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

Material handling, press tending, cutting, and other applications
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See also: Operator's Manual , Instruction Manual
YRC1000
MATERIAL HANDLING, PRESS TENDING,
CUTTING, AND OTHER APPLICATIONS
OPERATOR'S MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
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".
178647-1CD
1
MANUAL NO. RE-CSO-A053 2
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  • 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...
  • Page 3 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 manipulator cables.
  • Page 6 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 symbols printed on them are denoted with [ ]. ex. [ENTER] Axis Keys [Axis Keys] and [Numeric Keys] are generic Numeric Keys...

  • Page 7: Table Of Contents

    Contents 1 Material Handling, Press Tending, Cutting, and Other Applications ..........1-1 1.1 Simplified Teaching and Playback..................1-1 1.1.1 Teaching....................... 1-1 1.1.1.1 Preparation for Teaching................. 1-1 1.1.1.2 Teaching Procedure ................1-4 1.1.1.3 Path Confirmation ................. 1-13 1.1.1.4 Correcting a Job ..................1-14 1.1.1.5 Changing the Position Data ..............
  • Page 8 Contents 1.3.5.3 Method to Prohibit Weaving by Means of a System Input Signal..1-52 1.4 Table of Work Instructions ....................1-53 2 Handling Application ........................2-1 2.1 Outlines..........................2-1 2.1.1 Function Keys ....................... 2-1 2.1.2 HAND Instruction ....................2-2 2.1.2.1 Function....................2-2 2.1.2.2 Instruction and Additional Items ..............

  • Page 9: Material Handling, Press Tending, Cutting, And Other Applications

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.1 Teaching 1.1.1.1 Preparation for Teaching Perform the following tasks before starting to teach. • Set the operation mode to teach mode. •...
  • Page 10 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 5. After the following window appears, input the job name. The word “TEST” is used in this example job name. 6. Move the active window to software keypad by pressing the [AREA]. Move the cursor to “T”...
  • Page 11 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 8. Move the cursor to “EXECUTE” and press [SELECT]. The job “TEST” is registered and the job is displayed. The NOP and END instructions are automatically registered. Characters which can be Used for Job Names Job names can be created from numbers and the alphabeti- cal letters.

  • Page 12: Teaching Procedure

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.1.2 Teaching Procedure To playback the manipulator, the instruction to move the manipulator must be written in a job. This instruction is called a move instruction. The destination position, the interpolation method, the play speed, etc. are registered in the move instruction.
  • Page 13 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Teaching a Job A job is a work program that describes the tasks that the manipulator will execute. Jobs are created using a robot programming language called INFORM III.
  • Page 14 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 1 -- Standby Position Always be sure the manipulator is in a safe work area before operation. Step 1 1. Grip the Enable switch and the servo power will turn ON. The manipulator can then be operated.
  • Page 15 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 2 -- Near the Work Start Position Define the manipulator’s working posture. Step 1 Step 2 1. Move the manipulator to the working position using [Axis Keys]. 2.
  • Page 16 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 3 -- Work Start Position Move the manipulator to the work start position with the pose as shown in Step 2. Step 1 Step 2 Step 3 1.
  • Page 17 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 4 -- Work End Position Specify the work end position. Step 1 Step 2 Step 3 Step 4 1. Move the manipulator to the work end position with [Axis Keys]. While the manipulator is moving, keep a wide enough distance to ensure it will not strike the workpiece.
  • Page 18 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 5 -- Clear Position Move the manipulator to a position where it will not strike the workpiece or fixture. Step1 Step2 Step5 Step3 Step4 1. Change the speed to high speed by pressing [FAST]. This button only affects teaching speed.
  • Page 19 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 6 -- Near the Standby Position Move the manipulator near the standby position. Step1 Step6 Step2 Step5 Step3 Step4 1. Move the manipulator near the standby position with [Axis Keys]. 2.
  • Page 20 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Ensuring the First and Last Step are Identical The manipulator has stopped at Step 6, which should be very close to Step1. It is possible to move directly from the job end position of Step 5 to Step1, so the manipulator can begin the next job quickly and efficiently.

  • Page 21: Path Confirmation

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.1.3 Path Confirmation The job is now complete. Try to check each step separately to ensure there are no problems. 1. Move the cursor to Step 1 (Line 0001). 2.

  • Page 22: Correcting A Job

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.1.4 Correcting a Job Confirm the manipulator’s motion in each step. If any position modification or adding or deleting of steps is necessary, display the job content first with the following procedure. NOTICE •...

  • Page 23: Changing The Position Data

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.1.5 Changing the Position Data Change the position registered in Step 2. Current Step 2 New Step 2 1. Move the manipulator to Step 2 (Line 0002) by pressing [FWD]. 2.
  • Page 24 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Adding a Step Add a new step between Step 5 and Step 6. Step6 Step7 Step6 Step5 Step5 1. Move the manipulator to Step 5 (Line 0005) by pressing [FWD]. 2.
  • Page 25 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Deleting a Step Delete the step you just added. Step 7 Step 6 Step 6 D el ete Step 5 Step 5 1. Move the manipulator to Step 6 (Line 0006) by pressing [FWD]. 2.
  • Page 26 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Changing the Speed between Steps Change the manipulator speed. Slow the speed between Step 3 and Step 1. Move the cursor to Step 4. 2. Move the cursor to the instruction and press [SELECT]. 3.

  • Page 27: Playback

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.2 Playback 1.1.2.1 Preparation before Playback To run the program from the beginning of the job, perform the following operation. • Move the cursor to the beginning of the job. NOTE •...

  • Page 28: Example For General Purpose Application

    Manipulator Programming pendant Power source Tool Workpiece Pneumatic source Air line Fixture Manipulator cable YRC1000 Line Instruction Explanation 0000 0001 MOVJ VJ=25.00 Moves manipulator to the standby position. (Step 1) 0002 MOVJ VJ=25.00 Moves manipulator near the cutting start position.

  • Page 29: Teaching Procedure

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.3.2 Teaching Procedure The teaching procedure of Step 2 which specifies the cutting pose and Step 3 and 4 (cutting section) are explained. • Teach Step 1, which is the standby position, to a safe posi- tion where the manipulator will not collide with the work- NOTE piece and the tool.
  • Page 30 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 3 -- Cutting Start Position Move to the cutting start position with the pose as shown in Step 2, and register the TOOLON instruction. 1. Change to medium speed by pressing [FAST] or [SLOW]. Medium speed: is displayed in the status area.
  • Page 31 Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback  Step 4 -- Cutting End Position Define the cutting end position. 1. Move the manipulator to the cutting end position with [Axis Keys]. It is necessary to choose a direction in which the treatment device and the tools do not interfere when the manipulator moves, and teach that position.

  • Page 32: Confirmation Of Cutting Operation (Speed Limitation Drive)

    Material Handling, Press Tending, Cutting, and Other Applications Simplified Teaching and Playback 1.1.3.3 Confirmation of Cutting Operation (Speed Limitation Drive) The speed limitation drive is executed to confirm the taught path. All the operations operate below the limitation speed during teach mode (250 mm/s usually) in the speed limitation drive.

  • Page 33: Operation For Tool Control

    Material Handling, Press Tending, Cutting, and Other Applications Operation for Tool Control Operation for Tool Control 1.2.1 Function Keys Each function used for tool control is allocated on the [Numeric Keys] of the programming pendant. Registers the TOOLON instruction. If [INTERLOCK] is pressed simultaneously, the TOOLON operation is executed.

  • Page 34: Tool Control Settings

    Material Handling, Press Tending, Cutting, and Other Applications Operation for Tool Control 1.2.2 Tool Control Settings The following setting can be performed on the GENERAL DIAGNOSIS window 1. Select {GENERAL} under the main menu. 2. Select {GENERAL DIAGNOSIS}. – The GENERAL DIAGNOSIS window appears. –...

  • Page 35: Work Instructions

    Material Handling, Press Tending, Cutting, and Other Applications Operation for Tool Control 1.2.3 Work Instructions 1.2.3.1 TOOLON/TOOLOF Instructions These instructions are to perform TOOLON/TOOLOFF. The function keys are [TOOLON] and [TOOLOF]. 1. Select {JOB} under the main menu. 2. Select {JOB}. 3.

  • Page 36: Call Instruction

    Material Handling, Press Tending, Cutting, and Other Applications Operation for Tool Control 1.2.3.2 CALL Instruction This instruction calls a reserved job TOOLONxx or TOOLOFxx. The function keys for registration are [TOOLON JOB] and [TOOLOF JOB]. 1. Select {JOB} under the main menu. 2.

  • Page 37: Wvon Instruction

    Material Handling, Press Tending, Cutting, and Other Applications Operation for Tool Control 1.2.3.3 WVON Instruction This instruction starts the weaving motion. Specify conditions in the weaving condition file when registering the WVON instruction 1. Select {JOB} under the main menu. 2.

  • Page 38: Weaving Operation

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation Weaving Operation 1.3.1 Weaving Basic Coordinate System Weaving is performed based on the following coordinate system. This coordinate system is automatically generated when weaving is executed. Wall direction Direction of travel Horizontal direction Weaving Basic Coordinate System Wall Direction:...

  • Page 39: Cases That Require The Registration Of Reference Points

    Direction of travel REFP 3 Horizontal direction For information on registering REFP, refer to “YRC1000 GENERAL OPERATOR’S MANUAL (RE-CSO-A051) SUPPLE -MENT 3.2.3.2 Registering Reference Point Instructions”. < Example 1 > REFP 1 is registered because the wall direction is not parallel to the Z-axis of the robot coordinates.
  • Page 40 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation < Example 2 > REFP 2 is registered because the approach point is at another side of the wall. Example Wall Approach point Approach point 0009 MOVJ VJ=25.00 0010 MOVL V=120 0011 WVON WEV#(1) REFP 2...

  • Page 41: Wvon

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.2 WVON 1.3.2.1 Function This is the weaving start operation. 1.3.2.2 Syntax The tag to be used varies according to the control group of job. Weaving condition WVON WEV# file number Weaving half- AMP= amplitude (mm)

  • Page 42: Explanation

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.2.3 Explanation  RBn [1] Be sure to choose one of the following tags. Explanation Note Specifies the weaving motion of robot 1 to 8.  WEV# (Weaving condition file number)/AMP [2] = Weaving half- amplitude [3] Be sure to choose one of the following tags.
  • Page 43 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation  DIR = Starting direction of weaving [6] This tag can be added or omitted. Explanation Note DIR = Specifies the starting direction Direction: 0 to 1 Starting of weaving. 0: Forward direction of 1: Backward...
  • Page 44 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation Setting conditions for weaving SUPPLE • Weaving half-amplitude -MENT Specify the amplitude size of weaving motion. Half-amplitude • Weaving angle Specify the angle of weaving motion. Wall direction Wall direction Angle: 0.0 to 180.0 Vertical/horizontal distance: 1.0 to 25.0mm...

  • Page 45: Registering The Wvon Instruction

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.2.4 Registering the WVON Instruction This is the instruction to start the weaving operation. 1. Move the cursor to the address area. 2. Press [INFORM LIST]. – The instruction list dialog box appears. IN/OUT CONTROL DEVICE...
  • Page 46 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 5. Press [SELECT], and set the file number in the DETAIL EDIT window. – Select the file number (1 to 255). (1) Move the cursor to the file number and press [SELECT]. (2) Input the file number using [Numeric Key] and press [ENTER].

  • Page 47: Wvof Instruction

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.3 WVOF Instruction 1.3.3.1 Function This is the weaving end instruction. 1.3.3.2 Syntax The control group of job limits the tag usage. WVOF Table 1-3: Job Type and Control Group Type Control Group of Job Note...

  • Page 48: Explanation

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.3.3 Explanation  RB1/RB2/RB3/RB4/RB5/RB6/RB7/RB8 [1] Be sure to choose one of the following tags. Explanation Note Specifies the weaving motion of robot 1 to 8. MOVJ VJ=50.00 · · · Step 1 MOVL V=220 ·...

  • Page 49: Registering The Wvof Instruction

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.3.4 Registering the WVOF Instruction This is the instruction to end the weaving operation. 1. Move the cursor to the address area. 2. Press [INFORM LIST]. – The instruction list dialog box appears. IN/OUT CONTROL DEVICE...

  • Page 50: Weaving Condition Window

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.4 WEAVING CONDITION Window A. COND NO. (1 to 255) The weaving condition file number between 1 and 255 is shown. B. MODE, C. SMOOTH Set the weaving mode to SINGLE, TRIANGLE, L-TYPE, or ELLIPSE. For the SINGLE, TRIANGLE, or L-TYPE mode, ON/OFF of SMOOTH can be set.
  • Page 51 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation E. FREQUENCY Specify the weaving frequency if “SPEED TYPE” is set to “FRE- QUENCY”. Note that when the mode is set to “SINGLE” and the speed type is set to “FREQUENCY”, the maximum frequency is determined by the amplitude as illustrated in the graph below.
  • Page 52 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation When set to SAME in the ELLIPSE mode When set to EACH in the ELLIPSE mode Half amplitude: Half amplitude: V (semi-minor axis) H (semi-major axis) ELLIPSE Travel direction Horizontal direction G.
  • Page 53 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation • VERTICAL, HORIZONTAL If MODE is set to TRIANGLE or L-TYPE, the data for the triangle must be set to define the weaving pattern. Wall direction Vertical/horizontal distance: 1.0 to 25.0 mm Vertical distance Horizontal direction...
  • Page 54 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation • TRAVEL ANGLE Specifies the travel angle of weaving motion. View A Direction of travel Travel angle 0° Travel angle View A Travel Travel direction direction Horizontal Horizontal direction direction Travel direction Horizontal...
  • Page 55 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation H. TIMER (MODE) As shown below, a single weaving cycle is divided into three or four sec- tions. The timer mode can be specified for each section. Wall direction Wall direction Wall direction Horizontal Horizontal...
  • Page 56 Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation K. HOVER WEAVING COND. (option) • SET (ON/OFF) Specifies whether hover weaving is used or not. • TIMER Finishes hover weaving when the time specified here ends. • INPUT SIGNAL Finishes hover weaving when the input signal specified here is input.

  • Page 57: Displaying The Weaving File

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.4.1 Displaying the Weaving File 1. Select {ARC WELDING} under the main menu. EDIT DISPLAY UTILITY PARAMETER DOUT MOVE ARC START COND. ARC WELDING ARC END COND. VARIABLE B001 ARC AUX COND. IN/OUT POWER SOURCE COND.

  • Page 58: Editing The Condition Data

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.4.2 Editing the Condition Data 1. Select the item to be edited. DATA EDIT UTILITY DISPLAY WEAVING CONDITION COND NO. 1/255 MODE : SINGLE SMOOTH : ON SPEED TYPE : FREQUENCY FREQUENCY ...

  • Page 59: Prohibiting Weaving

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.5 Prohibiting Weaving If the weaving instruction is registered during the “CHECK” operation in the play mode or “TEST RUN” or [FWD] operation in the teach mode, weaving is performed as well as other move instructions. However, in the cases when weaving should not be performed because the manipulator collides with a workpiece, etc., follow the procedure below to prohibit weaving.

  • Page 60: Method To Prohibit Weaving During A "Test Run" Or Fwd Operation

    Material Handling, Press Tending, Cutting, and Other Applications Weaving Operation 1.3.5.2 Method to Prohibit Weaving during a “TEST RUN” or FWD Operation 1. Press [AREA] on the JOB CONTENT window in the TEACH mode. 2. Select {UTILITY}. UTILITY EDIT UTILITY DISPLAY SETUP SPECIAL PARALLEL SHIFT...

  • Page 61: Table Of Work Instructions

    Material Handling, Press Tending, Cutting, and Other Applications Table of Work Instructions Table of Work Instructions • < > indicates alpha-numerical data. • If multiple items are shown in one additional item section, select one. Table 1-5: Instructions for Material Handling, Press Tending, Cutting, and Other Applications TOOLON Function Turns ON work tools (work instructions).

  • Page 62: Handling Application

    Handling Application Outlines Handling Application Outlines 2.1.1 Function Keys Each function used for handling is allocated on the [Numeric Keys] of the programming pendant. Switches the signal output of [f•1] and [f•2] ON and OFF when [INTERLOCK] is simultaneously pressed. “1”...

  • Page 63: Hand Instruction

    Handling Application Outlines 2.1.2 HAND Instruction 2.1.2.1 Function The following instructions open and close the grippers mounted on the manipulator. They correspond to single-, double-, and triple-position solenoids. Up to four grippers can be controlled for each manipulator. The following sequences are available for solenoid signal control, according to the valve selected.

  • Page 64: Instruction And Additional Items

    Handling Application Outlines 2.1.2.2 Instruction and Additional Items HAND  (1) Gripper Number(1 to 4) Required. (2) Gripper Output Status (ON/OFF) Required. Select ON or OFF. (3) Valve Simultaneous Control (ALL) Adds to turn valves 1 and 2 ON or OFF simultaneously.

  • Page 65: Hsen (Gripper Sensor) Instruction

    Handling Application Outlines 2.1.3 HSEN (Gripper Sensor) Instruction 2.1.3.1 Function Confirm that the gripper sensor is in the specified status. If the gripper sensor is in the specified status, the result is $B014* and the next instruction is executed. If a timer is specified, the instruction waits for the specified time (including infinity) to be input.

  • Page 66: Examples

    Handling Application Outlines 2.1.3.3 Examples HSEN 1 ON FOREVER OFF FOREVER Waits until sensor 1 turns ON (OFF). At completion, the result (1: gripper sensor 1 is ON (OFF)) is set in $B014. HSEN 1 ON Checks whether sensor 1 is turned ON at completion of HSEN instruction. The result (0: gripper sensor 1 is OFF, 1: gripper sensor 1 is ON) is set in $B014.

  • Page 67: Handling Window

    Handling Application Outlines 2.1.4 Handling Window 1. Select {ROBOT} under the main menu. 2. Select {HANDLING DIAG}. – The HANDLING window appears. 3. Select “F1 KEY ALLOCATION” or “F2 KEY ALLOCATION,” and then edit. – The selection dialog box appears. –...
  • Page 68 Handling Application Outlines – Input desired number with [Numeric Keys] and press [ENTER] to change the allocation of user output signal. An error message is displayed if the input number lies outside the designated range. Press [CANCEL] to cancel the modification of the key allocation.

  • Page 69: Shock Sensor Function

    Handling Application Outlines 2.1.5 Shock Sensor Function If “SHOCK SENSOR FUNC” is “USED” in the HANDLING window, the shock sensor is enabled. When the shock sensor does not exist, set “NOT USED.” 2.1.6 Shock Sensor Input Signal • Function When this signal turns OFF, “SHOCK SENSOR WORKING” is dis- played on the programming pendant and the system enters HOLD status.

  • Page 70: Registering Instructions

    Handling Application Registering Instructions Registering Instructions 2.2.1 HAND Instruction This instruction turns ON/OFF the gripper valve signal and controls the tool. 1. Select {JOB} under the main menu. 2. Select {JOB}. 3. Press [TOOL 1 ON/OFF] or [TOOL 2 ON/OFF]. –...
  • Page 71 Handling Application Registering Instructions – Press [SELECT]. The DETAIL EDIT window appears. Select “VALVE SIM CTRL.” – The selection dialog box appears. – Select “ALL.” The data of “VALVE SIM CTRL” items change to the “ALL” and the “ALL” tag is added to the input buffer data. –...

  • Page 72: Hsen Instruction

    Handling Application Registering Instructions 2.2.2 HSEN Instruction This instruction monitors the various inputs used for handling and outputs the monitor result as a variable. 1. Select {JOB} under the main menu. 2. Select {JOB}. 3. Press [INFORM LIST]. 4. Select the HSEN instruction. –...
  • Page 73 Handling Application Registering Instructions – Press [SELECT]. The selection dialog box appears. Move the cursor to “T=”. – Press [SELECT]. “T=” is set for WAIT TIME, and a numerical value entry field appears on the right. Move the cursor to the field. –...

  • Page 74: Table Of Work Instructions

    Handling Application Table of Work Instructions Table of Work Instructions • <> indicates alpha-numerical data. • If multiple items are shown in one additional item section, select one. Table 2-2: Handling Instructions HAND Function Turns ON/OFF signals to the gripper valves to open and close grippers. Additional ...
  • Page 75 Index Numerics ................2P (double-solenoid) ..............3P (triple-position solenoid) ..................AIO01 board ..............amplitude size at weaving 1-44 ............... angle of weaving motion 1-45 ................approach point 1-30, 1-32 .................. cutting operation 1-24 ..................FREQUENCY 1-42 ............... function keys for handling ............
  • Page 76 Index ....................MODE 1-42 ..............NEW JOB CREATE window ................Path Confirmation 1-13 ..................... playback 1-19 ..................REFP 1 1-30, 1-31 ..................REFP 2 1-30, 1-32 ....................REFP 3 1-30 ..................reserved job 1-25 ................sensor input status 2-13 ..................sensor number .................
  • Page 77 Index .............. valve simultaneous control 2-3, 2-9 ..................wall direction 1-31 ..................WEAV STOP 1-47 ............weaving basic coordinate system 1-30 ..................weaving file 1-49 ................weaving frequency 1-43 ................... weaving pattern 1-45 ............... weaving start instruction 1-29 ..................weaving stop 1-47 ............
  • Page 78 OPERATOR’S MANUAL 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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