YASKAWA YRC1000micro Instructions Manual
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YASKAWA YRC1000micro Instructions Manual

For pmt function
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YRC1000micro OPTIONS
INSTRUCTIONS
FOR PMT FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR'S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000micro alarm codes above consists of "MAJOR ALARMS" and "MINOR ALARMS".
181284-1CD
0
MANUAL NO.
HW1484458
1/27
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Summary of Contents for YASKAWA YRC1000micro

  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”. 181284-1CD MANUAL NO. HW1484458 1/27...
  • 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 HW1484458 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the 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 Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before: – Turning ON the YRC1000micro power – Moving the manipulator by using the programming pendant – Running the system in the check mode –...
  • Page 5 15 pin of the Safety connector (Safety). • Upon shipment of the YRC1000micro, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to supply a new connector, and then input it.
  • Page 6 HW1484458 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the YRC1000micro controller, manipulator cables, the YRC1000micro programming pendant (optional), and the YRC1000micro programming pendant dummy connector (optional).
  • Page 7 HW1484458 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 8: Table Of Contents

    HW1484458 Contents 1 PMT Function..........................1-1 2 Data Conversion by PMT Function ....................2-1 2.1 Outline ..........................2-1 2.1.1 PMT data conversion by instruction..............2-1 2.1.2 PMT data conversion by programming pendant........... 2-2 2.2 PMT Data Conversion by Instruction ................. 2-4 2.2.1 Registering GETTOOL Instruction................

  • Page 9: Pmt Function

    HW1484458 PMT Function PMT Function The PMT function corrects the position data when the tool is deformed during operation (PMT: Position Modification for Tool Deformation). When a tool inadvertently collides with peripheral jigs or walls during operation and is deformed, the tool center point will be dislocated and the taught position of the job programmed would be shifted;...

  • Page 10: Data Conversion By Pmt Function

    HW1484458 Data Conversion by PMT Function Outline Data Conversion by PMT Function Outline When the PMT function is used, the tool dimensions and the NOTE job taught position data are rewritten. In order to secure the data, prepare the backup files beforehand. The data can be converted by the PMT function using instructions or the programming pendant.

  • Page 11: Pmt Data Conversion By Programming Pendant

    HW1484458 Data Conversion by PMT Function Outline 2.1.2 PMT data conversion by programming pendant The following outline describes how to convert the data by using the programming pendant. Refer to chapter 2.3 “PMT Data Conversion by Programming Pen- dant” for more information. 1.
  • Page 12 HW1484458 Data Conversion by PMT Function Outline 3. Set the new tool constants to be used after the tool’s deformation. 4. Convert the data of WORK1 using the PMT function. HW1484458 12/27...

  • Page 13: Pmt Data Conversion By Instruction

    HW1484458 Data Conversion by PMT Function PMT Data Conversion by Instruction PMT Data Conversion by Instruction 2.2.1 Registering GETTOOL Instruction 1. Press [INFORM LIST] 2. Select the instruction group “ARITH” 3. Select “GETTOOL” – The instruction appears, with the same additional items that were previously set, in the input buffer line.

  • Page 14: Registering Settool Instruction

    HW1484458 Data Conversion by PMT Function PMT Data Conversion by Instruction 2.2.2 Registering SETTOOL Instruction 1. Press [INFORM LIST] 2. Select the instruction group “ARITH” 3. Select “SETTOOL” – The instruction appears, with the same additional items that were previously set, in the input buffer line. 4.

  • Page 15: Registering Pmt Instruction

    HW1484458 Data Conversion by PMT Function PMT Data Conversion by Instruction 2.2.3 Registering PMT Instruction Add PMT instructions for the number of jobs to be con- NOTE verted. 1. Press [INFORM LIST] 2. Select the instruction group “ARITH” 3. Select “PMT” instruction –...
  • Page 16 HW1484458 Data Conversion by PMT Function PMT Data Conversion by Instruction (2) Move the cursor to the name of the job of which data is to be con- verted, and press [SELECT]. A list of jobs appears. (3) Select the job subject to conversion for PMT function. –...
  • Page 17 HW1484458 Data Conversion by PMT Function PMT Data Conversion by Instruction (5) When the name of the job to save the data does not have to be specified, move the cursor to “PMT,” and press [SELECT]. The DETAIL EDIT window appears. –...

  • Page 18: Pmt Data Conversion By Programming Pendant

    HW1484458 Data Conversion by PMT Function PMT Data Conversion by Programming Pendant PMT Data Conversion by Programming Pendant When the PMT function is used, the tool dimensions and the job taught position data are rewritten. NOTE In order to secure the data, prepare the backup files before- hand.
  • Page 19 (1) Set the tool dimensions by inputting with the Numeric Keys or by selecting {TOOL CALIBRATION} of {UTILITY}. – For details of methods to set tool dimensions, refer to "Chap. 8.3 Tool Data Setteing" in "YRC1000micro INSTRUCTIONS (RE-CTO- A222)". (2) Confirm the tool dimensions before and after the PMT conversion (ORIGINAL TOOL and ORIENTATION TOOL), then select “EXE-...
  • Page 20 When the jobs related to the specified job are to be converted together, select “RELATED” from “CONVERSION MODE”. • Method 3: ALL When all the jobs registered in YRC1000micro are to be con- verted, select “ALL” from “CONVERSION MODE”. 6. Select the job for conversion –...
  • Page 21 HW1484458 Data Conversion by PMT Function PMT Data Conversion by Programming Pendant For a job after conversion, be sure to confirm the path after conversion by performing FWD/BWD operations. NOTE If the steps beyond the manipulator’s range of motion are created, “/0V”...

  • Page 22: Tool Data Backup History

    HW1484458 Tool Data Backup History Tool Backup Window Tool Data Backup History The modification history of the tool constants can be viewed in the TOOL BACKUP window. The history of the tool data backup is updated when a GETTOOL instruction with “PMTDATA” added is carried out. When a GETTOOL instruction is carried out and the data of the original tool and the orientation tool are the same, only the execution date and time in the backup history are updated.

  • Page 23: Instruction List For Pmt Function

    HW1484458 Instruction List for PMT Function Instruction List for PMT Function GETTOOL Function Gets the data from a tool file. Additional items Tool data storage directory － P, PMTDATA Tool file 0 to 63 TL# () Example GETTOOL PMTDATA TL# (0) GETTOOL P000 TL# (0) SETTOOL Function...

  • Page 24: Parameter

    HW1484458 Parameter Parameter Parameter No. Meaning Units Initial Value S3C1192 The allowable difference (values of X, Y, and Z) 0.001mm 20000 between the present tool constant and the tool data automatic setting in the operation of a SETTOOL instruction. S2C390 0 : Conventional mode (conversion by /OV) 1 : Conversion after confirmation of limit checks at once (no conversion by /OV)

  • Page 25: Alarm List

    EXECUTE operation (2)If the alarm occurs again, save the AUTO PMT error occurred CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure). PBOX cannot be edited. Setting error (1)Check the following settings. ·I/O status of the edit prohibit signal The edit prohibit signal cannot input.
  • Page 26 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure). The job under execution is specified as the Setting error (1)Check the following settings.
  • Page 27 FOR PMT 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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