YASKAWA YRC1000 Operator's Manual
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YASKAWA YRC1000 Operator's Manual

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See also: Operator's Manual , Instruction Manual
YRC1000
OPERATOR'S MANUAL
FOR LADDER EDITOR
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".
179482-1CD
0
MANUAL NO.
HW1483388
1/58

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Summary of Contents for YASKAWA YRC1000

  • Page 1 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”.
  • 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 HW1483388 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”. Indicates an imminently hazardous DANGER situation which, if not avoided, will result in death or serious injury.
  • Page 4 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. •...
  • Page 5 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.
  • Page 6 HW1483388 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 [ ]. ex. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...

  • Page 7: Table Of Contents

    HW1483388 Contents Editing Ladder Programs ....................... 1-1 1.1 Flow of Data by Ladder Programs ..................1-1 1.2 Editing by Mnemonic and Editing Program................ 1-2 1.3 Ladder Editor Window ....................... 1-3 1.3.1 Basic Operation ....................1-3 1.3.2 Editing Operation of Ladder View Window ............1-7 1.3.2.1 Insert New Rungs..................

  • Page 8: Editing Ladder Programs

    HW1483388 Editing Ladder Programs Flow of Data by Ladder Programs Editing Ladder Programs Flow of Data by Ladder Programs Flow of data in editing, storage, and execution areas by operation of ladder program is shown below. ACP01 BOARD INTERMEDIATE EXECUTION EDITING AREA CODE AREA PROGRAM...

  • Page 9: Editing By Mnemonic And Editing Program

    HW1483388 Editing Ladder Programs Editing by Mnemonic and Editing Program Editing by Mnemonic and Editing Program The editing operations for ladder programs are two ways as follows. 1. Editing by Mnemonic Codes – Ladder programs can be edited in mnemonic codes as shown below.

  • Page 10: Ladder Editor Window

    HW1483388 Editing Ladder Programs Ladder Editor Window Ladder Editor Window 1.3.1 Basic Operation The Ladder Editor consists of Ladder View window and Ladder Editing window. The ladders to be edited are selected in the Ladder View window. Ladder programs are edited in the Ladder Editing window. Radder View Window Radder Editing Window Select the ladder...
  • Page 11 HW1483388 Editing Ladder Programs Ladder Editor Window 3. Move the cursor to the ladder program to be edited. – The selected one row appears in the Ladder Editing window. 4. Edit Operation. – For each editing operation, see chapter 1.3.3 “Editing Operation of Ladder Editing Window”...
  • Page 12 If any error is found in the edited ladder program, the erroneous step is identified. In this case, the program stored in the execution area remains unchanged. • Ladder operation and editing are prohibited depending on YRC1000 security level as listed in the following table. Security Level Operational Item Operation...
  • Page 13 HW1483388 Editing Ladder Programs Ladder Editor Window • Ladder View Window The Ladder View window consists of the ladder view and NOTE menu. The position of a cursor in the window switches every pressing [AREA] as shown in the following pictures. Menu area Main menu...

  • Page 14: Editing Operation Of Ladder View Window

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.2 Editing Operation of Ladder View Window The Ladder View window allows to insert new rungs, and cut (copy) and paste rungs. 1.3.2.1 Insert New Rungs The following explains the insertion of new rungs. Perform appropriate ladder editing as a default value is already set for the rung to be inserted.
  • Page 15 HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.2.2 Cut (Copy) and Paste Rungs  1. Selecting Subject Rungs Subject rungs for cut and copy can be specified as follows. 1. Move the cursor to the rung where selection starts. 2. Press [SHIFT] + [SELECT]. –...
  • Page 16 HW1483388 Editing Ladder Programs Ladder Editor Window  2. Copy and Paste Rungs This function allows to copy and paste ladders. 1. Move the cursor to the menu pressing [AREA] . 2. Select {EDIT}. 3. Select {COPY}. 4. Move the cursor to the rung position in which the copied rung is pasted.

  • Page 17: Cut (Copy) And Paste Rungs

    HW1483388 Editing Ladder Programs Ladder Editor Window 7. Select {INSERT PASTE RUNG}. – The copied rung is inserted under the cursor position. The copied line (Line #0000 was copied)  3. Cut (Copy) and Paste Rungs This function allows to cut (copy) and paste rungs. 1.
  • Page 18 HW1483388 Editing Ladder Programs Ladder Editor Window 7. Select {INSERT PASTE RUNG}. HW1483388 1-11 18/58...

  • Page 19: Editing Operation Of Ladder Editing Window

    ADD, SUB, MUL, DIV, MOD {LOGIC}: WAND, WOR, WXOR, WNOT, MOV, BMOV, CMP {SHIFT}: SHL, SHR, ROL, ROR {BCD}: BIN, BCD – For details on each instructions, refer to “12.2 Instruction Description” in the YRC1000 Concurrent I/O. HW1483388 1-12 19/58...
  • Page 20 HW1483388 Editing Ladder Programs Ladder Editor Window 3. Move the cursor to the pasting position of the detailed window, then select it. – Paste the instruction selected under the instruction menu. Select  2. Input Value 1. Move the cursor to the instruction menu pressing [AREA] . 2.
  • Page 21 HW1483388 Editing Ladder Programs Ladder Editor Window 3. Select {INPUT VALUE}. 4. Input values. – Move the cursor to the instruction to which the value is input, then select it. – Input the value when the following dialog box appears. HW1483388 1-14 21/58...
  • Page 22 HW1483388 Editing Ladder Programs Ladder Editor Window 5. Press [ENTER]. – The value is registered. HW1483388 1-15 22/58...
  • Page 23 HW1483388 Editing Ladder Programs Ladder Editor Window  3. Connect Instructions 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {OPERATION}. 3. Select {CANCEL MODE}. 4. Connect instructions. – Move the cursor to the starting position of the connection, then select it.
  • Page 24 HW1483388 Editing Ladder Programs Ladder Editor Window – Move the cursor to the end position of the connection, then select it. The selected instructions are connected. Select • The selected mode can be cancelled by pressing [CAN- CEL] instead of following the procedures 1 to 3 of " 3. Con- nect Instructions "...

  • Page 25: Delete Instructions

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.2 Delete Instructions 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {DELETE}. 3. Select {DELETE INSTRUCTIONS}. 4. Move the cursor to the instruction to be deleted, then select it. 5.

  • Page 26: Insert Columns

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.3 Insert Columns The following explains how to insert a new instruction between the instructions already set when editing ladders. The function “INSERT COLUMN” allows to shift all the columns behind the designated cursor position by one column at a time.
  • Page 27 HW1483388 Editing Ladder Programs Ladder Editor Window Insertion of column is invalid if there is an instruction in the column “08” as shown below. SUPPLE -MENT Insertion of column is invalid when there is an instruction in this raw. HW1483388 1-20 27/58...

  • Page 28: Insert Rows

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.4 Insert Rows 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {INSERT}. 3. Select {INSERT ROW}. 4. Move the cursor to the row to which a new row is inserted, then select –...
  • Page 29 HW1483388 Editing Ladder Programs Ladder Editor Window Insertion of row is invalid if there is an instruction in the row “07” as shown below. SUPPLE -MENT Insertion of row is invalid when there is an instruction in this raw. HW1483388 1-22 29/58...

  • Page 30: Delete Columns

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.5 Delete Columns 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {DELETE}. 3. Select {DELETE COLUMN}. 4. Move the cursor to the column to be deleted, then select it. –...

  • Page 31: Delete Rows

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.6 Delete Rows 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {DELETE}. 3. Select {DELETE ROW}. – The selected row is deleted. Select HW1483388 1-24 31/58...

  • Page 32: Undo And Redo

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.7 Undo and Redo Use these functions when restoring the editing ladders to the status immediately before the operation.  1. Undo 1. Move the cursor to the instruction menu pressing [AREA] . 2.
  • Page 33 HW1483388 Editing Ladder Programs Ladder Editor Window  2. Redo 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {EDIT}. 3. Select {REDO}. – Cancel the last “UNDO” operation. – The following is an example of displays showing [UNDO]/[REDO] operations when pasting the ladder instructions.

  • Page 34: Clear Rungs

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.8 Clear Rungs This function allows to clear rungs of the Ladder Editing window on the edit. Use this function when re-editing the current status of the Ladder Editing window from the beginning. 1.

  • Page 35: Save Edited Ladders

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.3.9 Save Edited Ladders The followings explain how to save (overwrite/ insert) or cancel the edited ladders of the Ladder Edit window. After saving or canceling, the display returns to the Ladder View window.
  • Page 36 HW1483388 Editing Ladder Programs Ladder Editor Window  3. Cancel 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {OPERATION}. 3. Select {CANCEL}. – The status of the display returns to the one before edited, the Ladder View window appears.

  • Page 37: Compile

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.4 Compile Use the following steps to compile ladder programs after editing. 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {EDIT}. 3. Select {COMPILE}. The ladder program starts compiling. The edited ladder program is checked for syntax errors.

  • Page 38: Search

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.5 Search The search operation is available only in the Ladder View window when editing and confirming programs. 1.3.5.1 Go to the First Rung / Last Rung These functions allow to go to the first or last rung of the ladder program. ...

  • Page 39: Go To Rung

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.5.2 Go to Rung This function allows to go to the designated line number. 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {EDIT}. 3. Select {GO TO RUNG}. –...

  • Page 40: Find Value

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.5.3 Find Value This function allows to search values such as relay, register, and decimal numbers, then go to the ladders where the searched values are used. 1. Move the cursor to the instruction menu pressing [AERA] . 2.

  • Page 41: Find Forward

    HW1483388 Editing Ladder Programs Ladder Editor Window The functions “FIND BACKWARD” and “FIND FORWARD” are available only for the search-value operation. 1. Select {EDIT} after finding values. 2. Select {FIND BACKWARD/FIND FORWARD} 1.3.5.4 Find Forward This function allows to find the designated value forward from the current line, that is searching toward the bigger line numbers than the current line number.

  • Page 42: Find Output Relays

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.5.5 Find Output Relays This function allows to find relay numbers set for output instructions of the ladder program. 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {EDIT}. 3.

  • Page 43: Other Functions

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.6 Other Functions 1.3.6.1 Header Information 1. Move the cursor to the instruction menu pressing [AREA] . 2. Select {DISPLAY}. 3. Select {HEADER INFORMATION}. – The Header Information dialog window appears. The Header Information dialog box consists of the followings: •...

  • Page 44: Instruction Use Table

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.6.2 Instruction Use Table Various relay numbers are used when editing ladder programs. The other two ore more lines may use the currently used relay number. Refer to this instruction when grasping use status of the relay number by other lines.
  • Page 45 HW1483388 Editing Ladder Programs Ladder Editor Window – The dialog box of Instruction Use Table appears. – The dialog box of the Instruction Use Table consists of the followings. • Relay, Registration or Constant: The value is a retrieval object. Usually one item of the value is indicated, but two or more items are indicated for special occasions.

  • Page 46: Relay Use Table

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.6.3 Relay Use Table Various relay numbers are used when editing ladder programs. Refer to this instruction when finding which line uses the currently used relay number or finding unused relay numbers. 1. Move the cursor to the menu pressing [AREA] . 2.
  • Page 47 HW1483388 Editing Ladder Programs Ladder Editor Window – The Relay Use Table dialog consists of the followings. • Use Status Matrix: The used relay numbers are indicated in the following colors. Red: Used in the system ladder program. Blue: Used in the user ladder program. Purple: Used both in the system and user ladder programs.

  • Page 48: Register Specification List

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.6.4 Register Specification List Various relay numbers are used when editing ladder programs. Refer to this instruction when finding which line uses the currently used relay number or finding unused relay numbers. 1. Move the cursor to the menu pressing [AREA]. 2.
  • Page 49 HW1483388 Editing Ladder Programs Ladder Editor Window – The Relay Use Table dialog consists of the followings. • Use Status Matrix: The used relay numbers are indicated in the following colors. Red: Used in the system ladder program. Blue: Used in the user ladder program. Purple: Used both in the system and user ladder programs.

  • Page 50: Mnemonic Display

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.6.5 Mnemonic Display This function allows to indicate one line of the designated ladder program in mnemonic codes. 1. Move the cursor to the ladder to be indicated in mnemonic codes. 2. Move the cursor to the menu pressing [AREA] . 3.

  • Page 51: Open Relay Label File

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.6.6 Open Relay Label File This function allows to display relay/register names. 1. Copy the name file (*.NAM) created with the Ladder Editor (off-line edition) to a SD card. 2. Insert the SD card into the slot on the programming pendant. 3.
  • Page 52 HW1483388 Editing Ladder Programs Ladder Editor Window • Store the name file (*.NAM) in the root directory of the SD card. • The Ladder Editor displays the abbreviated name (com- posed of up to 8 one-byte characters) of the name file (*.NAM) for relay/register name indication.

  • Page 53: Input Name

    HW1483388 Editing Ladder Programs Ladder Editor Window 1.3.6.7 Input Name This function allows editing operations of a relay/register name. 1. Move the cursor to the subject rung for name registration of relay/ register, and press [SELECT]. 2. Select {Input}. 3. Select {Input Name}. HW1483388 1-46 53/58...
  • Page 54 HW1483388 Editing Ladder Programs Ladder Editor Window 4. Enter a label and comments. – Move the cursor to the subject instruction for label/comments entry, and press [SELECT]. – A dialog box Edit Labels and Comments appears. HW1483388 1-47 54/58...
  • Page 55 Ladder Editor Window 5. Select {Character Input}. – A software keypad window appears. For the details on operation, refer to "1.2.6 Character Input" explained in "YRC1000 OPERATOR'S MANUAL" (application-specific). 6. Complete input operation. – The input characters will be registered as "Label" in the Edit Labels and Comments dialog box upon the completion of input operation.
  • Page 56 HW1483388 Editing Ladder Programs Ladder Editor Window 7. Click on {Update} button. – The input characters will be registered as "Label" in the Edit Labels and Comments dialog box upon the completion of input operation. • Display or editing operation of the relay/register names with the Ladder Editor is enabled only for the label (an abbreviated name composed of up to 8 one-byte charac- ters) of the name file (*.NAM).

  • Page 57: Ladder Monitoring Function

    HW1483388 Ladder Monitoring Function Ladder Monitoring Function 1. Select {IN/OUT} under the main menu 2. Select {LADDER EDITOR} – The User Ladder View window appears. Wnen the radder circuit is in connected status, the radder instruction on the window is displayed in red, and in black when it is not connected.
  • Page 58 FOR LADDER EDITOR HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

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