YASKAWA YRC1000micro User manual

MANUAL NO.

HW1484458

YRC1000micro OPTIONS

INSTRUCTIONS

FOR PMT FUNCTION

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

retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

YRC1000micro INSTRUCTIONS

YRC1000micro OPERATOR’S MANUAL

YRC1000micro MAINTENANCE MANUAL

YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.

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DANGER

• This manual explains the PMT function (Position Modification

Function for Tool Deformation) of the YRC1000micro system. Read

this manual carefully and be sure to understand its contents before

handling the YRC1000micro. 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 YRC1000micro INSTRUCTIONS. To ensure correct

and safe operation, carefully read "Chapter 1. Safety" of the

YRC1000micro INSTRUCTIONS.

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 YRC1000micro.

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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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 button on the programming pendant or

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 YRC1000micro 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 button

is located on the right of the programming pendant.

• Read and understand the Explanation of the Warning Labels before

operating the manipulator.

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DANGER

• In the case of not using the programming pendant, be sure to

supply the emergency stop button on the equipment. Then before

operating the manipulator, check to be sure that the servo power is

turned OFF by pressing the emergency stop button.

Connect the external emergency stop button to the 4-14 pin and 5-

15 pin of the Safety connector (Safety).

• Upon shipment of the YRC1000micro, this signal is connected by a

jumper cable in the dummy connector. To use the signal, make sure

to supply a new connector, and then input it.

If the signal is input with the jumper cable connected, it does not

function, which may result in personal injury or equipment damage.

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.

• Return the programming pendant to a safe place 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.

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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 YRC1000micro

controller, manipulator cables, the YRC1000micro programming pendant

(optional), and the YRC1000micro programming pendant dummy

connector (optional).

In this manual, the equipment is designated as follows:

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

shown as follows:

Equipment Manual Designation

YRC1000micro controller YRC1000micro

YRC1000micro programming pendant Programming pendant (optional)

Cable between the manipulator

and the controller Manipulator cable

YRC1000micro programming pendant

dummy connector Programming pendant

dummy connector (optional)

Equipment Manual Designation

Programming

Pendant Character Keys

/Symbol Keys The keys which have characters or symbols

printed on them are denoted with [ ].

ex. [ENTER]

Axis Keys

/Number 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]

Mode Key Three kinds of modes that can be selected by

the mode key are denoted as follows:

REMOTE, PLAY, or TEACH

Button Three buttons on the upper side of the

programming pendant are denoted as follows:

HOLD button

START button

EMERGENCY STOP button

Displays The menu displayed in the programming

pendant is denoted with { }.

e.g. {JOB}

PC Keyboard The name of the key is denoted.

e.g. Ctrl key on the keyboard

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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.

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Contents

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1 PMT Function..................................................................................................................................1-1

2 Data Conversion by PMT Function .................................................................................................2-1

2.1 Outline ...............................................................................................................................2-1

2.1.1 PMT data conversion by instruction......................................................................2-1

2.1.2 PMT data conversion by programming pendant...................................................2-2

2.2 PMT Data Conversion by Instruction .................................................................................2-4

2.2.1 Registering GETTOOL Instruction........................................................................2-4

2.2.2 Registering SETTOOL Instruction ........................................................................2-5

2.2.3 Registering PMT Instruction .................................................................................2-6

2.3 PMT Data Conversion by Programming Pendant..............................................................2-9

3 Tool Data Backup History ...............................................................................................................3-1

3.1 Tool Backup Window .........................................................................................................3-1

4 Instruction List for PMT Function ....................................................................................................4-1

5 Parameter .......................................................................................................................................5-1

6 Alarm List ........................................................................................................................................6-1

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1 PMT Function

1-1

HW1484458

1 PMT Function

The PMT function corrects the position data when the tool is deformed

during operation

(PMT: Position Modification for Tool Deformation). When a tool

inadvertently collides with peripheral jigs or walls during operation and is

deformed, the tool center point will be dislocated and the taught position of

the job programmed would be shifted; it requires a great deal of time and

effort for correction. In such a case, the PMT function can be used to

correct the position data easily and accurately.

By specifying the desired job, the position data of the taught tool

dimensions before deformation are converted automatically to the position

data of the tool dimensions after deformation.

In the PMT function, the tool before deformation is called “the original tool”

and the tool after deformation is called “the orientation tool”.

NOTE

• For a job in which teaching is performed by using several

types of tools, only the position data obtained by the speci-

fied original tool is converted.

• The position variables are not converted in the PMT func-

tion.

Tool at teaching (Original tool)

Deformed tool

(Orientation tool)

Dislocation of tool center point

0016

0017

0018

MOVJ

WAIT IN#(1)=0

MOVL V=70

Position data of the step taught

by the original tool is converted.

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2 Data Conversion by PMT Function

2.1 Outline

2-1

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2 Data Conversion by PMT Function

2.1 Outline

The data can be converted by the PMT function using instructions or the

programming pendant.

2.1.1 PMT data conversion by instruction

The following window is a job example (PMT0) to convert the data

by instructions.

Carry out Job PMT0 to convert the data using the PMT function.

Refer to chapter 2.2 “PMT Data Conversion by Instruction” for the

programming of each instruction, GETTOOL, SETTOOL, and PMT.

Before converting the data, prepare a job, like TOOL0 in the

preceding example, to obtain the amount of tool deformation by

using a touch sensor or other device.

NOTE

When the PMT function is used, the tool dimensions and the

job taught position data are rewritten. In order to secure the

data, prepare the backup files beforehand.

Saves the tool constants used before

deformation as the original tool data.

Calls the job to obtain the amount of

tool deformation.

Sets the tool constants after

deformation.

Job : Converts WORK1 using the

PMT function.

Job : Converts WORK11 using the

PMT function.

NOTE

• Before converting the data by a PMT instruction, be sure to

save the data of the original tool by using a GETTOOL

instruction.

• For a system with the independent control function

enabled, do not use PSTART, an independent control

instruction, to start a job that includes a PMT instruction.

10/27

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