YASKAWA YRC1000 Instructions Manual
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YASKAWA YRC1000 Instructions Manual

Options for interrupt job function
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See also: Operator's Manual , Instruction Manual
YRC1000 OPTIONS
INSTRUCTIONS
FOR INTERRUPT JOB 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)
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".
178676-1CD
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MANUAL NO.
HW1483372
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Summary of Contents for YASKAWA YRC1000

  • 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 number listed on the front cover.
  • Page 3 HW1483372 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 HW1483372 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 symbol printed on them are denoted with [ ]. ex. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys...

  • Page 7: Table Of Contents

    HW1483372 Contents 1 What is the Interrupt Job Function? ....................1-1 2 Setting of the Interrupt Job Function....................2-1 2.1 Interruption Table Display....................2-1 2.2 Setting of Interruption Table ....................2-3 2.2.1 Setting of Signals ....................2-3 2.2.2 Setting of Job Names ................... 2-4 2.3 Setting of Interruption Levels .....................

  • Page 8: What Is The Interrupt Job Function

    The smaller the interruption level number becomes, the higher the priority of the processing becomes. Since the YRC1000 determines which interrupt job is to be executed according to this interruption table, make sure the settings for this table are correct. The system engineer sets up this interruption table.
  • Page 9 HW1483372 What is the Interrupt Job Function? An interrupt job can be executed when the start lamp is ON and between the execution of the EI (enable interruption) NOTE instruction and the DI (disable interruption) instruction. A different interruption level can be specified for both EI and HW1483372 9/27...

  • Page 10: Setting Of The Interrupt Job Function

    HW1483372 Setting of the Interrupt Job Function Interruption Table Display Setting of the Interrupt Job Function Interruption Table Display 1. Select {JOB} under the main menu. 2. Select {INTERRUPT JOB} in the sub menu. TABLE NO. (Initial value: 1) OUTPUT SIGNAL (Initial value: no setting) ...
  • Page 11 HW1483372 Setting of the Interrupt Job Function Interruption Table Display EXEC (ON): Interrupting job in progress (OFF): Interrupting job not in progress “Exec” turns ON when an interruption signal is received and the inter- rupt job is called, and turns OFF when the job is completed. “Exec”...

  • Page 12: Setting Of Interruption Table

    HW1483372 Setting of the Interrupt Job Function Setting of Interruption Table Setting of Interruption Table In a system where an independent control is used simultaneously with the interrupt job function, an interrupt job can be set and executed for each task.

  • Page 13: 2.2.2 Setting Of Job Names

    HW1483372 Setting of the Interrupt Job Function Setting of Interruption Table 2.2.2 Setting of Job Names 1. Move the cursor to the item to be selected, and press [SELECT]. 2. Select a job in the JOB LIST window. 3. Press [ENTER]. HW1483372 13/27...

  • Page 14: Setting Of Interruption Levels

    HW1483372 Setting of the Interrupt Job Function Setting of Interruption Levels Setting of Interruption Levels To specify the levels where interruptions can be enabled or disabled by the EI and DI instructions respectively, set the bits corresponding to the levels to “1.” LEVEL7 LEVEL6 LEVEL5 LEVEL4 LEVEL3 LEVEL2 LEVEL1 LEVEL0 The set values for...

  • Page 15: Registration Of Instructions

    HW1483372 Registration of Instructions EI (Enable Interruption) Instruction Registration of Instructions EI (Enable Interruption) Instruction Executing an EI instruction activates the specified interruption levels set in the additional item. To specify the levels where interruptions can be enabled, set the bits corresponding to the levels to “1.”...
  • Page 16 HW1483372 Registration of Instructions EI (Enable Interruption) Instruction 5. Press [SELECT] twice to set an interruption level in the DETAIL EDIT window. – Enter the interruption level using the Numeric keys. Press [ENTER] twice – Pressing [ENTER] once shows the set contents in the input buffer line.

  • Page 17: Di (Disable Interruption) Instruction

    HW1483372 Registration of Instructions DI (Disable Interruption) Instruction DI (Disable Interruption) Instruction Executing a DI instruction activates the specified interruption levels set in the additional item. To specify the levels where interruptions can be disabled, set the bits corresponding to the levels to “1.” The status of the other interruption levels remains unchanged.
  • Page 18 HW1483372 Registration of Instructions DI (Disable Interruption) Instruction 5. Press [SELECT] twice to set an interruption level in the DETAIL EDIT window. – Enter the interruption level using the Numeric keys. 6. Enter the interruption level using the Numeric keys. –...

  • Page 19: Execution Of An Interrupt Job

    HW1483372 Execution of an Interrupt Job Interruption Signal Detection Execution of an Interrupt Job Interruption Signal Detection An interruption signal is detected at the rising edge of the signal. If more than one interruption signal is detected at the same time, the job for the level with higher priority is executed.

  • Page 20: Output Signal Of "Interrupt Job In Execution

    HW1483372 Execution of an Interrupt Job Output Signal of “Interrupt Job in Execution” Output Signal of “Interrupt Job in Execution” During execution of an interrupt job, the output signal turns ON to indicate that the interrupt job is being executed. This output signal turns ON when an interruption signal is received and the interrupt job is called, and turns OFF when the interrupt job completes.

  • Page 21: Application Examples

    HW1483372 Application Examples Interruption During Timer Instruction Application Examples Interruption During Timer Instruction Job in progress 0000 NOP 0001 EI Interruption enabled Interrupt job 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVL Interruption during 0002 DOUT OG#(2) 5 0005 TIMER T=2.00 TIMER instruction 0003 RET...

  • Page 22: Interruption During Move Instruction With Nwait

    HW1483372 Application Examples Interruption During Move Instruction with NWAIT Interruption During Move Instruction with NWAIT Job in progress 0000 NOP 0001 EI Interruption enabled Interrupt job 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVL Interruption during move from 0002 DOUT OG#(2) 5 Step 3 to Step 4 (while the 0005 MOVL NWAIT...

  • Page 23: Interruption During Circular Interpolation Move Instruction (Movc)

    HW1483372 Application Examples Interruption During Circular Interpolation Move Instruction (MOVC) Interruption During Circular Interpolation Move Instruction (MOVC) Job in progress 0000 NOP 0001 EI Interrupt job Interruption enabled 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVC Interruption during move 0002 DOUT OG#(2) 5 0005 MOVC from Step 3 to Step 4...

  • Page 24: System With Independent Control

    HW1483372 System with Independent Control System with Independent Control In a system where an independent control is used simultaneously with the interrupt job function, an interrupt job can be set and executed for each task. When using four tasks (sixteen tasks maximum) for the independent control, the table No.
  • Page 25 HW1483372 System with Independent Control • EI and DI instructions are valid only in each individual task. For example, an EI instruction in subtask 1 does not affect NOTE any interruption tables in the master task or in subtask 2. •...

  • Page 26: Instruction List

    HW1483372 Instruction List Instruction List < > indicates numerical or alphabetical data. If multiple items are shown in one section, select one of the items. Function Enables a specified interruption level. Additional 0 to 255 for constants. Items B ...
  • Page 27 FOR INTERRUPT JOB 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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