YASKAWA YRC1000 Instructions Manual
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YASKAWA YRC1000 Instructions Manual

For form cutting function
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See also: Operator's Manual , Instruction Manual
YRC1000 OPTIONS
INSTRUCTIONS
FOR FORM CUTTING 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".
178664-1CD
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MANUAL NO.
HW1483590
1/49

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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 HW1483590 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 HW1483590 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 its Pendant /Symbol Keys symbol printed on them are denoted with [ ]. ex. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...

  • Page 7: Table Of Contents

    HW1483590 Contents 1 Form Cutting Motion ........................1-1 2 Patterns for Cutting ......................... 2-1 3 Teaching ............................3-1 3.1 How to Teach a Pattern ..................... 3-1 3.2 Tool Position and Cutting Pattern ..................3-5 3.3 Cutting Width Correction Function..................3-6 3.4 Example of Form Cutting Function ..................

  • Page 8: Form Cutting Motion

    HW1483590 Form Cutting Motion Form Cutting Motion The form cutting motion cuts workpieces according to a pattern with a tool such as a laser cutting machine handled by a manipulator. In the form cutting function, there may be some differences between the set design and the actual cutting motion path, depending on the calibration, ambient temperature, and NOTE...

  • Page 9: Patterns For Cutting

    HW1483590 Patterns for Cutting Patterns for Cutting Five patterns, circle, rectangle (including square), ellipse, pentagon, and hexagon are available. The minimum and maximum set values of a pattern can be set at the following parameters. Parameter Contents Initial Value 1,000 μm S1C G63 Minimum set value 1,000,000 μm...

  • Page 10: Teaching

    HW1483590 Teaching How to Teach a Pattern Teaching Follow the example of teaching shown below to teach a motion instruction for cutting a form * The items to be set in the form cut setting file are shown in “ ”. How to Teach a Pattern With the form cutting function, teaching can be done by registering the FORMAPR and FORMCUT instructions.
  • Page 11 HW1483590 Teaching How to Teach a Pattern Move to the shelter point Move to the starting point of the pattern Cutting Move to the shelter point Do not register any move instruction (MOVJ, MOVL, etc.) between the FORMAPR and FORMCUT instructions. NOTE If any move instruction is registered, normal operation is disabled or an alarm occurs.
  • Page 12 HW1483590 Teaching How to Teach a Pattern When the center is set as the “START POINT” When a specified point is set to as the “START POINT” When a specified point is set as the “START POINT”, the position is set with “CUT IN LENGTH” and “CUT IN ANGLE” of the form cut setting file for the starting point (a point near SUPPLE -MENT...
  • Page 13 HW1483590 Teaching How to Teach a Pattern Only when the center is set as the “START POINT”, the starting point position (the center of the pattern) can be set by a move instruction (MOVL, MOVJ, etc.) other than FORMAPR instruction. If so, the FORMCUT instruction can be carried out with the registered position as the center.

  • Page 14: Tool Position And Cutting Pattern

    HW1483590 Teaching Tool Position and Cutting Pattern Tool Position and Cutting Pattern The following figures show the relation between the tool position each the cutting pattern. : Tool coordinate system : Tool coordinate system X-axis direction Y-axis direction Overlap Overlap Overlap Radius Radius...

  • Page 15: Cutting Width Correction Function

    HW1483590 Teaching Cutting Width Correction Function Cutting Width Correction Function The cutting width correction function shifts the scale of the cutting width of the laser for the cutting path when cutting the form according to the pattern. The following parameter is used for the setting. Parameter Contents Initial Value...

  • Page 16: Example Of Form Cutting Function

    HW1483590 Teaching Example of Form Cutting Function Example of Form Cutting Function 3.4.1 Example of a Job An example of a job for cutting the following pattern is shown. 0000 NOP 0001 MOVJ VJ=100.00 0002 MOVJ VJ=100.00 0003 FORMAPR FCF#(1)Move to the starting point (center) 0004 CALL LASERONInstruction to a laser, etc.

  • Page 17: Example Of A Motion Path

    HW1483590 Teaching Example of Form Cutting Function 0024 CALL LASEROFFInstruction to a laser, etc. to end motion 0025 MOVL V=50 0026 MOVJ VJ=100.00 0027 END * Set the same file No. 3.4.2 Example of a Motion Path By setting the “END POINT” to PATH or to PLACEMENT in the form cut setting file, the FORMCUT instruction can be used to cut in on the pattern path or inwards from the path to complete a cutting motion.

  • Page 18: Motion Example 1

    HW1483590 Teaching Example of Form Cutting Function 3.4.2.1 Motion Example 1 Conditions FIGURE : RECTANGLE START POINT : CENTER END POINT : PATH ROTATION DIRECTION : CW Center of pattern 1. The starting point is the center of pattern. 2. The manipulator moves in the direction of the Xaxis on the tool coordinate system in the positive direction.

  • Page 19: Motion Example 2

    HW1483590 Teaching Example of Form Cutting Function 3.4.2.2 Motion Example 2 Conditions FIGURE : RECTANGLE START POINT : PLACEMENT END POINT : PLACEMENT ROTATION DIRECTION : CW Starting point 1. The starting point is the point near the form cutting Center of pattern pattern.

  • Page 20: Form Cutting Start Motion Instruction

    HW1483590 Form Cutting Start Motion Instruction FORMAPR Instruction (Form Cutting Start Motion Instruction) Form Cutting Start Motion Instruction FORMAPR Instruction (Form Cutting Start Motion Instruction) The FORMAPR instruction is to move the manipulator to the position where the form cutting motion starts according to the conditions set in the form cut setting file.
  • Page 21 HW1483590 Form Cutting Start Motion Instruction FORMAPR Instruction (Form Cutting Start Motion Instruction) Set the same value for both the FORMAPR and FORMCUT NOTE instruction tag values (form cut setting file No., etc.) except for “SPEED”. If the values are different, the FORMAPR instruction tag value is validated.

  • Page 22: Registering Instructions

    HW1483590 Form Cutting Start Motion Instruction Registering Instructions Registering Instructions You can register the FORMAPR instruction in two different ways depending on how the position was specified: Registration by teaching the center position and registration by variables. 4.2.1 Registering by Teaching 1.
  • Page 23 HW1483590 Form Cutting Start Motion Instruction Registering Instructions – To add or change any additional items, move the cursor to the instruction in the input buffer line. Then press [SELECT] to call up the detailed editing dialog box. – To change the form cut setting file, select the number of “FORM CUT FILE”.
  • Page 24 HW1483590 Form Cutting Start Motion Instruction Registering Instructions – To register the form cut file No. in variables, select The dialog box opens. Select the variable. HW1483590 24/49...
  • Page 25 HW1483590 Form Cutting Start Motion Instruction Registering Instructions – To change a variable No., select the variable to be changed. Type the new variable No., press [ENTER], and the number changes. – To add the radius, select {UNUSED} for {RADIUS}. A selection dialog box is displayed.

  • Page 26: Registering In Variables

    HW1483590 Form Cutting Start Motion Instruction Registering Instructions 4.2.2 Registering in Variables 1. Move the cursor to the previous line where the FORMCUT instruction to be registered. 2. Press [INFORM LIST]. – The instruction list dialog box opens. 3. Select {DEVICE}. –...
  • Page 27 HW1483590 Form Cutting Start Motion Instruction Registering Instructions 5. Change the numerical data. – Refer to Section chapter 4.2 “Registering Instructions” for how to change the numbers. 6. Press [ADD] and then [ENTER]. – The instruction displayed in the input buffer line has been registered. To register the center of the pattern in position variables, NOTE select the FORMAPR instruction from the [INFORM LIST].

  • Page 28: Form Cutting Instruction

    HW1483590 Form Cutting Instruction FORMCUT (Form Cutting Motion Instruction) Form Cutting Instruction FORMCUT (Form Cutting Motion Instruction) The FORMCUT instruction is to execute the form cutting motion according to the conditions set in the form cut setting file. The additional items to the FORMCUT instruction are as follows. The additional items can be omitted except for “FORM CUT SETTING”.
  • Page 29 HW1483590 Form Cutting Instruction FORMCUT (Form Cutting Motion Instruction) Set the same value for both the FORMAPR and FORMCUT instruction tag values (form cut setting file No., etc.) except for “SPEED”. If the values are different, the FORMAPR instruction tag value is validated.

  • Page 30: Registering Instructions

    HW1483590 Form Cutting Instruction Registering Instructions Registering Instructions 1. Move the cursor to the previous line of which FORMCUT instruction to be registered. 2. Press [INFORM LIST]. – The instruction list dialog box opens. 3. Select {DEVICE}. – The FORMCUT instruction is displayed. 4.
  • Page 31 HW1483590 Form Cutting Instruction Registering Instructions 5. Change the numerical data. – <Register without changing> Press [ADD] and then [ENTER] to register the instruction in the input buffer line without changing it. – <Edit additional items> To change the numerical data of the additional items, move the cursor to the number to be changed and the number is highlighted.
  • Page 32 HW1483590 Form Cutting Instruction Registering Instructions – To change the form cut setting file, select the number of “FORM CUT FILE”. Type the file No. in the input buffer line, press [ENTER] and the number changes. The dialog box opens. Select the variable. HW1483590 32/49...
  • Page 33 HW1483590 Form Cutting Instruction Registering Instructions To change a variable No., select the variable to be changed. – To register the form cut file No. in variables, select Type the new variable No., press [ENTER], and the number changes. HW1483590 33/49...
  • Page 34 HW1483590 Form Cutting Instruction Registering Instructions When the additional items are added or changed, press [ENTER]. The detailed editing dialog box is closes, and the job text display opens. To add the radius, select {UNUSED} for {RADIUS}. A selection dialog box is displayed. Select {R=}. Add or change any other items in the same manner.

  • Page 35: Form Cut Setting File

    HW1483590 Form Cut Setting File Form Cut Setting File The form cut setting file is to set the conditions for a form cutting motion and used in the FORMAPR and FORMCUT instructions. Up to 200 files can be registered. Fig. 6-1: Form Cut Setting Files 200 files FORM CUT SETTING FILE COND NO.1...

  • Page 36: Settings

    HW1483590 Form Cut Setting File Settings Settings The details of the settings in the form cut setting file are: FORMAPR FCF#(1) V=66 Form cut setting file No. 1 FORMCUT FCF#(1) Form cut setting file No. 1  FORM CUT SETTING COND NO. (1 to 200) ...
  • Page 37 HW1483590 Form Cut Setting File Settings  START POINT Select the starting point. The “CENTER”, “PLACEMENT” or “AUTO” are choices for selecting a starting point. When “CENTER” is selected, the cutting motion starts from the center of the cutting pattern. When “PLACEMENT”...
  • Page 38 HW1483590 Form Cut Setting File Settings ROTATION ANGLE Set the rotational angle. The “ROTATION ANGLE” uses the center point of the cutting pattern as the center of rotation. The forward direction is clockwise for the Z-axis of the tool coordinate in the positive direction when the center point of the cutting pattern is registered.

  • Page 39: Details Of File Settings

    HW1483590 Form Cut Setting File Details of File Settings Details of File Settings 6.2.1 Specifying the ROUNDNESS ERR The manipulator operates within the set value of “ROUNDNESS ERR” and completes a cutting motion inward from the taught path as shown by the dashed line circle in the figure below.

  • Page 40: Specifying The Rotation Direction

    HW1483590 Form Cut Setting File Details of File Settings 6.2.3 Specifying the ROTATION DIRECTION Specify the rotational direction (cutting direction) for a form cutting motion. Specify the direction in “ROTATION DIRECTION”. Pattern: Rectangle Counterclockwise Clockwise 6.2.4 Specifying the ROTATION ANGLE Specify the rotational angle for the center of the cutting pattern.

  • Page 41: Examples Of File Setting For Each Pattern

    HW1483590 Form Cut Setting File Examples of File Setting for Each Pattern Examples of File Setting for Each Pattern The examples of file setting for each pattern are shown. 6.3.1 Circle Items to be Set CUTTING SPEED Clockwise RADIUS ROUNDNESS ERR First stop time position START POINT End point...

  • Page 42: Rectangle Including Squares

    HW1483590 Form Cut Setting File Examples of File Setting for Each Pattern 6.3.2 Rectangle Including Squares Items to be Set CUTTING SPEED Clockwise WIDTH First stop time position HEIGHT Amount of overlap End point CORNER RADIUS Cut in length (arc) Cut in length (arc) (path) START POINT...

  • Page 43: Ellipse

    HW1483590 Form Cut Setting File Examples of File Setting for Each Pattern 6.3.3 Ellipse Items to be Set CUTTING SPEED Clockwise RADIUS ROUNDNESS ERR Amount of First stop time position WIDTH overlap End point START POINT Cut in length (arc) Cut in length (arc) (path) Start point...

  • Page 44: Pentagon

    HW1483590 Form Cut Setting File Examples of File Setting for Each Pattern 6.3.4 Pentagon Items to be Set CUTTING SPEED Clockwise RADIUS First stop time position Amount of START POINT overlap END POINT Cut in length (arc) Cut in length (arc) End point CUT IN LENGTH (path)

  • Page 45: Hexagon

    HW1483590 Form Cut Setting File Examples of File Setting for Each Pattern 6.3.5 Hexagon Items to be Set CUTTING SPEED Clockwise RADIUS First stop time position Amount of START POINT overlap End point Cut in length (arc) END POINT Cut in length (arc) (path) CUT IN LENGTH CUT IN ANGLE...

  • Page 46: Displaying And Editing File

    HW1483590 Form Cut Setting File Displaying and Editing File Displaying and Editing File 1. Select the application menu under the main menu. – The application menu differs depending on the robot application: • For arc welding: {ARC WELDING} • For handling: {HANDLING} •...

  • Page 47: Alarm Message List

    HW1483590 Alarm Message List Alarm Message List Alarm Alarm Meaning Cause Remedy Number Name Code 4595 CAN'T DO The setting for radius is incorrect. Setting (1)Check the following settings. FIXED (1) For a circle, it is incorrectly set as: error ·Setting of the radius data FORM CUT radius ≤...
  • Page 48 HW1483590 Alarm Message List Alarm Alarm Meaning Cause Remedy Number Name Code Although “PLACEMENT” or “AUTO” is Setting (1)Check the following settings. set for the start point designation on the error ·Execute the FORMAPR FORM CUT SETTING window, the instruction. FORMAPR instruction was not executed.
  • Page 49 FOR FORM CUTTING FUNCTION 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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