YASKAWA YRC1000micro Collaborative Operation Instructions

Also see for YRC1000: Instructions Instructions Instructions Instructions Operator's manual

Contents

YASKAWA YRC1000micro Collaborative Operation Instructions Manual pdf 11 page image

xiHW1484764List of contents1. Introduction ......................................................................................................... 1-12. Functional Overview ........................................................................................... 2-12.1. PFL Function ................................................................................................... 2-32.2. Speed Monitor Function .................................................................................. 2-42.3. Avoidance Function ......................................................................................... 2-42.4. Force Detection Hold Function (Supported Only by YRC1000 SystemVersion YAS2.41 or Later and YRC1000micro System Version YBS2.10or Later) ........................................................................................................... 2-52.5. Escape from Clamping Function ..................................................................... 2-62.6. Relationships among Various Stop Functions................................................. 2-82.7. Direct Teach Function ...................................................................................... 2-92.8. External Force Monitor Output ...................................................................... 2-103. Configuring Each Function.................................................................................. 3-13.1. Changing the Security Mode ........................................................................... 3-13.2. Basic Settings for Collaborative Operation ..................................................... 3-23.2.1. Changing the External Force Limits ........................................................ 3-23.2.2. Configuring the Speed Limit.................................................................... 3-63.3. Enabling or Disabling Collaborative Operation ............................................... 3-73.3.1. Disabling Collaborative Operation by Changing the SafetyLogic Circuit ............................................................................................ 3-83.3.2. Enabling or Disabling Collaborative Operation by UsingExternal Sensor Input ........................................................................... 3-103.4. Enabling or Disabling the PFL function ......................................................... 3-123.4.1. Steps for Disabling the PFL Function ................................................... 3-123.4.2. Steps for Enabling the PFL Function .................................................... 3-163.5. Configuring the Avoidance Function ............................................................. 3-203.5.1. Adding Instructions to a Job.................................................................. 3-203.5.2. Enabling the Avoidance Function.......................................................... 3-213.5.3. Setting the Start and End Thresholds ................................................... 3-233.5.4. Setting the Avoidance Speed ................................................................ 3-233.5.5. Checking the Interrupt Job Settings ...................................................... 3-243.6. Configuring the Force Detection Hold Function(Supported Only by YRC1000 System Version YAS2.41 or Later andYRC1000micro System Version YBS2.10 or Later) ...................................... 3-253.7. Teaching the Manipulator with the Direct Teach Function ............................. 3-263.7.1. Moving the Robot Using the Hand Guiding .......................................... 3-2611/105