YASKAWA YRC1000micro Collaborative Operation Instructions
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YASKAWA YRC1000micro Collaborative Operation Instructions

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See also: Instruction Manual
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
181437-1CD
4
MANUAL NO.
HW1484764
4
1/105

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  • Page 1 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 181437-1CD MANUAL NO. HW1484764 1/105...
  • Page 2 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.
  • Page 3 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.
  • Page 4 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. • HW1484764 4/105...
  • Page 5 <YRC1000> 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.
  • Page 6 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...
  • Page 7 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.
  • Page 8 <YRC1000/YRC1000micro> Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or symbols Pendant /Symbol Keys printed on them are denoted with [ ]. e.g. [ENTER]...
  • Page 9 Description of the Operation Procedure <YRC1000/YRC1000micro> 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.
  • Page 10 • 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.

  • Page 11: Table Of Contents

    Speed Monitor Function .................. 2-4 2.3. Avoidance Function ..................2-4 2.4. Force Detection Hold Function (Supported Only by YRC1000 System Version YAS2.41 or Later and YRC1000micro System Version YBS2.10 or Later) ......................2-5 2.5. Escape from Clamping Function ..............2-6 2.6.
  • Page 12 5.1.1. Checking the Torque Sensor Status Using the Self-check Function (Supported Only by YRC1000 System Version YAS2.52 or Later and YRC1000micro System Version YBS2.10 or Later) ....... 5-1 5.1.2. Checking the Torque Sensor Status Using the External Force Monitor....................5-3 5.2.
  • Page 13 Default Settings of Function Safety General-Purpose I/O Signals ....11-1 Default Settings of the Functional Safety Condition Files ......... 12-1 Functions That Cannot be Used with Collaborative Operation Simultaneously ....................13-1 xiii HW1484764 13/105...

  • Page 14: Introduction

    HW1484764 Introduction 1. Introduction The robot controller YRC1000/YRC1000micro provides functions to ensure that robots do not harm workers working close to them for the enablement of human-robot collaborative operation. This instruction manual explains how to use those functions. When using the Smart Pendant, refer also to "HW1485509 YRC1000/YRC1000micro INSTRUCTIONS FOR SmartPendant".
  • Page 15 HW1484764 Functional Overview ■ Collaborative operation and functional safety functions The functions that support collaborative operation use some of the YRC1000/YRC1000micro functional safety functions. Even if you disable collaborative operation, you can still use the functional safety functions. HW1484764 15/105...

  • Page 16: Pfl Function

    HW1484764 Functional Overview 2.1. PFL Function The PFL (Power and Force Limiting) function stops the manipulator depending on the external force acting on the manipulator with collaborative operation enabled. With collaborative operation enabled, the PFL function monitors the external forces acting on the TCP and each axis of the manipulator.

  • Page 17: Speed Monitor Function

    Functional Overview 2.2. Speed Monitor Function With collaborative operation enabled, the "speed limit function", one of the YRC1000/YRC1000micro functional safety functions, limits the manipulator operating speed within the safe speed range. You can change the speed limit but only to a speed lower than the factory default. For information on how to configure the speed limit, refer to "3.2 Basic Settings for Collaborative Operation".

  • Page 18: Force Detection Hold Function

    2.4. Force Detection Hold Function (Supported Only by YRC1000 System Version YAS2.41 or Later and YRC1000micro System Version YBS2.10 or Later) The force detection hold function temporarily stops the job when the external force acting on the manipulator exceeds the preset threshold with collaborative operation enabled. You can use this easily configurable function to stop the manipulator more slowly than the PFL function.

  • Page 19: Escape From Clamping Function

    HW1484764 Functional Overview 2.5. Escape from Clamping Function With collaborative operation enabled, the PFL function described above puts the manipulator into a stop position monitoring state in which it is not operable if something is clamped (stuck) between the manipulator and surrounding environment or between the joints of the manipulator. The escape from clamping function lets the manipulator escape from such a state.
  • Page 20 HW1484764 Functional Overview CAUTION Correctly configure the tool information by specifying the information on the hand and ・ workpiece. If it is not correctly configured, clamping state detection may fail, possibly causing an unexpected operation of the manipulator. During the escape from clamping operation, the manipulator moves not in accordance with the ・...

  • Page 21: Relationships Among Various Stop Functions

    HW1484764 Functional Overview 2.6. Relationships among Various Stop Functions With collaborative operation enabled, various functions work when the external forces acting on the TCP and each axis of the manipulator exceed the preset thresholds. You can change these thresholds but the threshold for the force detection hold function must be always larger than the start threshold for the avoidance operation.

  • Page 22: Direct Teach Function

    HW1484764 Functional Overview 2.7. Direct Teach Function The direct teach function allows you to create a job (or teach the manipulator) without holding the teaching pendant in your hand. More specifically, it provides the following two teaching methods: Moving the robot using the hand guiding ・...

  • Page 23: External Force Monitor Output

    HW1484764 Functional Overview 2.8. External Force Monitor Output The estimated external force values and sensor data are output to the M registers as shown below: Register number Unit Estimated external torque values M310 to 317 [0.1Nm] for each axis Estimated TCP external force M320 to 326 [0.1N] values...

  • Page 24: Configuring Each Function

    HW1484764 Configuring Each Function 3. Configuring Each Function 3.1. Changing the Security Mode You must change the controller security mode to "Safety Mode" or "Management Mode" before you can change the various settings for collaborative operation. To change to Safety Mode, use the following steps: (1) Select {SYSTEM INFO} - {SECURITY} under the main menu.

  • Page 25: Basic Settings For Collaborative Operation

    HW1484764 Configuring Each Function 3.2. Basic Settings for Collaborative Operation 3.2.1. Changing the External Force Limits To change the external force limits PFL function monitors, use the following steps NOTICE By factory default, the file number 1 is enabled and the external force limit for the TCP resultant force and the external forces along the X-, Y-, and Z-axes is set to 100 N.
  • Page 26 HW1484764 Configuring Each Function (3) On the External Force Limit Setting screen, enter the settings and finally press the {READBACK} button. When the label of the {READBACK} button changes to {WRITE}, press the {WRITE} button. When the label of the {WRITE} button changes to {CONFIRM}, make sure that the changed settings are correct, and then press the {CONFIRM} button.
  • Page 27 HW1484764 Configuring Each Function FILE SET STATUS Displays the status of the currently selected external force limit file. The status can be one of the following: Setting status Description SETTING The file has just been initialized or is being configured. CONFIRMING The settings are currently being confirmed after you press the {WRITE} button.
  • Page 28 HW1484764 Configuring Each Function OUTPUT SIGNAL Use this field to output the monitoring results of the currently selected external force limit file. If this external force limit file is enabled with collaborative operation enabled, this output signal turns on when the external force acting on the manipulator exceeds the value specified in this external force limit file.

  • Page 29: Configuring The Speed Limit

    For more information on how to configure the speed limit, refer to "HW1483576 YRC1000 OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION" or "HW1484544 YRC1000micro OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION" ("4.4 Speed Limit Function"). By factory default, the TCP speed is limited to 250 mm/s.

  • Page 30: Enabling Or Disabling Collaborative Operation

    Disabling collaborative operation is referred to as "muting". For more information on how to configure the safety logic circuit, refer to "RE-CTO-A221 YRC1000 INSTRUCTIONS" or "RE-CTO-A222 YRC1000micro INSTRUCTIONS" (8.26 Safety Logic Circuit). Signal name Description Enable/disable collaborative operation...

  • Page 31: Disabling Collaborative Operation By Changing The Safety Logic Circuit

    HW1484764 Configuring Each Function 3.3.1. Disabling Collaborative Operation by Changing the Safety Logic Circuit To disable collaborative operation (i.e., muting) by changing the safety logic circuit, use the following steps: (1) Select {SYSTEM INFO} - {SECURITY} under the main menu. (2) Under Security Mode, select "SAFETY MODE".
  • Page 32 HW1484764 Configuring Each Function (3) Select {SAFETY FUNC.} - {SAFETY LOGIC CIRCUIT} under the main menu. (4) On the SAFETY LOGIC CIRCUIT setting screen, do the following steps: I) In the first line, select the blank cell on the left of "FSBIN01" to change it to "NOT" and select {WRITE}.

  • Page 33: Enabling Or Disabling Collaborative Operation By Using External Sensor Input

    HW1484764 Configuring Each Function 3.3.2. Enabling or Disabling Collaborative Operation by Using External Sensor Input Connecting the safety signal (MS-OUT54; refer to Section 3.3) of the safety logic circuit to the safety input from an external sensor allows you to enable or disable (muting) manipulator collaborative operation depending on the external sensor input.

  • Page 34: Default Settings Of Function Safety General-Purpose I/O Signals

    HW1484764 Configuring Each Function In addition, you can use an input other than FSBIN01 by specifying the signal to be connected to MS- OUT54 in the safety logic circuit. For information on available signals, refer to Chapter 11 "Default Settings of Function Safety General-Purpose I/O Signals". For more information on how to connect the safety laser scanner, the safety relay, and the expansion safety terminal block board, refer to "HW1483576 OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION".

  • Page 35: Enabling Or Disabling The Pfl Function

    HW1484764 Configuring Each Function 3.4. Enabling or Disabling the PFL function To enable or disable the PFL function, use the steps described below. For information on how to disable collaborative operation only, refer to "3.3 Enabling or Disabling Collaborative Operation". Disabling the PFL function not only disables collaborative operation but also suspends the monitoring by the external force monitoring function and prevents the alarms related to the PFL function from occurring.
  • Page 36 HW1484764 Configuring Each Function (3) Under Security Mode, select "SAFETY MODE". For Safety Mode, the initial password is set to "5555555555555555". (4) Select {SYSTEM} - {SETUP} under the main menu, and select "OPTION FUNCTION". (5) Select "DETAIL" of "POWER FORCE LIMITING". 3-13 HW1484764 36/105...
  • Page 37 HW1484764 Configuring Each Function (6) On the POWER FORCE LIMITING setting screen, change both #1 and #2 to "NOT USED" under "PFL BOARD". (7) Select {YES} on the confirmation dialog that appears. (8) Perform the procedures in steps (1) to (3) again. (9) Select {FILE} - {INITIALIZE} under the main menu, and select "Safety Board FLASH Reset".
  • Page 38 HW1484764 Configuring Each Function (10) Select {YES} on the confirmation dialog that appears. (11) Select {FILE} - {INITIALIZE} under the main menu, and select "PFL Board FLASH Reset". (12) Select {YES} on the confirmation dialog that appears. 3-15 HW1484764 38/105...

  • Page 39: Steps For Enabling The Pfl Function

    HW1484764 Configuring Each Function 3.4.2. Steps for Enabling the PFL Function (1) Restart the controller in the maintenance mode. (2) Select {SYSTEM} - {SECURITY} under the main menu. (3) Under Security Mode, select "SAFETY MODE". For Safety Mode, the initial password is set to "5555555555555555".
  • Page 40 HW1484764 Configuring Each Function (4) Select {SYSTEM} - {SETUP} under the main menu, and select "OPTION FUNCTION". (5) Select "DETAIL" of "POWER FORCE LIMITING". (6) On the POWER FORCE LIMITING setting screen, change #1 to " USED" under "PFL BOARD". 3-17 HW1484764 40/105...
  • Page 41 HW1484764 Configuring Each Function (7) Select {YES} on the confirmation dialog that appears. Note: The following dialogs will be displayed depending on the system version. Always select {NO} on all dialogs. If the dialog does not appear, proceed to step (8). ①...
  • Page 42 HW1484764 Configuring Each Function (10) Select {YES} on the confirmation dialog that appears. (11) Select {FILE} - {INITIALIZE} under the main menu, and select "PFL Board FLASH Reset". (12) Select {YES} on the confirmation dialog that appears. 3-19 HW1484764 42/105...

  • Page 43: Configuring The Avoidance Function

    HW1484764 Configuring Each Function 3.5. Configuring the Avoidance Function 3.5.1. Adding Instructions to a Job To add instructions for the avoidance function to a job, use the following steps: (1) Open the job you want to add the avoidance function instructions to. (2) In the job, add "EI LEVEL=1"...

  • Page 44: Enabling The Avoidance Function

    HW1484764 Configuring Each Function 3.5.2. Enabling the Avoidance Function To enable the avoidance function, use the following steps: (1) Start the GUI screen by pressing {EASY} at the right bottom of the programming pendant screen. (2) At the upper right of the HAND GUIDING tab displayed on the GUI screen, change the avoidance function setting screen switch to "Avoid Settings".
  • Page 45 HW1484764 Configuring Each Function The avoidance function has the following operation modes: Operating mode Description Displayed image TRANSLATION The avoidance operation is (Translation mode) performed by moving the TCP according to external forces while keeping the current tool posture. JOINT All the joints are moved (Joint mode) according to the external torque...

  • Page 46: Setting The Start And End Thresholds

    HW1484764 Configuring Each Function 3.5.3. Setting the Start and End Thresholds You can change the start and end external force thresholds for the avoidance function by using the following D variables. In translation mode, the force acting on the TCP in the cartesian coordinate system is compared with the thresholds.

  • Page 47: Checking The Interrupt Job Settings

    HW1484764 Configuring Each Function 3.5.5. Checking the Interrupt Job Settings To check the interrupt job settings, use the following steps: Select {JOB} - {INTERRUPT JOB} under the main menu to check the interrupt job settings. ・ Output signal: OUT#4089 ・ Level 0, signal: IN#4090, job name: SYS_INT_AVOID_R1 WARNING Do not change or delete the interrupt job named SYS_INT_AVOID_R1 for the avoidance function or its settings.

  • Page 48: Configuring The Force Detection Hold Function (Supported Only By Yrc1000 System Version Yas2.41 Or Later And Yrc1000Micro System Version Ybs2.10 Or Later)

    3.6. Configuring the Force Detection Hold Function (Supported Only by YRC1000 System Version YAS2.41 or Later and YRC1000micro System Version YBS2.10 or Later) You can change the operation thresholds of the force detection hold function by setting the following D variables to a percentage of the start threshold for the avoidance function. Setting the thresholds to zero (0) disables the force detection hold function.

  • Page 49: Teaching The Manipulator With The Direct Teach Function

    HW1484764 Configuring Each Function 3.7. Teaching the Manipulator with the Direct Teach Function To teach the manipulator with the direct teach function, use the steps described below. 3.7.1. Moving the Robot Using the Hand Guiding (1) In teach mode, press {EASY} at the right bottom of the programming pendant screen. (2) Wait until the following screen appears: Avoidance function...
  • Page 50 HW1484764 Configuring Each Function The hand guiding has the following operation modes: Operation mode Description Displayed image XYZ + Tool Moves the TCP according to external forces while keeping the current tool posture. Also, rotates the tool according to the external torque acting on the T-axis.
  • Page 51 HW1484764 Configuring Each Function The following steps differ depending on the model. Use the steps corresponding to your model: MOTOMAN-HCXX (not equipped with the direct teach button) -> Steps (8) and (9) MOTOMAN-HCXXDT (equipped with the direct teach button) -> Steps (8A) and (9A) For MOTOMAN-HCxx (not equipped with the direct teach button) (8) Press [SERVO ON READY] on the programming pendant and turn on the enable switch to turn the servo power ON.
  • Page 52 HW1484764 Configuring Each Function The maximum speed at which you can move the robot by the hand guiding is limited ・ to the manual operating speed for the currently selected teach mode. If the manual operating speed setting is low, so is the maximum speed and the manipulator may feel heavy.

  • Page 53: Safety Precautions

    4. Safety Precautions 4.1. How to Restart the Controller To turn off and back on the power to the YRC1000/YRC1000micro, always use the main power switch. Wait at least 10 seconds after turning off the main power switch until turning it on.

  • Page 54: About The Behavior Near Singularity

    HW1484764 Safety Precautions 4.3. About the Behavior near Singularity With collaborative operation enabled, the behavior of the manipulator near singularity is limited to operating on an axis by axis basis. An attempt to operate the manipulator along more than one axis at a time, in any operation mode, results in AL.6002 "NEAR SINGULARITY (PFL)".

  • Page 55: Settings Related To The Tool

    HW1484764 Safety Precautions 4.4. Settings Related to the Tool With collaborative operation enabled, the gravity and inertia are also treated as external forces. Therefore, you must preconfigure the mass of the tool attached and the workpiece transported and change the settings before each step of the job. The following examples show how to configure the tool file by specifying the hand information when not transporting a workpiece and when transporting a workpiece, respectively.

  • Page 56: How To Configure The Tool File

    Tool 1 configuration example (correct) For more information on how to configure the tool information, refer to "8.3 Tool Data Setting" in "YRC1000/YRC1000micro INSTRUCTIONS". CAUTION With the MOTOMAN-HC10, do not use the “Automatic Measurement of the Tool Load and the Center of Gravity”...

  • Page 57: How To Configure The Tool Change Settings

    Using the "tool change monitor function" requires you to configure the safety signal before tool change. For more information on the tool change monitor function, refer to HW1483576 YRC1000 OPTIONS “INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION" or "HW1484544 YRC1000micro OPTIONS “INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION” ("4.6 Tool Change Monitor Function"). CAUTION ・...

  • Page 58: Daily Inspection Items

    5.1.1. Checking the Torque Sensor Status Using the Self-check Function (Supported Only by YRC1000 System Version YAS2.52 or Later and YRC1000micro System Version YBS2.10 or Later After powered ON, the controller self-checks whether or not the estimated external torque values for each axis are deviated.
  • Page 59 HW1484764 Daily Inspection Items *1: It is possible to check the system version information as follows. 1. Select {SYSTEM INFO} under the main menu. 2. Select {VERSION}. - The VERSION window appears. *2: The judgment thresholds of the external torque values for each axis that the self-check function uses are as follows: S-axis L-axis...

  • Page 60: Checking The Torque Sensor Status Using The External Force Monitor

    HW1484764 Daily Inspection Items 5.1.2. Checking the Torque Sensor Status Using the External Force Monitor To check the torque sensor status, periodically open the External Force Monitor screen with the manipulator in the same posture and under the same load condition. Record the value of the external torque acting on each axis, shown on the right side of the screen, and make sure that the difference from when you started using the manipulator is not growing remarkably.

  • Page 61: How To Reconfigure The Torque Sensor Home Position

    HW1484764 Daily Inspection Items 5.2. How to Reconfigure the Torque Sensor Home Position (1) Put the manipulator into such a posture that theoretically no gravity torque acts on the axis you want to adjust. For example, the posture where no torque acts on any axis is a posture without a tool, as shown below.
  • Page 62 HW1484764 Daily Inspection Items (3) Select the axis you want to configure. To reconfigure all the axes, select {EDIT} - {SELECT ALL AXIS}. (4) Select {YES} on the confirmation dialog that appears. (5) Press {READBACK} and further press {WRITE}. (6) Select {YES} on the confirmation dialog that appears. HW1484764 62/105...

  • Page 63: Troubleshooting

    HW1484764 Troubleshooting 6. Troubleshooting This chapter contains troubleshooting instructions. If an alarm occurs, refer also to the "Alarm List" in Chapter 7. Trouble content Corrective action A protective stop against external Temporarily disable the PFL function and move the forces always occurs near singularity, manipulator away from near the singularity.

  • Page 64: Alarm List

    CMOS.BIN and send the Others description of when and how the alarm occurred (operating steps, etc.) to Yaskawa representative. (1) Turn off and on the power. Cable (2) If the alarm recurs, check if the following cables and (error) connectors are properly connected or inserted.
  • Page 65 Sensor Indicates the description of when and how the alarm occurred FORCE TORQUE (error) 1923 axis where (operating steps, etc.) to your YASKAWA MUTUAL DIAG. the alarm representative. ERR(PFL) occurred. If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the...
  • Page 66 CMOS.BIN and send the alarm Others description of when and how the alarm occurred occurred. (operating steps, etc.) to your YASKAWA representative. (1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the Cable...
  • Page 67 TRQ SENSOR axis where Sensor description of when and how the alarm occurred 1927 AXIS NUMBER the alarm (error) (operating steps, etc.) to your YASKAWA ERROR occurred. representative. (Note 1) Subcode: (1) Turn off and on the power. Indicates the (2) If the alarm recurs, save CMOS.BIN and send the...
  • Page 68 NUM OVER(PFL) alarm (error) (operating steps, etc.) to your YASKAWA occurred. representative. (Note 1) If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the...
  • Page 69 1935 ERROR(PFL) described above, save CMOS.BIN and send the Others description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative. ASF04 (1) Turn off and on the power. board (2) If the alarm recurs, replace the ASF04 board. Save (error) CMOS.BIN before replacing the board.
  • Page 70 1939 ERR(PFL) described above, save CMOS.BIN and send the Others description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative. ASF04 (1) Turn off and on the power. board (2) If the alarm recurs, replace the ASF04 board. Save (error) CMOS.BIN before replacing the board.
  • Page 71 1943 ERROR(PFL) described above, save CMOS.BIN and send the Others description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative. ASF04 (1) Turn off and on the power. board (2) If the alarm recurs, replace the ASF01 board. Save (error) CMOS.BIN before replacing the board.

  • Page 72: Minor Alarms

    Indicates ESCAPE FROM occurred (operating steps, etc.) to your the axis 6004 CLAMPING YASKAWA representative. where the ERROR(PFL) alarm If the alarm recurs after you have taken the occurred. action described above, save CMOS.BIN and...
  • Page 73 Sensor (error) send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative. (1) Check that the manipulator has not been affected by an external force, such as a collision with surrounding objects. If an external force...
  • Page 74 HW1484764 Alarm List Alarm Code Alarm Message Sub Code Meaning Possible Solutions Hand guiding Change the setting of the D variable with the HNDG: PARAM 8000 parameter number of "sub-code + 200" to a value within RANGE ERROR range error the specified range.
  • Page 75 (3) If the alarm recurs after you turn back on the error power, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to Yaskawa representative. (1) Turn off and on the power. Operational (2) If the alarm recurs, save CMOS.BIN and...
  • Page 76 (operating steps, etc.) to your operation mode YASKAWA representative. (1) Turn off and on the power. PFL auxiliary (2) If the alarm recurs, save CMOS.BIN and 8313 mpClkAnnounce NG...
  • Page 77 8333 send the description of when and how the alarm value register occurred (operating steps, etc.) to your output error YASKAWA representative. (1) Turn off and on the power. Estimated (2) If the alarm recurs, save CMOS.BIN and mpPflGetSensorData external force...
  • Page 78 Get FB Speed failed send the description of when and how the alarm from clamping occurred (operating steps, etc.) to your function YASKAWA representative. (1) Turn off and on the power. Failed to (2) If the alarm recurs, save CMOS.BIN and mpGetFBPulsePos...

  • Page 79: Variable List

    HW1484764 Variable List 8. Variable List This chapter describes the D variables used by the various functions. WARNING The values of D variables 200 to 396 are parameters used by the avoidance and direct teach functions. Do not use them for any other purpose. Doing so could result in an unexpected operation of the manipulator. Minimum Maximum D variable...
  • Page 80 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value HG function - joint mode Maximum control force for the eight axes HandG_JT_T_MAX_8 1000 ｘ0.1Nm HG function - joint mode Minimum control force for S-axis HandG_JT_T_MIN_S 1000 ｘ0.1Nm HG function - joint...
  • Page 81 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value HG function - joint mode Minimum control force for the eight axes HandG_JT_T_MIN_8 1000 ｘ0.1Nm HG function - joint mode Maximum angular speed for S-axis HandG_JT_V_MAX_S deg/s HG function - joint mode...
  • Page 82 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value HG function - joint mode Maximum angular speed for the eight HandG_JT_V_MAX_8 axes deg/s HG function - joint mode Minimum angular speed for S-axis HandG_JT_V_MIN_S deg/s HG function - joint mode Minimum angular...
  • Page 83 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value HG function - joint mode Minimum angular speed for the eight HandG_JT_V_MIN_8 axes deg/s HG function - joint mode HandG_JT_ACC_TIME Acceleration time 10000 HG function - joint mode HandG_JT_DEC_TIME Deceleration time...
  • Page 84 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value HG function - translation mode Maximum resultant HandG_TRS_V_MAX speed mm/s HG function - translation mode Maximum speed in X HandG_TRS_V_MAX_X direction mm/s HG function - translation mode Maximum speed in Y HandG_TRS_V_MAX_Y direction...
  • Page 85 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value HG function reserved constant (Do not HndG_LMT_CLB_S change.) HG function reserved constant (Do not HndG_LMT_CLB_L change.) HG function reserved constant (Do not HndG_LMT_CLB_U change.) HG function reserved constant (Do not HndG_LMT_CLB_R change.)
  • Page 86 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value Avoidance function - start of operation AVD_T_BEG_S S-axis threshold 1000 ｘ0.1Nm Avoidance function - start of operation AVD_T_BEG_L L-axis threshold 1000 ｘ0.1Nm Avoidance function - start of operation AVD_T_BEG_U U-axis threshold 1000...
  • Page 87 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value Avoidance function - joint mode End threshold for U- AVD_JT_T_END_U axis 1000 ｘ0.1Nm Avoidance function - joint mode End threshold for R- AVD_JT_T_END_R axis 1000 ｘ0.1Nm Avoidance function - joint mode End threshold for B-...
  • Page 88 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value Avoidance function - joint mode Maximum speed for AVD_JT_V_MAX_T T-axis deg/s Reserved constant (Do not change.) AVD_JT_ACC_TIME 1000 10000 Reserved constant (Do not change.) AVD_JT_DEC_TIME 10000 Reserved constant (Do not change.) AVD_JT_MASS_S...
  • Page 89 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value Reserved constant AVD_JT_SPG_K_L (Do not change.) 10000 Reserved constant AVD_JT_SPG_K_U (Do not change.) 10000 Reserved constant AVD_JT_SPG_K_R (Do not change.) 10000 Reserved constant AVD_JT_SPG_K_B (Do not change.) 10000 Reserved constant AVD_JT_SPG_K_T...
  • Page 90 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value Avoidance function - translation mode End threshold for X AVD_TRS_F_END_X direction Avoidance function - translation mode End threshold for Y AVD_TRS_F_END_Y direction Avoidance function - translation mode End threshold for Z AVD_TRS_F_END_Z direction...
  • Page 91 HW1484764 Variable List Minimum Maximum D variable Variable name Description Default Unit value value Reserved constant AVD_TRS_MASS_Y (Do not change.) 10000 Reserved constant AVD_TRS_MASS_Z (Do not change.) 10000 Reserved constant AVD_TRS_DAMP_D_X (Do not change.) 10000 Reserved constant AVD_TRS_DAMP_D_Y (Do not change.) 10000 Reserved constant AVD_TRS_DAMP_D_Z...

  • Page 92: I/O List

    HW1484764 I/O List 9. I/O List This chapter describes the I/Os used by the direct teach and avoidance functions. WARNING Do not use the I/O described in this chapter for any other purpose. Doing so could result in an unexpected operation of the manipulator.

  • Page 93: Auxiliary Relay

    HW1484764 I/O List 9.2. Auxiliary Relay 79877 79876 79875 79874 79873 79872 79871 79870 Reset maximum System System System System System System System value of reserved reserved reserved reserved reserved reserved reserved estimated external force 79977 79976 79975 79974 79973 79972 79971 79970...

  • Page 94: General Output

    HW1484764 I/O List 9.3. General Output 10027 10026 10025 10024 10023 10022 10021 10020 Direct teaching in Button 2 Button 1 progress by detection detection smart pendant * 10020 to 10022 are used by the HC10DT only. 15107 15106 15105 15104 15103 15102...

  • Page 95: General Input

    HW1484764 I/O List 9.4. General Input 00027 00026 00025 00024 00023 00022 00021 00020 TEACH Button 2 Button 1 button input input input * 00020 to 00022 are used by the HC10DT only. 05107 05106 05105 05104 05103 05102 05101 05100 Escape System...

  • Page 96: External Outputs

    30041 30040 TEACH System System System System System System System button LED reserved reserved reserved reserved reserved reserved reserved output 9.5.2. YRC1000micro 30017 30016 30015 30014 30013 30012 30011 30010 General- General- General- General- General- General- General- TEACH purpose purpose...

  • Page 97: Control Status Signal

    HW1484764 I/O List 9.7. Control Status Signal 81667 81666 81665 81664 81663 81662 81661 81660 Speed monitoring Stop Collaborative Muting request position operation Resume signal input (escape monitoring speed limit switch input from request request clamping) 81707 81706 81705 81704 81703 81702 81701...

  • Page 98: Register List

    HW1484764 Register List 10. Register List The following registers are used: M309 M308 M307 M306 M305 M304 M303 M302 M301 M300 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved M319 M318 M317 M316 M315 M314 M313 M312 M311 M310 Estimated Estimated...
  • Page 99 HW1484764 Default Settings of Function Safety General-Purpose I/O Signals 11. Default Settings of Function Safety General-Purpose I/O Signals This chapter describes the default settings of the function safety general-purpose I/O signals. There are eight function safety general-purpose input signals (FSBIN) but you can use only FSBIN1 to FSBIN7 because FSBIN8 is used by the system by default.
  • Page 100 HW1484764 Default Settings of Function Safety General-Purpose I/O Signals Signal Signal Name Speed limit request during collaborative operation (to be output to MS-OUT53 an external safety device) Collaborative operation request (to be input from an external safety MS-OUT54 device) MS-OUT55 Category 0 stop request (to be input from an external safety device) MS-OUT56 Category 1 stop request (to be input from an external safety device)

  • Page 101: Default Settings Of The Functional Safety Condition Files

    HW1484764 Default Settings of the Functional Safety Condition Files 12. Default Settings of the Functional Safety Condition Files This chapter describes the functional safety condition files used by the system. DANGER Do not edit the factory default settings in the original files to change the condition settings for the functional safety functions (except for muting).
  • Page 102 HW1484764 Default Settings of the Functional Safety Condition Files ■Axis speed monitoring Parameter Condition file for speed limit for escape from clamping File number Comment （Do not Edit）speed limit for escape File valid condition Signal Group Limit value Enabled - 5 deg/s Enabled - 5 deg/s Enabled - 5 deg/s Enabled - 5 deg/s...
  • Page 103 HW1484764 Default Settings of the Functional Safety Condition Files ■Safety logic circuit (system side) - MOTOMAN-HCxxDT (equipped with direct teach device) No Signal 1 Logic Signal 2 Output signal Timer 1 PFL-OUT19 MS-OUT51 2 PFL-OUT20 MS-OUT52 MS-OUT57 PFL-IN17 FSBIN08 4 PFL-OUT21 FSBOUT08 5 PFL-OUT22 SPIN32...

  • Page 104: Simultaneously

    HW1484764 Functions That Cannot be Used with Collaborative Operation Simultaneously 13. Functions That Cannot be Used with Collaborative Operation Simultaneously Some extension functions of YRC1000/YRC1000micro cannot be used with collaborative operation simultaneously. Examples are shown below. Independent/Coordinate function ・ MotoFit function (YRC1000micro only) ・...
  • Page 105 YRC1000/YRC1000micro Collaborative Operation Instructions © 2017 YASKAWA ELECTRIC CORPORATION Published by YASKAWA March 2019 17-07 MANUAL No. HW1484764 105/105...

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