YASKAWA YRC1000 User manual

MANUAL NO.
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YRC1000
OPERATOR’S MANUAL
FOR LADDER EDITOR
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 ladder editor 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, 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.
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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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 supply 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 symbols 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 Editing Ladder Programs ............................................................................................................... 1-1
1.1 Flow of Data by Ladder Programs..................................................................................... 1-1
1.2 Editing by Mnemonic and Editing Program........................................................................ 1-2
1.3 Ladder Editor Window ....................................................................................................... 1-3
1.3.1 Basic Operation.................................................................................................... 1-3
1.3.2 Editing Operation of Ladder View Window........................................................... 1-7
1.3.2.1 Insert New Rungs.................................................................................... 1-7
1.3.2.2 Cut (Copy) and Paste Rungs .................................................................. 1-8
1.3.3 Editing Operation of Ladder Editing Window...................................................... 1-12
1.3.3.1 Inserting and Changing Instructions...................................................... 1-12
1.3.3.2 Delete Instructions ................................................................................ 1-18
1.3.3.3 Insert Columns ...................................................................................... 1-19
1.3.3.4 Insert Rows ........................................................................................... 1-21
1.3.3.5 Delete Columns..................................................................................... 1-23
1.3.3.6 Delete Rows.......................................................................................... 1-24
1.3.3.7 Undo and Redo ..................................................................................... 1-25
1.3.3.8 Clear Rungs .......................................................................................... 1-27
1.3.3.9 Save Edited Ladders............................................................................. 1-28
1.3.4 Compile .............................................................................................................. 1-30
1.3.5 Search................................................................................................................ 1-31
1.3.5.1 Go to the First Rung / Last Rung........................................................... 1-31
1.3.5.2 Go to Rung............................................................................................ 1-32
1.3.5.3 Find Value ............................................................................................. 1-33
1.3.5.4 Find Forward ......................................................................................... 1-34
1.3.5.5 Find Output Relays ............................................................................... 1-35
1.3.6 Other Functions.................................................................................................. 1-36
1.3.6.1 Header Information ............................................................................... 1-36
1.3.6.2 Instruction Use Table ............................................................................ 1-37
1.3.6.3 Relay Use Table.................................................................................... 1-39
1.3.6.4 Register Specification List..................................................................... 1-41
1.3.6.5 Mnemonic Display................................................................................. 1-43
1.3.6.6 Open Relay Label File........................................................................... 1-44
1.3.6.7 Input Name............................................................................................ 1-46
2 Ladder Monitoring Function ........................................................................................................... 2-1
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1 Editing Ladder Programs
1.1 Flow of Data by Ladder Programs
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1 Editing Ladder Programs
1.1 Flow of Data by Ladder Programs
Flow of data in editing, storage, and execution areas by operation of
ladder program is shown below.
EXECUTION
PROGRAM
INTERMEDIATE
CODE AREA
IO
PROCESSING
WORK
MEMORY
CONTROL
POWER ON
STORAGE
MEMORY
SAVE
COMPILE
EDITING AREA
SYSTEM
SECTION
WORK
MEMORY
EDITING
LOAD
SAVE
EXTERNAL
MEMORY UNIT
ACP01 BOARD
LADDER PROGRAM
DISPLAY
E
M
E
R
G
E
N
C
Y

S
T
O
P
NOTE
• Only the user ladder program can be edited. The system
ladder program cannot be edited.
• When the system ladder program is changed, the ladder
program from the external memory unit cannot be loaded.
• If control power is shut down while the ladder program is
being edited, the edited ladder program is lost. The intact
program remains in the execution area.
• During editing of ladder programs, “EDITING” is indicated
on the upper right of the user section display. This indica-
tion appears only when the program in the editing area
and that in the execution area do not match. No indication
will be displayed after compilation of cancellation of edit-
ing when the programs in the two areas match.
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1 Editing Ladder Programs
1.2 Editing by Mnemonic and Editing Program
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1.2 Editing by Mnemonic and Editing Program
The editing operations for ladder programs are two ways as follows.
1. Editing by Mnemonic Codes
– Ladder programs can be edited in mnemonic codes as shown
below.
2. Editing by Editing Program
– Ladder programs can be edited with the image of ladders as shown
in the window below.
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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1.3 Ladder Editor Window
1.3.1 Basic Operation
The Ladder Editor consists of Ladder View window and Ladder Editing
window.
The ladders to be edited are selected in the Ladder View window.
Ladder programs are edited in the Ladder Editing window.
1. Select {IN/OUT} under the main menu.
2. Select {LADDER EDITOR}.
– The view window of the User Ladder appears.
Compile Radder program overwrite
Radder View Window Radder Editing Window
Select the ladder
to be editted
Cancel the
completion of
the registration
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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3. Move the cursor to the ladder program to be edited.
– The selected one row appears in the Ladder Editing window.
4. Edit Operation.
– For each editing operation, see chapter 1.3.3 “Editing Operation of
Ladder Editing Window” on the following pages. The system ladder
section cannot be edited.
5. Move the cursor to the menu pressing [AREA] .
6. Select {EDIT}.
7. Select {SAVE RUNG (OVERWRITE)}.
– Returns to the view window of the User Ladder section.
8. Select {EDIT}.
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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9. Select {COMPILE}.
– The edited ladder program is checked for syntax error.
If no error is found, the new program is written into the execution
area to run. If any error is found in the edited ladder program, the
erroneous step is identified. In this case, the program stored in the
execution area remains unchanged.
NOTE
• Ladder operation and editing are prohibited depending on
YRC1000 security level as listed in the following table.
• Cursor key operation on Ladder View window. The cursor
moves up/down line by line each time the up/down cursor
key is pressed. The cursor moves up/down five lines at a
time each time [SHIFT] + up/down cursor keys are
pressed.
Security Level Operational Item
Operation Referring to ladder diagram,
monitoring signals
(Operation and editing of lad-
ders are not allowed.)
Editing
Management Referring to ladder diagram, monitoring signals, editing and
operating user ladders.
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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NOTE
• Ladder View Window
The Ladder View window consists of the ladder view and
menu. The position of a cursor in the window switches
every pressing [AREA] as shown in the following pictures.
• Ladder Editing Window
The Ladder Editing window consists of the ladder editing,
menu, and instruction menu. The position of a cursor in
the window switches every pressing [AREA] as shown in
the following pictures.
Main
menu
Menu
Status area
Menu area
Main
menu
Status area
Menu
Menu area
Parts menu
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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1.3.2 Editing Operation of Ladder View Window
The Ladder View window allows to insert new rungs, and cut (copy) and
paste rungs.
1.3.2.1 Insert New Rungs
The following explains the insertion of new rungs. Perform appropriate
ladder editing as a default value is already set for the rung to be inserted.
A new rung is inserted after the rung where a cursor locates in the Ladder
View window.
1. Move the cursor to the rung to be inserted.
2. Move the cursor to the menu pressing [AREA] .
3. Select {EDIT}.
4. Select {INSERT NEW RUNG}
– New rung (input: #20010 - output: #30010) is inserted under the
rung where a cursor locates.
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1.3 Ladder Editor Window
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1.3.2.2 Cut (Copy) and Paste Rungs
1. Selecting Subject Rungs
Subject rungs for cut and copy can be specified as follows.
1. Move the cursor to the rung where selection starts.
2. Press [SHIFT] + [SELECT].
– Start on a multiple rung selection.
3. Move the cursor to the last rung to be selected.
NOTE
Press [CANCEL] to release the multiple rung selection sta-
tus during the multiple selection.
The 1st rung
The last rung
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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2. Copy and Paste Rungs
This function allows to copy and paste ladders.
1. Move the cursor to the menu pressing [AREA] .
2. Select {EDIT}.
3. Select {COPY}.
4. Move the cursor to the rung position in which the copied rung is
pasted.
5. Move the cursor to the menu pressing [AREA] .
6. Select {EDIT}.
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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7. Select {INSERT PASTE RUNG}.
– The copied rung is inserted under the cursor position.
3. Cut (Copy) and Paste Rungs
This function allows to cut (copy) and paste rungs.
1. Move the cursor to the menu pressing [AREA] .
2. Select {EDIT}.
3. Select {CUT RUNG}.
4. Move the cursor to the rung position in which the cut rung is pasted.
5. Move the cursor to the menu pressing [AREA] .
6. Select {EDIT}.
The copied line
(Line #0000 was
copied)
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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7. Select {INSERT PASTE RUNG}.
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1 Editing Ladder Programs
1.3 Ladder Editor Window
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1.3.3 Editing Operation of Ladder Editing Window
The Ladder Editing window allows registration of instructions (including
adding, changing, and deleting instructions), operands editing, and other
operations such as inserting and deleting rows and columns.
1.3.3.1 Inserting and Changing Instructions
1. Selecting and Pasting Instructions
1. Move the cursor to the instruction menu pressing [AREA] .
2. Select an instruction to be added under the instruction menu.
– The following instructions are ready to be selected under the
instruction menu.
– For details on each instructions, refer to “12.2 Instruction
Description” in the YRC1000 Concurrent I/O.
{RELAY}: STR (A contact), NOT (B contact), GRP (GSTR-
GOUT), TMR, CNT, OUT, PLS, PLF
{CALC}: ADD, SUB, MUL, DIV, MOD
{LOGIC}: WAND, WOR, WXOR, WNOT, MOV, BMOV, CMP
{SHIFT}: SHL, SHR, ROL, ROR
{BCD}: BIN, BCD
Calc Logical Shift BCDRelay
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1.3 Ladder Editor Window
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3. Move the cursor to the pasting position of the detailed window, then
select it.
– Paste the instruction selected under the instruction menu.
2. Input Value
1. Move the cursor to the instruction menu pressing [AREA] .
2. Select {INPUT}.
Select
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