YASKAWA YRC1000 Instructions Manual
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YASKAWA YRC1000 Instructions Manual

YASKAWA YRC1000 Instructions Manual

Movchk function (pre-operation check, singular point passage)
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DX200/YRC1000/YRC1000micro
MOVCHK Function
(Pre-operation check, Singular point
passage)
INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these
instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL (Volume 1) (Volume2)
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)
191550-1CD
1
MANUAL No.
HW1483901
2
1/43

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Summary of Contents for YASKAWA YRC1000

  • Page 1 DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE MANUAL (Volume 1) (Volume2) 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) MANUAL No.
  • Page 2 • 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

    Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX200/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 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. • Do not remove the motor, and do not release the brake.
  • Page 5 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 DX200/ YRC1000, on the programming pendant, on the external control device, etc.
  • Page 6 <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 button on the programming pendant or on the external control device, etc.
  • Page 7 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. <DX200/YRC1000/YRC1000micro> WARNING • Perform the following inspection procedures prior to conducting manipulator teaching.
  • Page 8 Definition of Terms Used Often in This Manual < DX200/YRC1000> The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the DX200/YRC1000 controller, the DX200/YRC1000 programming pendant, and supply cables. In this manual, the equipment is designated as follows:...
  • Page 9 Mode Switch Mode Switch can select three kinds of modes that are denoted as follows: REMOTE, PLAY or TEACH. (For YRC1000/YRC1000micro, 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.

  • Page 10: Registered Trademark

    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 are omitted. HW1483901 10/43...

  • Page 11: Table Of Contents

    INCMOV (Singular point passage function) ..........2-7 2.2.2. MOVCHK (Pre-operation check function) ..........2-8 How to use MOVCHK function ................3-1 3.1. Combination with DX200/YRC1000/YRC1000micro functions ...... 3-1 3.2. Checkable DX200/YRC1000/YRC1000micro system alarms ......3-1 3.3. Interference check function setting ..............3-2 3.3.1.

  • Page 12: Outline

    Outline MOVCHK function outline 1. Outline This chapter describes the outline of the MOVCHK function. 1.1. MOVCHK function outline This chapter outlines the singular point passage processing function and the pre-operation check function provided by the MOVCHK function. (A) Singular point passage processing This function allows the robot to pass through singular postures at the specified maximum speeds of the axes while avoiding alarms such as "excessive segment"...

  • Page 13: Command List

    Command List Macro Job List 2. Command List 2.1. Macro Job List In MOVCHK, commands are executed by using the following commands (macro job). The commands used in MOVCHK are described below. Please do not perform editing and the deletion of the MacroJob. Movement guarantee is not possible when edited or deleted.

  • Page 14: Incmov

    Command List Macro Job List 2.1.1. INCMOV Description Singular point passage macro job This command is used to linearly travel between two points (one section) or three points (two section) specified in P-variables. Traveling sections, speeds, and other settings are specified using INCSET. For the command specification of INCSET, refer to chapter 2.1.4 "INCSET".

  • Page 15: Movchk

    Command List Macro Job List 2.1.2. MOVCHK Description Pre-operation check macro job This command is used to check for interference with the specified cube model or any alarms when linearly traveling between two points (one section) or three points (two section) specified in P-variables using INCMOV.

  • Page 16: Cmovchk

    Command List Macro Job List Remarks  An alarm occurs when a specified target point P-variable number does not have a value.  The interference check is not supported around the wrist singular point (B axis angle is about 0). The "interference check unable" status is returned when the specified path passes close to the wrist singular point.

  • Page 17: Incset

    Command List Macro Job List 2.1.4. INCSET INCMOV/MOVCHK operation pattern setting macro job Description This command is used to set various information in an S-variable specified by the argument. [Used S-variable number] [Setting value] Specify the number of the S-variable to store the 0～...
  • Page 18 Command List Macro Job List [Translational speed 1] [Setting value] The translational speed of the first section of the 1～ command. 1000[mm/sec] [Rotating speed 1] [Setting value] The rotating speed of the first section of the 1～360 command. [deg/sec] [Translational speed 2] [Setting value] The translational speed of the second section of 1～1000...

  • Page 19: Status (Return Value)

    Command List Status (return value) 2.2. Status (return value) This section describes the status of the macro jobs listed above. 2.2.1. INCMOV (Singular point passage function) The status 0 indicates the robot is operating, and 1 it has reached the target point. When it is 2 or larger, the robot has not reached the target point.

  • Page 20: Movchk (Pre-Operation Check Function)

    Command List Status (return value) 2.2.2. MOVCHK (Pre-operation check function) The status 1 indicates the robot can reach the target point. When it is 2 or larger, the robot cannot reach the target point. Take a measure such as changing the target position/posture and going through another point.
  • Page 21 Command List Status (return value) Table 3 cMOVCHK status Item Variable Variable Return Description number value Checking Target point reachable Pulse limit Local solution Interfere with an obstacle cMOVCHK status B-variable 103 Interpolated action unable Interference check unable (Interference check do not cover some parts in the path) HW1483901...

  • Page 22: How To Use Movchk Function

    This chapter describes how to use the MOVCHK function. 3.1. Combination with DX200/YRC1000/YRC1000micro functions The DX200/YRC1000/YRC1000micro move instructions and their availability with the MOVCHK function are listed in the table below. For the functions that cannot be used with the MOVCHK function, alarms cannot be checked and avoided and the settings cannot be reflected by the MOVCHK function.

  • Page 23: Interference Check Function Setting

    The MOVCHK instruction uses only a cube that has the reference coordinate set to [Base] and the monitored part set to [Whole]. Figure 2 How to register interference area The interference area setting is read when DX200/YRC1000/ YRC1000micro is started. When you changed this setting, restart DX200/YRC1000/YRC1000micro.

  • Page 24: Tool Interference Registration

    3.3.2. Tool interference registration Register a tool used for the interference check on the tool interference screen. Figure 3 Interfering tool registration The tool interference setting is read when DX200/YRC1000/ YRC1000micro is started. When you changed this setting, restart DX200/YRC1000/YRC1000micro.

  • Page 25: Picking Procedure

    How to use MOVCHK function Picking procedure 3.4. Picking procedure This section describes the start point, through-point, and target point used in the MOVCHK and INCMOV instructions. Assuming a picking action for loosely piled workpieces, this function uses the MOVCHK instruction to check for interference with the set cube model and various alarms when linearly traveling from the start point to the through-point and from the through-point to the target point before the picking action with the INCMOV instruction.

  • Page 26: Start Point (P2)

    How to use MOVCHK function Picking procedure 3.4.1. Start point (P2) A waiting point over the pallet. It is the first point of the P-variables specified in the arguments for the MOVCHK instruction or the start point of the first action for the INCMOV instruction.

  • Page 27: Through-Point (P3)

    How to use MOVCHK function Picking procedure 3.4.2. Through-point (P3) An approach position for a workpiece. It is the second point of the P-variables specified in the arguments for the MOVCHK instruction or the end point of the first action for the INCMOV instruction. Use the INCMOV instruction to move to this point. Use the robot coordinate system when teaching the position/posture with the...

  • Page 28: Sample Job

    0002 PAUSE B0100<>1 0003 END 3.5.2. MOVCHK (Pre-operation check function) This job checks for DX200/YRC1000/YRC1000micro system alarms on a path in advance of an operation by the INCMOV function. This sample checks for DX200/YRC1000/YRC1000micro system alarms on a linear movement path by the INCMOV function with the position, speed, and position level registered in the S-variable S001.

  • Page 29: Incset (Pre-Registration Function)

    How to use MOVCHK function Sample job 3.5.3. INCSET (Pre-registration function) This job registers operation information before using the INCMOV, MOVCHK, or cMOVCHK function. Execute this job only once in advance. This sample registered the information in the S-variable S001 which is used to move from a position of the P-variable P063 through a position of P064 with a translational speed 800 [mm/sec] or lower, rotating speed 180 [deg/sec] or lower, and positioning accuracy 2 [mm] or higher, and to a position of P065 with a translational speed 300...
  • Page 30 How to use MOVCHK function Sample job Figure 5 Registration of an start-point and the target-point Please register the position posture of the tool to use in the pulse coordinate system with P variable. Please register the position posture of the tool to use in the robot coordinate system with P variable.

  • Page 31: Picking Operation (Pre-Operation Check Function + Singular Point Passage Function)

    P010 (approach position), P011 (picking position), and P021 (approach position). Then, the sample checks for DX200/YRC1000/YRC1000micro system alarms on linear movement paths by the INCMOV function to the positions in the stored recognition result. For the checkable system alarms, refer to chapter 3.2 "Checkable DX200/YRC1000/YRC1000micro...
  • Page 32 How to use MOVCHK function Sample job JOB:Sample-IncMov 0000 NOP 0001'* ****引数********************** 0002'* ****Argument****************** 0003'* SNo : S 変数番号 0004'* S variable for 0005'* setting storage 0006'* UNTIL : Until 用汎用入力信号 0007'* General In for 0008'* until signal 0009'******************************** 0010'* 0011'* 0012'*****ループ開始************* 0013'*****Loop start*************...
  • Page 33 How to use MOVCHK function Sample job JOB:Sample-CWork_Recognition 0000 NOP 0001'******************************** 0002'認識結果を P11,P12,P21 に 0003'ロボット座標系でセットして下さい 0004'Please set a recognition result 0005'in a robot coordinate system 0006'in P11, P12, P21 0007'P11(ｱﾌﾟﾛｰﾁ点),P12(ﾋﾟｯｷﾝｸﾞ点) 0008'P21(ｱﾌﾟﾛｰﾁ点) 0009'P11(Approach point), 0010'P12(Picking point), 0011'P21(Approach point) 0012'******************************** 0013'* ****引数********************** 0014'* ****Argument****************** 0015'* SNo : S 変数番号...

  • Page 34: Alarm List

    <Cause> An error occurred in the API of MotoPlus application. MOTOPLUS 8000 <Solution> ERROR Restart the RC. If the same error occurs repeatedly, contact your YASKAWA representative. <Cause> Creation of MotoPlus thread failed. MOTOPLUS 8000 <Solution> ERROR Confirm whether the RC...
  • Page 35 Alarm List Sample job Alarm code Alarm name Sub code Description <Cause> MotoPlus application received an undefined user demand from the job. MOTOPLUS 8000 ERROR <Solution> Confirm that skillsend is not used in the job. Also, confirm that no unsupported macro job is used.
  • Page 36 P variable in the programming pendant. MOTOPLUS 8000 ERROR <Solution> Restart the RC. If the same error occurs repeatedly, contact your YASKAWA representative. <Cause> The IO number for UNTIL specified as an argument of INCMOVE is invalid. MOTOPLUS 8000 ERROR <Solution>...
  • Page 37 Make sure the MotoPlus app startup has completed. MotoPlus app startup is not completed, restart the RC. <Cause> Failed to create a message queue. MOTOPLUS 8000 <Solution> ERROR Restart the RC. If the same error occurs repeatedly, contact your YASKAWA representative. HW1483901 37/43...
  • Page 38 Alarm List Sample job Alarm code Alarm name Sub code Description <Cause> It failed to read variables. <Solution> Check that the positions are INCMOV stored with the robot 8006 ERROR coordinate system in the P-variables for the P-variable numbers of the start and target points specified in the arguments of the macro job.
  • Page 39 Alarm List Sample job Alarm code Alarm name Sub code Description <Cause> A wrong speed (V,VR) value is specified in the argument of INCMOVE or MOVCHK. INCMOV 8006 ERROR <Solution> It must be within the range of the MOVL speed specified in the robot's parameter.
  • Page 40 Alarm List Sample job Alarm code Alarm name Sub code Description <Cause> The INCMOV start point is different from the start point or interruption point that was specified by the P-variable. INCMOV 8006 <Solution> ERROR Move the robot to the start point specified by the P-variable or to the position where the operation was...

  • Page 41: Variable And Io List

    Variable and IO List B Variable 5. Variable and IO List Variables used in MOVCHK are described below. In the remarks column “Do NOT use” means that the user cannot use the variable because MOVCHK uses it. 5.1. B Variable Table 7 B Variable List Variable Variable name...

  • Page 42: General-Purpose Output

    Variable and IO List General-Purpose Output 5.4. General-Purpose Output Table 10 General-Purpose Output List Remarks Reserved by MOVCHK system Reserved by MOVCHK system Reserved by MOVCHK system Reserved by MOVCHK system HW1483901 42/43...
  • Page 43 DX200/YRC1000/YRC1000micro MOVCHK Function (Pre-operation check, Singular point passage) INSTRUCTIONS © 2016 YASKAWA ELECTRIC CORPORATION Published by YASKAWA June 2020 16-10 MANUAL No. HW1483901 43/43...

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