YASKAWA YRC1000micro Instructions Manual
Options for group change function
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Also See for YRC1000micro:
- Collaborative operation instructions (105 pages) ,
- Instructions manual (77 pages) ,
- Startup manual (64 pages)
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Instruction Manual
YRC1000micro OPTIONS
INSTRUCTIONS
FOR GROUP CHANGE 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".
181283-1CD
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MANUAL NO.
HW1484566
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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”. 181283-1CD MANUAL NO. HW1484566 1/18...
- 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 HW1484566 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 HW1484566 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 HW1484566 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...
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Page 8: Table Of Contents
HW1484566 Contents 1 Outline............................. 1-1 2 Group Change Instruction ....................... 2-1 2.1 GRPCHG Instruction......................2-1 2.2 Registration of Instruction ....................2-2 3 Signal Allocation..........................3-1 3.1 Hand Identification Signals ....................3-1 3.2 Identification Signals for ATC Chuck/Unchuck ..............3-1 4 Job Examples..........................4-1 5 Alarm Message .......................... -
Page 9: Outline
R1 + S1. When the manipulator moves with the hand: S2, the job control group is R1 + S2. Fig. 1-1: Example of Group Change Manipulator (R1) YRC1000micro Hand with two Hand with three external axes (S1) external axes (S2) - Page 10 HW1484566 Outline Fig. 1-2: Hand Changed to S1 (R1+S1) Manipulator (R1) Hand with two external axes (S1) YRC1000micro Hand with three external axes (S2) Fig. 1-3: Hand Changed to S2 (R1+S2) Manipulator (R1) Hand with three external axes (S2) YRC1000micro...
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Page 11: Group Change Instruction
HW1484566 Group Change Instruction GRPCHG Instruction Group Change Instruction To enable the group change function, execute the GRPCHG (Group Change) instruction. The GRPCHG instruction can be registered as JOB of a single manipulator. GRPCHG Instruction GRPCHG S1 ON Selects the group to be changed. The group can be selected among the groups for the group change. -
Page 12: Registration Of Instruction
HW1484566 Group Change Instruction Registration of Instruction Registration of Instruction 1. Move the cursor immediately before the line where the GRPCHG instruction is registered. 2. Press [INFORM LIST]. – The INFORM LIST dialog box appears. 3. Select “DEVICE”. – The GRPCHG instruction appears. HW1484566 12/18... -
Page 13
HW1484566 Group Change Instruction Registration of Instruction 4. Select “GRPCHG”. – The GRPCHG instruction appears in the input buffer line. 5. Modify numerical data. –
Go on to the step 6 if the instruction in the input buffer line is registered with no change of the numerical data. - Page 14 HW1484566 Group Change Instruction Registration of Instruction 6. Press [ADD], then [ENTER]. – The instruction displayed in the input buffer line is registered. HW1484566 14/18...
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Page 15: Signal Allocation
HW1484566 Signal Allocation Hand Identification Signals Signal Allocation The GRPCHG instruction has to be executed with the manipulator holding the hand for change. An alarm occurs if the hand which is not held by the manipulator is specified in the GRPCHG instruction. Allocation of the following signals allows to identify the types and chuck/ unchuck status of the hand. -
Page 16: Job Examples
HW1484566 Job Examples Job Examples The following describe the job examples for attaching and detaching of the hand.Job name: HAND1-ON Control group: R1 MOVJ : Moves to the position where the hand is attached. TIMER T=0.200 : Timer for 0.2 seconds. -
Page 17: Alarm Message
OFF when the GRPCHG was ON. (2) Turn OFF the power, then back ON. If the error occurs again, contact your YASKAWA representative. The encoder PG power supply was (1) Reset the alarm, and then try again. ON when the GRPCHG was OFF. - Page 18 FOR GROUP CHANGE 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...