YASKAWA YRC1000micro User manual

MANUAL NO.
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YRC1000micro OPTIONS
INSTRUCTIONS
FOR GROUP CHANGE FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR’S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
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DANGER
• This manual explains the group change function of the
YRC1000micro system. Read this manual carefully and be sure to
understand its contents before handling the 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 YRC1000micro INSTRUCTIONS. To ensure correct
and safe operation, carefully read “Chapter 1. Safety” of the
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 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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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 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 button
is located on the right of the programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
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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.
• Return the programming pendant to a safe place 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
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:
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
YRC1000micro controller YRC1000micro
YRC1000micro programming pendant Programming pendant (optional)
Cable between the manipulator
and the controller
Manipulator cable
YRC1000micro programming pendant
dummy connector
Programming pendant dummy
connector (optional)
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
/Number 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]
Mode Key Three kinds of modes that can be selected by
the mode key are denoted as follows:
REMOTE, PLAY, or TEACH
Button Three buttons on the upper side of the
programming pendant are denoted as follows:
HOLD button
START button
EMERGENCY STOP button
Displays The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}
PC Keyboard The name of the key is denoted.
e.g. Ctrl key on the keyboard
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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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Contents
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1 Outline............................................................................................................................................. 1-1
2 Group Change Instruction ............................................................................................................... 2-1
2.1 GRPCHG Instruction.......................................................................................................... 2-1
2.2 Registration of Instruction .................................................................................................. 2-2
3 Signal Allocation.............................................................................................................................. 3-1
3.1 Hand Identification Signals ................................................................................................3-1
3.2 Identification Signals for ATC Chuck/Unchuck .................................................................. 3-1
4 Job Examples.................................................................................................................................. 4-1
5 Alarm Message ............................................................................................................................... 5-1
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1 Outline
1-1
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1 Outline
The group change function attaches/detaches a tool with multiple external
axes, such as end effector, etc (hereinafter called “hand”).
The following explain how to replace the hand with external axes.
In the example below, the hand with two external axes is group S1, and
the hand with three external axes is group S2.
When the manipulator moves with the hand: S1, the job control group is
R1 + S1.
When the manipulator moves with the hand: S2, the job control group is
R1 + S2.
Fig. 1-1: Example of Group Change
YRC1000micro
Manipulator (R1)
Hand with two
external axes (S1)
Hand with three
external axes (S2)
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1 Outline
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Fig. 1-2: Hand Changed to S1 (R1+S1)
Fig. 1-3: Hand Changed to S2 (R1+S2)
Manipulator (R1)
Hand with two
external axes (S1)
Hand with three
external axes (S2)
YRC1000micro
Manipulator (R1)
Hand with two
external axes (S1)
Hand with three
external axes (S2)
YRC1000micro
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2 Group Change Instruction
2.1 GRPCHG Instruction
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2 Group Change Instruction
To enable the group change function, execute the GRPCHG (Group
Change) instruction.
The GRPCHG instruction can be registered as JOB of a single
manipulator.
2.1 GRPCHG Instruction
GRPCHG S1 ON
Selects the group to be changed. The group can be selected among
the groups for the group change.
Specifies ON/OFF (attach/detach) status of the selected group.
ON : Turns ON the power supply of the specified motor.
OFF : Turns OFF the power supply of the specified motor.
1
2
1
2
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2 Group Change Instruction
2.2 Registration of Instruction
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2.2 Registration of Instruction
1. Move the cursor immediately before the line where the GRPCHG
instruction is registered.
2. Press [INFORM LIST].
– The INFORM LIST dialog box appears.
3. Select “DEVICE”.
– The GRPCHG instruction appears.
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2 Group Change Instruction
2.2 Registration of Instruction
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4. Select “GRPCHG”.
– The GRPCHG instruction appears in the input buffer line.
5. Modify numerical data.
– <Registration with numerical data unchanged>
Go on to the step 6 if the instruction in the input buffer line is
registered with no change of the numerical data.
– <Editing the additional items>
If the additional items are modified, move the cursor to the
instruction in the input buffer line and press [SELECT] to display the
DETAIL EDIT window. After the settings, press [ENTER] and close
the DETAIL EDIT window.
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2 Group Change Instruction
2.2 Registration of Instruction
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6. Press [ADD], then [ENTER].
– The instruction displayed in the input buffer line is registered.
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3 Signal Allocation
3.1 Hand Identification Signals
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3 Signal Allocation
The GRPCHG instruction has to be executed with the manipulator holding
the hand for change.
An alarm occurs if the hand which is not held by the manipulator is
specified in the GRPCHG instruction.
Allocation of the following signals allows to identify the types and chuck/
unchuck status of the hand.
3.1 Hand Identification Signals
The hand ID is identified by general input signals. Use the following
parameters to specify which input signal is to be used.
S4C537: GRP identification signal (Start) for R1
S4C538: GRP identification signal (End) for R1
S4C539: GRP identification signal (Start) for R2
S4C540: GRP identification signal (End) for R2
<Example> When the GRP identification signals are allocated to IN10
(Start) to 11 (End)
(At S4C537=10, S4C538=11)
3.2 Identification Signals for ATC Chuck/Unchuck
General input signals identify the ATC chuck/unchuck status. Use the
following parameters to specify which input signal is to be used.
S4C553: For R1
S4C554: For R2
<Example> When the ATC chuck/unchuck identification signal is allocated
to IN14
(At S4C553=14)
IN11 IN10
00
Identified as GRP not connected
01
Identified as GRP S1 connected
10
Identified as GRP S2 connected
11
Identified as GRP S3 connected
0: OFF, 1: ON
IN14
0Identified as “unchuck”
1Identified as “chuck”
0: OFF, 1: ON
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4 Job Examples
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4 Job Examples
The following describe the job examples for attaching and detaching of the
hand.
<Job for attaching the hand (S1)>
Job name: HAND1-ON
Control group: R1
NOP
MOVJ : Moves to the position where the hand is attached.
TIMER T=0.200 : Timer for 0.2 seconds.
DOUT OT#(1) OFF : Outputs the ATC chuck signal.
WAIT IN#(14)=ON : Confirms the ATC chuck.
GRPCHG S1 ON : Turns ON the hand servo power.
MOVJ : Attaches the hand and moves.
·
·
END
<Job for detaching the hand (S1)>
Job name: HAND1-OFF
Control group: R1
NOP
MOVJ : Moves to the position where the hand is detached.
TIMER T=0.200 : Timer for 0.2 seconds.
WAIT IN#(14)=ON : Confirms the ATC chuck.
GRPCHG S1 OFF : Turns OFF the hand servo power.
DOUT OT#(1) ON : Outputs the ATC unchuck signal.
WAIT IN#(14)=OFF : Confirms the ATC unchuck.
MOVJ :
Detaches the hand and moves the manipulator only.
·
·
END
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5AlarmMessage
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5 Alarm Message
Alarm
Number
Message Sub
Code
Cause Remedy
4629
GROUP
CHANGE
ERROR
1 The group change parameter was
invalid.
Validate the group change parameter.
2 The GRPCHG instruction was
executed while the external axis
motor was servo ON.
The GRPCHG instruction cannot be
executed for the group which is already in
the servo ON status.
3 The GRPCHG instruction was
executed in unchuck status.
Check the chuck/unchuck status, then
execute the GRPCHG instruction in
chuck status.
4 The group identification signal was
not received.
After the group identification signal is
received, execute the GRPCHG
instruction in chuck status.
5 The specified control group number
and the group identification number
were unmatched.
Match the specified control group number
with the group identification number.
6 The encoder PG power supply was
OFF when the GRPCHG was ON.
(1) Reset the alarm, and then try again.
(2) Turn OFF the power, then back ON.
If the error occurs again, contact your
YASKAWA representative.
7 The encoder PG power supply was
ON when the GRPCHG was OFF.
(1) Reset the alarm, and then try again.
(2) Turn OFF the power, then back ON.
If the error occurs again, contact your
YASKAWA representative.
8 The control group that corresponds to
the received group identification
signal did not exist.
(1) Reset the alarm, and then try again.
(2) Turn OFF the power, then back ON.
If the error occurs again, contact your
YASKAWA representative.
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Printed in Japan July 2017 17-07
C
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.
YRC1000micro OPTIONS
INSTRUCTIONS
FOR GROUP CHANGE FUNCTION
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone [phone] Fax [phone]
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone [phone] Fax [phone]
YASKAWA America Inc. (Motoman Robotics Division)
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone [phone] Fax [phone]
YASKAWA Europe GmbHRobotics Divsion )
Phone [phone] Fax [phone]
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone [phone] Fax [phone]
YASKAWA Electric (Singapore) PTE Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone [phone] Fax [phone]
YASKAWA SHOUGANG ROBOT Co. Ltd.
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Fax [phone]Phone [phone]
YASKAWA India Private Ltd. (Robotics Division)
YASKAWA Electric (China) Co., Ltd.
22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone [phone] Fax 㸩86-21-5385-3299
YASKAWA Electric (Thailand) Co., Ltd.
59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone [phone] Fax [phone]
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Fax [phone]Phone [phone]
YASKAWA Electric Taiwan Corporation
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Fax [phone]Phone [phone]
PT. YASKAWA Electric Indonesia
Phone [phone] Fax [phone]
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
YASKAWA Electric Korea Corporation
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