RCX Studio Software Download

1. Log into your account at yrginc.com to access the software and driver downloads section.

2. Download RCX Studio (the free standalone edition for basic software familiarization) or RCX Studio 2020 (the full version requiring the USB hardware license dongle included in your trainer documentation packet).

3. Download the necessary controller communications files for your intended PLC platform:

   • Rockwell Studio 5000: Allen Bradley YRG Yamaha I/O Library for RCX3 series controllers.

   • Siemens TIA Portal: Siemens RCX3 Get and Set function blocks, move command blocks, and the RCX 340 PROFINET GSDML file.

Connecting to the Controller & Parameter Board Configuration

1. Open RCX Studio 2020, select New Project, name your project, and select New Controller.

2. Select Online Mode over Ethernet and enter the controller's default IP address (192.168.0.7).

3. To temporarily isolate the robot from fieldbus communications and execute commands directly within RCX Studio, navigate to Parameters -> Options -> Board Enable.

4. Set the Ethernet IP option to Invalid, turn off motor power in the servo menu, save the changes, and cycle power to the trainer.

Axis Homing & Origin Sequence

After connecting encoder backup batteries, an initial battery error appears until the origin position is calibrated. Each axis homes using a specific mechanical method:

• Axis 1 (X): Moves left toward an optical home switch (ensure the arm is positioned slightly to the right of the sensor before initiating homing).

• Axis 2 (Y): Folds inward toward its mechanical origin switch.

• Axis 3 (Z): Retracts upward and homes using torque sensing when it reaches mechanical stop (does not use an optical sensor).

• Axis 4 (R): Rotates to align its position flag with its origin sensor.

In RCX Studio, turn on motor power under the Servo menu, then select Perform All Axes Origin to complete calibration.

Jogging & Coordinate Systems

• Joint Jogging: Manually jogs individual physical axes (A1, A2, A3, A4).

• Cartesian (XYZ) Jogging: Toggles coordinates to millimeters, moving the tool center point in straight lines. Positive X moves left, negative X moves right, positive Y extends outward, and positive Z moves downward toward the table.

Point Teaching & Template Programming

1. Disengage servos to manually position the robot arm into Righty or Lefty orientations.

2. Open the Point Table and click Teach to store current X, Y, Z, R coordinates into registers (e.g., P0, P1, P2, P3).

3. Open a New Program, select the Basic Pick & Place template, assign your pick, pick sky, place, and place sky point registers, and run a Point Trace to verify motion paths and speeds.