YASKAWA YRC1000 Instructions Manual
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YASKAWA YRC1000 Instructions Manual

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See also: Operator's Manual , Instruction Manual
INSTRUCTIONS
FOR MUTUAL WAIT 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)
Yrc1000Micro INSTRUCTIONS
YRC1000micro OPERATOR'S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
188357-1CD
1
MANUAL NO.
HW1486105
1
1/20

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Summary of Contents for YASKAWA YRC1000

  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN- 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 YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 188357-1CD MANUAL NO.
  • 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 HW1486105 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 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 HW1486105 <YRC1000micro> 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 programming pendant or on the external control device, etc.
  • Page 6 • Always return the programming pendant to the hook on the YRC1000/YRC1000micro cabinet 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.
  • Page 7 HW1486105 Definition of Terms Used Often in This Manual <YRC1000> The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows:...
  • Page 8 HW1486105 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] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...
  • Page 9 HW1486105 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...
  • Page 10 HW1486105 1 Function Overview .......................... 1-1 2 Connection Settings ........................2-1 2.1 LAN Port Setting to be Used....................2-1 2.2 LAN Interface Setting......................2-1 2.3 LAN Connection......................... 2-2 3 Function Setting ..........................3-1 4 Mutual Wait Instruction (RSYNC)....................4-1 4.1 Instruction Registration Method ..................4-1 4.2 Syntax ..........................
  • Page 11 HW1486105 Function Overview Function Overview The mutual wait function synchronizes job execution between different controllers. When the mutual wait instruction (RSYNC) is executed on different controllers, the controllers to which the instruction first arrives will wait until the mutual wait instruction (RSYNC) is executed on the other controllers. HW1486105 11/20...
  • Page 12 When the mutual wait function is used, the communication by the Ethernet is executed. Set the LAN interface by referring to chapter 6.20.3 “Connection with the YRC1000” in “YRC1000 GENERAL OPERATOR’S MANUAL (RE- CSO-A051)” or chapter 6.19.3 “Connection with the YRC1000micro” in “YRC1000micro OPERATOR’S MANUAL (RE-CSO-A058)”.
  • Page 13 HW1486105 Connection Settings LAN Connection LAN Connection Connect controllers as follows. (Example when four controllers are connected.) Controller 1 Controller 2 Controller 3 Controller 4 LAN cable LAN cable Switching HUB LAN cable LAN cable HW1486105 13/20...
  • Page 14 HW1486105 Function Setting Function Setting This function performs a function setting on the mutual wait function setting window. Selecting {SETUP} - {MUTUAL WAIT SETUP} under the main menu shows the mutual wait function setting window when the security mode is the management mode or higher at the teach mode.
  • Page 15 HW1486105 Mutual Wait Instruction (RSYNC) Instruction Registration Method Mutual Wait Instruction (RSYNC) Instruction Registration Method The mutual wait instruction (RSYNC) can be selected from “CONTROL” of the instruction list when the language level is “standard” or higher. Syntax RSYNC RSYNO= Mutual wait target No.
  • Page 16 HW1486105 Suspend Suspend Turn ON controller special input signal #40563 and the controller can be temporarily suspended from being a mutual wait target. If the suspended controller was a mutual wait target, controllers on which the mutual wait instruction (RSYNC) was executed will terminate the instruction promptly and execute the next instruction.
  • Page 17 HW1486105 Precautions Precautions Note the following precautions when using the mutual wait function. • Once the mutual wait instruction (RSYNC) is executed, the mutual wait target controllers will be notified of the execution state. The execution state is not canceled even if execution is stopped, such as due to a hold.
  • Page 18 HW1486105 Precautions Example 2: Job Execution Stopped Due to a Hold after Mutual Wait Instruction (RSYC) Execution and Job Was Edited (Operation That Turns ON Special Output Signal #50075 (E.g., Cursor Movement or Job Selection)) Controller 1 Controller 2 Mutual wait instruction (RSYNC) execution state notification from controller 1 Execution...
  • Page 19 #40563 = ON). suspended. If the alarm occurs again after taking the actions in the above table, save CMOS.BIN and notify your YASKAWA representative of the status (e.g., the operation procedure) when the alarm occurred. HW1486105 19/20...
  • Page 20 YRC1000/YRC1000micro OPTIONS INSTRUCTIONS FOR MUTUAL WAIT FUNCTION C 2019 YASKAWA ELECTRIC CORPORATION Published by YASKAWA July 2019 19-05 MANUAL NO. HW1486105 20/20...

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