YASKAWA YRC1000micro User manual

MANUAL NO.
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YRC1000micro OPTIONS
INSTRUCTIONS
FOR PMT 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 PMT function (Position Modification
Function for Tool Deformation) 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 PMT Function..................................................................................................................................1-1
2 Data Conversion by PMT Function .................................................................................................2-1
2.1 Outline ...............................................................................................................................2-1
2.1.1 PMT data conversion by instruction......................................................................2-1
2.1.2 PMT data conversion by programming pendant...................................................2-2
2.2 PMT Data Conversion by Instruction .................................................................................2-4
2.2.1 Registering GETTOOL Instruction........................................................................2-4
2.2.2 Registering SETTOOL Instruction ........................................................................2-5
2.2.3 Registering PMT Instruction .................................................................................2-6
2.3 PMT Data Conversion by Programming Pendant..............................................................2-9
3 Tool Data Backup History ...............................................................................................................3-1
3.1 Tool Backup Window .........................................................................................................3-1
4 Instruction List for PMT Function ....................................................................................................4-1
5 Parameter .......................................................................................................................................5-1
6 Alarm List ........................................................................................................................................6-1
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1 PMT Function
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1 PMT Function
The PMT function corrects the position data when the tool is deformed
during operation
(PMT: Position Modification for Tool Deformation). When a tool
inadvertently collides with peripheral jigs or walls during operation and is
deformed, the tool center point will be dislocated and the taught position of
the job programmed would be shifted; it requires a great deal of time and
effort for correction. In such a case, the PMT function can be used to
correct the position data easily and accurately.
By specifying the desired job, the position data of the taught tool
dimensions before deformation are converted automatically to the position
data of the tool dimensions after deformation.
In the PMT function, the tool before deformation is called “the original tool”
and the tool after deformation is called “the orientation tool”.
NOTE
• For a job in which teaching is performed by using several
types of tools, only the position data obtained by the speci-
fied original tool is converted.
• The position variables are not converted in the PMT func-
tion.
Tool at teaching (Original tool)
Deformed tool
(Orientation tool)
Dislocation of tool center point
0016
0017
0018
MOVJ
WAIT IN#(1)=0
MOVL V=70
Position data of the step taught
by the original tool is converted.
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2 Data Conversion by PMT Function
2.1 Outline
2-1
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2 Data Conversion by PMT Function
2.1 Outline
The data can be converted by the PMT function using instructions or the
programming pendant.
2.1.1 PMT data conversion by instruction
The following window is a job example (PMT0) to convert the data
by instructions.
Carry out Job PMT0 to convert the data using the PMT function.
Refer to chapter 2.2 “PMT Data Conversion by Instruction” for the
programming of each instruction, GETTOOL, SETTOOL, and PMT.
Before converting the data, prepare a job, like TOOL0 in the
preceding example, to obtain the amount of tool deformation by
using a touch sensor or other device.
NOTE
When the PMT function is used, the tool dimensions and the
job taught position data are rewritten. In order to secure the
data, prepare the backup files beforehand.
Saves the tool constants used before
deformation as the original tool data.
Calls the job to obtain the amount of
tool deformation.
Sets the tool constants after
deformation.
Job : Converts WORK1 using the
PMT function.
Job : Converts WORK11 using the
PMT function.
NOTE
• Before converting the data by a PMT instruction, be sure to
save the data of the original tool by using a GETTOOL
instruction.
• For a system with the independent control function
enabled, do not use PSTART, an independent control
instruction, to start a job that includes a PMT instruction.
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