Yaskawa YRC1000micro Startup Guide

YASKAWA YRC1000micro Startup Manual

Outline

Hardware Specifications

AB3602 Board

Board Specifications

Connector Specification

Mounting the Board

I/O Signal Allocation

Setting of the INpact Board to Slave

Setting of the AB3602 Board to Master

Transmission Data

YRC1000micro INpact Allocation Example

YRC1000micro AB3602 Allocation Example

The Alarm when Communication Error Occurs Using the Board Status

Setting of AB3602 Board Communication Condition

Error Indication

INpact

AB3602

YRC1000micro

Introduction

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

Troubleshooting

Alarm List

Minor Alarms

Variable List

I/O List

Auxiliary Relay

General Output

General Input

YRC1000

Control Status Signal

Register List

Default Settings of the Functional Safety Condition Files

Simultaneously

What MotoPlus Can Do

Supported Services

Application Program Development Environment

Development Environment Component

Application Program Execution Environment

Development Flow

Notes

Development Environment Setup

Installation of Development Environment Software

Installation of TELNET Connection Utility

Creating Application Software

Creating MotoPlus Project

Outline of MotoPlus IDE

Text Search

Changing Build Settings

How to Use the DX200 Projects on YRC1000micro

Valid/Invalid Setting of MotoPlus Function

Installation and Start-up of Application Program

Start-up of Application Program

User Defined File

Initialization of User Defined File

Setting of File Control Task Priority Limit

Debugging Environment

Connecting YRC1000micro with PC

Debugging via Telnet Communication

Example Usage of Printf()

Debugging by User Variables of YRC1000micro

Using the Support Tool

Support for the Functions

Basic Settings

Online Download

Operating Procedure

Application Property List

How to Set Application Information

Setting Procedures

Port Debug

Measuring Procedures

Optional for Measuring

How to Mount the Application

Debug Port APIs

Copy Protection

Acquiring the Serial File (MotoPlus Monitor)

Loading the Protection Key (MotoPlus Monitor)

Useful Functions (MotoPlusIDE)

PMT Function

Data Conversion by PMT Function

PMT data conversion by programming pendant

PMT Data Conversion by Instruction

Registering SETTOOL Instruction

Registering PMT Instruction

Parameter

Tool Data Backup History

Instruction List for PMT Function