YASKAWA YRC1000 User manual

MANUAL NO.
HW1485509 5
YRC1000/YRC1000micro
INSTRUCTIONS
FOR Smart Pendant
(JZRCR-APP30-1)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN 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
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
YRC1000/YRC1000micro INSTRUCTIONS FOR Smart Pendant (JZRCR-APP30-1)
184775-1CD
5
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NOTE
This instruction manual is applicable to both YRC1000 and
YRC1000micro.
The description of “YRC Controller” refers to
both“YRC1000” and “YRC1000micro”, and the descriptions
of “the INSTRUCTIONS of the YRC Controller” refers to
both “YRC1000 INSTRUCTIONS (RE-CTO-A221)” and
“YRC1000micro INSTRUCTIONS (RE-CTO-A222)”
in this manual unless otherwise specified.
DANGER
• This manual describes the various components of the Smart
Pendant the teaching device of the YRC Controller. Read this
manual carefully and be sure to understand its contents before
handling the YRC Controller. Any matter not described in this
manual, including operation, usage, measures, and an item to use,
must be regarded as “prohibited” or “improper”.
• General information related to safety is described in “chapter 1.
Safety” of the YRC CONTROLLER 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 revision number
next to 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. 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 YRC Controller.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Even items described with the word “CAUTION” may result in a serious
accident in some situations.
Be sure to follow the important guidelines below.
DANGER Indicates an imminently hazardous
situation which, if not avoided, may
result in death or serious injury.
WARNING Indicates a potentially hazardous
situation which, if not avoided, may
result in death or serious injury.
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” may be used without
the safety alert symbol 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 those not designated as
“DANGER”, “WARNING” and “CAUTION”.
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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 Smart Pendant is
turned OFF.
– Press the Emergency Stop buttons on the front door of the
YRC1000 (some models do not have this button), on the top of
the Smart Pendant, on the external control device, etc.
– Disconnect the safety plug of the safety fence, if in the play mode
or in the REMOTE mode
If 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 Button, make sure to remove
any obstacle or error caused the emergency stop 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 Button
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 a sign indicating that an 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 emergency response measures against unexpected
movement from the manipulator’s unexpected movement in mind.
– Ensure a safe place to retreat to 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 Smart 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 the Emergency Stop button
whenever there is a problem. The Emergency Stop buttons are located
on the front panel of the YRC1000 (some models do not have this
button) and on the top of the Smart Pendant.
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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 Smart Pendant is
turned OFF.
– Press the Emergency Stop button on the top of the Smart
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 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 button, make sure to remove
any obstacle or error caused the emergency stop 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 button
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 a sign indicating that an 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 emergency response measures against unexpected
movement from the manipulator’s unexpected movement in mind.
– Ensure a safe place to retreat to 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 Smart 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 the Emergency Stop button
whenever there is a problem. The Emergency Stop button is located on
the top of the Smart Pendant.
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<YRC1000micro only>
<YRC1000/YRC1000micro>
DANGER
• In the case of not using the Smart Pendant, be sure to supply a
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.
• Upon shipment of the YRC1000micro, this signal is connected by a
jumper cable in the safety signal short circuit connector. To use this
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.
• Always return the Smart Pendant to a safe place after use.
If the Smart 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 Smart Pendant left
unattended, which may result in personal injury and/or equipment
damage.
• Make sure that a system administrator stores the key of the Mode
Switch of the Smart Pendant. After operation is completed, the key
must be removed and stored by the system administrator. Failure
to observe this instruction may result in personal injury due to
inappropriate or unintended manipulator's operation. If the Smart
Pendant is dropped with the key inserted, the key or the Mode
Switch may be damaged.
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General Safety on the Smart Pendant
CAUTION
• Be careful not to drop the Smart Pendant on the floor.
• Pay attention to the handling of the cable so that it will not stumble
on the Smart Pendant cable.
• Handle carefully so as not to damage the cable.
• Do not place the Smart Pendant with the touch screen facing down.
• Do not place the Smart Pendant close to a heat source or in direct
sunlight.
• Do not place the Smart Pendant in an environment with excessive
dust, humidity or strong magnetic fields.
• Pay attention not to adhere chemicals, cutting oil (including
coolant), rust preventive oil, organic solvent etc. to the Smart
Pendant.
• Do not clean the Smart Pendant with scrubbing sponges. Use a
soft cloth and a little water or diluted neutral detergent (mild
cleaning liquids).
• Operate the touch screen with your fingers, or use a touch-pen
designed for use with capacitive screens. Never use sharp objects
(ex. screwdriver) for operating the touch screen. This could
damage the touch screen.
• Be careful not to get foreign objects or liquid from the USB
connector.
• Do not connect the Smart Pendant to except for the YRC Controller.
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Definition of Terms Used Often in This Manual
<YRC1000>
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN Robot usually consists of the manipulator, the YRC1000
Controller, the Smart Pendant, and the manipulator cables.
In this manual, the equipment is designated as follows:
<YRC1000micro>
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN Robot usually consists of the manipulator, the
YRC1000micro Controller, the Smart Pendant, manipulator cables, and
the YRC1000micro Smart Pendant safety signal short circuit connector.
(optional).
In this manual, the equipment is designated as follows:
Equipment Manual Designation
YRC1000 Controller YRC1000 Controller
YRC1000 Smart Pendant Smart Pendant
Cable between the manipulator and the
YRC Controller
Manipulator cable
Equipment Manual Designation
YRC1000micro Controller YRC1000micro Controller
YRC1000micro Smart Pendant Smart Pendant
Cable between the manipulator and the
YRC Controller
Manipulator cable
YRC1000micro Smart Pendant
safety signal short circuit connector
Smart Pendant
safety signal short circuit connector
(optional)
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Descriptions of the Smart Pendant, buttons, and displays are shown as
follows:
<YRC1000/YRC1000micro>
Description of the Operation Procedure
<YRC1000/YRC1000micro>
In the explanation of the operation procedure, the expression “Select . . . “
means 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 symbols are omitted.
Equipment Manual Designation
Smart
Pendant
Membrane Key The membrane keys are denoted with [ ].
ex. [JOG MODE]
Jog Keys “Jog Keys” is generic names for the keys for jog
operation.
Keys pressed
simultaneously
(for membrane
key only)
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [S+] + [L+].
Displays The buttons and items displayed in the Smart
Pendant is denoted with { }.
ex. {Save}
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Table of Contents
1 Smart Pendant ................................................................................................................................ 1-1
1.1 General Product Description..............................................................................................1-1
1.2 Smart Pendant Contents Confirmation ..............................................................................1-1
1.3 Smart Pendant Specification..............................................................................................1-2
1.4 Smart Pendant Overview...................................................................................................1-3
1.5 Connection of the Smart Pendant...................................................................................... 1-4
1.5.1 Connecting to the YRC Controller ........................................................................1-4
1.5.2 Connecting to the YRC1000micro ........................................................................ 1-5
1.6 Holding the Smart Pendant................................................................................................ 1-6
1.7 Display and Operating Elements .......................................................................................1-7
1.7.1 Status LED ........................................................................................................... 1-7
1.7.2 Key Description on Membrane Keypads .............................................................. 1-7
1.7.3 Enable Switch .......................................................................................................1-9
1.7.4 Mode Switch ....................................................................................................... 1-10
1.7.5 Touch Screen .....................................................................................................1-10
1.7.6 Emergency Stop Button...................................................................................... 1-10
1.7.7 Emergency Stop Output .....................................................................................1-11
1.7.7.1 Emergency Stop Output for YRC1000 .................................................. 1-11
1.7.7.2 Emergency Stop Output for YRC1000micro..........................................1-13
1.8 Smart Pendant Display .................................................................................................... 1-15
1.8.1 Job Layout ..........................................................................................................1-15
1.8.2 Configuration Layout..........................................................................................1-16
1.8.3 Help Information .................................................................................................1-18
1.9 Startup Window................................................................................................................ 1-19
1.10 Home Screen.................................................................................................................1-20
1.11 Main Menu ..................................................................................................................... 1-22
1.12 Status Bar ......................................................................................................................1-23
1.13 Character Input Operation ............................................................................................. 1-26
1.13.1 Character Input.................................................................................................1-26
1.13.2 Alphanumeric Input........................................................................................... 1-27
1.13.3 Symbol Input..................................................................................................... 1-27
1.14 Numeric Value Input Operation......................................................................................1-28
1.15 Language Setting........................................................................................................... 1-29
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1.16 Mode.............................................................................................................................. 1-30
1.16.1 MANUAL (TEACH) Mode................................................................................. 1-30
1.16.2 AUTOMATIC (PLAY) Mode.............................................................................. 1-30
1.16.3 REMOTE Mode ................................................................................................ 1-30
1.17 Security Level Setting.................................................................................................... 1-31
1.17.1 Types of Security Level .................................................................................... 1-31
1.17.2 Default Security Level Passcodes.................................................................... 1-33
1.17.3 Security Level Access Information ................................................................... 1-33
1.17.4 Selecting Security Level ................................................................................... 1-34
1.17.5 Security Level Settings..................................................................................... 1-35
1.17.5.1 Changing Passcode ............................................................................ 1-35
1.17.5.2 Changing Startup Security Level......................................................... 1-36
2 Manipulator Coordinate Systems and Operations .......................................................................... 2-1
2.1 Control Groups and Coordinate System............................................................................ 2-1
2.1.1 Control Group....................................................................................................... 2-1
2.1.2 Types of Coordinate System ................................................................................ 2-2
2.2 General Operations ........................................................................................................... 2-3
2.2.1 Check Safety ........................................................................................................ 2-3
2.2.2 Select Operation Mode......................................................................................... 2-3
2.2.3 Select Coordinate System .................................................................................... 2-3
2.2.4 Select Jogging Speed .......................................................................................... 2-3
2.2.5 Servo ON.............................................................................................................. 2-4
2.3 Operation Check for Emergency Stop Buttons.................................................................. 2-5
2.4 Coordinate Frames and Manipulator Jogging.................................................................... 2-6
2.4.1 Smart Frame Mode............................................................................................... 2-8
2.4.2 Joint Mode.......................................................................................................... 2-13
2.4.3 XYZ – World Mode ............................................................................................. 2-14
2.4.4 XYZ - Tool Mode ................................................................................................ 2-15
2.4.4.1 Selecting Tool ....................................................................................... 2-16
2.4.5 XYZ - User Frame Mode .................................................................................... 2-17
2.4.5.1 Selecting User Frame............................................................................ 2-17
2.4.6 Hand Guiding Mode ........................................................................................... 2-18
2.4.6.1 ALL JOINTS .......................................................................................... 2-19
2.4.6.2 TOOL JOINTS....................................................................................... 2-19
2.4.6.3 XYZ + TOOL ......................................................................................... 2-20
2.4.7 Motion at Robot TCP.......................................................................................... 2-21
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2.4.8 Move to Position Panel .......................................................................................2-23
2.4.8.1 Joint Panel............................................................................................. 2-23
2.4.8.2 TCP Position Panel ............................................................................... 2-25
2.4.8.3 TCP Orientation Panel........................................................................... 2-26
3 Managing Jobs................................................................................................................................ 3-1
3.1 Preparation for Teaching ...................................................................................................3-1
3.1.1 Create New Job .................................................................................................... 3-1
3.1.1.1 Setting the Job Name..............................................................................3-2
3.1.1.2 Setting the Tag ........................................................................................ 3-2
3.1.1.3 Setting the Comment............................................................................... 3-3
3.2 Job List .............................................................................................................................. 3-4
3.2.1 Default Job and Current Job................................................................................. 3-4
3.2.2 Sorting Job ........................................................................................................... 3-5
3.2.3 Searching Job....................................................................................................... 3-5
3.3 Copying Jobs ..................................................................................................................... 3-6
3.4 Deleting Jobs ..................................................................................................................... 3-7
3.5 Modifying Job..................................................................................................................... 3-8
3.5.1 Modifying Job Names ........................................................................................... 3-9
3.5.2 Modifying Tag ....................................................................................................... 3-9
3.5.3 Modifying Comment............................................................................................3-10
3.5.4 Setting Default Job ............................................................................................. 3-10
3.5.5 Setting Edit Lock.................................................................................................3-11
3.5.6 Accessing Job Details......................................................................................... 3-11
3.6 Additional Settings ........................................................................................................... 3-12
4 Teaching .........................................................................................................................................4-1
4.1 Teaching Operation ........................................................................................................... 4-1
4.1.1 Job Contents View................................................................................................4-1
4.1.2 Jogging the Robot for Teaching............................................................................ 4-2
4.1.3 Motion Type (Interpolation Type).......................................................................... 4-2
4.1.3.1 Joint Interpolation .................................................................................... 4-2
4.1.3.2 Linear Interpolation..................................................................................4-2
4.1.3.3 Circular Interpolation ...............................................................................4-2
4.1.3.4 Spline Interpolation..................................................................................4-4
4.1.4 Teaching Steps.....................................................................................................4-6
4.1.4.1 Teaching Motion Instructions................................................................... 4-6
4.1.4.2 Setting Timer Instruction.......................................................................... 4-8
4.1.5 Overlapping: The First and Last Steps ................................................................. 4-9
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4.2 Checking a Step .............................................................................................................. 4-11
4.2.1 GO TO POINT Operation ................................................................................... 4-11
4.2.2 Circular Movements with the GO TO POINT Operation..................................... 4-11
4.2.3 Spline Curve Movements with the GO TO POINT Operation............................. 4-11
4.3 Test Job........................................................................................................................... 4-12
4.3.1 Test Start............................................................................................................ 4-13
4.4 Commands ...................................................................................................................... 4-15
4.4.1 Command Group................................................................................................ 4-15
4.4.2 Color Coordinates............................................................................................... 4-16
4.4.3 Inserting Commands .......................................................................................... 4-16
4.4.4 Editing Commands ............................................................................................. 4-17
4.4.5 Favorites............................................................................................................. 4-27
4.4.6 Command Builder............................................................................................... 4-28
4.4.7 Expanded Inform Line ........................................................................................ 4-30
4.5 Editing Job....................................................................................................................... 4-31
4.5.1 Edit Menu ........................................................................................................... 4-31
4.5.1.1 Undo Operation ..................................................................................... 4-32
4.5.1.2 Redo Operation ..................................................................................... 4-32
4.5.1.3 Cut Operation ........................................................................................ 4-32
4.5.1.4 Copy Operation ..................................................................................... 4-33
4.5.1.5 Paste Operation .................................................................................... 4-33
4.5.1.6 Delete Operation ................................................................................... 4-33
4.5.1.7 Suppress Operation .............................................................................. 4-33
4.5.1.8 Multi-Edit Operation............................................................................... 4-34
4.5.2 Find Menu .......................................................................................................... 4-37
4.5.2.1 To Start ................................................................................................ 4-37
4.5.2.2 To End .................................................................................................. 4-37
4.5.2.3 To Previous .......................................................................................... 4-37
4.5.2.4 Go To .................................................................................................... 4-37
4.5.3 Display Menu...................................................................................................... 4-38
4.5.3.1 Display Classic View ............................................................................. 4-38
4.5.3.2 Display Tool Number............................................................................. 4-38
4.5.3.3 Display Variable Names ........................................................................ 4-39
4.5.3.4 Display I/O Names ................................................................................ 4-39
4.5.3.5 Display Favorites bar............................................................................. 4-40
4.5.3.6 Display Job Stack.................................................................................. 4-40
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4.5.4 Direct Open.........................................................................................................4-41
4.5.4.1 User Variable......................................................................................... 4-41
4.5.4.2 Position Variable ...................................................................................4-42
4.5.4.3 Input/Output Number Direct Open.........................................................4-43
4.5.4.4 Job Name Direct Open.......................................................................... 4-43
4.6 User Variables .................................................................................................................4-44
4.6.1 Setting Byte, Integer, Double, and Real Type Variables .................................... 4-46
4.6.2 Setting String (Character) Type Variable............................................................ 4-47
4.6.3 Setting Position Variable with Variable Screen................................................... 4-48
4.6.3.1 Setting Position Variable by Moving the Manipulator ............................4-48
4.6.3.2 Setting Position Variable Using the Numeric Keypad............................4-49
4.6.3.3 Closure Setting ..................................................................................4-50
4.6.4 Specifying Motion Commands using Position Variables..................................... 4-55
4.6.5 Deleting Variable ................................................................................................ 4-57
4.7 Monitoring Variables ........................................................................................................4-58
4.7.1 Monitoring Variables using Watch Window ........................................................4-58
4.7.1.1 Variables (Byte / Integer / Double / Real / String).................................. 4-60
4.7.1.2 Positions................................................................................................ 4-61
4.7.2 Monitoring Variables using Variable Setting Screen........................................... 4-62
4.8 Local Variables ................................................................................................................ 4-63
4.8.1 Local Variable .....................................................................................................4-64
4.8.1.1 Allocation............................................................................................... 4-64
4.8.1.2 Entering Local Variables........................................................................ 4-65
4.8.1.3 Usage of Local Variable ........................................................................ 4-67
4.8.2 Job Arguments.................................................................................................... 4-68
4.8.2.1 Configuration ......................................................................................... 4-68
4.8.2.2 Using Job Arguments ............................................................................4-70
4.8.2.3 Job Argument Type Conversion............................................................4-73
4.9 Teaching Coordinate........................................................................................................4-75
4.9.1 Changing Teaching Coordinate.......................................................................... 4-76
4.9.2 Application Example ........................................................................................... 4-80
5 Playback..........................................................................................................................................5-1
5.1 Preparation for Playback....................................................................................................5-1
5.1.1 Selecting a Job .....................................................................................................5-1
5.1.1.1 Open a Job..............................................................................................5-1
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5.1.2 Test/Run Job Panel.............................................................................................. 5-3
5.1.2.1 Operation Buttons ................................................................................... 5-3
5.1.2.2 Operation Cycle ...................................................................................... 5-4
5.1.2.3 Playback Speed ...................................................................................... 5-4
5.1.2.4 Time Indicators........................................................................................ 5-5
5.2 Playback ............................................................................................................................ 5-6
5.2.1 Playback Operation .............................................................................................. 5-6
5.2.1.1 Selecting the Start Mode......................................................................... 5-6
5.2.1.2 Servo ON ................................................................................................ 5-6
5.2.1.3 Run Operation ......................................................................................... 5-6
5.3 Stop and Restart................................................................................................................ 5-7
5.3.1 Pause ................................................................................................................... 5-7
5.3.1.1 Using the Smart Pendant ........................................................................ 5-7
5.3.1.2 Using an External Input Signal (System Input)........................................ 5-7
5.3.2 Emergency Stop................................................................................................... 5-7
5.3.2.1 Emergency Stop...................................................................................... 5-8
5.3.2.2 Release ................................................................................................... 5-8
5.3.2.3 Restart After an Emergency Stop............................................................ 5-8
5.3.3 Stop by Alarm....................................................................................................... 5-8
5.3.4 Others................................................................................................................... 5-9
5.3.4.1 Temporary Stop by Mode Change .......................................................... 5-9
5.3.4.2 Temporary Stop by the PAUSE Instruction............................................. 5-9
5.4 Job Stack......................................................................................................................... 5-10
6 Robot Settings ................................................................................................................................ 6-1
6.1 Tool Settings...................................................................................................................... 6-1
6.1.1 Tool Files.............................................................................................................. 6-2
6.1.2 Tool Name............................................................................................................ 6-3
6.1.3 Tool Mass Properties............................................................................................ 6-3
6.1.3.1 Weight ..................................................................................................... 6-4
6.1.3.2 Center of Gravity ..................................................................................... 6-5
6.1.3.3 Moment of Inertia .................................................................................... 6-5
6.1.3.4 Automatic Estimation of Tool Mass Properties........................................ 6-6
6.1.4 Tool Frame ......................................................................................................... 6-11
6.1.4.1 Tool Center Point .................................................................................. 6-11
6.1.4.2 Orientation of Tool Tip........................................................................... 6-11
6.1.4.3 Tool Center Point (TCP) Calibration...................................................... 6-12
6.1.5 Setting Tool with FSU......................................................................................... 6-17
6.2 I/O for Tool....................................................................................................................... 6-19
6.3 User Frames.................................................................................................................... 6-21
6.3.1 Example Usage of User Frames ........................................................................ 6-21
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6.3.2 Methods for User Frame Setting......................................................................... 6-22
6.3.3 User Frame Number ........................................................................................... 6-22
6.3.4 User Frame Setting.............................................................................................6-23
6.3.5 Deleting the User Frame.....................................................................................6-25
6.4 Zones............................................................................................................................... 6-26
6.4.1 Cubic Zone ......................................................................................................... 6-26
6.4.1.1 Cubic Zone Setting Operation ...............................................................6-27
6.4.2 Axis Zone............................................................................................................ 6-30
6.4.2.1 Axis Zone Setting Operation..................................................................6-30
6.4.3 Zone Status ........................................................................................................6-32
6.5 Shock Detection Setting...................................................................................................6-34
6.5.1 Shock Detection Overview.................................................................................. 6-34
6.5.2 Shock Detection Setting Interface ......................................................................6-34
6.5.3 Using Multiple Shock Detection Settings ............................................................ 6-38
6.5.4 Shock Detection Watch ...................................................................................... 6-39
6.6 Robot Configuration Positions .........................................................................................6-40
6.6.1 Robot Position Types..........................................................................................6-41
6.6.2 Move to a Robot Position....................................................................................6-42
6.6.3 Edit a Robot Position ..........................................................................................6-42
6.6.4 Robot Position Confirm Procedure ..................................................................... 6-43
6.7 Home Position Calibration ............................................................................................... 6-46
6.7.1 Verification of Home Position Calibration ...........................................................6-48
6.7.2 Home Position Calibration Methods ................................................................... 6-49
6.7.2.1 Individual Axis Calibration Procedure....................................................6-50
6.7.2.2 All Axes Calibration Procedure.............................................................. 6-51
6.7.2.3 Manual Calibration Procedure............................................................... 6-52
7 Concurrent I/O (Input/Output) ......................................................................................................... 7-1
7.1 Features of Concurrent I/O ................................................................................................ 7-1
7.2 Classification of I/O signals................................................................................................7-2
7.3 I/O Instructions................................................................................................................... 7-3
7.3.1 DigitalOut Output#( )............................................................................................. 7-3
7.3.2 Digital Output for a Group.....................................................................................7-4
7.4 Monitoring I/O from Smart Pendant Interface ....................................................................7-5
7.4.1 Monitoring I/O Signals by I/O Monitor................................................................... 7-5
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7.4.2 I/O Windows ......................................................................................................... 7-6
7.4.2.1 Smart Pendant I/O Configuration ............................................................ 7-6
7.4.2.2 I/O Screens ............................................................................................. 7-6
7.5 I/O Detailed View............................................................................................................. 7-12
7.5.1 I/O Detailed View Overview................................................................................ 7-12
7.5.2 Editing Output Values......................................................................................... 7-23
7.6 EtherNet/IP Status Warning............................................................................................. 7-28
7.7 Block I/O .......................................................................................................................... 7-30
7.7.1 Edit a Block I/O Setting ...................................................................................... 7-33
7.7.2 Using Block I/O for Tool Operation..................................................................... 7-34
7.8 I/O Allocation and EtherNet/IP Configuration .................................................................. 7-37
7.8.1 I/O Device List .................................................................................................... 7-38
7.8.2 Input/Output Table.............................................................................................. 7-40
7.8.3 EtherNet/IP Adapter ........................................................................................... 7-41
7.8.3.1 Creating an Adapter .............................................................................. 7-41
7.8.3.2 Configuring the Adapter ........................................................................ 7-42
7.8.4 EtherNet/IP Scanner .......................................................................................... 7-45
7.8.4.1 Creating a Scanner ............................................................................... 7-45
7.8.4.2 Configuring a Scanner .......................................................................... 7-46
7.8.5 Modifying Allocations using Input/Output Table ................................................. 7-48
8 System and YRC Controller Setting................................................................................................ 8-1
8.1 General.............................................................................................................................. 8-3
8.1.1 Organization ......................................................................................................... 8-3
8.1.2 Date & Time ......................................................................................................... 8-3
8.1.3 Language ............................................................................................................. 8-3
8.2 Security Level Settings ...................................................................................................... 8-4
8.2.1 Access.................................................................................................................. 8-4
8.2.2 Startup Level ........................................................................................................ 8-4
8.3 Pendant Software .............................................................................................................. 8-5
8.3.1 Version ................................................................................................................. 8-5
8.3.2 Release ................................................................................................................ 8-5
8.3.3 Pendant ID ........................................................................................................... 8-5
8.3.4 USB ID ................................................................................................................. 8-5
8.3.5 Update Pendant Software .................................................................................... 8-5
8.4 Bundled Resources ........................................................................................................... 8-6
8.4.1 Documentation ..................................................................................................... 8-7
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8.4.2 Software Pendant Application...............................................................................8-7
8.4.3 Licenses ...............................................................................................................8-7
8.5 System Features................................................................................................................ 8-8
8.5.1 YRC Controller Software ......................................................................................8-8
8.5.2 Robot Model ......................................................................................................... 8-8
8.5.3 Functional Safety Unit (FSU) ................................................................................8-8
8.5.4 Power & Force Limiting (PFL)............................................................................... 8-8
8.5.5 Restart YRC Controller .........................................................................................8-8
8.5.6 Output Full Selection Layout.................................................................................8-9
8.6 Network............................................................................................................................ 8-11
8.6.1 YRC1000 Network .............................................................................................. 8-11
8.6.2 YRC1000micro Network .....................................................................................8-11
8.6.3 MAC Address......................................................................................................8-12
8.6.4 Setting IP Address .............................................................................................. 8-12
8.7 Settings and Parameters .................................................................................................8-13
8.8 Remote Screen Sharing...................................................................................................8-14
9 Utility ............................................................................................................................................... 9-1
9.1 Limit Release ..................................................................................................................... 9-1
9.1.1 Soft Limits ............................................................................................................. 9-2
9.1.2 Self-Interference ...................................................................................................9-2
9.1.3 All Limits ...............................................................................................................9-2
9.2 Brake Release ...................................................................................................................9-3
9.2.1 Brake Release for YRC1000 ................................................................................9-3
9.2.2 Brake Release for YRC1000micro........................................................................ 9-4
9.2.3 Execute Brake Release ........................................................................................ 9-5
9.3 Backup and Restore ..........................................................................................................9-6
9.3.1 System Backup.....................................................................................................9-6
9.3.2 System Restore .................................................................................................... 9-7
9.4 File Transfer....................................................................................................................... 9-8
9.4.1 File Transfer Overview.......................................................................................... 9-8
9.4.2 Procedures for File Transfer from YRC Controller................................................ 9-8
9.4.2.1 Overwrite or Skip Files .......................................................................... 9-10
9.4.2.2 Overwrite or Skip Individual File............................................................ 9-11
9.4.3 Procedures for File Transfer to YRC Controller.................................................. 9-12
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9.4.4 Selection of Target/Source Folder...................................................................... 9-14
9.4.4.1 Create a New Folder ............................................................................. 9-15
9.4.4.2 Rename an Existing Folder ................................................................... 9-16
9.4.4.3 Select the Target/Source Folder ........................................................... 9-16
9.5 Robot Status Watch......................................................................................................... 9-17
10 Direct Teach................................................................................................................................ 10-1
10.1 Direct Teach Description ............................................................................................... 10-1
10.2 Direct Teach Access and Setup Panel .......................................................................... 10-2
10.2.1 Set Jog Mode ................................................................................................... 10-2
10.2.2 Select Motion Type........................................................................................... 10-2
10.2.3 Select Tool for Direct Teach............................................................................. 10-3
10.2.4 Enable Direct Teach......................................................................................... 10-3
10.3 Direct Teach Settings .................................................................................................... 10-4
10.3.1 Enable Teach Button and Enable Tool Button ................................................. 10-5
10.3.2 Tool Number for Block I/O State....................................................................... 10-5
10.3.3 Example on Setting Direct Teach..................................................................... 10-6
10.4 Direct Teach Example ................................................................................................... 10-7
11 Safety Function........................................................................................................................... 11-1
11.1 System Structure ........................................................................................................... 11-1
11.1.1 Safety Circuit Board (JANCD-ASF01-E) .......................................................... 11-1
11.1.2 PFL Circuit Board (JANCD-ASF04-E).............................................................. 11-1
11.1.3 Expansion Safety I/O Board (JANCD-ASF02-E) .............................................. 11-2
11.1.4 Expansion Safety Terminal Block Board ......................................................... 11-2
11.2 Common Operation ....................................................................................................... 11-3
11.2.1 Security Level................................................................................................... 11-3
11.2.2 Readback Operation ........................................................................................ 11-3
11.2.3 Tool Configuration ............................................................................................ 11-4
11.2.4 Tool Interference Configuration........................................................................ 11-5
11.3 Safety Logic Circuit........................................................................................................ 11-6
11.3.1 Introduction....................................................................................................... 11-6
11.3.2 Available I/O Signals in Safety Logic Circuit..................................................... 11-8
11.3.3 Operation of Safety Logic Circuit.................................................................... 11-16
11.3.3.1 Display the Screen ............................................................................ 11-16
11.3.3.2 Selecting System and User Circuits .................................................. 11-17
11.3.3.3 Create New Safety Logic Circuit ....................................................... 11-17
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11.3.3.4 Edit Input Relays ............................................................................... 11-18
11.3.3.5 Edit Output Relays ............................................................................ 11-20
11.3.3.6 Add Relay ..........................................................................................11-23
11.3.3.7 Delete Relay ...................................................................................... 11-24
11.3.3.8 Delete Line ........................................................................................11-25
11.3.3.9 Move Relay ....................................................................................... 11-25
11.3.3.10 Cancel Edit ...................................................................................... 11-25
11.3.3.11 Transferring and Updating Safety Logic Circuit File........................11-26
11.3.3.12 Execute Safety Logic Circuit............................................................ 11-27
11.3.4 Setting of Input/Output Signals.......................................................................11-27
11.3.4.1 Setting of General Purpose Input Signal (FSBIN) .............................11-28
11.3.4.2 Setting of General Purpose Output Signal (FSBOUT) ...................... 11-28
11.3.4.3 Setting of Safety Fieldbus Input Signals (SFBIN (Fieldbus))............. 11-29
11.3.4.4 Setting of Safety Fieldbus Output Signals (SFBOUT (Fieldbus))...... 11-30
11.3.4.5 Setting of Safety Functions Output signals (FSOUT)........................11-31
11.3.4.6 Setting of Safety Logic Circuit Output Signals (MSOUT) .................. 11-32
11.3.4.7 Settings of Specific Input Signals (SPIN) ..........................................11-33
11.3.5 Setting ON/OFF Status to the Input Signals................................................... 11-35
11.3.6 About Output Signals...................................................................................... 11-37
11.3.6.1 Correspondence with Hard Wire .......................................................11-37
11.3.6.2 Display of the Message on the Pendant............................................ 11-38
11.3.6.3 Full Speed Mode ............................................................................... 11-39
11.3.7 General-Purpose Safety Output Monitoring Signal......................................... 11-40
11.3.7.1 Activate Signals .................................................................................11-40
11.3.7.2 Correspondence between General Purpose Output Signals
and Monitoring Signals .......................................................................11-41
11.3.7.3 Example of Setting for Monitoring Signals......................................... 11-42
11.3.8 Safety Data Monitoring ...................................................................................11-43
11.3.9 Example of Safety Logic Circuit...................................................................... 11-48
11.3.9.1 Example1 (AND)................................................................................ 11-48
11.3.9.2 Example 2 (OR).................................................................................11-49
11.3.9.3 Example3 (Pulse) ..............................................................................11-50
11.3.9.4 Example4 (ON Delay)........................................................................ 11-51
11.3.9.5 Example 5 (Decelerate and Stop the Robot)..................................... 11-52
11.3.9.6 Example 6 (Temporarily Disable PFL
for Human Collaborative Robots) ........................................................ 11-53
11.4 Functional Safety Functions.........................................................................................11-55
11.4.1 Outline ............................................................................................................ 11-55
11.4.2 List of Safety Functions ..................................................................................11-55
11.4.3 Safety Functions List View..............................................................................11-56
11.4.3.1 List View ............................................................................................11-56
11.4.3.2 Create New Setting ...........................................................................11-57
11.4.3.3 Delete Setting .................................................................................... 11-59
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