YASKAWA YRC1000 User manual

MANUAL NO.

HW1483372

YRC1000 OPTIONS

INSTRUCTIONS

FOR INTERRUPT JOB FUNCTION

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 interrupt job function of the YRC1000

system. Read this manual carefully and be sure to understand its

contents before handling the YRC1000. Any matter not described

in this manual must be regarded as “prohibited” or “improper”.

• General information related to safety are described in “Chapter 1.

Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and

safe operation, carefully read “Chapter 1. Safety” of the YRC1000

INSTRUCTIONS.

CAUTION

• In some drawings in this manual, the protective covers or shields

are removed to show details. Make sure to install all the covers and

shields 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

“DANGER”, “WARNING” and “CAUTION”.

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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 or in 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 cause unintended movement of

the manipulator, which may result in personal injury.

Fig. : Release of Emergency Stop

TURN

• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:

– 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 cause improper or unintended

movement of the manipulator, which may result in personal injury.

• Confirm that no person is present in the manipulator's operating

range 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

Personal injury may result if a person enters the manipulator's

operating range 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 before

operating the manipulator.

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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 manipulator cables.

In this manual, the equipment is designated as follows:

WARNING

• Perform the following inspection procedures prior to conducting

manipulator teaching. If there is any problem, immediately take

necessary steps to solve it, such as maintenance and repair.

– Check for a problem in manipulator movement.

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

• Always return the programming pendant to the hook on the

YRC1000 cabinet after use.

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

fixture, or on the floor, etc., 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.

Equipment Manual Designation

YRC1000 Controller YRC1000

YRC1000 Programming Pendant Programming Pendant

Cable between the manipulator and the

controller Manipulator Cable

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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

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

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1 What is the Interrupt Job Function?................................................................................................ 1-1

2 Setting of the Interrupt Job Function............................................................................................... 2-1

2.1 Interruption Table Display.................................................................................................. 2-1

2.2 Setting of Interruption Table .............................................................................................. 2-3

2.2.1 Setting of Signals ................................................................................................. 2-3

2.2.2 Setting of Job Names........................................................................................... 2-4

2.3 Setting of Interruption Levels............................................................................................. 2-5

3 Registration of Instructions ............................................................................................................. 3-1

3.1 EI (Enable Interruption) Instruction.................................................................................... 3-1

3.2 DI (Disable Interruption) Instruction................................................................................... 3-3

4 Execution of an Interrupt Job.......................................................................................................... 4-1

4.1 Interruption Signal Detection .............................................................................................4-1

4.2 Timing for Interrupt Job Execution..................................................................................... 4-1

4.3 Deceleration Before Interrupt Job Execution..................................................................... 4-1

4.4 Interruption Signal Entered During Another Interrupt Job.................................................. 4-1

4.5 Output Signal of “Interrupt Job in Execution”..................................................................... 4-2

4.6 Automatic Interruption Disabled Status ............................................................................. 4-2

4.7 Job Call Stack.................................................................................................................... 4-2

4.8 If an interrupt job cannot be executed ............................................................................... 4-2

5 Application Examples...................................................................................................................... 5-1

5.1 Interruption During Timer Instruction ................................................................................. 5-1

5.2 Interruption During Move Instruction.................................................................................. 5-1

5.3 Interruption During Move Instruction with NWAIT.............................................................. 5-2

5.4 Interruption During Circular Interpolation Move Instruction (MOVC) ................................ 5-3

6 System with Independent Control................................................................................................... 6-1

7 Instruction List................................................................................................................................. 7-1

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1 What is the Interrupt Job Function?

1-1

HW1483372

1 What is the Interrupt Job Function?

The interrupt job function is a kind of call job. When a signal to interrupt

the job is sent from a peripheral device or another system, this function

momentarily suspends a job in progress, and executes the job

corresponding to the signal.

This function is useful when an error occurs in a peripheral device or in

another system, or when the manipulator should be withdrawn in an

emergency.

An interruption table defines the relation among the interruption levels

(priority of an interruption signal), the interruption signals, and the

interrupting jobs.

Sending a user input signal specified in the table calls, a job

corresponding to that signal. When interrupt job is completed, the

suspended job is restarted from the instruction line where the cursor was

at the time of interruption.

The smaller the interruption level number becomes, the higher the priority

of the processing becomes.

Since the YRC1000 determines which interrupt job is to be executed

according to this interruption table, make sure the settings for this table

are correct. The system engineer sets up this interruption table.

NOTE

If an interruption signal is received while the manipulator is in

the “step” cycle, the manipulator stops at once, and then the

next starting operation starts the interrupt job.

Interrupt job Job in progress

NOP

END

NOP

END

Interruption

INTERRUPT JOB

LEVEL SIGNAL JOB NAME

IN#01 JIG STOP

NOP

END

Interrupt job

"JIG STOP" NOP

END

Job in progress

Interruption

signal IN#01

Interruption table

INTERRUPT JOB

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1 What is the Interrupt Job Function?

1-2

HW1483372

NOTE

An interrupt job can be executed when the start lamp is ON

and between the execution of the EI (enable interruption)

instruction and the DI (disable interruption) instruction.

A different interruption level can be specified for both EI and

DI.

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2 Setting of the Interrupt Job Function

2.1 Interruption Table Display

2-1

HW1483372

2 Setting of the Interrupt Job Function

2.1 Interruption Table Display

1. Select {JOB} under the main menu.

2. Select {INTERRUPT JOB} in the sub menu.

TABLE NO. (Initial value: 1)

OUTPUT SIGNAL (Initial value: no setting)

A user output signal that is turned ON during the execution of an inter-

rupt job.

LEVEL

The interruption level indicates the priority of the interruption signal.

The smaller the interruption level number becomes, the higher the prior-

ity of the processing becomes. Eight levels from 0 to 7 can be set.

SIGNAL (Initial value: no setting)

A user input signal serves as an interruption signal.

JOB NAME (Initial value: no setting)

A job name corresponding to an interruption signal

PERMIT

Interruption enabled or disabled status (for diagnosis)

(Enabled): Interruption enabled by the execution of the EI instruction

(Disabled): Interruption disabled

567

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