YASKAWA YRC1000micro Collaborative Operation Instructions

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

Contents

YASKAWA YRC1000micro Collaborative Operation Instructions Manual pdf 16 page image

HW1484764Functional Overview2-3HW14847642.1. PFL FunctionThe PFL (Power and Force Limiting) function stops the manipulator depending on the external forceacting on the manipulator with collaborative operation enabled.With collaborative operation enabled, the PFL function monitors the external forces acting on the TCPand each axis of the manipulator. If the external forces exceed the preset limit, it performs a protectivestop and puts the manipulator into the stop position monitoring state, i.e., the condition under whichthe manipulator is subject to stop position monitoring by the functional safety functions. The jobexecution is interrupted at this time. For information on how to configure the external force limit value,refer to "3.2 Basic Settings for Collaborative Operation".For YRC1000, the manipulator moves back a little along the path to reduce the impactof collision when stopped by the PFL function. At this moment, a significant accelerationoccurs on the TCP, possibly resulting in vibration or noise.If an external force remains acting in the stop position monitoring state, the manipulator may bemoved by the escape from clamping function described in Section 2.5.With collaborative operation enabled, the collaborative operation lamp (shown below), located on thecover between the T- and B-axes of the manipulator, lights up.In addition, when in the stop position monitoring state, the resume switch (shown below) located belowthe collaborative operation lamp lights up.Pressing the resume switch while it is lit cancels the stop position monitoring and allows you to resumethe operation from the protective stop position.Resume switchCollaborativeoperation lamp16/105