YASKAWA YRC1000 User manual

MANUAL NO.
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1
YRC1000/YRC1000micro OPTIONS
INSTRUCTIONS
FOR MUTUAL WAIT FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR’S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
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DANGER
• This manual explains the mutual wait function of the YRC1000/
YRC1000micro system. Read this manual carefully and be sure to
understand its contents before handling the YRC1000/
YRC1000micro. Any matter not described in this manual must be
regarded as "prohibited" or "improper".
• General information related to safety are described in "Chapter 1.
Safety" of the YRC1000/YRC1000micro INSTRUCTIONS. To
ensure correct and safe operation, carefully read "Chapter 1.
Safety" of the YRC1000/YRC1000micro INSTRUCTIONS.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
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NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000/YRC1000micro.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
DANGER
Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
CAUTION
Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE
NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION".
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<YRC1000>
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop button on the front door of the
YRC1000, on the programming pendant, or on the external
control device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the
obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
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<YRC1000micro>
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the programming pendant
or on the external control device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the
obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000micro power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the upper right of the programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
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<YRC1000micro>
<YRC1000/YRC1000micro>
DANGER
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 4-14 pin and 5-
15 pin of the Safety connector (Safety).
• Upon shipment of the YRC1000micro, this signal is connected by a
jumper cable in the dummy connector. To use the signal, make sure
to supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000/YRC1000micro cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
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Definition of Terms Used Often in This Manual <YRC1000>
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Definition of Terms Used Often in This Manual <YRC1000micro>
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the YRC1000micro
controller, manipulator cables, the YRC1000micro programming pendant
(optional), and the YRC1000micro programming pendant dummy
connector (optional).
In this manual, the equipment is designated as follows:
Equipment Manual Designation
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Robot Manipulator
Cable between the manipulator and the
controller
Manipulator cable
Equipment Manual Designation
YRC1000micro controller YRC1000micro
YRC1000micro programming pendant Programming pendant (optional)
Cable between the manipulator
and the controller
Manipulator cable
Robot Manipulator
YRC1000micro programming pendant
dummy connector
Programming pendant
dummy connector (optional)
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
Programming
Pendant
Character Keys
/Symbol Keys
The keys which have characters or symbols
printed on them are denoted with [ ].
e.g. [ENTER]
Axis Keys
/Numeric Keys
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a “+”
sign between them, e.g. [SHIFT]+[COORD].
Mode Switch Mode Switch can select three kinds of modes
that are denoted as follows: REMOTE, PLAY or
TEACH.
(The switch names are denoted as symbols)
Button The three buttons on the upper side of the
programming pendant are denoted as follows:
START, HOLD, or EMERGENCY STOP.
(The button names are denoted as symbols)
Displays The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}
E
M
E
R
G
E
N
C
Y
S
T
O
P
Numeric keys
Axis keys
Enter key
Mode switch*
Start button* Hold button*
Emergency stop button
Shift key
Page key
Coordinate key
PLAY
REMOTE
TEACH
START
*The button/switch names
are denoted as symbols.
HOLD
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Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and
TM
are omitted.
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1 Function Overview .......................................................................................................................... 1-1
2 Connection Settings........................................................................................................................ 2-1
2.1 LAN Port Setting to be Used.............................................................................................. 2-1
2.2 LAN Interface Setting......................................................................................................... 2-1
2.3 LAN Connection................................................................................................................. 2-2
3 Function Setting .............................................................................................................................. 3-1
4 Mutual Wait Instruction (RSYNC).................................................................................................... 4-1
4.1 Instruction Registration Method ......................................................................................... 4-1
4.2 Syntax................................................................................................................................ 4-1
4.3 Operation ........................................................................................................................... 4-1
5 Suspend.......................................................................................................................................... 5-1
6 Precautions ..................................................................................................................................... 6-1
7 Alarms ............................................................................................................................................. 7-1
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1 Function Overview
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1 Function Overview
The mutual wait function synchronizes job execution between different
controllers.
When the mutual wait instruction (RSYNC) is executed on different
controllers, the controllers to which the instruction first arrives will wait until
the mutual wait instruction (RSYNC) is executed on the other controllers.
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2 Connection Settings
2.1 LAN Port Setting to be Used
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2 Connection Settings
2.1 LAN Port Setting to be Used
When the mutual wait function is used, the communication by the Ethernet
is executed. LAN port settings to be used are required.
Select {SYSTEM} - {SETUP} under the main menu in maintenance mode,
select “DETAIL” of “MUTUAL WAIT FUNCTION” in “OPTION FUNCTION”
to display the following window, and then select the LAN port to be used.
(The LAN port setting is not required for the YRC1000micro because the
LAN2 is the only LAN port of the YRC1000micro.)
2.2 LAN Interface Setting
When the mutual wait function is used, the communication by the Ethernet
is executed. Set the LAN interface by referring to chapter 6.20.3 “Connection
with the YRC1000” in “YRC1000 GENERAL OPERATOR’S MANUAL (RE-
CSO-A051)” or chapter 6.19.3 “Connection with the YRC1000micro” in
“YRC1000micro OPERATOR’S MANUAL (RE-CSO-A058)”.
The IP address set in this chapter is used in the mutual wait function
setting.
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2 Connection Settings
2.3 LAN Connection
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2.3 LAN Connection
Connect controllers as follows. (Example when four controllers are
connected.)
Controller 1 Controller 2 Controller 3 Controller 4
Switching HUB
LAN cable
LAN cable LAN cable
LAN cable
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3 Function Setting
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3 Function Setting
This function performs a function setting on the mutual wait function
setting window.
Selecting {SETUP} - {MUTUAL WAIT SETUP} under the main menu
shows the mutual wait function setting window when the security mode is
the management mode or higher at the teach mode.
Mutual wait target
Means the mutual wait controller. Three controllers can be set at most.
Setting
Selects VALI / INVA of the mutual wait setting with each mutual wait
controller.
If “VALI” is set, perform the mutual wait with the target controller when
the mutual wait instruction (RSYNC) is executed.
If “INVA” is set, the instruction is immediately complete without perform-
ing the mutual wait with the target controller when the mutual wait
instruction (RSYNC) is executed.
Robot IP address
Sets the IP address of the mutual wait controller.
1
2
3
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4 Mutual Wait Instruction (RSYNC)
4.1 Instruction Registration Method
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4 Mutual Wait Instruction (RSYNC)
4.1 Instruction Registration Method
The mutual wait instruction (RSYNC) can be selected from “CONTROL” of
the instruction list when the language level is “standard” or higher.
4.2 Syntax
4.3 Operation
Synchronizes the execution of the mutual wait instruction (RSYNC)
between the controller that executed the mutual wait instruction (RSYNC)
and the controller specified as the mutual wait target.
When only one controller executes the mutual wait instruction (RSYNC),
the next instruction will not be executed until the mutual wait target
controller executes the mutual wait instruction (RSYNC).
No Tag Explanation Note
1 RSYNO= Specifies the mutual wait target
number.
RSYNC END1 Mutual wait target No. RSYNO=
Mutual wait function setting of the Controller 1;
Mutual wait target 1: Controller 2
Mutual wait target 2: Controller 3
Mutual wait target 3: Controller 4
Mutual wait function setting of the Controller 2;
Mutual wait target 1: Controller 1
Mutual wait function setting of the Controller 3;
Mutual wait target 1: Controller 1
Mutual wait function setting of the Controller 4;
Mutual wait target 1: Controller 1
(Example) Examples of settings are as follows.
NOP
RSYNC 1
RSYNC 2
䠖
END
NOP
RSYNC 1
䠖
䠖
END
Controller 1 Controller 2
NOP
RSYNC 1
䠖
䠖
END
Controller 4
NOP
RSYNC 1
䠖
䠖
END
Controller 3
SYNC
RSYNC 3
SYNC
SYNC
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5 Suspend
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5 Suspend
Turn ON controller special input signal #40563 and the controller can be
temporarily suspended from being a mutual wait target.
If the suspended controller was a mutual wait target, controllers on which
the mutual wait instruction (RSYNC) was executed will terminate the
instruction promptly and execute the next instruction.
An alarm will occur if the mutual wait instruction (RSYNC) is executed on
a suspended controller.
*In order to use suspend, it must be configured before the job is executed.
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6Precautions
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6Precautions
Note the following precautions when using the mutual wait function.
• Once the mutual wait instruction (RSYNC) is executed, the mutual
wait target controllers will be notified of the execution state. The
execution state is not canceled even if execution is stopped, such as
due to a hold.
For this reason, when a manipulator is stopped due to a hold after
the mutual wait instruction (RSYNC) is executed on one controller
and the mutual wait instruction (RSYNC) is executed on a mutual
wait target controller, the execution conditions are assumed to have
been satisfied and the next instruction will be executed. (Refer to
Example 1.)
However, if a mutual wait function setting is changed or the job is
edited (an operation that turns ON special output signal #50075,
such as moving the cursor or selecting a job), the mutual wait
instruction (RSYNC) execution state sent to the mutual wait target
controller will be canceled. (Refer to Example 2.)
Example 1: Job Execution Stopped Due to a Hold after Mutual Wait
Instruction (RSYC) Execution
Controller 1 Controller 2
Execution
Execution
state
state
notification
notification
Mutual wait instruction (RSYNC)
execution status notification from
controller 1 can be sent, so the
execution conditions are assumed
to have been satisfied and the
instruction after the mutual wait
instruction (RSYNC) is executed.
1. Execute the job on controller 1.
2. After the mutual wait instruction
(RSYNC) is executed, wait until
the mutual wait instruction
(RSYNC) is executed on the
other controller.
3. At this time, press the HOLD
button to stop job execution.
4. Execute the job on controller 2.
Execution
state
notification
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6Precautions
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Example 2: Job Execution Stopped Due to a Hold after Mutual Wait
Instruction (RSYC) Execution and Job Was Edited (Operation
That Turns ON Special Output Signal #50075 (E.g., Cursor
Movement or Job Selection))
• When the independent control function is enabled, the mutual wait
instruction (RSYNC) cannot be executed by simultaneously specify-
ing the same mutual wait target, such as RSYNC 1 in subtask 1 and
RSYNC 1 in subtask 2.
ExecutionExecution
statestate
notificationnotification
Execution
state
notification
Controller 1 Controller 2
1. Execute the job on controller 1.
2. After the mutual wait instruction
(RSYNC) is executed, wait until
the mutual wait instruction
(RSYNC) is executed on the
other controller.
3. At this time, press the HOLD
button to stop job execution.
4. Move the cursor.
5. Execute the job on controller 2.
Mutual wait instruction
(RSYNC) execution state
notification from controller 1
is canceled.
For this reason, controller 2
waits until the mutual wait
instruction (RSYNC) from
controller 1 is executed again.
Move
cursor
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7Alarms
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7Alarms
The following tables gives alarms that occur with the mutual wait function.
If the alarm occurs again after taking the actions in the above table, save
CMOS.BIN and notify your YASKAWA representative of the status (e.g.,
the operation procedure) when the alarm occurred.
Alarm No.
Alarm Name
Details Subcode Actions
Alarm 4084
MUTUAL WAIT
ERROR
An error was detected
in the mutual wait
function.
0000_0000_0000_0001:
No response from a mutual
wait controller.
Check the contents of the mutual wait
configuration file.
Check the network settings for the
mutual wait controllers.
Check the communications
connections with mutual wait
controllers.
0000_0000_0000_0010:
A communications error
occurred with a mutual wait
controller when the RSYNC
instruction was being
executed.
Check the communications
connections with mutual wait
controllers.
0000_0000_0000_0110:
A mutual wait setting was
changed on a mutual wait
controller when the RSYNC
instruction was being
executed.
Check if a mutual wait function setting
was changed on the mutual wait
controller when the RSYNC instruction
was being executed or if the controller
was suspended (special input signal
#40563 = ON).
0000_0000_0001_0000:
RSYNC instruction mutual
wait target number error.
Check the mutual wait target number in
the RSYNC instruction.
0000_0000_0010_0000:
A duplicate RSYNC
instruction was executed.
In a job with multiple tasks, correct the
job so that the RSYNC instruction is
not executed simultaneously.
0000_0000_0101_0000:
Invalid notification was
received from a mutual wait
controller.
Reset the alarm and if the alarm occurs
again, save CMOS.BIN and notify your
YASKAWA representative of the status
(e.g., the operation procedure) when
the alarm occurred.
0000_0000_0111_0000:
The RSYNC instruction was
executed on a robot
controller that was
suspended.
Check if the RSYNC instruction was
executed on a robot controller that was
suspended (special input signal
#40563 = ON).
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C 2019 YASKAWA ELECTRIC CORPORATION
Published by YASKAWA
MANUAL NO.
1
July 2019 19-05
HW1486105
YRC1000/YRC1000micro OPTIONS
INSTRUCTIONS
FOR MUTUAL WAIT FUNCTION
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