YASKAWA YRC1000micro User manual

HW1484764
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MANUAL NO.
YRC1000/YRC1000micro
Collaborative Operation Instructions
Upon receipt of the product and prior to initial operation, read these instructions
thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-HC10 INSTRUCTIONS
MOTOMAN-HC10DT 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 (GENERAL) (SUBJECT SPECIFIC)
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
YRC1000/YRC1000micro INSTRUCTIONS FOR SmartPendant
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ii HW1484764
DANGER
•This manual explains the collaborative operation function of the
YRC1000/YRC1000micro system. Read this manual carefully and be sure to
understand its contents before handling the YRC1000/YRC1000micro. Any matter,
including operation, usage, measures, and an item to use, 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”.
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.
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.
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 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.
Even items described as “CAUTION” may result in a serious accident in some
situations. At any rate, be sure to follow these important items.
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
•Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or serious injury from
unexpected turning of the manipulator's arm.
WARNING
•Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
•For disassembly or repair, contact your YASKAWA representative.
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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 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
•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. 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 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
•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 upper right of the programming
pendant.
•Read and understand the Explanation of the Warning Labels before operating the
manipulator.
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<YRC1000micro only>
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.
<YRC1000/YRC1000micro>
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.
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 the manipulator cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
YRC1000/YRC1000micro controller
YRC1000/YRC1000micro
YRC1000/YRC1000micro programming pendant
Programming pendant
Cable between the manipulator and the controller
Manipulator cable
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<YRC1000/YRC1000micro>
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}
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Description of the Operation Procedure
<YRC1000/YRC1000micro>
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
<YRC1000/YRC1000micro>
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.
Explanation of Warning Labels
<YRC1000/YRC1000micro>
The following warning labels are attached to the manipulator and
YRC1000/YRC1000micro.
Fully comply with the precautions on the warning labels.
DANGER
•The label described below is attached to the manipulator.
Observe the precautions on the warning labels.
Failure to observe this caution may result in injury or damage to equipment.
Refer to the manipulator manual for the warning label location.
Fall down hazard label
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•The following warning labels are attached to YRC1000.
Observe the precautions on the warning labels.
Failure to observe this warning may result in injury or damage to equipment.
•The following warning labels are attached to YRC1000micro.
Observe the precautions on the warning labels.
Failure to observe this warning may result in injury or damage to equipment.
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