. If grease sticks to such device, not only the gripper cannot
be operated at its maximum performance level, but also damage to the machine
unit or personal injury due to malfunctions may result.
• Do not use spray grease. If used, grease scatters and may stick to the encoder.
• Do not use spray oil. If used, GREASE FLOWS BY OILY CONTENT, causing lubrication
trouble. Additionally, oil enters unexpected locations, causing operation trouble.
• Never use fluorochemical grease. If fluorochemical grease is mixed with lithium
grease, the lubrication performance lowers, causing damage to the gripper.
12-4 Chapter 12 Periodic inspection and maintenance

13.1 Gripper basic specifications
13. Specifications
11
13.1 Gripper basic specifications
Item Specifications
Applicable controller RCX340 / RCX320
Basic
specifications Number of
connection grippers
Max. 4 units 12
Control method PTP motion
Min. setting unit 0.01mm
Position indication
Axis control
unit
Pulses, mm (millimeters)
13
20 to 100%
Speed setting
(in 1% steps, Changeable by the program.)
1 to 100%
Acceleration setting
(in 1% steps, Setting by the acceleration parameter)
MDI (coordinate data input), direct teaching,
Programming Teaching teaching playback,
offline teaching (data input from external unit)
13.2 Gripper control board specifications

Item Specifications
No. of axes 1 axis
Position detection
Optical rotary encoder
method
Axis control
Min. setting distance 0.01mm
Set in the range of 20 to 100% to the max. parameter
Speed setting
speed.
Overcurrent, overload, voltage failure, system failure,
Protective alarm
position deviation over, feedback error, etc.
POWER (Green), RUN (Yellow), READY (Yellow),
LED status indication
ALARM (Red)
Power supply Drive power DC 24V±10% 1.0A Max.
Chapter 13 Specifications 13-1

13.3 Gripper specifications

11 (1) Compact single cam type : YRG-2005SS
■ Basic specifications
Model name YRG-2005SS Unit Note 1) Design the finger as short
and lightweight as possible.
Max. continuous
12 Holding rating
5 N Note 2) Set the parameters and
holding power (%) of the
holding movement command
power Min. setting 30 (1.5) % (N)
so that any excessive shock
Resolution 1 (0.05) % (N) is not applied to the finger
Open/close stroke 3.2 mm during operation.
Max. rating 100 mm/sec Note 3) When installing or
13 Min. setting 20 (20) % (mm/sec)

uninstalling the finger,
tighten the bolts while the
Speed Resolution 1 (1) % (mm/sec) finger is being held securely
so that any excessive force
Holding speed or shock is not applied to
50 %
(Max.) the guide block.
Repeated positioning accuracy ±0.02 mm Note 4) Design the weight of a
Guide mechanism Linear guide workpiece to be held so that
it is approximately 1/10 to
Max. holding weight (Note 4) 0.05 kg 1/20 of the holding power.
Operating temperature 0 to +40 (Consider further allowance
°C when moving and swinging
range (No freezing allowed.)
the gripper that keeps
RH35 to 90 holding a workpiece.)
Operating humidity range %
(No dew condensation allowed.) Note 5) Workpiece weight that is
-10 to +60 able to be held may greatly
Storage temperature °C vary depending on the
(No freezing allowed.)
material, shape, and/or
Weight 90 g holding surface conditions
of the finger.
■ Relationship between holding ■ Allowable load and load moment
power and power designation (%) F
8 My H
7
Holding power (N)
6
Mp L
Mr
5
4
S
3 005S YRG-2005SS
G-2
YR Allowable load F [N] 12
2
Allowable pitching moment Mp [N • m] 0.04
Guide
1 Allowable yawing moment My [N • m] 0.04

Allowable rolling moment Mr [N • m] 0.08
0
30 40 50 60 70 80 90 100 Max. weight (1 pair) [g] 10
Finger
Power designation (%) Max. holding position L [mm] 20

Max. overhang H [mm] 20
• The graph stating the relationship between
• Mount the finger so that the allowable load and load moment of the
the holding power and power designation guide do not exceed the values stated in the table above.
(%) is used for your reference. The actual Additionally, make the adjustment so that the finger weight, holding
holding power may vary extremely. length (L) from the installation surface to the holding point, and
overhang (H) do not exceed the values stated in the table above.
Moreover, please contact your YAMAHA sales dealer for further
information on combination of L and H.
13-2 Chapter 13 Specifications
■ Dimensional outline drawing (Unit: mm)
11
180±10 Connector
(Overall length of cable and connector)
2-φ1H7 (+0.010
0 ) A Wiring port and encoder cover
2-M3 Effective depth, 3
12
Effective depth, 1.5 (12) (Heat shrinkable tube)
For installation
20.5±0.1
2-M2 Effective depth, 3.5
(16.5) 16 (For finger installation)
(44.2) 16 20.5±0.1
3.5
B
4±0.03
(29.3) (61.8)
8±0.03
6±0.03
2.5
3 3
2.5 View of A 13
8 8
8.5 9.5 (0) to 4
10 14.5
11±0.1 11±0.1
6
0 2-M3 Effective depth, 3
2-φ1.5 -0.01
1.5 5±0.025 1.5 3.5 5
For installation
(Positioning pin) 1 5
(5.8) to 9 12
12 2-φ1H7 (+0.010
0 )
3.2st 20 20.5±0.1 Effective depth, 1.5
20.5±0.1
View of B
Note) The cable is not flexible. Avoid extreme bending of the cable and secure the cable
so that it does not move.
Take appropriate measures so that any excessive force is not applied to the root
of the cable.

(2) Single cam type : YRG-2010S, YRG-2815S, YRG-4225S
11 ■ Basic specifications
Model name YRG-2010S YRG-2815S YRG-4225S Unit Note 1) Design the finger as short
Max. continuous Note 2) Set the parameters and
6 22 40 N
Holding rating holding power (%) of the
power Min. setting 30 (1.8) 30 (6.6) 30 (12) % (N) holding movement command
12
Resolution 1 (0.06) 1 (0.22) 1 (0.4) % (N) is not applied to the finger
Open/close stroke 7.6 14.3 23.5 mm during operation.
Max. rating 100 100 100 mm/sec Note 3) When installing or
Min. setting 20 (20) 20 (20) 20 (20) % (mm/sec) tighten the bolts while the
Speed Resolution 1 (1) 1 (1) 1 (1) % (mm/sec) finger is being held securely
13 Holding speed
(Max.)
50 50 50 %
or shock is not applied to
the guide block.
Repeated positioning accuracy ±0.02 ±0.02 ±0.02 mm Note 4) Design the weight of a
workpiece to be held so that
Guide mechanism Linear guide
Max. holding weight (Note 4) 0.06 0.22 0.4 kg 1/20 of the holding power.
Operating temperature (Consider further allowance
0 to +40 °C when moving and swinging
range
Storage temperature −10 to +60 °C able to be held may greatly
vary depending on the
Weight 160 300 580 g material, shape, and/or
holding surface conditions
of the finger.
70
60 My H
50
L
Holding power (N)
Mp
Mr
40
30 S
25
G -42 YRG-2010S YRG-2815S YRG-4225S
YR
20 Allowable load F [N] 450 350 600
5S
-281 Allowable pitching moment Mp [N • m] 0.7 0.5 1.1
Guide
10 YRG
Allowable yawing moment My [N • m] 0.8 0.6 1.3
YRG-2010S Allowable rolling moment Mr [N • m] 2.3 2.8 8.6
0
30 40 50 60 70 80 90 100 Max. weight (1 pair) [g] 15 30 50
Finger
Power designation (%) Max. holding position L [mm] 20 20 25

Max. overhang H [mm] 20 25 30
• The graph stating the relationship between • Mount the finger so that the allowable load and load moment of the
the holding power and power designation guide do not exceed the values stated in the table above.
(%) is used for your reference. The actual Additionally, make the adjustment so that the finger weight, holding

11
A
4-U Effective depth V 7.5
For installation
SC TE
A 12.5
5.5
φ3H7 ( +0.010
0 ) Depth 2 B φ6H7 ( +0.012
0 ) Depth 2
2×4-U Effective depth VA

For installation Q
Installation surface
2×4-U Effective depth VB

R RA
View of B
12
A For installation (Also CB 2×2-N Effective depth P
installable on the opposite For attachment installation L J
side.)
L J
SA SB B
F
W
AA
Installation surface AB
14 13
Installation surface M
2×1-N Effective depth P
For attachment installation View of A M
YRG-2010S YRG-4225S
D Z
2-H YRG-2815S
E G
ED
A
of the cable.
l Dimension table
Symbol
A AA AB B CB D E ED F G H J L
Model name
0 0
YRG-2010S 17 17 17 12 27 2 9-0.05 20 71 8.4~16 φ3 -0.01 5 3.5
0 0
YRG-2815S 24 24 14 15 38 2 14-0.05 25 78 9.6~23.9 φ3 -0.01 6 4.3
0 0
YRG-4225S 36 25 13 20 50 3 24-0.05 40 86 12~35.5 φ4 -0.012 6.5 5.5
Symbol
M N P Q R RA SA SB SC TE U V VA VB W Z
Model name
YRG-2010S 12.1 M3 5 24 34 165±10 13 17 8.3 5 M3 5 6 6 61 2.2
YRG-2815S 15 M4 5 32 46 140±10 16 21 9.3 6 M4 6 8 8 69 2
YRG-4225S 17.4 M5 8 46 60 235±10 18 24 10.8 7.5 M5 7.5 8 10 72 3

(3) Double cam type : YRG-2005W, YRG-2810W, YRG-4220W
Model name YRG-2005W YRG-2810W YRG-4220W Unit Note 1) Design the finger as short
50 150 250 N
power Min. setting 30 (15) 30 (45) 30 (75) % (N) holding movement command
12
Resolution 1 (0.5) 1 (1.5) 1 (2.5) % (N) is not applied to the finger
Open/close stroke 5 10 19.3 mm during operation.
Max. rating 60 60 45 mm/sec Note 3) When installing or
Min. setting 20 (12) 20 (12) 20 (9) % (mm/sec) tighten the bolts while the
Speed Resolution 1 (0.6) 1 (0.7) 1 (0.45) % (mm/sec) finger is being held securely
13 Holding speed
(Max.)
50 50 50 %
the guide block.
Repeated positioning accuracy ±0.03 ±0.03 ±0.03 mm Note 4) Design the weight of a
Max. holding weight (Note 4) 0.5 1.5 2.5 kg 1/20 of the holding power.
0 to +40 °C when moving and swinging
range
Storage temperature −10 to +60 °C able to be held may greatly
vary depending on the
Weight 200 350 800 g material, shape, and/or
of the finger.
350
300 H
My
250
Holding power (N)
Mp L
200 Mr
W
20
42
150
RG-
Y
YRG-2005W YRG-2810W YRG-4220W
100 10W
G-28 Allowable load F [N] 1000 1000 2000
Y R
Allowable pitching moment Mp [N • m] 6.7 8.1 20.1
Guide
50
5W Allowable yawing moment My [N • m] 4 4.8 12
YRG-200
Allowable rolling moment Mr [N • m] 5.1 7.8 25.9
0
30 40 50 60 70 80 90 100 Max. weight (1 pair) [g] 40 80 200
Finger
Power designation (%) Max. holding position L [mm] 30 30 50

Max. overhang H [mm] 20 20 30
the holding power and power designation
guide do not exceed the values stated in the table above.
(%) is used for your reference. The actual
Additionally, make the adjustment so that the finger weight, holding

11
A
4-U Effective depth V
For installation
7.5
SC TE
A
12.5
φ3H7 ( ) Depth 2 5.5
12
+0.010
0
B φ6H7 ( +0.012
0 ) Depth 2
4-U Effective depth VA
For installation Installation surface View of B
2×4-U Effective depth VB
Q R RA 2×4-N Effective depth P
For installation (Also
A installable on the opposite CB For attachment installation
side.) L J K
Installation SA SB
13
surface B
AA X1 L J K
Installation AB
W surface Installation surface
F
Installation surface 14
M
D Z 2-H 2×2-N Effective depth P
E G For attachment installation M
ED X YRG-2005W YRG-4220W
YRG-2810W View of A
A
of the cable.
l Dimension table
Symbol
A AA AB B CB D E ED F G H J K L
Model name
0 0
YRG-2005W 17 17 17 12 27 2 9-0.05 20 74 10.6~15.6 φ4 -0.012 6 8 4.6
0 0
YRG-2810W 24 24 14 15 38 2 14-0.05 25 80 12.6~22.6 φ5 -0.012 7 10 5.65
0 0
YRG-4220W 36 25 13 20 50 3 24-0.05 40 90 17.0~36.3 φ6 -0.012 8 15 7.5
Symbol
M N P Q R RA SA SB SC TE U V VA VB W X X1 Z
Model name
YRG-2005W 22.5 M3 5 24 34 165±10 13 17 8.3 5 M3 5 6 6 64 52 54 2.2
YRG-2810W 27.5 M4 5 32 46 140±10 16 21 9.3 6 M4 6 8 8 71 67 61 2
YRG-4220W 37 M5 8 46 60 235±10 18 24 10.8 7.5 M5 7.5 8 10 76 96 63 3

(4) Screw type straight style : YRG-2020FS, YRG-2840FS
Model name YRG-2020FS YRG-2840FS Unit Note 1) Design the finger as short
50 150 N
power Min. setting 30 (15) 30 (45) % (N) holding movement command
12
Resolution 1 (0.5) 1 (1.5) % (N) is not applied to the finger
Open/close stroke 19 38 mm during operation.
Max. rating 50 50 mm/sec Note 3) When installing or
Min. setting 20 (10) 20 (10) % (mm/sec) tighten the bolts while the
Speed Resolution 1 (0.5) 1 (0.5) % (mm/sec) finger is being held securely
13 Holding speed
(Max.)
50 50 %
the guide block.
Repeated positioning accuracy ±0.01 ±0.01 mm Note 4) Design the weight of a
Max. holding weight (Note 4) 10 (0.5) 10 (1.5) % (kg) 1/20 of the holding power.
0 to 40 °C when moving and swinging
range
Operating humidity range RH35 to 90 % holding a workpiece.)
Storage temperature −10 to 60 °C Note 5) Workpiece weight that is
able to be held may greatly
Weight 420 880 g vary depending on the
of the finger.

200
180 H
My
160
Holding power (N)
140
Mp L
120 Mr
FS
100 40
- 28
G
80 YR
YRG-2020FS YRG-2840FS
60
Allowable load F [N] 1000 1300
40 Allowable pitching moment Mp [N • m] 3.5 5
Guide
S
2020F
20 YRG- Allowable yawing moment My [N • m] 4.2 6
Allowable rolling moment Mr [N • m] 7.3 12.7
0
30 40 50 60 70 80 90 100 Max. weight (1 pair) [g] 40 80
Finger
Power designation (%) Max. holding position L [mm] 30 30

Max. overhang H [mm] 20 20

11
4-U Effective depth V S A S Connector
For installation DDK (DK-2100D-12R)
C T
BD
T
φ3H7 Depth 2 B φ10H7 Depth 3
12
SA A SA RA Q
4-U Effective depth V B Y (20) SB A SB 4-M4 Effective depth 6
(12.5)
For installation For installation
(3.5)
TA
TB
TC
C
C
W
13
F
φ3H7 Depth 3
WA
2
φ10H7 Depth 3
Z
H H E
G ED
R
K J L L J K 2 2-N Effective depth P
For attachment installation
M M
of the cable.
l Dimension table
Symbol
A B BD C D E ED F G H J K L M
Model name
0 0
YRG-2020FS 22 12 15 12 2 14 -0.05 25 69 10.5~29.5 φ3 -0.01 6 12 4.5 27.5
0 0
YRG-2840FS 30 15 20 16 2 24 -0.05 30 84 13~51 φ4 -0.012 8 14 5.5 34.5
Symbol
N P Q R RA S SA SB T TA TB TC TD U V
Model name
YRG-2020FS M3 5 30 76 175±10 27 27 4 9 24 24 30 12.5 M4 6
YRG-2840FS M4 7.5 40 110 135±10 40 40 5 12 28 28 36 14 M5 7.5
Symbol
W WA Y Z
Model name
YRG-2020FS 60 9 38 2
YRG-2840FS 72 12 55 3

(5) Screw type "T" style : YRG-2020FT, YRG-2840FT
Model name YRG-2020FT YRG-2840FT Unit Note 1) Design the finger as short
50 150 N
power Min. setting 30 (15) 30 (45) % (N) holding movement command
12
Resolution 1 (0.5) 1 (1.5) % (N) is not applied to the finger
Open/close stroke 19 38 mm during operation.
Max. rating 50 50 mm/sec Note 3) When installing or
Min. setting 20 (10) 20 (10) % (mm/sec) tighten the bolts while the
Speed Resolution 1 (0.5) 1 (0.5) % (mm/sec) finger is being held securely
13 Holding speed
(Max.)
50 50 %
the guide block.
Repeated positioning accuracy ±0.01 ±0.01 mm Note 4) Design the weight of a
Max. holding weight (Note 4) 10 (0.5) 10 (1.5) % (kg) 1/20 of the holding power.
0 to 40 °C when moving and swinging
range
Operating humidity range RH35 to 90 % holding a workpiece.)
Storage temperature −10 to 60 °C Note 5) Workpiece weight that is
able to be held may greatly
Weight 420 890 g vary depending on the
of the finger.

200
180 H
My
160
140
Holding power (N)
Mp L
120 Mr
FT
100 40
-28
G
80 YR
YRG-2020FT YRG-2840FT
60
Allowable load F [N] 1000 1300
40 Allowable pitching moment Mp [N • m] 3.5 5
Guide
20 20FT
20 YRG- Allowable yawing moment My [N • m] 4.2 6
Allowable rolling moment Mr [N • m] 7.3 12.7
0
30 40 50 60 70 80 90 100 Max. weight (1 pair) [g] 40 80
Finger
Power designation (%) Max. holding position L [mm] 30 30

Max. overhang H [mm] 20 20

11
Connector 4-U Effective depth V SA A SA
DDK (DK-2100D-12R) For installation
TA C TA
H H

G 12
For installation RA
S A S
Q ZA (20) R
(3.5)
SB A SB
L J JA
TE
13
E
TB
TC
T
ED
C
W
C
4-U Effective
depth V
For installation
φ3H7 Depth 3 Z 2 2-N Effective depth P M

φ10H7 Depth 3 B Y F D
of the cable.
l Dimension table
Symbol
A B C D E ED F G H J JA K L M
Model name
0 0
YRG-2020FT 22 12 12 2 14 -0.05 25 39 10.5~29.5 φ3 -0.01 6 12 12 4.5 27.5
0 0
YRG-2840FT 30 15 16 2 18 -0.05 30 52 13~51 φ4 -0.012 8 14 14 5.5 34.5
Symbol
N P Q R RA S SA SB T TA TB TC TD TE U V
Model name
YRG-2020FT M3 5 30 76 175±10 27 27 4 24 9 24 30 12.5 12.5 M4 6
YRG-2840FT M4 7.5 40 110 135±10 40 40 5 28 12 28 36 14 14 M5 7.5
Symbol
W Y Z ZA
Model name
YRG-2020FT 60 38 2 9
YRG-2840FT 72 55 3 12

(6) Three fingers type : YRG-2004T, YRG-2013T, YRG-2820T, YRG-4230T
Model name YRG-2004T YRG-2013T YRG-2820T YRG-4230T Unit
Max. continuous
2.5 2 10 20 N
Holding rating
power Min. setting 30 (0.75) 30 (0.6) 30 (3) 30 (6) % (N)
12 Resolution
Open/close stroke
1 (0.025)
3.5
1 (0.02)
13
1 (0.1)
20
1 (0.2)
30
% (N)
mm
Max. rating 100 mm/sec
Min. setting 20 (20) % (mm/sec)
Speed Resolution 1 (1) 1 (1) 1 (1) 1 (1) % (mm/sec)
13 Holding speed
(Max.)
50 50 50 50 %
Repeated positioning accuracy ±0.03 mm

Max. holding weight (Note 4) 10 (0.02) 10 (0.02) 10 (0.1) 10 (0.2) % (kg)
Operating temperature
0 to + 40 °C
range
Operating humidity range RH35 to 90 %
Storage temperature − 10 to + 60 °C
Weight 90 190 340 640 g
Note 1) Design the finger as short and lightweight as possible.

Note 2) Set the parameters and holding power (%) of the holding movement command so that any excessive shock is
not applied to the finger during operation.
Note 3) When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any
excessive force or shock is not applied to the guide block.
Note 4) Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power.
(Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Note 5) Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding
surface conditions of the finger.


power and power designation (%)
11
External force : Fb
25 External force : Fa Distance of holding
Work : W
20
Holding power (N)
Finger L
H
15 30T
G-42
Y R
10
YRG-
2820T 12
5
0
30 40 50 60 70 80 90 100
13
Power designation (%) YRG-2004T YRG-2013T YRG-2820T YRG-4230T
4 Allowable load [N] 6 20 30 50
Finger
Allowable moment [N•m] 0.02 0.1 0.2 0.4
Holding power (N)
3 Max. weight (1 pair) [g] 10 20 30 50

Max. holding position L [mm] 15 20 30 40
2 13T
YR G-20 • When the external forces Fa and Fb are applied to a potion
4T
-200 the distance (L) apart from the finger installation surface, the
1 YRG load (F) and moment (M) are calculated from the formulas
shown below.
0
30 40 50 60 70 80 90 100 F = Fa + W × g
Power designation (%) M = Fb × L
F : Load [N]
M : Moment [N•m]
the holding power and power designation L : Distance of point of external force application [m]
(%) is used for your reference. The actual Fa : External force [N]
holding power may vary extremely. Fb : External force [N]
W : Workpiece weight [Kg]
g : Gravity acceleration [m/s2]
H : Distance of holding point [m]

11 l YRG-2004T
2-M3 Effective depth 3
For installation
6.5
8
9.5
12
5 ±0.05
2-φ1H7( +0.010
0 ) 13
Effective depth1.5
2x2-M3 Effective depth 3 3-M2 Effective depth 4
For installation For finger installation
The same size also applies to
10 (1~)3
the opposite side.
2.5 6 1.5
2x2-φ1H7( +0.010 ) Effective depth1.5
13
0
The same size also applies to the opposite side.

0°
22 13 1.5 12
9 ±0.05
φ1.5h7
7
φ2
4h7
10 6
22
4 ±0.03
1.5 1.5 12 2st

0°
44.9 3
13.5
180
±10
(61.4)
Connector
DDK(DK-2100D-12R)
5 ±0.05
2-φ1H7( +0.010
0 ) 13
Effective depth1.5
9.5
8
6.5
2-M3 Effective depth 3

For installation
of the cable.


● YRG-2013T, YRG-2820T, YRG-4230T
S
11
For installation
T
φ3H7depth 2
2x4-Q Effective depth R
AA φ6H7depth 2
12
For installation (Alsoinstallable C BK
on the opposite side.) D 4-K Effective depth L
P
4-K Effective depth L J J For installation
BL
For installation NA
HB
HA
13
N
(5.5)
H
H
NB
Connector
DDK (DK-2100D-12R)
G
BH
B
BJ
WA
W
0° (W)
BF Effective depth BG 12
BE BD F
E
BA
BC
12 BB
0°
of the cable.
l Dimension table
Symbol
A B C D E F G H HA HB J K L M N NA
Model name
YRG-2013T 50 19 34 24 50 19 42 17 13 13 17 M3 6 38 17 17
YRG-2820T 58 19 46 32 66 25 40 24 16 16 24 M4 8 45 14 21
YRG-4230T 59 29 60 46 86 34 45 25 18 18 36 M5 8 51 13 24
Symbol
NB P Q R S T U V W WA AA BA BB
Model name
0
YRG-2013T 72 27 M3 6 17 17 M3 5 11.4~4.6 6.8st 12 10 -0.02 16
0
YRG-2820T 80 38 M4 8 24 24 M4 6 15.9~5.6 10.3st 15 10 -0.02 19.5
0
YRG-4230T 88 50 M5 10 36 36 M5 7.5 21.9~6.6 15.3st 20 14 -0.02 22.5
Symbol
BC BD BE BF BG BH BJ BK BL
Model name
0
YRG-2013T 2.5 10 *** 3X1-M3 8 2 φ3 -0.01 165±10 8.3
0
YRG-2820T 2.5 6 8 3X2-M3 6 2 φ3 -0.01 140±10 9.3
0
YRG-4230T 2.5 6 10 3X2-M4 8 3 φ4 -0.012 235±10 10.8

Revision record
Manual version Issue date Description

Ver. 1.00 Jan. 2015 First edition
Ver. 1.10 Jun. 2015 PBX screens were changed in chapters 4, 5, and 6. Dimensions
were added and corrected for the YRG-2013T, YRG-2820T, and
YRG-4230T in chapter 13 Gripper Specifications.
Ver. 1.20 Mar. 2016 The "Gripper status output(DO & SO)/GSTATS" parameter was
added to "6.3 Gripper parameters" in Chapter 6.
Clerical error collections, etc.
Ver. 1.30 Dec. 2019 Controller RCX320 was added.
Ver. 1.31 Mar. 2021 Note about the limitation in manual movement speed was added.
User’s Manual
YRG Series
Electric Gripper RCX3 series
Mar. 2021
Ver. 1.31
YAMAHA MOTOR CO., LTD. Robotics Operations

All rights reserved. No part of this publication may be reproduced in
any form without the permission of YAMAHA MOTOR CO., LTD.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible
inaccuracies or omissions. If you find any part unclear in this manual,
please contact your distributor.
Robotics Operations
127 Toyooka, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan
Tel. 81-53-525-8250 Fax. 81-53-525-8378
Robot manuals can be downloaded from our company website.

Please use the following for more detailed information.
https://global.yamaha-motor.com/business/robot/
YAMAHA MOTOR CO., LTD.

Yrg RCX3 e V1.31

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YAMAHA ELECTRIC GRIPPER

Ver. 1.31 E93

2. Overview of gripper 2-1

3. Installation and wiring 3-1

4. Verification and preparation 4-1

7. Gripper point data creation 7-1

8. Robot language commands 8-1

9. Online commands 9-1

10. Remote command 10-1

General contents iii

12. Periodic inspection and maintenance 12-1

13. Specifications 13-1

• This manual and gripper should be handled as a set.

• This manual covers of the RCX340 and RCX320 controller.

Chapter 1 Safety 1-1

1.2 Essential precautions

2 • The gripper is designed as components for general industrial machinery.

1-2 Chapter 1 Safety

(2) Cautions on disposal

(4) Use of dedicated parts

(5) Cautions on storage 6

Chapter 1 Safety 1-3

(7) Cautions on workpiece removal

(1) Check items before turning on the power to the controller

6 4. Are the safety protection measures taken correctly?.

(2) Check items after turning on the power to the controller

7 outside the safety protection fence.

8 3. Are the signal exchanges with auxiliary units correct?

1-4 Chapter 1 Safety

Chapter 1 Safety 1-5

2 around the product.

1-6 Chapter 1 Safety

■ This warranty does not cover any failure caused by:

■ The following cases are not covered under the warranty:

Chapter 1 Safety 1-7

1-8 Chapter 1 Safety

2. Over view of gripper

● Multi-point position control

Chapter 2 Overview of gripper 2-1

2.2 Product check

(1) Electric gripper

2-2 Chapter 2 Overview of gripper

2.3 Part names and functions

n Part names and functions of gripper control board

■ Gripper main body

• Single cam type • 3-finger type

Chapter 2 Overview of gripper 2-3

2.4 Installation conditions

4 Vibration Do not subject to impacts or vibrations.

8 may otherwise result.

2-4 Chapter 2 Overview of gripper

2.5 System configuration

Chapter 2 Overview of gripper 2-5

2.6 Preparations for electric gripper use

3 • Configure an emergency stop circuit. Chapter 4 Parallel I/O interface

Chapter 3 11. Checking the robot

Chapter 7 1. "SYSTEM" mode

Absolute reset/ Perform the absolute reset or return-to-origin to teach the OP

Chapter 7 10. Parameters

9 This manual 8. Robot language commands

Executing the next step

2-6 Chapter 2 Overview of electric grippe

3. Installation and wiring