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安川机器人编程操作员手册 .pdf
1 Introduction
1.1 YRC1000 Overview
1.2 Programming Pendant
1.2.1 Programming Pendant Overview
1.2.2 Key Description
1.2.2.1 Character Keys and Symbol Keys
1.2.2.2 Axis Keys and Numeric Keys
1.2.2.3 Keys Pressed Simultaneously
1.2.3 Programming Pendant Keys
1.2.4 Programming Pendant Display
1.2.4.1 Five Display Areas
1.2.4.2 General-Purpose Display Area
1.2.4.3 Main Menu Area
1.2.4.4 Status Display
1.2.4.5 Human Interface Display Area
1.2.4.6 Menu Area
1.2.4.7 Error Dialog Box
1.2.5 Screen Descriptions
1.2.6 Character Input Operation
1.2.6.1 Character Input
1.2.6.2 Operation
1.2.6.3 Alphanumeric Input
1.2.6.4 Symbol Input
1.2.6.5 Word Register Function
1.2.7 Numeric Value Input Operation
1.2.7.1 Operation for Numeric Value Input Area
1.2.7.2 Operation for Numeric Value Input Keypad
1.2.8 Bilingual Function (Optional)
1.2.9 Screenshot Acquisition Function
1.3 Mode
1.3.1 Teach Mode
1.3.2 Play Mode
1.3.3 Remote Mode
1.3.4 Teach Mode Priority
1.4 Security Mode
1.4.1 Types of Security Modes
1.4.2 Selecting Security Mode
2 Manipulator Coordinate Systems and Operations
2.1 Control Groups and Coordinate Systems
2.1.1 Control Group
2.1.2 Types of Coordinate Systems
2.2 General Operations
2.2.0.1 Check Safety
2.2.0.2 Select Teach Mode
2.2.0.3 Select Control Group
2.2.0.4 Select Coordinate System
2.2.0.5 Select Manual Speed
2.2.0.6 Servo ON
2.2.0.7 Axis Operation
2.2.0.8 HIGH SPEED
2.3 Coordinate Systems and Axis Operation
2.3.1 Joint Coordinates
2.3.2 Cartesian Coordinates
2.3.3 Cylindrical Coordinates
2.3.4 Tool Coordinates
2.3.4.1 Selecting Tool
2.3.5 User Coordinates
2.3.5.1 Selecting User Coordinates
2.3.5.2 Usage of User Coordinates
2.3.6 External Axis
2.3.7 Motion about TCP
2.3.7.1 Modification of TCP
2.3.8 Teaching Line Coordinates
2.3.8.1 Operations for Teaching Line Coordinates
2.3.8.2 Welding-Related Information Display
2.3.8.3 Operation of Moving to Torch Angle/Travel Angle
3 Teaching
3.1 Preparation for Teaching
3.1.1 Checking Emergency Stop Buttons
3.1.2 Setting the Teach Lock
3.1.3 Registering a Job
3.1.3.1 Registering Job Names
3.1.3.2 Registering Jobs
3.1.3.3 Registering Comments
3.1.3.4 Registering Control Groups
3.1.3.5 Switching to the Teaching Window
3.2 Teaching Operation
3.2.1 Teaching Window
3.2.2 Interpolation Type and Play Speed
3.2.2.1 Joint Interpolation
3.2.2.2 Linear Interpolation
3.2.2.3 Circular Interpolation
3.2.2.4 Spline Interpolation
3.2.3 Teaching Steps
3.2.3.1 Registering Move Instructions
3.2.3.2 Registering Reference Point Instructions
3.2.3.3 Registering Timer Instructions
3.2.4 Overlapping the First and Last Steps
3.3 Checking Steps
3.3.1 FWD/BWD Operations
3.3.1.1 Precautions When Using FWD/BWD Operations
3.3.1.2 Selecting Manual Speed
3.3.1.3 Moving to Reference Point
3.3.1.4 Test Operations
3.3.1.5 Machine Lock Operation
3.4 Modifying Steps
3.4.1 Displaying the JOB CONTENT Window for Editing
3.4.1.1 Job Currently Called-Up
3.4.1.2 Calling Up Other Jobs
3.4.2 Inserting Move Instructions
3.4.3 Deleting Move Instructions
3.4.4 Modifying Move Instructions
3.4.4.1 Modifying Position Data
3.4.4.2 Modifying Interpolation Type
3.4.5 Undo Operation
3.4.6 Modifying Reference Point Instructions
3.4.6.1 Deleting Reference Point Instructions
3.4.6.2 Modifying Reference Point Instructions
3.4.7 Modifying Timer Instructions
3.4.7.1 Deleting Timer Instructions
3.4.7.2 Modifying Timer Instructions
3.5 Modifying Jobs
3.5.1 Calling Up a Job
3.5.2 Windows Related to Job
3.5.3 JOB HEADER Window
3.5.4 JOB CONTENT Window
3.5.4.1 Switching the Address Area
3.5.5 COMMAND POSITION Window
3.5.6 JOB CAPACITY Window
3.6 Editing Instructions
3.6.1 Instruction Group
3.6.2 Inserting Instructions
3.6.3 Deleting Instructions
3.6.4 Modifying Instructions
3.6.5 Modifying Additional Numeric Data
3.6.6 Modifying Additional Items
3.6.7 Inserting Additional Items
3.6.8 Deleting Additional Items
3.7 Editing Jobs
3.7.1 Selecting the Range
3.7.2 Copying
3.7.3 Cutting
3.7.4 Pasting
3.7.5 Reverse Pasting
3.7.6 Commenting Out a Line
3.7.6.1 Commenting Out One Line
3.7.6.2 Commenting Out Multiple Lines
3.7.6.3 Canceling the Comment Out of One Line
3.7.6.4 Canceling the Comment Out of Multiple Lines
3.7.6.5 Canceling All the Comment Out of Lines
3.7.7 Prohibiting Editing Line-by-Line
3.7.7.1 Prohibiting Editing One Line
3.7.7.2 Prohibiting Editing Multiple Lines
3.7.7.3 Canceling the Edit Lock of One Line
3.7.7.4 Canceling the Edit Lock of Multiple Lines
3.7.7.5 Canceling All the Edit Lock of Lines
3.8 Test Operations
3.8.1 Test Operation Procedures
3.8.2 Test Operation (High Accuracy)
3.8.2.1 Test Operation (High Accuracy)
3.8.2.2 Setting Method
3.9 Other Job-editing Functions
3.9.1 Editing Play Speed
3.9.1.1 Modification of Speed Type
3.9.1.2 Relative Modification
3.9.1.3 Modification by TRT (Traverse Time)
3.9.2 Editing Interpolation Type
3.9.3 Editing Condition Files
3.9.4 User Variables
3.9.4.1 Setting Byte, Integer, Double Precision Integer, and Real Type Variables
3.9.4.2 Setting Character Type Variables
3.9.4.3 Setting Boolean Type (Flag) Variables
3.9.4.4 Registering Variable Name
3.9.4.5 Displaying Position Variables
3.9.4.6 Setting Position Variables
3.9.4.7 Setting Position Variables Using the Numeric Keys
3.9.4.8 Setting Position Variables Using the Axis Keys
3.9.4.9 Deleting Data Set of Position Variables
3.9.4.10 Checking Positions by Position Variables
3.9.4.11 Manipulator Types
3.9.4.12 Flip/No Flip
3.9.4.13 R-Axis Angle
3.9.4.14 T-Axis Angle
3.9.4.15 Front/Back
3.9.4.16 Upper Arm/Lower Arm
3.9.4.17 S-Axis Angle
3.9.5 Editing Local Variables
3.9.5.1 Setting the Number of Local Variables
3.9.6 Search
3.9.6.1 Line Search
3.9.6.2 Step Search
3.9.6.3 Label Search
3.9.6.4 Instruction Search
3.9.6.5 Tag Search
3.9.6.6 Current-Position Neighbor Search
4 Playback
4.1 Preparation for Playback
4.1.1 Selecting a Job
4.1.1.1 Calling a Job
4.1.1.2 Registering the Master Job
4.1.1.3 Calling the Master Job
4.1.2 The PLAYBACK Window
4.1.2.1 Display of Cycle Time
4.1.2.2 Operation Cycle
4.2 Playback
4.2.1 Playback Operation
4.2.1.1 Selecting the Start Device
4.2.1.2 Servo On
4.2.1.3 Start Operation
4.2.2 Special Playback Operations
4.2.2.1 Low Speed Operation
4.2.2.2 Limited Speed Operation
4.2.2.3 Dry-Run Speed Operation
4.2.2.4 Machine Lock Operation
4.2.2.5 Check Mode Operation
4.2.2.6 Weaving Prohibited Operation
4.2.2.7 Cancel All Special Operations
4.3 Stop and Restart
4.3.1 Hold
4.3.1.1 Using the Programming Pendant
4.3.1.2 Using an External Input Signal (System Input)
4.3.2 Emergency Stop
4.3.2.1 Restart After Emergency Stop
4.3.3 Stop by Alarm
4.3.4 Others
4.3.4.1 Temporary Stop by Mode Change
4.3.4.2 Temporary Stop by the PAUSE Instruction
4.4 Modifying Play Speed
4.4.1 Speed Override
4.4.1.1 Setting Speed Overrides
4.4.1.2 Modifying Play Speed
4.4.1.3 Canceling Speed Override Settings
4.4.2 Specification for Speed Override in AUTO Cycle Operation
4.4.2.1 Functional Overview
4.4.2.2 Setting the Speed Override Function
4.4.2.3 Performing the Speed Override Function
4.4.2.4 Modifying the Speed Override Percentage
4.4.2.5 Disabling the Speed Override Function
4.4.2.6 Enabling an Automatic Setting of Speed Override
4.4.2.7 Manual Speed in the TEACH Mode
4.4.2.8 Parameter
4.4.3 Specification for Speed Override with Input Signals
4.4.3.1 Functional Overview
4.4.3.2 Performing the Speed Override Function
4.4.3.3 Disabling the Speed Override Function
4.4.3.4 Parameters
4.5 Playback with Reserved Start
4.5.1 Preparation for Reserved Start
4.5.1.1 Enabling Reserved Start
4.5.1.2 Registering Reserved Start I/O Signal
4.5.1.3 Registering Jobs to Stations
4.5.1.4 Deleting Registered Jobs from Stations
4.5.2 Playback from Reserved Start
4.5.2.1 Start Operation
4.5.2.2 Checking Job Reservation Status
4.5.2.3 Resetting Job Reservation
4.5.3 Hold Operation
4.5.3.1 [HOLD] on the Programming Pendant
4.5.3.2 Hold by External Input Signal (System Input)
4.5.3.3 Hold at the Station
4.6 Displaying Job Stack
5 Editing Jobs
5.1 Copying Jobs
5.1.0.1 Copying Jobs on the JOB CONTENT Window
5.1.0.2 Copying Jobs on the JOB LIST Window
5.2 Deleting Jobs
5.2.0.1 Deleting Jobs on the JOB CONTENT Window
5.2.0.2 Deleting Jobs on the JOB LIST Window
5.3 Modifying Job Names
5.3.0.1 Modifying Job Names on the JOB CONTENT Window
5.3.0.2 Modifying Job Names on the JOB LIST Window
5.4 Editing Comments
5.5 Job Folder Function
5.5.1 Displaying Jobs by Folders
5.5.1.1 Operation for Displaying Jobs by Folders
5.5.1.2 Operation for Canceling Displaying Jobs by Folders
5.5.2 Registering Jobs in Folders
5.5.2.1 Registering Jobs in Folders (At a New Job Creation)
5.5.2.2 Changing the Folder Registration of Jobs
5.5.3 Changing the Folder Name
5.5.3.1 Changing the Folder Name While Displaying Folder List Window
5.5.3.2 Changing the Folder Name While Displaying Jobs by Folders in Job List Window
5.5.4 Changing the Display Order While Displaying Jobs by Folders
5.6 Setting Edit Lock on Individual Job Units
5.7 Enabling the Modification of Position Data Only
6 Convenient Functions
6.1 One-touch Operation “Direct Open”
6.1.1 Description of Direct Open Function
6.1.2 Direct Open of the JOB CONTENT Window
6.1.3 Direct Open of the JOB LIST Window
6.2 Parallel Shift Function
6.2.1 Function Overview
6.2.1.1 Parallel Shift of Step
6.2.1.2 Parallel Shift of Job
6.2.2 Setting the Shift Value
6.2.2.1 Coordinate Systems
6.2.2.2 Setting the Shift Value
6.2.3 Registering Shift Instructions
6.2.3.1 SFTON Instruction
6.2.3.2 SFTOF Instruction
6.2.3.3 MSHIFT Instruction
6.2.4 Continuation of the Parallel Shift Function
6.2.5 Examples of Use
6.2.5.1 Example of Use of Shift Addition/Subtraction
6.2.5.2 Example of Use of MSHIFT Instruction
6.3 Parallel Shift Job Conversion Function
6.3.1 Function Overview
6.3.2 Coordinate Systems for Conversion
6.3.3 Executing the Parallel Shift Job Conversion
6.3.3.1 Window Display
6.3.3.2 Parallel Shift Job Conversion Operation
6.3.4 Specifying the Shift Value by Position Variables
6.3.4.1 Window Display
6.3.4.2 Jobs Targeted for Conversion
6.3.4.3 Conversion of Coordinated Jobs
6.3.4.4 Operation Procedure
6.4 PAM Function
6.4.1 Function Overview
6.4.1.1 Input Ranges for Adjustment Data
6.4.2 Operating Methods
6.4.2.1 Setting Adjustment Data
6.4.2.2 Executing the Adjustment
6.5 Mirror Shift Function
6.5.1 Function Overview
6.5.2 Pulse Mirror-Shift Function
6.5.2.1 Parameter Setting
6.5.2.2 Object Job
6.5.2.3 Group Axes Specification
6.5.2.4 Position Variables
6.5.3 Robot-Coordinates Mirror-Shift Function
6.5.3.1 Object Job
6.5.3.2 Group Axes Specification
6.5.3.3 Position Variables
6.5.4 User-Coordinates Mirror-Shift Function
6.5.4.1 Object Job
6.5.4.2 Group Axes Specification
6.5.4.3 Position Variables
6.5.5 Notes on the Mirror Shift Function
6.5.6 Operation Procedures
6.5.6.1 Calling Up the JOB CONTENT Window
6.5.6.2 Mirror Shift Conversion
6.5.6.3 Explanation of the Mirror Shift Window
6.6 Multi Window Function
6.6.1 Function Overview
6.6.2 Setting the Dividing Pattern of the General-Purpose Display Area
6.6.2.1 Calling Up and Operating Methods of the Display Dividing Pattern Setting Window
6.6.3 Displaying the Multi Window
6.6.3.1 Multi Window Mode and Single Window Mode
6.6.3.2 Displaying the Status of Plural (More Than Two) Window Dividing Pattern Setting
6.6.3.3 Displaying of Active Window and Non-Active Window
6.6.3.4 Limited Matters in Multi Window Mode
6.6.4 Operation of Multi Window
6.6.4.1 Switching of Multi Window Mode and Single Window Mode
6.6.4.2 Switching of Active Window
6.6.5 Switching the Axis Operation Control Group
6.6.5.1 S2C540 “Choosing Method of Notifying the Change of Axis Operation Control Group When Switching the Active Window”
6.7 Simple Menu Function
6.7.1 Simple Menu
6.7.2 Registering the Layout Patterns to User Definition Menu
6.7.2.1 Register with {REGIST} Button
6.7.2.2 Register by Key Operation
6.7.2.3 Conditions to Register the Layout
6.7.2.4 The Displayed Layout Name
6.7.3 Calling Up of the Registered Layout
6.7.3.1 Calling up
6.7.3.2 Conditions When Calling Up the Layout
6.7.4 Editing USER DEFINITION Menu
6.7.4.1 Displaying USER DEFINITION MENU Window by Using EDIT Button
6.7.4.2 Displaying USER DEFINITION MENU Window under Main Menu
6.7.4.3 Changing the Name of Registered Layout Name
6.7.4.4 Deleting the Layout
6.7.4.5 Deleting All Layouts
6.7.5 Save/Load of the User Definition Menu Data (to External Memory Device)
6.7.5.1 Saving the Data
6.7.5.2 Loading the Data
6.8 Parameter Setting Function
6.8.1 Parameter Setting Function
6.8.2 Teaching Condition Setting
6.8.3 Operation Condition Setting
6.8.4 Operate Enable Setting
6.8.5 Function Enable Setting
6.8.6 Jog Condition Setting
6.8.7 Playback Condition Setting
6.8.8 Functional Condition Setting
6.9 Jog Key Allocation
6.9.1 Jog Key Allocation Function
6.9.2 Jog Key Allocation Setting
6.9.2.1 Allocation of the Jog Key
6.9.2.2 Cancellation of Jog Key Allocation
6.9.2.3 Operating Method of Allocated External Axis
6.10 Energy Saving Function
6.10.1 Energy Saving Function
6.10.2 Method of Setting Energy Saving Function
6.10.2.1 Enable/Disable Energy Saving Function
6.10.2.2 Accumulated Energy Saving Time Clearance
6.10.3 Energy Saving Status Confirmation Method
6.10.3.1 Confirmation by the Accumulated Energy-Saving Time
6.10.3.2 Confirmation by System Signal Output
6.11 Instruction Display Color Setting Function
6.11.1 Setting the Instruction Display Color on the Job Window
6.12 Present Manipulator Position Output Function
6.12.1 Function for Outputting Present Cartesian Position of Manipulator to Register
6.12.1.1 Outline
6.12.1.2 Parameters
6.12.2 Function for Outputting Present Pulse Position to Register
6.12.2.1 Outline
6.12.2.2 Parameters
6.12.3 Function for Outputting TCP Speed to Register
6.12.3.1 Outline
6.12.3.2 Parameters
6.12.4 Function for Outputting Each Axis Speed to Register
6.12.4.1 Outline
6.12.4.2 Parameters
6.12.5 Function for Outputting Each Axis Position to Register
6.12.5.1 Outline
6.12.5.2 Parameters
6.13 Softlimit Setting Function
6.13.1 About the Softlimit Setting Function
6.13.2 The Softlimit Setting Screen
6.13.3 Setting the Softlimit by Numerical Value Input
6.13.4 Set the Current Value to the Softlimit
6.13.5 Set the Softlimit (+)/ the Softlimit (-) to the Initial Maker Value
6.13.6 Change the Coordinate Display of the Softlimit (+)/ the Softlimit (-)
6.14 Job Edit Function During Playback
6.14.1 Function
6.14.2 Job Edit During Playback
6.14.2.1 Basic Operation
6.14.2.2 Editing
6.14.2.3 Editing Multiple Jobs
6.14.2.4 Canceling Write Request
6.15 Logging Function
6.15.1 Logging Function
6.15.2 Data to be Logged
6.15.3 Number of Stored Logs
6.15.4 Operating Methods
6.15.4.1 Displaying List of Logs
6.15.4.2 Displaying Log Details
6.15.4.3 Updating Log Information
6.15.4.4 Deleting Log Information
6.15.4.5 Selecting Operation to Be Logged
6.16 Function of Analog Output Corresponding to Speed
6.16.1 Overview
6.16.2 Instructions
6.16.2.1 Instructions for the Function of Analog Output Corresponding to Speed
6.16.2.2 Registration of Instructions
6.16.2.3 Analog Output Display
6.16.3 Examples
6.16.3.1 Example of Output Characteristics
6.16.3.2 Example of Variation of Operating Speed and Analog Output Value
6.16.4 Filtering
6.16.4.1 When Parameter is Set to “0”
6.16.4.2 When Parameter is Set to Values Other Than “0”
6.16.4.3 Parameter Setting
6.16.5 Notes
6.16.5.1 When Analog Output Corresponding to Speed Is Interrupted
6.16.5.2 When Two or More Manipulators Are Used
6.17 QR Code Creation Function
6.17.1 Outline
6.17.2 Main Function
6.17.3 Method of Starting Up QR Code Creation Function
6.17.3.1 Starting Up the Function by Pressing {SYSTEM INFO} under the Main Menu→ {QR CODE}
6.17.3.2 Starting Up the Function by Selecting the Pull-Down Menu {UTILITY} → {QR CODE DISPLAY}
6.17.3.3 Starting Up the Function by Selecting the Pull-Down Menu {UTILITY} → {QR CODE ALL PAGE}
6.17.4 Display Configuration
6.17.5 Operation Method
6.17.5.1 Data for QR Code Select Area
6.17.5.2 QR Code Display Area
6.17.6 QR Code Syntax
6.17.6.1 Basic Syntax
6.17.6.2 Data Header
6.17.6.3 System Information
6.17.6.4 Alarm
6.17.6.5 Alarm History
6.17.6.6 Monitoring Time
6.17.6.7 Home Position
6.17.6.8 Current Position
6.17.6.9 Servo Monitor
6.18 Time Measuring Function
6.18.1 Time Measuring Function
6.18.2 Timer Variable
6.18.3 Time Measuring Method
6.18.4 Setting for Time Measurement
6.18.5 Displaying Time Measurement Result in Job Window
6.19 3D Graphic Display Function
6.19.1 3D Graphic Display Function
6.19.2 Operation Method
6.19.2.1 How to Start the 3D Graphic Display Function
6.19.3 Window Configuration
6.19.4 Operating the Viewpoint
6.19.5 Preset Viewpoint
6.19.6 Current Position 3D Display
6.19.6.1 Display Content
6.19.7 Teaching Position 3D Display
6.19.7.1 Display Content
6.19.8 Functional Safety Range Display
6.19.8.1 Display Setting
6.19.9 Concealing Setting
6.19.10 Other Settings
6.19.10.1 How to Change the Robot Model Arrangement in a Multiple Robot System
6.20 Remote Pendant Operation Function
6.20.1 Overview of the Remote Pendant Operation Function
6.20.2 Recommended Environment
6.20.3 Connection with the YRC1000
6.20.3.1 Ethernet Cable Connections
6.20.3.2 LAN Interface Settings
6.20.3.3 LAN Interface Setting Items
6.20.4 User Settings for the Remote Pendant Operation
6.20.4.1 Registration of a New User Account
6.20.4.2 Modification of a User Account
6.20.4.3 Deletion of a User Account
6.20.4.4 Deletion of All User Accounts
6.20.5 Start-Up of the Remote Pendant
6.20.5.1 Start-Up of the Remote Server
6.20.5.2 Settings for the Remote Server
6.20.5.3 End of the Remote Server
6.20.5.4 Automatic Start-Up of the Remote Server
6.20.6 Operation of the Remote Pendant
6.20.6.1 Login
6.20.6.2 Monitoring
6.20.6.3 Operation
6.21 High Accuracy Path Control Function
6.21.1 Description of High Accuracy Path Control Function
6.21.2 Instruction of High Accuracy Path Control Function
6.21.3 Instruction Registration of High Accuracy Path Control Function
6.21.4 Example of High Accuracy Path Control Function
6.22 Speed Priority Control Function
6.22.1 Speed Priority Control Function
6.22.2 Instruction
6.22.2.1 Instruction of the Speed Priority Control Function
6.22.2.2 Parameter of the Speed Priority Control Function
6.22.2.3 Registration of the Instruction of the Speed Priority Control Function
6.22.3 Example
6.22.3.1 Motion Example of the Speed Priority Control
6.23 Alarm Contents Customize Function
6.23.1 Alarm Contents Customize Window
6.23.2 Storage Location of the User Alarm File of the External Device
6.23.3 Rules for Creating User Alarm File (CSV File)
6.23.4 Error Code List of the Alarm Detail Window
6.24 Pendant Buzzer Function
6.25 Job Security Function
6.25.1 Prohibiting the Display of Job Contents
6.25.2 Prohibiting Job Execution after Loading
6.25.3 Prohibiting Saving a Job
6.25.4 Changing Security Settings
6.25.5 Security Settings Job List
6.25.6 Saving/Loading/Verifying Jobs
7 External Memory Device
7.1 Memory Device
7.1.1 SD Card
7.1.1.1 Recommended SD Card
7.1.1.2 Notes on Handling SD Card
7.1.1.3 Inserting an SD Card
7.1.2 USB Memory Stick
7.1.2.1 Recommended USB Memory Stick
7.1.2.2 Notes on Handling USB Memory Stick
7.1.2.3 Rules for USB Connector and USB Memory Stick
7.1.2.4 Inserting a USB Memory Stick in Programming Pendant
7.1.2.5 Inserting a USB Memory Stick in the CPU Board (JANCD-ACP01)
7.2 Handling Data
7.2.1 Data Classification
7.2.2 File Existence
7.2.2.1 Saving by Overwriting
7.3 Operation Flow
7.3.0.1 Selecting the Device
7.3.0.2 Folder Operation
7.3.0.3 Saving Data
7.3.0.4 Overwriting When Saving a File
7.3.0.5 Loading Data
7.3.0.6 Overwriting When Loading Jobs
7.3.0.7 Verifying Data
7.3.0.8 Deleting Data
7.3.0.9 Job Selection Mode
8 Parameter
8.1 Parameter Configuration
8.2 Motion Speed Setting Parameters
8.2.0.1 S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED
8.2.0.2 S1CxG001: DRY-RUN SPEED
8.2.0.3 S1CxG002 to S1CxG009: JOINT SPEED FOR REGISTRATION
8.2.0.4 S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION
8.2.0.5 S1CxG018 to S1CxG025: POSITION ANGLE SPEED
8.2.0.6 S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE VALUE SPEED
8.2.0.7 S1CxG030 to S1CxG032: INCHING MOVE AMOUNT
8.2.0.8 S1CxG033 to S1CxG040: POSITIONING ZONE
8.2.0.9 S1CxG044: LOW-SPEED START
8.2.0.10 S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED
8.2.0.11 S1CxG056: WORK HOME POSITION RETURN SPEED
8.2.0.12 S1CxG057: SEARCH MAX. SPEED
8.2.0.13 S2C201: POSTURE CONTROL AT CARTESIAN OPERATION OF JOG
8.2.0.14 S2C202: OPERATION IN USER COORDINATE SYSTEM (WHEN EXTERNAL REFERENCE POINT CONTROL FUNCTION USED)
8.2.0.15 S2C320: CONTROLLED GROUP JOB TEACHING POSITION CHANGE
8.2.0.16 S2C422: OPERATION AFTER RESET FROM PATH DEVIATION
8.2.0.17 S2C423: OPERATION AFTER JOB
8.2.0.18 S2C424: DEVIATED POSITION
8.2.0.19 S2C425: CIRCULAR INTERPOLATION TOOL POSITION CONTROL
8.2.0.20 S2C653: EMERGENCY STOP CURSOR ADVANCE CONTROL FUNCTION
8.2.0.21 S2C654: EMERGENCY STOP CURSOR ADVANCE CONTROL FUNCTION CONT PROCESS COMPLETION POSITION
8.2.0.22 S2C655: EMERGENCY STOP ADVANCE CONTROL FUNCTION WORK START INSTRUCTION STEP MOTION COMPLETION DELAY TIME
8.2.0.23 S2C698: BASE AXIS OPERATION KEY ALLOCATION SETTING
8.2.0.24 S3C1098 to S3C1102: POSITION CORRECTING FUNCTION DURING PLAYBACK
8.3 Mode Operation Setting Parameters
8.3.0.1 S2C195: SECURITY MODE WHEN CONTROL POWER SUPPLY IS TURNED ON
8.3.0.2 S2C196: SELECTION OF Cartesian/CYLINDRICAL
8.3.0.3 S2C197: COORDINATE SWITCHING PROHIBITED
8.3.0.4 S2C198: EXECUTION UNITS AT “FORWARD” OPERATION
8.3.0.5 S2C199: INSTRUCTION (EXCEPT FOR MOVE) EXECUTION AT “FORWARD” OPERATION
8.3.0.6 S2C203: CHANGING STEP ONLY
8.3.0.7 S2C204: MANUAL SPEED STORING FOR EACH COORDINATE
8.3.0.8 S2C206: ADDITIONAL STEP POSITION
8.3.0.9 S2C207: MASTER JOB CHANGING OPERATION
8.3.0.10 S2C208: CHECK AND MACHINE-LOCK KEY OPERATION IN PLAY MODE
8.3.0.11 S2C209: RESERVED WORK JOB CHANGING OPERATION
8.3.0.12 S2C210: MASTER OR SUBMASTER CALL OPERATION IN PLAY MODE
8.3.0.13 S2C211: LANGUAGE LEVEL
8.3.0.14 S2C214: INSTRUCTION INPUT LEARNING FUNCTION
8.3.0.15 S2C215: ADDRESS SETTING WHEN CONTROL POWER IS TURNED ON
8.3.0.16 S2C216: JOB LIST DISPLAY METHOD AT JOB SELECTION
8.3.0.17 S2C217: INITIAL OPERATION OF MANIPULATOR
8.3.0.18 S2C218: PLAYBACK EXECUTION AT CYCLE MODE “1- STEP”
8.3.0.19 S2C219: EXTERNAL START
8.3.0.20 S2C220: PROGRAMMING PENDANT START
8.3.0.21 S2C221: SPEED DATA INPUT FORM
8.3.0.22 S2C222: RESERVED START
8.3.0.23 S2C224: JOB SELECTION AT REMOTE FUNCTION (PLAY MODE)
8.3.0.24 S2C225: EXTERNAL MODE SWITCH
8.3.0.25 S2C227: EXTERNAL CYCLE SWITCHING
8.3.0.26 S2C228: PROGRAMMING PENDANT CYCLE SWITCHING
8.3.0.27 S2C229: SERVO ON FROM EXTERNAL PP PROHIBITION
8.3.0.28 S2C230: PROGRAMMING PENDANT OPERATION WHEN “IO” IS SELECTED FOR REMOTE MODE
8.3.0.29 S2C234: STEP REGISTRATION AT TOOL NO. CHANGE
8.3.0.30 S2C293: REMOTE FIRST CYCLE MODE
8.3.0.31 S2C294: LOCAL FIRST CYCLE MODE
8.3.0.32 S2C312: POWER ON FIRST CYCLE MODE
8.3.0.33 S2C313: TEACH MODE FIRST CYCLE MODE
8.3.0.34 S2C314: PLAY MODE FIRST CYCLE MODE
8.3.0.35 S2C316: START CONDITION AFTER ALARM-4107 (“OUT OF RANGE (ABSO DATA)”)
8.3.0.36 S2C395: SIGNAL NAME ALIAS FUNCTION
8.3.0.37 S2C396: VARIABLE NAME ALIAS FUNCTION
8.3.0.38 S2C397: I/O VARIABLE CUSTOMIZE FUNCTION
8.3.0.39 S2C410: WORD REGISTRATION FUNCTION / WORD EDITING FUNCTION SPECIFICATION
8.3.0.40 S2C413: JOB UNDELETE FUNCTION
8.3.0.41 S2C415 to S2C419: TIME RESET
8.3.0.42 S2C431: TOOL NO. SWITCHING
8.3.0.43 S2C433: POSITION TEACHING BUZZER
8.3.0.44 S2C434: JOB LINKING DESIGNATION (When Twin Synchronous Function Used)
8.3.0.45 S2C437: PLAYBACK OPERATION CONTINUATION FUNCTION
8.3.0.46 S2C544: I/O NAME DISPLAY FUNCTION FOR JOB
8.3.0.47 S2C684:ALL AXES ANGLE DISPLAY FUNCTION
8.3.0.48 S2C713: CONTROL POINT OPERATION SETTING ON THE SERVO TRACK
8.3.0.49 S2C1203: TOUCH OPERATION FUNCTION IN GENERAL-PURPOSE DISPLAY AREA
8.3.0.50 S2C1204: CURSOR MOVEMENT FUNCTION BY TOUCH OPERATION ON JOB WINDOW
8.4 Parameters according to Interference Area
8.4.0.1 S1CxG800 to S1CxG819: PULSE SOFT LIMIT
8.4.0.2 S2C001: CUBE SOFT LIMIT CHECK
8.4.0.3 S2C002: S-AXIS INTERFERENCE CHECK
8.4.0.4 S2C003 to S2C066: CUBE/AXIS INTERFERENCE CHECK
8.4.0.5 S2C067 to S2C194: CUBE INTERFERENCE/AXIS INTERFERENCE SIGNAL USING METHOD
8.4.0.6 S3C000 to S3C047: CUBE SOFT LIMIT
8.4.0.7 S3C048 to S3C063: S-AXIS INTERFERENCE AREA
8.4.0.8 S3C064 to S3C1087: CUBIC INTERFERENCE AREA
8.4.0.9 S3C1089 to S3C1096: ROBOT INTERFERENCE AREA
8.4.0.10 S3C1097: A SIDE LENGTH OF WORK-HOME-POSITION CUBE
8.5 Parameters according to Status I/O
8.5.0.1 S2C235: USER OUTPUT RELAY WHEN CONTROL POWER IS ON
8.5.0.2 S4C000 to S4C015, S4C1100 to S4C1115: PARITY OF USER INPUT GROUPS
8.5.0.3 S4C016 to S4C031, S4C1116 to S4C1131: PARITY OF USER OUTPUT GROUPS
8.5.0.4 S4C032 to S4C047, S4C1132 to S4C1147: DATA OF USER INPUT GROUPS
8.5.0.5 S4C048 to S4C063, S4C1148 to S4C1163: DATA OF USER OUTPUT GROUPS
8.5.0.6 S4C064 to S4C079, S4C1164 to S4C1179: USER OUTPUT GROUP TO BE INITIALIZED AT SWITCHING MODE
8.5.0.7 S4C240: USER OUTPUT NO. WHEN MANIPULATOR DROP ALLOWABLE RANGE ERROR OCCURS
8.6 Parameters according to Coordinated or Synchronized Operation
8.6.0.1 S2C212: +MOV or +SMOV INSTRUCTION SPEED INPUT
8.6.0.2 S2C213: +MOV INSTRUCTION INTERPOLATION INPUT
8.6.0.3 S2C231: OPERATION METHOD AT FWD/BWD OPERATION OR TEST RUN BY INDEPENDENT CONTROL
8.6.0.4 S2C232: JOB AT CALLING MASTER OF SUBTASK BY INDEPENDENT CONTROL
8.6.0.5 S2C264: STATION AXIS CURRENT VALUE DISPLAY FUNCTION
8.6.0.6 S2C265 to S2C288: STATION AXIS DISPLAYED UNIT
8.6.0.7 S2C420: POSTURE CONTROL OF SYNCHRONIZED MANIPULATOR (When Twin Synchronous Function Used)
8.6.0.8 S2C421: POSTURE CONTROL OF MANIPULATOR IN MULTI-JOB (When Twin Synchronous Function Used)
8.6.0.9 S2C687: OPERATION OF JOB WITHOUT CONTROL GROUP SPECIFICATION
8.6.0.10 S2C688: EXECUTION OF “BWD” OPERATION
8.6.0.11 S3C1101: MAXIMUM DEVIATION ANGLE OF CURRENT STATION POSITION (When Twin Synchronous Function Used)
8.7 Parameters for Other Functions or Applications
8.7.0.1 S1CxG049 to S1CxG051: SMALL CIRCLE CUTTING
8.7.0.2 S1CxG052 to S1CxG053: SMALL CIRCLE CUTTING DIRECTION LIMIT VALUE
8.7.0.3 S1CxG054 to S1CxG055: SMALL CIRCLE CUTTING OVERLAP VALUE
8.7.0.4 S1CxG063, S1CxG064: PATTERN CUTTING DIMENSION
8.7.0.5 S1CxG065: MIRROR SHIFT SIGN INVERSION
8.7.0.6 S2C430: RELATIVE JOB OPERATION METHOD
8.7.0.7 S2C1135: PROHIBIT WELDING SECTION SPEED OVERRIDE
8.7.0.8 S2C1137: DISPLAY WELDING CONDITION FILE COMMENT ON THE JOB WINDOW FUNCTION
8.7.0.9 S3C1111 to S3C1190: ANALOG OUTPUT FILTER CONSTANT
8.7.0.10 S3C1191: CUT WIDTH CORRECTION VALUE
8.8 Hardware Control Parameters
8.8.0.1 S2C646: ANTICIPATOR FUNCTION
8.8.0.2 S4C327 to S4C390: SETTING OF OPERATING RELAY NO.
8.8.0.3 S4C391 to S4C454: OPERATING METHOD OF RELAYS
8.8.0.4 S2C786 to S2C788: COOLING FAN ALARM DETECTION
8.8.0.5 S2C1170: COOLING FAN ALARM DETECTION
8.8.0.6 S2C789 to S2C792: COOLING FAN ALARM 1 OPERATION
8.8.0.7 S2C793 to S2C796: COOLING FAN ALARM 2 OPERATION
8.8.0.8 S2C797 to S2C800: COOLING FAN ALARM 3 OPERATION
8.8.0.9 S2C1174: COOLING FAN ALARM 4 OPERATION
8.8.0.10 S2C801 to S2C804: FAN ALARM 1 WELDER STATUS
8.8.0.11 S2C805 to S2C808: FAN ALARM 2 WELDER STATUS
8.8.0.12 S2C809 to S2C812: FAN ALARM 3 WELDER STATUS
8.8.0.13 S2C1178: FAN ALARM 4 WELDER STATUS
8.9 Transmission Parameters
8.10 Application Parameters
8.10.1 Arc Welding
8.10.1.1 AxP000: APPLICATION
8.10.1.2 AxP003: WELDING ASSIGNMENT OF WELDING START CONDITION FILE
8.10.1.3 AxP004: WELDING ASSIGNMENT OF WELDING END CONDITION FILES
8.10.1.4 AxP005: WELDING SPEED PRIORITY
8.10.1.5 AxP009: WORK CONTINUING
8.10.1.6 AxP010: WELDING INSTRUCTION OUTPUT
8.10.1.7 AxP011, AxP012: MANUAL WIRE OPERATION SPEED
8.10.1.8 AxP013, AxP014: WELDING CONTROL TIME
8.10.1.9 AxP015 to AxP017: NUMBER OF WELDING CONTROL
8.10.1.10 AxP026 to AxP029: TOOL ON/OFF USER OUTPUT NO. (Jigless System)
8.10.2 Handling Application
8.10.2.1 AxP002, AxP004: f1 KEY FUNCTION
8.10.2.2 AxP003, AxP005: f2 KEY FUNCTION
8.10.3 Spot Welding
8.10.3.1 AxP003: MAXIMUM NUMBER OF CONNECTED WELDING POWER SOURCE
8.10.3.2 AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL
8.10.3.3 AxP005: STROKE CHANGE ANSWER TIME LIMIT
8.10.3.4 AxP006: PARITY SPECIFICATION FOR WELDING CONDITIONS
8.10.3.5 AxP007: ANTICIPATE TIME
8.10.3.6 AxP015: WELDING ERROR RESET OUTPUT TIME
8.10.3.7 AxP016, AxP017: TIP WEAR AMOUNT ALARM VALUE
8.10.4 General-Purpose Application
8.10.4.1 AxP009: WORK CONTINUE PROHIBIT
9 Table of Basic Instructions
9.1 Move Instructions
9.2 I/O Instructions
9.3 Control Instructions
9.4 Shift Instructions
9.5 Operating Instructions
YRC1000
GENERAL OPERATOR’S MANUAL
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)
MANUAL NO. RE-CSO-A051 8
DANGER
• This manual describes the various components of the YRC1000
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the YRC1000. Any
matter, including operation, usage, measures, and an item to use,
not described in this manual must be regarded as “prohibited” or
“improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.
CAUTION
•
In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. 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.
•
ii
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”.
DANGER
WARNING
CAUTION
NOTICE
Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION”.
iii
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 buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the
obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• 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 YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
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.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
iv
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
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.
In this manual, the equipment is designated as follows.
Equipment
YRC1000 controller
YRC1000 programming pendant
Cable between the manipulator and the
controller
Manual Designation
YRC1000
Programming pendant
Manipulator cable
v
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Character Keys
/Symbol Keys
Manual Designation
The keys which have characters or symbols
printed on them are denoted with [ ].
e.g. [ENTER]
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
When two keys are to be pressed
simultaneously, the keys are shown with a “+”
sign between them, e.g. [SHIFT]+[COORD].
Mode Switch can select three kinds of modes
that are denoted as follows: REMOTE, PLAY or
TEACH.
(The switch names are denoted as symbols)
The three buttons on the upper side of the
programming pendant are denoted as follows:
START, HOLD, or EMERGENCY STOP.
(The button names are denoted as symbols)
The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}
Axis Keys
/Numeric Keys
Keys pressed
simultaneously
Mode Switch
Button
Displays
Start button*
START
Mode switch*
REMOTE
PLAY
TEACH
vi
E
M
ERGENC Y S TOP
Hold button*
HOLD
Emergency stop button
Page key
Coordinate key
Axis keys
Shift key
Enter key
Numeric keys
*The button/switch names
are denoted as symbols.
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
corporation. The indications of (R) and TM are omitted.
vii
Contents
1 Introduction .....................................................................................................................................1-1
1.1 YRC1000 Overview ...........................................................................................................1-1
1.2 Programming Pendant.......................................................................................................1-2
1.2.1 Programming Pendant Overview..........................................................................1-2
1.2.2 Key Description.....................................................................................................1-3
1.2.2.1 Character Keys and Symbol Keys...........................................................1-3
1.2.2.2 Axis Keys and Numeric Keys ..................................................................1-3
1.2.2.3 Keys Pressed Simultaneously.................................................................1-3
1.2.3 Programming Pendant Keys.................................................................................1-4
1.2.4 Programming Pendant Display...........................................................................1-11
1.2.4.1 Five Display Areas.................................................................................1-11
1.2.4.2 General-Purpose Display Area..............................................................1-12
1.2.4.3 Main Menu Area ....................................................................................1-19
1.2.4.4 Status Display .......................................................................................1-20
1.2.4.5 Human Interface Display Area...............................................................1-23
1.2.4.6 Menu Area.............................................................................................1-23
1.2.4.7 Error Dialog Box ....................................................................................1-23
1.2.5 Screen Descriptions............................................................................................1-24
1.2.6 Character Input Operation ..................................................................................1-25
1.2.6.1 Character Input......................................................................................1-25
1.2.6.2 Operation...............................................................................................1-25
1.2.6.3 Alphanumeric Input ...............................................................................1-26
1.2.6.4 Symbol Input .........................................................................................1-27
1.2.6.5 Word Register Function.........................................................................1-28
1.2.7 Numeric Value Input Operation .........................................................................1-36
1.2.7.1 Operation for Numeric Value Input Area ...............................................1-36
1.2.7.2 Operation for Numeric Value Input Keypad...........................................1-37
1.2.8 Bilingual Function (Optional)...............................................................................1-38
1.2.9 Screenshot Acquisition Function ........................................................................1-39
1.3 Mode................................................................................................................................1-40
1.3.1 Teach Mode........................................................................................................1-40
1.3.2 Play Mode...........................................................................................................1-40
1.3.3 Remote Mode .....................................................................................................1-40
1.3.4 Teach Mode Priority............................................................................................1-40
1.4 Security Mode..................................................................................................................1-41
1.4.1 Types of Security Modes ....................................................................................1-41
1.4.2 Selecting Security Mode.....................................................................................1-47
2 Manipulator Coordinate Systems and Operations ..........................................................................2-1
2.1 Control Groups and Coordinate Systems ..........................................................................2-1
viii
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