ROBOTICSInstructionsRobot controllerUser manual

YASKAWA MOTOMAN YRC1000 Instructions Manual

Introduction

Hand Guiding Function

System Configuration of Hand Guiding Function

System Configuration for Using Hand Guiding Device of Handle Type

System Configuration for Using Hand Guiding Device of Grip Type

Connection for Hand Guiding Device

Connection for Presence Detection Sensor

Speed Limiting Function

Setup of Hand Guiding Function

Filter Setting

Setting of Speed Coefficient

Setting of Operation Angle Limit

Setting of Area Limit

Tool Setting

Tool Coordinate System and Sensor Coordinate System

Calculating Setting Value of Sensor Mounting Angle

Setting Example of Sensor Mounting Angle

Setting Confirmation of Sensor Mounting Angle

Hand Guiding Function Execution Procedures

Job Creation for Hand Guiding Function Execution

Mode

Inching Mode

Translation/Rotation

Force Sensor/ I/O Input

Calibration of Force Sensor

Register Output Function

Risk Assessment

Risk Reduction Measures

User Variables and General I/O Signals to be Used with Hand Guiding Function

General I/O Signal List

Ladder Program

Troubleshooting

Enabling Force Sensor

Robot Operating Method When Hand Guiding Device Disconnected

Alarm List

YRC1000

Outline

Hardware Specifications

J71GF11-T2 Specifications

Communication Specifications

Mounting the J71GF11-T2 Board

Opening the Front Door of the YRC1000

Mounting the J71GF11-T2 Board on the YRC1000

Closing Front Door of the YRC1000

I/O Signal Allocation

External I/O Setting

Transmitting Data

YRC1000 I/O Allocation Example (For Handling)

YRC1000 I/O Allocation Example (For Except Handling)

Board Status

PLC Setting

IO Confirmation

Setting of Star/ Line, Ring Connection and create radder program

Block Data Assurance per Station

Error Indication

Outline of Arc Welding Diagnosis Function

Parameter

Operation Outline

Data Setting for Arc Welding Diagnosis

Displaying / Non-displaying Arc Weld Diagnosis Window

Preparation for Arc Weld Diagnosis Window

Diagnosis Mode Setting

Operating Arc Weld Diagnosis Window

Selection of Bead Number

Setting of Threshold for Determining Error

Setting of Error Output Mode and Signal Number

Setting of Standard Current and Standard Voltage

Changing of Standard Current and Standard Voltage

Enable/Disable of Diagnosis

Saving of Arc Welding Diagnosis Data

Saving Data

Setting for Saving of Arc Welding Diagnosis Data (Manual)

Retry Saving of Data

AP Parameter

Alarm / Error / Inform

HW1485704

Board Specifications

Mounting the INpact Board

Mounting the INpact Board on the YRC1000

Cable Connection

Transmission Data

I/O Allocation Examples for YRC1000 (For Handling)

I/O Allocation Examples for YRC1000 (Except for Handling)

The Alarm when Communication Error Occurs Using the Board Status

PFL Function

Speed Monitor Function

Version YAS2.41 or Later and YRC1000micro System Version

Escape from Clamping Function

Relationships among Various Stop Functions

Direct Teach Function

External Force Monitor Output

Configuring Each Function

Basic Settings for Collaborative Operation

Configuring the Speed Limit

Enabling or Disabling Collaborative Operation

Logic Circuit

External Sensor Input

Default Settings of Function Safety General-Purpose I/O Signals

Enabling or Disabling the PFL function

Steps for Enabling the PFL Function

Configuring the Avoidance Function

Enabling the Avoidance Function

Setting the Start and End Thresholds

Checking the Interrupt Job Settings

Teaching the Manipulator with the Direct Teach Function

Safety Precautions

About the Behavior near Singularity

Settings Related to the Tool

How to Configure the Tool File

How to Configure the Tool Change Settings

Daily Inspection Items

Monitor

How to Reconfigure the Torque Sensor Home Position

Minor Alarms

Variable List

I/O List

Auxiliary Relay

General Output

General Input

Control Status Signal

Register List

Default Settings of the Functional Safety Condition Files

Simultaneously

Simplified Teaching and Playback

Teaching Procedure

Path Confirmation

Correcting a Job

Changing the Position Data

Playback

Example for General Purpose Application

Confirmation of Cutting Operation (Speed Limitation Drive)

Operation for Tool Control

Tool Control Settings

Work Instructions

CALL Instruction

WVON Instruction

Weaving Operation

Cases that Require the Registration of Reference Points

WVON

Explanation

Registering the WVON Instruction

WVOF Instruction

Registering the WVOF Instruction

WEAVING CONDITION Window

Displaying the Weaving File

Editing the Condition Data

Prohibiting Weaving

Method to Prohibit Weaving during a "TEST RUN" or FWD Operation

Table of Work Instructions

Handling Application

HAND Instruction

Instruction and Additional Items

HSEN (Gripper Sensor) Instruction

Examples

Handling Window

Shock Sensor Function

Registering Instructions

HSEN Instruction

System Overview of Spot Welding System Using an Air Gun

Function Keys

Teaching

Welding On/Off

Resetting Alarms

Registering Work Instructions

GUNCL Instruction

SPOT Instruction

STROKE Instruction

STRWAIT Instruction

Setting Welding Conditions (for Air Gun)

Spot Welder Condition Data Setting

Spot Gun Condition Data File

Spot Welding Diagnosis

Tip Hit Count Clear

Spot Gun Motion Control

C Type Gun

Process Timing

OPERATION MODE = 1 (SHORT OPEN → WELDING → SHORT OPEN)

OPERATION MODE = 2 (SHORT OPEN → WELDING → FULL OPEN)

OPERATION MODE = 3 (FULL OPEN → WELDING → SHORT OPEN)

OPERATION MODE = 4 (FULL OPEN → WELDING → FULL OPEN)

Stroke Change Control Method

I/O Allocation

Output Allocation Window

Pseudo Input Signal Window

Allocation Signal Meanings

Monitor Function for Spot Welding Equipment

Spot Welding Exclusive Signal Allocation List

Instruction List

Editing Ladder Programs

Editing by Mnemonic and Editing Program

Ladder Editor Window

Editing Operation of Ladder View Window

Cut (Copy) and Paste Rungs

Editing Operation of Ladder Editing Window

Delete Instructions

Insert Columns

Insert Rows