YASKAWA YRC1000micro User manual

HW1484764

MANUAL NO.

YRC1000/YRC1000micro

Collaborative Operation Instructions

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

thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-HC10 INSTRUCTIONS

MOTOMAN-HC10DT INSTRUCTIONS

YRC1000 INSTRUCTIONS

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

YRC1000 MAINTENANCE MANUAL

YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

YRC1000micro INSTRUCTIONS

YRC1000micro OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)

YRC1000micro MAINTENANCE MANUAL

YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

YRC1000/YRC1000micro INSTRUCTIONS FOR SmartPendant

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DANGER

•This manual explains the collaborative operation function of the

YRC1000/YRC1000micro system. Read this manual carefully and be sure to

understand its contents before handling the YRC1000/YRC1000micro. 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 "Chapter 1. Safety" of the

YRC1000/YRC1000micro INSTRUCTIONS. To ensure correct and safe

operation, carefully read "Chapter 1. Safety" of the YRC1000/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 YRC1000/YRC1000micro.

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

“CAUTION”, or “NOTICE”.

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.

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.

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 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.

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

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

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

•Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or serious injury from

unexpected turning of the manipulator's arm.

WARNING

•Maintenance and inspection must be performed by specified personnel.

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

•For disassembly or repair, contact your YASKAWA representative.

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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

•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. 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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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

•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 upper 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.

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 the manipulator cables.

In this manual, the equipment is designated as follows:

Equipment

Manual Designation

YRC1000/YRC1000micro controller

YRC1000/YRC1000micro

YRC1000/YRC1000micro 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:

Equipment

Manual Designation

Programming

Pendant

Character Keys

/Symbol Keys

The keys which have characters or symbols

printed on them are denoted with [ ].

e.g. [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,

e.g. [SHIFT]+[COORD].

Mode Switch

Mode Switch can select three kinds of modes that

are denoted as follows: REMOTE, PLAY or

TEACH.

(The switch names are denoted as symbols)

Button

The three buttons on the upper side of the

programming pendant are denoted as follows:

START, HOLD, or EMERGENCY STOP.

(The button names are denoted as symbols)

Displays

The menu displayed in the programming pendant

is denoted with { }.

e.g. {JOB}

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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.

Explanation of Warning Labels

The following warning labels are attached to the manipulator and

YRC1000/YRC1000micro.

Fully comply with the precautions on the warning labels.

DANGER

•The label described below is attached to the manipulator.

Observe the precautions on the warning labels.

Failure to observe this caution may result in injury or damage to equipment.

Refer to the manipulator manual for the warning label location.

Fall down hazard label

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•The following warning labels are attached to YRC1000.

Observe the precautions on the warning labels.

Failure to observe this warning may result in injury or damage to equipment.

•The following warning labels are attached to YRC1000micro.

Observe the precautions on the warning labels.

Failure to observe this warning may result in injury or damage to equipment.

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