YASKAWA MOTOMAN Series User manual

MANUAL NO.

HW1483854

YRC1000 OPTIONS

CC-Link IE Field

COMMUNICATIONS FUNCTION

INSTRUCTIONS

FOR Q81BD-J71GF11-T2 MADE BY MITSUBISHI ELECTRIC Co., Ltd.

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and

retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

YRC1000 INSTRUCTIONS

YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)

YRC1000 MAINTENANCE MANUAL

YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.

The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.

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DANGER

• This manual explains the CC-Link IE Field board Q81BD-J71GF11-

T2 (manufactured by Mitsubishi Electric Corporation) of the

YRC1000 system. Read this manual carefully and be sure to

understand its contents before handling the YRC1000. Any matter,

including operation, usage, measures, and an item to use, not

described in this manual must be regarded as "prohibited" or

"improper".

• General information related to safety are described in “YRC1000

INSTRUCTIONS (RE-CTO-A221) 1. Safety”. To ensure correct

and safe operation, carefully read “YRC1000 INSTRUCTIONS (RE-

CTO-A221) 1. Safety”.

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 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. The 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 YRC1000.

In this manual, the Notes for Safe Operation are classified as “DANGER”,

“WARNING”, “CAUTION”, or “NOTICE”.

Even items described as “CAUTION” may result in a serious accident in

some situations.

At any rate, be sure to follow these important items.

DANGER

Indicates an imminently hazardous

situation which, if not avoided, will

result in death or serious injury.

Safety Signs identified by the signal

word DANGER should be used

sparingly and only for those

situations presenting the most

serious hazards.

WARNING

Indicates a potentially hazardous

situation which, if not avoided, will

result in death or serious injury.

Hazards identified by the signal

word WARNING present a lesser

degree of risk of injury or death than

those identified by the signal word

DANGER.

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”

without the safety alert symbol may

be used 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 if not designated as “DAN-

GER”, “WARNING” and “CAUTION".

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NOTICE

• Do not use or keep the board in the following environmental

conditions.

– Where exposed to direct sunshine

– Where vibration or impact occurs

– Where high humidity exists

– Where a strong magnetic field exists

– Where much dust exists

– Where a sudden change in the temperature occurs

– Where corrosive gases occur

– Where condensation occurs

Improper usage of the board may damage the board.

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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 programming

pendant is turned OFF.

– Press the emergency stop buttons on the front door of the

YRC1000, on the programming pendant, on the external control

device, etc.

– Disconnect the safety plug of the safety fence.

(when in the play mode and the remote mode)

If operation of 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, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn

the servo power ON.

Failure to observe this instruction may result in personal injury caused

by unintended manipulator movement.

Fig. : Release of Emergency Stop

TURN

• Observe the following precautions when performing a teaching

operation within the P-point maximum envelope of the manipulator:

– 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 the sign that the 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 in mind emergency response measures against the

manipulator’s unexpected movement toward a person.

– Ensure a safe place to retreat in case of emergency.

Failure to observe this instruction may result in personal injury caused

by improper or unintended manipulator movement.

• Confirm that no person is present in the P-point maximum envelope

of the manipulator and that the operator is in a safe location before:

– Turning ON the YRC1000 power

– Moving the manipulator by using the programming pendant

– Running the system in the check mode

– Performing automatic operations

Injury may result if any person should enter the P-point maximum

envelope of the manipulator during operation. Immediately press an

emergency stop button whenever there is a problem. The emergency

stop buttons are located on the front panel of the YRC1000 and on the

right of the programming pendant.

• Read and understand the Explanation of the Warning Labels in the

YRC1000 Instructions before operating the manipulator.

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WARNING

• Do not touch the inside of the panel for 5 minutes after the power is

turned OFF.

The remaining charged voltage in the capacitor may cause an electric

shock or an injury.

• Be sure to close the door and install the protection cover while the

power is turned ON.

Failure to observe this warning may result in a fire or an electric shock.

• Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair them

immediately, and be sure that all other necessary processing has

been performed.

– Check for problems in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the cabinet

of the YRC1000 after use.

If the programming pendant is left unattended on the manipulator, on a

fixture, or on the floor, 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 programming pendant left

unattended, which may result in personal injury and/or equipment

damage.

• The wiring and mounting must be performed by authorized and

qualified personnel.

Failure to observe this caution may result in fire or electric shock.

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CAUTION

• Make sure that there is no foreign matter such as metal chips on the

board.

In case of malfunction, etc. it may result in an injury or damage the

board.

• Make sure that there is no damage or deflection of parts on the

board.

In case of malfunction, etc. it may result in an injury or damage the

board.

• Correctly connect each cable and connector.

Failure to observe this caution may result in a fire or damage the board.

• Set the switches, etc. correctly.

Malfunction, caused by an incorrect setting, may result in an injury or

damage the board.

• Never touch the soldered surfaces of the board directly with fingers.

Protrusions on the soldered surface may result in an injury.

NOTICE

• Never touch the mounting surfaces of the board parts directly with

fingers.

The generated static electricity may damage the IC.

• No shock to the board.

The shock may damage the board.

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Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the

programming pendant, and supply cables.

In this manual, the equipment is designated as follows.

Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "

means that the cursor is moved to the object item and [SELECT] is

pressed, or that the item is directly selected by touching the screen.

Registered Trademark

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 are omitted.

Equipment Manual Designation

YRC1000 controller YRC1000

YRC1000 programming pendant Programming pendant

Cable between the manipulator and the

controller Manipulator cable

Equipment Manual Designation

Programming

Pendant Character Keys

/Symbol Keys The keys which have characters or its

symbol printed on them are denoted with [ ].

ex. [ENTER]

Axis Keys

/Numeric Keys [Axis Key] and [Numeric Key] are generic

names for the keys for axis operation and

number input.

Keys pressed

simultaneously When two keys are to be pressed

simultaneously, the keys are shown with a

“+” sign between them,

ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming

pendant is denoted with { }.

ex. {JOB}

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Contents

HW1483854

1 Outline ............................................................................................................................................ 1-1

1.1 System Configuration ........................................................................................................ 1-1

2 Hardware Specifications ................................................................................................................. 2-1

2.1 External View of the J71GF11-T2 Board........................................................................... 2-1

2.2 J71GF11-T2 Specifications ............................................................................................... 2-2

2.3 Communication Specifications........................................................................................... 2-3

3 Mounting the J71GF11-T2 Board ................................................................................................... 3-1

3.1 Opening the Front Door of the YRC1000 .......................................................................... 3-2

3.2 Mounting the J71GF11-T2 Board on the YRC1000........................................................... 3-3

3.3 Cable Connection .............................................................................................................. 3-3

3.4 Closing Front Door of the YRC1000.................................................................................. 3-4

4 I/O Signal Allocation........................................................................................................................ 4-1

4.1 Setting of Optional Board and I/O Module.........................................................................4-1

4.2 External I/O Setting............................................................................................................ 4-7

4.3 Transmitting Data ............................................................................................................ 4-12

4.3.1 YRC1000 I/O Allocation Example (For Handling)............................................... 4-13

4.3.2 YRC1000 I/O Allocation Example (For Except Handling)................................... 4-15

4.3.3 Board Status....................................................................................................... 4-17

5 PLC Setting..................................................................................................................................... 5-1

5.1 Master setting .................................................................................................................... 5-1

5.2 IO Confirmation.................................................................................................................. 5-6

5.3 Setting of Star/ Line, Ring Connection and create radder program................................... 5-7

5.4 Block Data Assurance per Station................................................................................... 5-10

6 Error Indication................................................................................................................................ 6-1

6.1 LED Indicators ................................................................................................................... 6-1

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1 Outline

1.1 System Configuration

1-1

HW1483854

1Outline

This manual describes the CC-Link IE Field board Q81BD-J71GF11-T2

(hereafter J71GF11-T2) (manufactured by Mitsubishi Electric Corporation)

to be used in the YRC1000. The application of the J71GF11-T2 board

enables the exchange of general-purpose I/O data and register data

between a CC-Link IE Field device and the YRC1000. The J71GF11-T2

board is designed only as a local station and cannot be used as a master

station.

1.1 System Configuration

The following diagram shows an example of the configuration of a system

with an J71GF11-T2 board.

CC-Link IE Field is a registered trademark of the CLPA (CC-Link Partner

Association).

CC-Link IE Field

Master Station

External PLC (Sequencer)

CC-Link IE Field

Remote I/O Station

I/O Unit

CC-Link IE Field Cable

YRC1000

CC-Link IE Field

Local Station

J71GF11-T2

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