YASKAWA YRC1000 User manual

MANUAL NO.
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YRC1000 OPTIONS
INSTRUCTIONS
FOR INTERRUPT JOB 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)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
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DANGER
• This manual explains the interrupt job function of the YRC1000
system. Read this manual carefully and be sure to understand its
contents before handling the YRC1000. 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 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.
CAUTION
• In some drawings in this manual, the protective covers or shields
are removed to show details. Make sure to install all the covers and
shields 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.
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
“DANGER”, “WARNING” and “CAUTION”.
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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 front door of the
YRC1000, on the programming pendant, 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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Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:
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 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.
Equipment Manual Designation
YRC1000 Controller YRC1000
YRC1000 Programming Pendant Programming Pendant
Cable between the manipulator and the
controller Manipulator Cable
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
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.
Equipment Manual Designation
Programming
Pendant Character Keys /Symbol Keys The keys which have characters or its symbol printed on them are denoted with [ ].
ex. [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,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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Contents
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1 What is the Interrupt Job Function?................................................................................................ 1-1
2 Setting of the Interrupt Job Function............................................................................................... 2-1
2.1 Interruption Table Display.................................................................................................. 2-1
2.2 Setting of Interruption Table .............................................................................................. 2-3
2.2.1 Setting of Signals ................................................................................................. 2-3
2.2.2 Setting of Job Names........................................................................................... 2-4
2.3 Setting of Interruption Levels............................................................................................. 2-5
3 Registration of Instructions ............................................................................................................. 3-1
3.1 EI (Enable Interruption) Instruction.................................................................................... 3-1
3.2 DI (Disable Interruption) Instruction................................................................................... 3-3
4 Execution of an Interrupt Job.......................................................................................................... 4-1
4.1 Interruption Signal Detection .............................................................................................4-1
4.2 Timing for Interrupt Job Execution..................................................................................... 4-1
4.3 Deceleration Before Interrupt Job Execution..................................................................... 4-1
4.4 Interruption Signal Entered During Another Interrupt Job.................................................. 4-1
4.5 Output Signal of “Interrupt Job in Execution”..................................................................... 4-2
4.6 Automatic Interruption Disabled Status ............................................................................. 4-2
4.7 Job Call Stack.................................................................................................................... 4-2
4.8 If an interrupt job cannot be executed ............................................................................... 4-2
5 Application Examples...................................................................................................................... 5-1
5.1 Interruption During Timer Instruction ................................................................................. 5-1
5.2 Interruption During Move Instruction.................................................................................. 5-1
5.3 Interruption During Move Instruction with NWAIT.............................................................. 5-2
5.4 Interruption During Circular Interpolation Move Instruction (MOVC) ................................ 5-3
6 System with Independent Control................................................................................................... 6-1
7 Instruction List................................................................................................................................. 7-1
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1 What is the Interrupt Job Function?
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1 What is the Interrupt Job Function?
The interrupt job function is a kind of call job. When a signal to interrupt
the job is sent from a peripheral device or another system, this function
momentarily suspends a job in progress, and executes the job
corresponding to the signal.
This function is useful when an error occurs in a peripheral device or in
another system, or when the manipulator should be withdrawn in an
emergency.
An interruption table defines the relation among the interruption levels
(priority of an interruption signal), the interruption signals, and the
interrupting jobs.
Sending a user input signal specified in the table calls, a job
corresponding to that signal. When interrupt job is completed, the
suspended job is restarted from the instruction line where the cursor was
at the time of interruption.
The smaller the interruption level number becomes, the higher the priority
of the processing becomes.
Since the YRC1000 determines which interrupt job is to be executed
according to this interruption table, make sure the settings for this table
are correct. The system engineer sets up this interruption table.
NOTE
If an interruption signal is received while the manipulator is in
the “step” cycle, the manipulator stops at once, and then the
next starting operation starts the interrupt job.
Interrupt job Job in progress
NOP
END
NOP
END
Interruption
INTERRUPT JOB
LEVEL SIGNAL JOB NAME
IN#01 JIG STOP
NOP
END
Interrupt job
"JIG STOP" NOP
END
Job in progress
Interruption
Interruption
signal IN#01
Interruption table
INTERRUPT JOB
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1 What is the Interrupt Job Function?
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NOTE
An interrupt job can be executed when the start lamp is ON
and between the execution of the EI (enable interruption)
instruction and the DI (disable interruption) instruction.
A different interruption level can be specified for both EI and
DI.
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2 Setting of the Interrupt Job Function
2.1 Interruption Table Display
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2 Setting of the Interrupt Job Function
2.1 Interruption Table Display
1. Select {JOB} under the main menu.
2. Select {INTERRUPT JOB} in the sub menu.
TABLE NO. (Initial value: 1)
OUTPUT SIGNAL (Initial value: no setting)
A user output signal that is turned ON during the execution of an inter-
rupt job.
LEVEL
The interruption level indicates the priority of the interruption signal.
The smaller the interruption level number becomes, the higher the prior-
ity of the processing becomes. Eight levels from 0 to 7 can be set.
SIGNAL (Initial value: no setting)
A user input signal serves as an interruption signal.
JOB NAME (Initial value: no setting)
A job name corresponding to an interruption signal
PERMIT
Interruption enabled or disabled status (for diagnosis)
(Enabled): Interruption enabled by the execution of the EI instruction
(Disabled): Interruption disabled
1
2
3
4
567
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