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3.7 Interference Area

3-20

3.7.2

Cubic Interference Area

"

Cubic Interference Area

This area is a rectangular parallelepiped which is parallel to the base coordinate system, robot
coordinate system, or user coordinate system. The XRC judges whether the current position
of the manipulator’s tool center point is inside or outside this area, and outputs this information
as a signal. The cubic interference areas can be set, parallel to the base coordinate system or
user coordinate system.

"

Setting Method

There are three ways to set cubic interference areas, as described in the following:

Number Input of Cube Coordinates

Enter the maximum and minimum values for the cube coodinates.

Teaching Corner

Move the manipulator at the maximum and minimum value positions of the cube corner using
the axis keys.

Cubic

interference

area

Robot coordinates

Z-axis

X-axis

User Coordinates

Z-axis

Cubic

interference

area

Cubic

interference

area

X-axis

Y-axis

Y-axis

Minimum

value

X-axis

Y-axis

Z-axis

Maximum

value

Cubic

interference

area

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Summary of Contents for PX2750

Page 1: ...an Inc and may not be copied reproduced or transmitted to other parties without the expressed written authorization of Motoman Inc 2002 by MOTOMAN All Rights Reserved Because we are constantly improvi...

Page 2: ......

Page 3: ...Manual Section Page 1 INTRODUCTION 1 1 2 SAFETY 2 1 3 XRC SETUP 3 1 4 PX2850 PX2750 INSTRUCTIONS 4 1 5 XRC INSTRUCTIONS SUPPLEMENT FOR PX SERIES 5 1 6 XRC INSTRUCTIONS NAS 2001 6 1 7 XRC INSTRUCTIONS...

Page 4: ...PX2850 PX2750 Manipulator Manual ii MOTOMAN NOTES...

Page 5: ...rmation regarding the safe use and operation of the PX2850 PX2750 paint robot SECTION 3 SET UP MANUAL Provides basic information about the installation intitial operation and calibrationof the PX2850...

Page 6: ...ance contact the Motoman service staff at 937 847 3200 Please have the following information ready before you call Robot Type PX2850 etc Application Type assembly handling etc Software Version 5 101A...

Page 7: ...ram and maintain the robot cell The robot must not be operated by personnel who have not been trained We recommend that all personnel who intend to operate program repair or use the robot system be tr...

Page 8: ...iate and imminent hazards that if not avoided will result in immediate serious personal injury or loss of life in addition to equipment damage WARNING Information appearing under the WARNING caption c...

Page 9: ...ts and Outputs The robot must be placed in Emergency Stop E STOP mode whenever it is not in use In accordance with ANSI RIA R15 06 section 6 13 4 and 6 13 5 use lockout tagout procedures during equipm...

Page 10: ...nvolved with the operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications to the controller PLC can cause severe personal injury or d...

Page 11: ...safety equipment for proper operation Repair or replace any non functioning safety equipment immediately Inspect the robot and work envelope to ensure no potentially hazardous conditions exist Be sur...

Page 12: ...er program changes are made A backup must always be made before any servicing or changes are made to options accessories or equipment to avoid loss of information programs or jobs Do not enter the rob...

Page 13: ...thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN ooo MANIPULATOR INSTRUCTION MANUAL YASNAC XRC INSTRUCTION MANUAL YASNAC XRC OPERATOR S MANUAL YASNAC XRC OP...

Page 14: ...ng this product 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 ne...

Page 15: ...rtant items Indicates a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could...

Page 16: ...obot work envelope to teach a job Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel Observe the following precautions when performing teachi...

Page 17: ...essary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the...

Page 18: ...e g ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture e g page key The cursor key is an exception and a picture is not shown Axis Ke...

Page 19: ...ached to the manipulator Observe the precautions on the warning labels Failure to observe this caution may result in injury or damage to equipment Refer to the manipulator manual for the warning label...

Page 20: ...viii...

Page 21: ...2 2 3 Installation 3 1 Handling Procedure 3 1 3 1 1 Using a Crane to Move the Controller 3 1 3 1 2 Using a Forklift to Move the Controller 3 2 3 2 Place of Installation 3 2 3 3 Location 3 3 3 4 Mounti...

Page 22: ...on the Servo Power 5 2 5 2 1 During Play Mode 5 2 5 2 2 During Teach Mode 5 3 5 3 Turning the Power Off 5 4 5 3 1 Turning the Servo Power Off Emergency Stop 5 4 5 3 2 Turning the Main Power Off 5 4 6...

Page 23: ...for safe and proper operation of the MOTOMAN Chapter 2 explains how to receive the manipulator and its support equipment Chapter 3 explains XRC installation location and setup Chapter 4 explains how...

Page 24: ...xii...

Page 25: ...d arm movements etc which can pose safety hazards Read and understand the instruction manuals and related documents and observe all pre cautions in order to avoid the risk of injury to personnel and d...

Page 26: ...EC Prepare SAFETY WORK REGULATIONS based on concrete policies for safety management complying with related laws Observe the MANIPULATING INDUSTRIAL ROBOTS SAFETY ISO 10218 for safe operation of the ro...

Page 27: ...the back cover of this manual It is important to have and be familiar with all manuals concerning the MOTOMAN You should have the four manuals listed below MOTOMAN SETUP MANUAL MOTOMAN ooo INSTRUCTION...

Page 28: ...in the factory Failure to observe these cautions may result in fire electric shock or injury due to contact with the manipulator and other equipment Strictly observe the following items Always wear ap...

Page 29: ...RC or other controllers and avoid inadvertently pushing buttons Failure to observe this caution may result in injury or damage by unexpected movement of the manipulator Never allow unauthorized person...

Page 30: ...ow to install the manipulator Confirm that the area is large enough so that the fully extended manipu lator arm with tool will not reach a side wall safeguards or the control ler Failure to observe th...

Page 31: ...ng the XRC please check the following As a rule handling of XRC must be performed using a crane with wire rope threaded through attached eyebolts Be sure to use wire that is strong enough to handle th...

Page 32: ...e Install the XRC outside the safeguard of the manipulator s safety enclo sure Failure to observe this precaution may result in injury or damage to equipment resulting from contact with the manipulato...

Page 33: ...n accordance with the connection diagram There is a danger of equipment damage or injury due to miswiring and unexpected move ment of the equipment Take precautions when wiring and piping between the...

Page 34: ...e of the enclosure The gate of the enclosure must be equipped with a safety interlock Be sure the interlock operates correctly before use Failure to observe this caution may result in a serious accide...

Page 35: ...found in the specifications section of the manipulator manual Failure to observe this caution may result in injury or damage to equipment Teach jobs from outside the manipulator s work area whenever...

Page 36: ...sonnel operating the manipulator from the playback panel Prior to operation be sure there are no personnel in the manipulator s working envelope The following operations should always be per formed fr...

Page 37: ...to insulation and sheathing of cables Always return the programming pendant to the hook on the front of the controller after use The programming pendant can be damaged if it is left on the floor or i...

Page 38: ...manipulator and YASNAC XRC are illegible clean the labels so that they can be read clearly Note that some local laws may prohibit equipment operation if safety labels are not in place Contact your YAS...

Page 39: ...sal When disposing of the MOTOMAN follow the applicable national local laws and regulations Anchor the manipulator well even when temporarily storing it before disposal Failure to observe this precaut...

Page 40: ...1 7 Notes on MOTOMAN Disposal 1 16...

Page 41: ...Confirm the contents of the delivery when the product arrives Standard delivery includes the following five items Information for the content of optional goods is given separately Manipulator XRC Prog...

Page 42: ...2 2 Order Number Confirmation 2 2 2 2 Order Number Confirmation Confirm that the order number pasted on the manipulator and XRC match The order number plates are affixed to the figure below Example...

Page 43: ...r handling and make sure they are securely fastened before hoisting Crane sling and forklift operations must be performed only by autho rized personnel Failure to observe this caution may result in in...

Page 44: ...ight Avoid jarring dropping or hitting the controller during handling 3 2 Place of Installation The conditions listed below must be met before installing the XRC Ambient temperature must be 0 to 45 C...

Page 45: ...an easily inspect it when the door is open Install the controller at least 500mm from the nearest wall to allow maintenance access Shows the external dimensions 1000 mm or more 1000 mm or more 1000 mm...

Page 46: ...ontroller Attach the controller to the floor using user supplied brackets made according to the specifica tions shown below Refer to the Instruction Manual for information on installation of the manip...

Page 47: ...acitors inside the controller store electricity after power is turned off Exercise caution whenever handling circuit boards Failure to observe this caution may cause electrical shock Power cannot be t...

Page 48: ...equipment dam age One connects the manipulator and XRC Another connects the XRC and peripheral equipment A wrong connection can cause damage to electronic equipment Clear the area of all unauthorized...

Page 49: ...pply consists of AC200 220V 10 15 and 50 60Hz 2Hz 2Hz The power failure processing circuit operates when there is a temporary power frequency black out or drop in voltage and the servo power turns off...

Page 50: ...e breaker which can handle high frequencies Leakage breakers which cannot handle high fre quencies may malfunction Even with a leakage breaker installed there is still a possibility of some high frequ...

Page 51: ...capacity is different depending on work conditions Inquire at the nearest branch office listed on the back cover for information when selecting the transformer Cable Sizes and Switch Capacities Manip...

Page 52: ...and programming pendant is shown below 4 3 1 Connecting the Primary Power Supply 1 Open the front door of the XRC 1 Insert the door handle in the door lock on the front of XRC two places and rotate it...

Page 53: ...cable through it It is located on the top or on the left side of the XRC Attach the plate and cable firmly so that it won t shift or slide out of place 1 Pull off the top cover of the switch which is...

Page 54: ...nding in accordance with all relevant local and national electrical codes Grounding wire must be 8 0 mm2 or larger Exclusive Grounding The customer must prepare the ground wire Don t connect the groun...

Page 55: ...4 3 Connection Methods 4 9 4 Install the cover Install the Switch Cover 4 3 2 Connecting the Power Supply 1 Remove the cover from the left side of the controller cabinet Detaching the Cable Hole Cover...

Page 56: ...and the position of the pins of the manipulator Push the cable connector into the manipulator side connector firmly and tighten securely 4 Close the XRC door 1 Close the door gently 2 Rotate the door...

Page 57: ...cting the Programming Pendant Connect the programming pendant cable to the connector on the left side of the controller cabinet Connecting the Programming Pendant The manipulator XRC and the programmi...

Page 58: ...4 3 Connection Methods 4 12...

Page 59: ...hen the XRC main power is turned on and the star tup display is shown on the programming pendant screen Confirm that nobody is present in the working envelope of the manipula tor when turning on XRC p...

Page 60: ...in the play mode edit job if the XRC is in the teach mode and the cursor position in the job 5 2 Turning on the Servo Power 5 2 1 During Play Mode The worker s safety is secure if the safety plug is t...

Page 61: ...back panel lights when the operator grips the deadman switch Servo Power ON OFF Deadman Switch When the operator squeezes the deadman switch the servo power turns ON However if the operator squeezes t...

Page 62: ...off the servo power turn off the main power Turning the Servo Power Off Pressing the emergency stop button on either the programming pen dant or the playback box will turn off servo power The brake o...

Page 63: ...predetermined operating procedure Always have an escape plan in mind in case the manipulator comes toward you unexpectedly Improper or unintentional manipulator movement can result in injury Ensure no...

Page 64: ...them before resuming operation Specifically check for Problems in manipulator motion Damage to cables Always return the programming pendant to its specified position after use The programming pendant...

Page 65: ...lator by pressing the axis keys on the programming pendant This figure illustrates each axis of motion in the joint coordinate system Be sure to remove all items from the area before moving the manipu...

Page 66: ...6 1 Movement of the Axes 6 4...

Page 67: ...e manipulator comes toward you unexpectedly Ensure that you have a safe place to retreat in the event of an emer gency Improper or unintentional manipulator operation can result in injury Prior to per...

Page 68: ...k for problems in manipulator movement Check for damage to insulation and sheathing of external wires Return the programming pendant to its specified position after use If the programming pendant is l...

Page 69: ...ition display is shown 1 Move each manipulator axis using the programming pendant axis key Adjust each axis to the position of 0 pulse Make sure the manipulator servo power supply is off and that the...

Page 70: ...if home position mark for each axis is matched accurately Contact Customer Service if you encounter any problems performing home position cali bration S AXIS L AXIS opposite side The angle of the U ax...

Page 71: ...he operations are explained carefully in order Operator s Manual Composed of several sections each corresponding to operation of the system Work involving setting and diagnosis of the controller alarm...

Page 72: ...8 2...

Page 73: ......

Page 74: ...JING OFFICE Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASON HK COMPANY LIMITED...

Page 75: ...to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MAN...

Page 76: ...ty Be sure all covers and shields are replaced before operating this product The drawings and photos in this manual are representative examples and differences may exist between them and the delivered...

Page 77: ...the YASKAWA industrial robot product In this manual the equipment is designated as follows Indicates a potentially hazardous situation which if not avoided could result in death or serious injury to p...

Page 78: ...4 3 3 When the Manipulator and Mounting Fixture are Installed on a Common Base 4 4 4 3 4 When the Manipulator is Mounted Directly on the Floor 4 4 4 3 5 Location 4 5 4 3 6 Controller and Programming P...

Page 79: ...Dried paint dust and dirt 8 3 Tubes 8 3 Air leakage 8 4 Noise and vibration during operation 8 4 8 2 2 Pneumatic Unit 8 4 Drained water from air filter 8 4 Pressure 8 4 8 2 3 Safety Devices 8 4 Emerge...

Page 80: ...ase 9 12 Manipulator Base Box Cover Packings 9 14 9 3 Maintenance and Inspection of the Pneumatic Unit 9 15 9 3 1 Solenoid Valve 9 15 9 3 2 Pressure Reducing Valve 9 15 9 4 Inspection of Explosion pro...

Page 81: ...se a seri ous accident When on standby the manipulator can be moved by an exter nal signal To avoid these accidents caused by a lack of information put up a board or indicator lamp to show the robot o...

Page 82: ...he manip ulator and turn OFF the main power supply to the XRC Brake release Option A braking system is provided on each axis of the manipulator to hold the arm in its posi tion when a failure or fault...

Page 83: ...e motion speed and the ON OFF timing of the spray can be taught with the programming pendant while moving the manipulator which shortens the time required for teaching And the data can be corrected at...

Page 84: ...r such as an operation error or a controller fault occurs the alarm code and message are displayed and the date and time of the error occurrence with its explanation are stored in the alarm history to...

Page 85: ...5 MPa to 0 65 MPa 3 5 kgf cm2 to 6 5 kgf cm2 Capacity For turning the spray ON OFF 30NI min For switching the tilt of the gun 30 NI min For the pressurized explosion proof 30 NI min usually 250 NI min...

Page 86: ...plosion proof 0 to 45 C 80 RH Controller not explosion proof 0 to 45 C 90 RH Pneumatic unit not explo sion proof 0 to 45 C 85 RH Programming pendant not explosion proof 0 to 40 C 85 RH Programming pen...

Page 87: ...3 2 Installation Site 3 3 HW0480633 Devices that are not explosion proof must not be installed in hazardous locations Fail ureto observe this warning may result in a fire WARNING...

Page 88: ...ation space 2 Check if the transportation route can support the weight of each device If neces sary reinforce the route 3 To lift the manipulator use the appropriate machinary such as a forklift 4 2 R...

Page 89: ...k strong enough to sup port the weight Carefully check the length and the tension of the wire and belt to maintain the equilibrium of the manipulator while lifting Lifting method Attach the eyebolts i...

Page 90: ...s and withstand repulsion forces during acceleration and deceleration During installation if the flatness is not right the manipulator shape may change and its func tional ability may be compromised T...

Page 91: ...latness for the manipulator installation face must be 0 5 mm or less Fig 2 Mounting on the Common Installation Base 4 3 4 When the Manipulator is Mounted Directly on the Floor The floor should be stro...

Page 92: ...ions Ambient operating temperature 0 to 45 C 20 to 80 RH no moisture non condensation Free from dust dirt oil mist and water drop Free from excessive impact or vibration less than 4 9 m s2 0 5 G Free...

Page 93: ...ough space behind the controller so that air can be exhausted properly Do not install the controller and programming pendant close to any noise source such as the power supply for other devices Instal...

Page 94: ...ring must be performed by authorized or certified personnel Failure to observe this caution may result in fire or electric shock Do not cover the power cable between the manipulator and the XRC with a...

Page 95: ...Connection 5 5mm 2 or more Remove the Cover Prepare by the customer less than 0 1 Note2 Climped Terminals N2 7 Signal Cables For connecting the intrinsically safe cable to the controller internal cont...

Page 96: ...5 0BT5 SHIELD BAT3 0BT3 SHIELD Battery Unit 0BT1 BAT1 SHIELD XIU01 CN29 Power and Signal Cable WRCA01 CNPG123 Ground Terminal 6 4 Dia 12 9 Dia Nylon Air Tube E E BAT5 BAT5 OBT5 OBT5 BAT5 BAT5 BAT5 OBT...

Page 97: ...ing cable as mentioned above The metal pipe must have enough strength For the explosion proof approved parts use neither sealing fitting nor sealing compound other than the above mentioned model Manuf...

Page 98: ...Fig 8 a Fig 8 b Fig 8 c Use Connection to Type Power source cable Power source to from Controller CVV 3 5SQ 4C Intrinsically safe signal line Cable Manipulator to from Controller CVV 1 25SQ 2Cx2 Cabl...

Page 99: ......

Page 100: ......

Page 101: ...1 0BT1 24 22 19 45 47 21 16 14 37 13 11 6 8 3 31 5 29 FG 22 24 39 45 19 47 21 14 16 37 11 39 13 8 6 29 3 5 FG 31 E BAT5 BAT5 0BT5 0BT5 E BAT3 BAT3 0BT3 0BT3 Terminal A Drain Wire PE DATA 3 E 5V DATA 1...

Page 102: ...icu lated operation mode with 6 degrees of freedom on the manipulator base The motion of the manipulator is made by 6 axes The three main axes are used for positioning the spray gun the S axis which t...

Page 103: ...SUP 0 35 0 65MPa 3 5 6 5kg cm 2 Programming pendant Hazardous location Non hazardous location Option Program selector 7 50 60Hz 3 phase 200 220VAC POWER SUP 6 Workpiece supplier Option Option 6 Contro...

Page 104: ...t rotation center point P 300 Point P Working envelope of wrist rotation center point P 18 dia mounting hole 4 holes Manipulator base Manipulator base dimensions dimensions in mm PX2750 B30 Working en...

Page 105: ...cuit and Fig 12 Pneumatic Unit External View Set the air pressure so that the pressure shown on the pressure gauge of each pressure reducing valve will be within the pressure ranges shown in Fig 11 P...

Page 106: ...for equipment dam age 3 0 4 5 kgf cm 2 Manipulator Manipulator to MV Spray gun P1 Setting Pressure 0 02 0 04MPa 0 20 0 40 kgf cm 2 SV1 0 3 0 45MPa P2 Purge Air Pressure Filter Air in Pressure reducin...

Page 107: ...wrist Contact your Yaskawa representative to replace the rings When the wrist is cleaned 2 or 3 times a week with the recovered thinner the O rings may become deformed which causes malfunctions Conta...

Page 108: ...nge S axis turning 150 L axis lower arm 90 40 U axis upper arm 118 175 118 170 R axis Wrist roll 360 260 B axis Wrist yaw pitch 360 140 T axis Wrist twist 360 260 Maximum Speed 2 m s Allowable Moment...

Page 109: ...on Range S axis turning 150 L axis lower arm 90 40 U axis upper arm 118 170 R axis wrist pitch 260 B axis wrist yaw roll 270 T axis wrist twist 260 Maximum Speed 2 m s Allowable Moment R axis 30 4N m...

Page 110: ...s must be 3mm or less PX2850 B10 and 6mm or less PX2850 B20 PX2750 B30 Fig 13 Wrist Flange for PX2850 B10 Fig 14 Wrist Flange for PX2850 B20 0 0 01 4 dia length 5mm 0 035 3 4 dia length 5mm M4 Tapped...

Page 111: ...7 2 Wrist Flange 7 4 HW0480633 Fig 15 Wrist Flange for PX2750 B30 O ring depth 9 mm Tapped hole 8 M6 X 1 attached to the manipulator 0 5 P C D 32 6 Outer dia of Roatating part 0 018 0 45 14 70...

Page 112: ...required for the system application can be mounted on the horizontal arm Observe the following restrictions Maximum allowable load 20 kg Mounting position Refer to Fig 16 Device Mounting Position Fig...

Page 113: ...bration during operation No abnomal noise and vibration during robot operation Do not enter the robot working envelope 3 Tubes No severe wear and tear on paint and air supply tubes Use a pair of prote...

Page 114: ...lectric intru sion detecting switch Dried paint 1 The manipulator stops when the photoelectric switch is turned OFF 2 Remove the dried paint on the light beam detector 3 Operation of limit switch Drie...

Page 115: ...is dirty Tubes Check for wear and tear on the air supply tubes and the paint supply tubes connected to the motor on each axis Also make sure that the tubes are not bent from the weight of the vinyl s...

Page 116: ...ained from the air filter on the pneumatic unit Where the automatic drainage system is provided check the water level Pressure Before moving the manipulator check if the gauges of the pressure reducin...

Page 117: ...sitioning workpieces starting the robot and return the robot to home operate correctly Remove any dried paint that may obstruct the robot motion 8 2 4 Options Gun tilt switching Check if the gun chang...

Page 118: ...g trained and operations which can be performed by service company personnel Only specified personnel are to do inspection work Before maintenance or inspection be sure to turn the main power sup ply...

Page 119: ...if any abnormality is found Use Harmonic grease 4B No 2 RV speed reducer Repren ish grease Replace grease Replace the speed reducer if any abnormality is found Use Molywhite RE No 00 grease R B and T...

Page 120: ...solenoide valve Check the operation of the pressure reducing valve Inspection of explosion proof devices Check the operation of the pressure switch Check the operation of the master valve Check the o...

Page 121: ...end of the U arm 2 Harmonic Drive speed reducers for the U and T axes 3 RV speed reducers for the S and L axes 4 Cross roller bearing for the S axis Fig 17 Locations of Components T axis speed reducer...

Page 122: ...th See Fig 18 Injecting Grease at wrist and End of U arm for PX2850 B10 to Fig 20 IInjecting Grease at Wrist and End of U arm for PX2750 B30 Fig 18 Injecting Grease at wrist and End of U arm for PX285...

Page 123: ...ntative Grease Replenishment Refer to Fig 21 U axis Harmonic Drive Speed Reducer 1 Remove the plug in the Uo air flow 2 Remove the plug 1 8 from the Ui grease inlet and install the G nipple A PT1 8 to...

Page 124: ...install plugs in So Li and Lo exhaust port Apply Three Bond 1104 on screwed parts Reinstall the cover on the L axis motor side If grease is added without removing the plug the internal pressure will b...

Page 125: ...port Apply Three Bond 1104 on screwed parts Reinstall the cover on the L axis motor side Fig 22 S axis RV Speed Reducer If grease is added without removing the plug the internal pressure will be highe...

Page 126: ...s Cross Roller Bearing Grease type Molywhite Alvania EP grease 2 Amount of grease Approx 100cc L axis speed reducer Note Remove the hexagon socket head plug and install a G nipple A PT1 8 before injec...

Page 127: ...Co Viscosity ISO VG200 9 2 3 Tightening Bolts Tighten the bolts shown in Fig 25 Manipulator Base Box and Bearing Fixing Bolts to Fig 29 Terminal Box in Manipulator Base Box Fig 25 Manipulator Base Box...

Page 128: ...Wrist Fixing Bolts for PX2750 B30 Tightening torque 11 5N m 117kgf cm Hexagon socket head bolt 6 M6 117kgf cm Tightening torque 11 5N m Hexagon socket head bolt 5 M6 Tightening torque 11 5N m 117kg cm...

Page 129: ...nd U axes Remove the mounting bolts on the motor case and check the packing where the case is mounted Remove the cover for the cable inlet in the motor case and check the packing where the cover is at...

Page 130: ...cking b R B and T axes The packing is provided on the joint fetting between the back of the U arm and the motor case Remove the mounting bolts to check for wear and tear on the packing Refer to Fig 32...

Page 131: ...Box Cover Packings Remove the two covers on the back side of the manipulator base box and check the rubber packing Refer to Fig 33 Manipulator Base Box Rubber Packings Fig 33 Manipulator Base Box Rub...

Page 132: ...5 MPa 4 5 kg cm2 when purging 9 4 Inspection of Explosion proof Devices 9 4 1 Pressure Switch Remove the front cover of the pneumatic unit box and check the conduction of the pressure switch The press...

Page 133: ...few sec onds after the power to the XRC is turned ON and if it ends approximately 11 minutes later Also check the following a The alarm AIR PRESSURE ERROR occurs immediately after the air supply from...

Page 134: ...nd Co Ltd 200g 1 For plug seal A 3 Grease Alvania EP grease 2 Showa Oil Co Ltd 16 kg For the S axis cross roller bearing and the bevel gear in wrist A 4 Grease Molywhite RE No 00 Yaskawa Electric Corp...

Page 135: ...W0380189 A Yaskawa Electric Corporation 1 3 C 18 Switch unit HW0370243 A Yaskawa Electric Corporation 1 1 Pressure switch C 19 Internal cable HW0270145 A Yaskawa Electric Corporation 1 1 For S and L a...

Page 136: ...B 9 U axis speed reducer HW9482864 A Yaskawa Electric Corporation 1 1 B 10 R and B axes speed reducers HW9482863 A Yaskawa Electric Corporation 1 2 B 11 T axis speed reducers HW0480040 A Yaskawa Elec...

Page 137: ...1 B 9 U axis speed reducer HW9482864 A Yaskawa Electric Corporation 1 1 B 10 R and B axes speed reducers HW9482863 A Yaskawa Electric Corporation 1 2 B 11 T axes speed reducers HW0480040 A Yaskawa Ele...

Page 138: ...4 1025 1026 1027 1028 1029 1030 1031 1036 1037 1038 1039 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1053 1054 1054 1055 1055 1056 1057 1058 1059 1058 1059 1057 1061 1062 1063 1065 1066 106...

Page 139: ...48 HW9406055 4 Packing 4 1049 M5 25 Socket screw 4 1050 2H 5 Spring washer 4 1051 KQLE10 00 Joint 2 1052 SW 16 Packing 2 1053 HW9406050 1 Block 4 1054 M6 20 Socket screw 8 1055 M16 I bolt 2 1056 HW940...

Page 140: ...027 2029 2029 2031 2070 2014 2004 2005 2006 2007 2008 2009 2010 2011 2028 2030 2032 2034 2035 2036 2037 2038 2039 2040 2041 2042 2044 2045 2046 2047 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2...

Page 141: ...2679 1 Cover 1 2033 2034 M6 25 Socket screw 4 2035 2H 6 Spring washer 4 2036 KQLE10 00 Joint 1 2037 SW 16 Packing 1 2038 KQH10 02S H union 1 2039 SGMGH 30A2A YRA1 Motor 1 2040 M12 35 Socket screw 4 20...

Page 142: ...11 1 Parts List PX2750 B30 11 5 HW0480633 3001 3002 3009 3003 3004 3005 3006 3014 3020 3021 3013 3010 3011 3022 3015 3016 3012 3012 3017 3018 3019 3007 3008...

Page 143: ...1 2 1 4 Nipple 1 3009 KQL06 01S Joint 1 3010 KQH10 02S Helf union 1 3011 BD8 MB11 Terminal plate 1 3012 M4 12 Head machine screws with washer 2 3013 M 200 A31 Switch 1 3014 KQL10 03S Union 1 3015 AP1...

Page 144: ...3 4024 4024 4025 4026 4027 4028 4028 6AXIS 5AXIS 4029 4028 4028 4029 4030 4031 4032 4033 4034 4035 4037 4038 4039 4040 4040 4041 4041 4042 4043 4044 4045 4046 4047 4048 4049 4050 4051 4052 4052 4048 4...

Page 145: ...Packing 1 4027 HW0400587 1 Frange 1 4028 HW9482404 1 Seat 6 4029 HW9482408 1 Seat 3 4030 SGMPH 04A1A YR61 Motor 2 4031 HW9482863 A Reduction gear 2 4032 M5 55 Socket Screw 8 4033 2H 5 Spring washer 8...

Page 146: ...5018 5019 5020 5021 5022 5023 5024 5027 5025 5025 5026 5027 5028 5029 5030 5031 5040 5033 5034 5035 5036 5037 5038 5039 5040 5041 5042 5043 5044 5045 5046 5047 5054 5049 5050 5051 5060 5057 5059 5058...

Page 147: ...screw 10 5031 HW9302706 2 Jig 1 5032 HW9302704 1 Gear 1 5033 HW9406030 1 Nut 1 5034 AN06 B nut 1 5035 HW9406065 1 Gear 1 5036 HW9406096 1 Coller 1 5037 M4 8 Socket screw 1 5038 HW9302808 1 Gear 1 503...

Page 148: ...PX2750 B30 11 11 HW0480633 6001 6002 6003 6004 6005 6006 6007 6008 6009 6010 6011 6013 6014 6015 6016 6017 6018 6019 6020 6021 6022 6023 6024 6025 6026 6027 6028 6029 6030 6031 6032 6033 6021 6034 603...

Page 149: ...8 Socket screw 4 6015 HW9406101 1 Packing 1 6016 HW9306102 1 Cover 1 6017 M4 8 Socket screw 4 6018 HW9406103 1 Packing 1 6019 HW9302750 2 Jig 1 6020 M4 12 Socket screw 2 6021 6900ZZ Bearing 2 6022 HW9...

Page 150: ...1026 1027 1028 1029 1030 1031 1036 1037 1038 1039 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1053 1054 1054 1055 1055 1056 1057 1058 1059 1058 1059 1057 1061 1062 1063 1065 1066 1067 1068...

Page 151: ...048 HW9406055 4 Packing 4 1049 M5 12 Socket screw 4 1050 2H 5 Spring washer 4 1051 KQLE10 00 Joint 2 1052 SW 16 Packing 2 1053 HW9406050 1 Block 4 1054 M6 20 Socket screw 8 1055 M16 I bolt 2 1056 HW94...

Page 152: ...027 2029 2029 2031 2070 2014 2004 2005 2006 2007 2008 2009 2010 2011 2028 2030 2032 2034 2035 2036 2037 2038 2039 2040 2041 2042 2044 2045 2046 2047 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2...

Page 153: ...2679 1 Cover 1 2033 2034 M6 25 Socket screw 4 2035 2H 6 Spring washer 4 2036 KQLE10 00 Joint 1 2037 SW 16 Packing 1 2038 KQH10 02S H union 1 2039 SGMGH 30A2A YRA1 Motor 1 2040 M12 35 Socket screw 4 20...

Page 154: ...11 2 Parts List PX2850 B10 11 17 HW0480633 3001 3002 3009 3003 3004 3005 3006 3014 3020 3021 3013 3010 3011 3022 3015 3016 3012 3012 3017 3018 3019 3007 3008...

Page 155: ...1 2 1 4 Nipple 1 3009 KQL06 01S Joint 1 3010 KQH10 02S Helf union 1 3011 BD8 MB11 Terminal plate 1 3012 M4 12 Head machine screws with washer 2 3013 M 200 A31 Switch 1 3014 KQL10 03S Union 1 3015 AP1...

Page 156: ...4016 4017 4015 4016 4017 4015 4016 4017 4011 4012 4013 4015 4016 4017 4015 4016 4017 4022 4022 4023 4023 4024 4024 4025 4027 4026 6AXIS 5AXIS 4061 4061 4030 4032 4033 4047 4AXIS 4042 4043 4044 4039 40...

Page 157: ...4027 HW0400587 1 Frange 1 4028 M5X25 Socket screw 4 4029 2H 5 Washer 4 4030 SGMPH 04A1A YR61 Motor 3 4031 HW9482863 A Reduction gear 3 4032 M5 45 Socket Screw 12 4033 2H 5 Spring washer 12 4034 4035 M...

Page 158: ...633 5015 5017 5010 5009 5001 5044 5005 5007 5045 5002 5006 5003 5011 5013 5012 5014 5040 5039 5036 5030 5029 5027 5022 5025 5021 5024 5027 5028 5031 5011 5012 5014 5041 5042 5043 5018 5019 5020 5023 5...

Page 159: ...1057 1 Case 1 1 5019 HW9101058 1 Case 1 1 5020 HW0400443 1 Case 1 1 5021 HW9406531 3 Bearing 1 5022 HW0400512 1 Stopper 4 1 5023 M4 10 Socket screw 8 5024 HW9302988 2 Gear B52 1 5025 HW9302989 2 Jig 5...

Page 160: ...0 B10 11 23 HW0480633 6024 6023 6022 6010 6038 6007 6027 6030 6028 6031 6021 6029 6040 6039 6004 6001 6002 6034 6033 6036 6035 6005 6037 6026 6006 6003 6025 6008 6009 6014 6015 6020 6019 6016 6017 601...

Page 161: ...017 HW9406545 1 Stopper 3 1 6018 M4 10 Socket screw 8 6019 HW9406546 1 Stopper 2 1 6020 M4 10 Socket screw 8 6021 6815ZZ Bearing 2 6022 HW9303001 2 Jig 61 1 6023 HW9303002 2 Gear B61 1 6024 M4 10 Sock...

Page 162: ...1026 1027 1028 1029 1030 1031 1036 1037 1038 1039 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1053 1054 1054 1055 1055 1056 1057 1058 1059 1058 1059 1057 1061 1062 1063 1065 1066 1067 1068...

Page 163: ...048 HW9406055 4 Packing 4 1049 M5 12 Socket screw 4 1050 2H 5 Spring washer 4 1051 KQLE10 00 Joint 2 1052 SW 16 Packing 2 1053 HW9406050 1 Block 4 1054 M6 20 Socket screw 8 1055 M16 I bolt 2 1056 HW94...

Page 164: ...027 2029 2029 2031 2070 2014 2004 2005 2006 2007 2008 2009 2010 2011 2028 2030 2032 2034 2035 2036 2037 2038 2039 2040 2041 2042 2044 2045 2046 2047 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2...

Page 165: ...2679 1 Cover 1 2033 2034 M6 25 Socket screw 4 2035 2H 6 Spring washer 4 2036 KQLE10 00 Joint 1 2037 SW 16 Packing 1 2038 KQH10 02S H union 1 2039 SGMGH 30A2A YRA1 Motor 1 2040 M12 35 Socket screw 4 20...

Page 166: ...11 3 Parts List PX2850 B20 11 29 HW0480633 3001 3002 3009 3003 3004 3005 3006 3014 3020 3021 3013 3010 3011 3022 3015 3016 3012 3012 3017 3018 3019 3007 3008...

Page 167: ...1 2 1 4 Nipple 1 3009 KQL06 01S Joint 1 3010 KQH10 02S Helf union 1 3011 BD8 MB11 Terminal plate 1 3012 M4 12 Head machine screws with washer 2 3013 M 200 A31 Switch 1 3014 KQL10 03S Union 1 3015 AP1...

Page 168: ...23 4024 4024 4025 4026 4027 4028 4028 6AXIS 5AXIS 4029 4028 4028 4029 4030 4031 4032 4033 4034 4035 4037 4038 4039 4040 4040 4041 4041 4042 4043 4044 4045 4046 4047 4048 4049 4050 4051 4052 4052 4048...

Page 169: ...08 1 Seat 3 4030 SGMPH 04A1A YR61 Motor 2 4031 HW9482863 A Reduction gear 2 4032 M5 55 Socket Screw 8 4033 2H 5 Spring washer 8 4034 HW9302724 B Rod 2 4035 M4 8 H set screw 2 4036 HW9302714 1 Gear 1 4...

Page 170: ...33 HW0480633 5038 5036 5037 5001 5002 5035 5025 5032 5031 5030 5029 5013 5024 5023 5022 5009 5010 5008 5007 5006 5003 5004 5040 5039 5033 5005 5034 5022 5014 5013 5020 5012 5021 5018 5015 5019 5017 5...

Page 171: ...ear 1 5016 HW0401105 1 Key 1 5017 M4 6 H set screw 1 5018 HW9406066 1 Nut 1 5019 AN06 B nut 1 5020 HW9302721 2 Jig 1 5021 M5 12 Bolt 12 5022 6811ZZ Bearing 2 5023 BD 80B Spring 5 5024 HW9302718 2 Gear...

Page 172: ...9 6011 6008 6010 6005 6012 6002 6004 6006 6013 6007 6045 6014 6015 6016 6018 6019 6041 6042 6059 6058 6056 6055 6057 6043 6044 6040 6053 6054 6035 6036 6037 6033 6034 6032 6015 6031 6051 6049 6012 605...

Page 173: ...9302745 2 Gear 1 6026 HW9302746 2 Frange 1 6027 M5 10 Bolt 12 6028 4MM 12 Pin 1 6029 HW9406066 1 Nut 1 6030 M4 6 H set screw 1 6031 6000ZZ Bearing 2 6032 STW 10 C stopper 1 6033 HW9302743 1 Gear 1 603...

Page 174: ...Ku Seoul 150 010 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 282 3003 Fax 65 289 3003 YASKAW...

Page 175: ...o initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN PX2850 INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR...

Page 176: ...050 PX1850 manipulator Read this manual thoroughly together with the YASNAC XRC INSTRUCTIONS Manual No RE CTO A203 This manual only describes the information for this particular type For any informati...

Page 177: ...2R FM QF1 NZMH6 63 ZM6A 20 NA Breker Option JARCR XFL02B Brake release board Panel ZY1C SS3152 Battery unit for JZRCR XSB01 the travel axis Encoder separation Board JARCR XIS04 with travel axis Batter...

Page 178: ...vices Type Capacity SERVOPACK CACR UP60AAB S axis JUSP WS20AA 2 kW L axis JUSP WS30AA 3 kW U axis JUSP WS20AA 2 kW R axis JUSP WS10AA 1 kW B axis JUSP WS10AA 1 kW Amplifier T axis JUSP WS10AA 1 kW Ser...

Page 179: ...the alarm Encoder Battery Error occured Battery Unit type JZRCR XSB01 2 Allocating the I O The XRC employs the I O allocation for painting application painting standard The I O allocation table is gi...

Page 180: ...N12 2054 CN11 B3 IN13 2055 CN11 A3 IN14 2056 CN11 B4 IN15 2057 CN11 A4 IN16 Logic No Connector No Name 3010 CN12 B8 Running 3011 CN12 A8 Servo ON 3012 CN12 B9 Start of Master Job 3013 CN12 A9 Alarm Er...

Page 181: ...ower Supply Cables Connect To Signal cable The connectors CNPG7 on the encoder separation board JARCR XIS04 on the bottom right inside the XRC Power cable 7AMP terminal block at the upper inside the X...

Page 182: ...xis signal cable CNPG7 R B and T axes CNPG456 Connector for manipulator signal cable S L and U axes CNPG123 Connector for manipulator signal cable with travel axis Connector for manipulator brake CN29...

Page 183: ...ch tube to the Pneumatic Unit as shown in Fig 3 12dia 9dia nylon tube 6dia 4dia nylon tube 12dia 9dia for internal pressurized air for purging valve nylon tube for air Pneumatic Unit YASNAC XRC Side V...

Page 184: ...Model TMR1 TMR2 TMR3 Without travel axis 11 min 3 sec 15 sec PX2850 With travel axis 17 min 5 sec 15 sec Without travel axis 11 min 3 sec 15 sec PX2750 With travel axis 17 min 5 sec 15 sec Without tra...

Page 185: ...312003 3A 250V 8 Power ON circuit board fuse GP40 4 0A 250V Alarm fuse 9 Power ON circuit board relay LY2 DC24V 10 Battery ER6VC3 3 6V 11 Battery Unit JZRCR XSB01 12 Encoder separation board JARCR XIS...

Page 186: ...holders 2 5A Glass Tube fuse 2 313005 5A 250V LITTEL JANCD XTU01 FU1 2 3 3 A Glass Tube fuse 2 312003 3A 250V LITTEL JANCD XTU01 FU3 4 Purging control ciucuitFU2 3 4 10A Ceramic fuse 2 326010 10A 250...

Page 187: ...in Rank B or Rank C contact your Yaskawa representative N o Rank Name Type Manufacturer Qty Qty per Unit Remarks 1 A Battery ER6VC3N 3 6V Toshiba Battery 1 1 2 A Battery Unit JZRCR XSB01 Yaskawa Elect...

Page 188: ...wa Electric Corporation 1 2 For S and L axis 23 B Amplifier JUSP WS10AA Yaskawa Electric Corporation 1 3 For S and L axis 24 B Amplifier JUSP WS44AB Yaskawa Electric Corporation 1 1 For travel axis 25...

Page 189: ...wer Supply Unit JZRCR XPU08B Yaskawa Electric Corporation 1 1 38 C Barrier Box IBRC6052R FM Izumi Electric 1 1 39 C Programming Pendant JZNC XPP02B Yaskawa Electric Corporation 1 1 With Cable 8m 1 Rep...

Page 190: ...oad Taipei Taiwan BEIJING OFFICE Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASO...

Page 191: ...nstructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC XRC OPERATOR S MANUAL...

Page 192: ...B HFSBG FG BAK GB FSBK IFG HA G EOL TB GB AA HFSBG K BAK GB GBDA HBK PBIFGB FDBG E N E DGFK HEL 9 B KG J N K D FEF E A GB GBDGB B E E SB BC DAB K K IIBGB HB O BC E PBEJBB E B K E B KBA SBGBK DGFK HEL...

Page 193: ...ly hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or moderate inju...

Page 194: ...JFGX B SBAFDB EF EB H FPL Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel 9 P BGSB E B IFAAFJ N DGBH E F J B DBGIFG N EB H N FDBG E F J E...

Page 195: ...AOM K PB GB E E AA FE BG BHB GO DGFHB N PBB DBGIFG BKL W1 BHX IFG DGFPAB D A EFG FSB B EL W1 BHX IFG K NB EF A E F K B E N FI BCEBG A J GB L 9 AJ O GBE G E B DGFNG N DB K E EF E B FFX F E B 3 1 H P BE...

Page 196: ...ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page ke The cursor key is an exception and a picture is not shown Axis Keys...

Page 197: ...4L L6 Specific I O Circuit Board 1 JARCR XCI01 and Specific I Circuit Board 2 JARCR XCU01B 2 11 Direct IN 2 12 Connected Jumper Leads Before Shipment 2 13 Deadman Switch Signal Output 2 14 Connection...

Page 198: ...d 2 72 Arc Welding Application 2 72 Inspections L6 Regular Inspections 3 1 L4 XRC Inspections 3 2 L4L6 Checking if the Doors are Firmly Closed 3 2 L4L4 Checking for Gaps or Damage in the Sealed Constr...

Page 199: ...AAFJ N DGBH E F J B DBGIFG N EB H N FDBG E F J E E B JFGX N B SBAFDB FI E B D A EFGR W AJ O S BJ E B D A EFG IGF E B IGF EL W AJ O IFAAFJ E B DGBKBEBG BK FDBG E N DGFHBK GBL W AJ O SB B H DB DA K H B...

Page 200: ...BHX IFG DGFPAB D A EFG FSB B EL W 1 BHX IFG K NB EF E B A E F K B E N FI BCEBG A J GB L 9 AJ O GBE G E B DGFNG N DB K E EF E DBH I BK DF E F IEBG BL If the programming pendant is inadvertently left o...

Page 201: ...oltage on customer side 480 VAC is set before ship ment If the transformer is not used the specification is three phase AC200 220V 10 15 at 50 60Hz 2 Hz Grounding Grounding resistance 100 or less Excl...

Page 202: ...ng Speed Limit User definable Deadman Switch 3 position type Servo power can be turned on at the mid position only Located on programming pendant Collisionproof Frames S axis frame doughnut sector Cub...

Page 203: ...bot stop Execution of some instruc tions during robot motion Operation Instruc tions Preparing the operation instructions for each application Arc ON Arc OFF etc Variable Global variable Local variabl...

Page 204: ...AF_F1 SAF_F2 SAF_F2 14 15 16 16 15 14 EXHOLD1 EXHOLD1 EXHOLD2 EXHOLD2 9 10 11 12 12 11 10 9 EXSVON2 8 8 PPESPOUT EXSVON1 6 6 CN28 10 8 7 6 5 4 3 2 1 9 EXBRK EXBRK EXNCM EXNCM EXTUDIN ON_EN1 ON_EN1 G3...

Page 205: ...CN01 IO 0 6XT OFF QS1 QS3 10A 250V 1FU 2FU 10A 250V 1XT USCC3I QS2 QS3 Fuse holders Fuse Refer to the Following table Brake release control board CN3 CN4 CN1 CN5 CN2 I O unit CN31 CN30 CN32 CN26 CN25...

Page 206: ...nd QS3 CN5 CN3 CN4 CN1 CN2 CN32 CN30 CN31 CN26 CN24 CN23 CN25 CN29 EV3 CN20 EV2 EV1 CN21 CN22 CN05 1 2 3 4 5 5 4 3 2 1 EXSVON1 EXESP 2 EXESP2 EXESP1 EXESP1 CN06 PPESPOUT PPESPIN PPESPIN PPESPOUT PPESP...

Page 207: ...r to the following table USCC3I CN4 CN3 CN1 CN2 CN5 Brake release control board JZRCR XCO02B CPU unit EV3 CN31 CN30 CN32 CN25 CN26 CN22 CN21 CN20 CN23 CN24 CN29 EV2 JZNC XRK01B 1 Power ON unit DATE SE...

Page 208: ...RVOPACK QS1 Type UP200 UP130 UP165 UP165 100 YASNAC XRC Time delay fuses of class CC are used for QS1 and QS3 CN31 CN30 CN32 CN25 CN26 CN22 CN21 CN20 CN23 CN24 CN29 CN06 CN05 CN13 CN12 CN10 CN11 CN44...

Page 209: ...P100 RB03 Brake operation panel JZRCR XFL02B 40A 40A 40A 40A Sectional view A A CACR UP130AABY18 CACR UP130AABY21 CACR SK300AAB CACR SK300AAB 40A 40A 40A 40A A JZRCR XPU10B A Refer to the following ta...

Page 210: ...tem SV3X Small Capacity type Right side view Cooling System Except for SV3X Small Capacity type Right side view 1KM Servo Top Fan Backside Duct Fan Air Inlet Servopack Air Outlet S Servopack Natural h...

Page 211: ...GIFG N EB H N FDBG E F J E E B JFGX N B SBAFDB FI E B D A EFGR W AJ O S BJ E B D A EFG IGF E B IGF EL W AJ O IFAAFJ E B DGBKBEBG BK FDBG E N DGFHBK GBL W AJ O SB B H DB DA K H B E B D A EFG HF B EFJ G...

Page 212: ...FHBK GB DG FG EF DBGIFG N EB H W N FDBG E F L 0I DGFPAB GB IF KM HFGGBHE E B BK EBAOM K PB GB E E AA FE BG BHB GO DGFHB N PBB DBGIFG BKL W 1 BHX IFG DGFPAB D A EFG FSB B EL W 1 BHX IFG K NB EF A E F K...

Page 213: ...ATE NJ2096 1 JAPAN TYPE SER NO YASKAWA ELECTRIC CORPORATION Noise filter 1Z 5X Single 200 VAC Output connector Conector output etc Resister RB 4X Contactor output 10A 250V 2FU 10A 250V 1FU 1X Single p...

Page 214: ...the button BRAKE RELEASE held pressed press the button of axis for which the brake is to be released The brake for the corresponding axis is released as long as the button is pressed 9 V EH F OF G IBB...

Page 215: ...a serial communication board JANCD XIF03 This board has the PC card interface and Serial interface for RS 232C The JANCD XMM 01 board option can be installed when CMOS memory is expanded JANCD XCP01...

Page 216: ...tuation Range 10 to 15 170 to 242VAC Frequency 50 60Hz 2Hz 48 to 62Hz Output Voltage 5VDC 10A 24VDC 4 0A Indicator Overheat Detector It is detected when the temperature inside of the controller is abo...

Page 217: ...power turn the main switch to the ON posi tion then turning on the control powersupply If the controller is not located at the workplace the control power supply can be turned ON and OFF by input from...

Page 218: ...tool downward Direction of the arrow 3 Remove the wiring tool from the connector Complete The wiring tool for WAGO connector should be kept for future use Wire Bare length 8 to 9 mm A part Attachment...

Page 219: ...e screw on A part of the connector by using small size flat tipped screw driver 2 Insert a wire into the B part of connector and tigten the A part screw by using a small size flat tipped screwdriver R...

Page 220: ...Playback Panel CN10 11 12 and 13 General I O Signal Connector CN41 For connection to Power ON unit CN40 Forced Reset Full speed Set Switch to Safe Speed Hanger Switch PHENIX connector Refer to Wiring...

Page 221: ...points 8 points Direct input 3 points Deadman Switch Control Circuit JZRCR XCO02B Specific Input Circuit Board Allocation and Connection Diagram 9 TBIFGB BM GB FSB O DBG AB K IGF E B DBH I H D E N A L...

Page 222: ...nally connected JZRCR XCO02B Specific I O Circuit Board Allocation and Connection Diagram 1 2 3 4 5 6 7 8 EXDIN1 EXDIN1 EXDIN2 EXDIN2 EXDIN3 EXDIN3 EXDIN4 EXDIN4 CN44 24V DIN1 DIN2 DIN3 DIN4 YASNAC XR...

Page 223: ...9 on the specific input circuit board JARCR XCI01 are set across 2 and 3 of SW 1 1 and 2 of SW8 and 1 and 2 of SW9 JZRCR XCO02B Specific I O Circuit Board Allocation and Connection Diagram CN06 1 2 3...

Page 224: ...d Allocation and Connection Diagram CN06 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 YASNAC XRC JZRCR XCO02B JARCR XCI01 PPESPOUT PPESPOUT PPESPIN PPESPIN PBESPOUT PPESPOUT PBESPIN PBESPIN DSWOUT DSWOUT RD...

Page 225: ...JZRCR XCO02B 2 Connect CN06 16 and 15 of the I O unit JZRCR XCO02B to 24 V and 0V of the external power supply respectively JZRCR XCO02B Specific Input Circuit Board Allocation and Connection Diagram...

Page 226: ...not use the FORCE Forced release input It the FORCE input should be used for an unavoidable reason be sure to use a switch with a key The systems manager is responsible for storage of the key When FOR...

Page 227: ...de speed when XRC is in teach mode Note that 1st Safe Speed and 2nd Safe Speed can not be selected When only one is input an alarm occurs JZRCR XCO02B Specific Input Circuit Board Allocation and Conne...

Page 228: ...14 and HSW2 CN40 15 and 16 Use two con tact type input switch so that both of HSW1 and HSW2 turn ON OFF simultaneously If only one is input an alarm occurs JZRCR XCO02B Specific Input Circuit Board A...

Page 229: ...ed the speed is limited to 2nd Safety Speed 1st Safety Speed limited to 16 of the play maximum speed 2nd Safety Speed limited to 2 of the play maximum speed JZRCR XCO02B Specific Input Circuit Board A...

Page 230: ...External hold Disabled by jumper lead Use to connect the HOLD switch of an external operation device Job execution stops when this signal is input Starting and axis opera tions are disabled while thi...

Page 231: ...est Open PLAY normal speed is selected inPLAY mode and TEACH normal speed is selected in TEACH mode S SP1 CN40 9 10 Switches Valid Invalid of HSW DSW Open When open DSW valid When short circuited HSW...

Page 232: ...ral I O circuit board is controlled by the system control circuit board JANCD XCP 01 through the specific I O circuit board JARCR XCI01 I O can be separated as specific I O and general I O allocated s...

Page 233: ...ions Connector A detailed Cable side JZRCR XCO02B CN11 CN10 CN13 CN12 Connector Type FCN 361J040 AU Fujitsu Soldering pin type Food Type FCN 360C040 B Fujitsu Connector A CN10 CN11 CN12 CN13 Connector...

Page 234: ...all application JARCR XCI01 External Start depending on application JARCR XCI03 Operating depending on application JARCR XCI03 External Hold common to all application JARCR XCI01 External Emergency St...

Page 235: ...obot has actually started moving Servo Power ON Confirmation Servo ON PB X1 X2 X3 Servo Power ON Servo ON Command Servo ON Command Servo Power ON Confirmation X2 X4 X4 X4 YASNAC XRC I O Unit JZRCR XCO...

Page 236: ...ON_EN1 EXNCM EXNCM EXBRK 1 EXBRK CN26 CN24 CN23 0V 0VU 24V 24VU CN20 0VU 0V 24V 24VU CN22 CN21 CN25 10 24V CN27 24VU EX0VIN EX24VIN EXOT2 EXOT2 EXOT1 1 EXOT1 CN20 JZRCR XSU02 CN20 Power Supply Input...

Page 237: ...nect the shock sensor signal SHOCK to the robot Shock Sensor Connection Shock Sensor Connection Terminal Terminal Type Factory Setting Use Shock Sensor SHOCK PC 2005W 24VU PC 2005M SHOCK PC 2005M When...

Page 238: ...3 and 4 of power ON unit JZRCR XSU02 2 Connect the overrun input of an external axis between CN27 1 and 2 and CN27 3 and 4 of power ON unit JZRCR XSU02 as shown in the figure below The input switch f...

Page 239: ...r servo area to the servo ON enable input ON_EN1 across CN28 7 and 8 the switch 2 to the servo ON enable input ON_EN2 across CN28 9 and 10 Make a connection so that both of these switches turn ON OFF...

Page 240: ...K Configuration Small Capacity Type Component SV3X UP6 Type Capacity Type Capacity SERVOPACK CACR SV3AAA CACR UP6AAC Converter JUSP ACP05JAA 5A JUSP ACP05JAA 5A Amplifier S JUSP WS02AA 200W JUSP WS05A...

Page 241: ...WRCA01 JASP WRCA01 Servo control power supply JUSP RCP01AA JUSP RCP01AA Speed monitor board JANCD XFC01 JANCD XFC01 SERVOPACK Configuration Medium Capacity Type Component SK45X SK16MX Type Capacity Ty...

Page 242: ...1kW JUSP WS02AA 200W Servo control curcuit board JASP WRCA01 JASP WRCA01 Speed monitor board JANCD XFC01 JANCD XFC01 Converter JUSP ACP25JAAY11 25A JUSP ACP25JAAY1 25A Servo control power supply JUSP...

Page 243: ...W JUSP WS15AAY13 1 5kW Servo control curcuit board JASP WRCA01 JASP WRCA01 Speed monitor board JANCD XFC01 JANCD XFC01 Converter JUSP ACP35JAA 35A JUSP ACP35JAA 35A Servo control power supply JUSP RCP...

Page 244: ...Y18 6kW JUSP WS60AAY18 6kW L JUSP WS60AAY18 6kW JUSP WS60AAY18 6kW U JUSP WS60AAY18 6kW JUSP WS60AAY18 6kW R JUSP WS30AAY18 3kW B JUSP WS30AAY18 3kW T JUSP WS30AAY18 3kW JUSP WS20AAY19 2kW Servo contr...

Page 245: ...erter Servo Control Power Supply CNS G R I P 2CN CN5 CN6 CN4 CN3 CN1 CN2 G R I P JUSP RCP01AAA 1CN 5V CNPB06 8830 032 170SD CNPG456 CN10 C249 8830 032 170SD CNPB04 CNPB05 8830 032 170SD CNPG123 8830 0...

Page 246: ...N6 I R CN4 CN5 CN2 CN3 G R I P CN1 5V Display LED Speed Monitor Board Grip bottom Servo Control Board Amplifier 6 pcs Grip top SERVOPACK Servo Control Power Supply Converter 2CN JUSP 5V 5V RCP01AAB CN...

Page 247: ...4pcs Grip top SERVOPACK Servo Control Power Supply Converter 2CN 1CN P G CNPG123 CNPG456 I R CN4 CN2 CN3 G R I P CN1 YASKAWA 1GS 5V 5V JUSP 2CN RCP01AAB CNS 2CN 1CN P V21 V22 W21 W22 E31 E32 U31 U32...

Page 248: ...l Board Speed Monitor Board Grip top Amplifier 4pcs SERVOPACK Converter 5V Display LED Servo Control Power Supply 1GS 5V 5V JUSP 2CN RCP01AAB CNS 2CN 1CN P V21 V22 W21 W22 E31 E32 U31 U32 V31 V32 W31...

Page 249: ...the power source 3 phase 200 220VAC supplied by the power supply unit for DC power source and supplies the power to amplifiers for each axis Amplifier This exchanges the DC power source supplied by a...

Page 250: ...upply of the XRC is ON or OFF Status output signal NC contact SERVO ON READY REMOTE PLAY OFF ON TEACH MODE EMERGENCY STOP EDIT LOCK ALARM HOLD START EMERGENCY STOP Button START Button HOLD Button SERV...

Page 251: ...11 3012 3013 3014 3015 3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN06 14 and 16 CN06 13 and 15 when a external power supply is used B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7...

Page 252: ...3032 3033 3034 3035 3036 3037 024 VU 024 VU 024VU 024VU FG IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT IN IN IN IN B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8 A8 B9 A9 B10...

Page 253: ...IN08 024VU 024VU 24VU 24VU 24VU 24VU FG IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 3046 3047 IN01 GeneralInput IN02 IN03 IN04 IN05 IN06 IN07 OUT01 GeneralOutput OUT01 OUT0...

Page 254: ...N IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 3056 3057 IN09 IN10 IN11 IN12 IN13 IN14 IN15 OUT09 OUT09 OUT10 OUT10 OUT11 OUT11 OUT12 OUT12 OUT13 OUT13 OUT14 OUT14 OUT15 OUT15...

Page 255: ...wait sta tus with servo power ON During wait status the manipulator operation restarts if this signal turns OFF 2013 ALARM ERROR RESET After an alarm or error has occurred and the cause been correcte...

Page 256: ...ol center point lies inside a pre defined space Cube 2 Use this signal to pre vent interference with other manipulators and jigs 3011 SERVO IS ON This signal signifies that the servo power is turned O...

Page 257: ...3025 WIRE SHORTAGE MONITOR This signal status ON while the wire shortage signal from the welding power supply is ON 3015 to 3017 REMOTE PLAY TEACH MODE SELECTED This signal notifies the current mode s...

Page 258: ...012 3013 3014 3015 3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN06 14 and 16 CN06 13 and 15 when a external power supply is used B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B...

Page 259: ...034 3035 3036 3037 024 VU 024 VU 024VU 024VU FG IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT IN IN IN IN B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8 A8 B9 A9 B10 A10 B11 A1...

Page 260: ...OUT OUT 3046 3047 Sensor Input 1 Hand Valve 1 1 RLY RLY B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8 A8 B9 A9 B10 A10 B11 A11 B12 A12 B13 A13 B14 B15 A14 A15 B16 B17 A16 A17 B18 A18 B19 A19 B20 A20 OU...

Page 261: ...IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 3056 3057 IN09 GeneralInput IN10 IN11 IN12 IN13 IN14 IN15 OUT09 GeneralOutput OUT09 OUT10 OUT10 OUT11 OUT11 OUT12 OUT12 OUT13 OUT13 OUT14 OUT1...

Page 262: ...occurred and the cause been corrected this signal resets the alarm or error 2026 SHOCK SENSOR This is normally ON NC signal input When it turns OFF an XRC displays message HAND SHOCK SENSOR OPERATING...

Page 263: ...E 24 1 This signal turns ON when the current tool center point lies inside a the opera tion origin area Use this signal to evalu ate whether the robot is in the start position 3012 TOP MASTER JOB This...

Page 264: ...e signals are synchronized with the lamps REMOTE and MODE in the playback panel The signal corre sponding to the selected mode turns ON 3020 IN CUBE 1 This signal turns ON when the current tool center...

Page 265: ...3013 3014 3015 3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN06 14 and 16 CN06 13 and 15 when a external power supply is used B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8 A...

Page 266: ...7 3030 3031 3032 3033 3034 3035 3036 3037 024 VU 024 VU 024VU 024VU FG IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT IN IN IN IN B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8...

Page 267: ...IN08 024VU 024VU 24VU 24VU 24VU 24VU FG IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 3046 3047 IN01 GeneralInput IN02 IN03 IN04 IN05 IN06 IN07 OUT01 GeneralOutput OUT01 OUT0...

Page 268: ...N IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 3056 3057 IN09 IN10 IN11 IN12 IN13 IN14 IN15 OUT09 OUT09 OUT10 OUT10 OUT11 OUT11 OUT12 OUT12 OUT13 OUT13 OUT14 OUT14 OUT15 OUT15...

Page 269: ...vo power ON During wait status the manipulator operation restarts if this signal turns OFF 2013 ALARM ERROR RESET After an alarm or error has occurred and the cause been corrected this signal resets t...

Page 270: ...re vent interference with other manipulators and jigs 3011 SERVO IS ON This signal signifies that the servo power is turned ON internal processing such as current position creation is complete and the...

Page 271: ...current tool center point lies inside a pre defined space Cube 4 Use this signal to pre vent interference with other manipulators and jigs 3015 to 3017 REMOTE PLAY TEACH MODE SELECTED This signal noti...

Page 272: ...3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN06 14 and 16 CN06 13 and 15 when a external power supply is used B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8 A8 B9 A9 B10 A10...

Page 273: ...7 024 VU 024 VU 024VU 024VU FG IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT IN IN IN IN B1 A1 B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8 A8 B9 A9 B10 A10 B11 A11 B12 A12 B13 A13...

Page 274: ...13 B14 B15 A14 A15 B16 B17 A16 A17 B18 A18 B19 A19 B20 A20 OUT OUT OUT OUT 24VU RLY Each Point 24VDC 8mA max Each Point 24VDC 500mA max Internal Power Supply 24 V 024 V 24V 1A 24 VE 024 VE 024VU Logic...

Page 275: ...N IN IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT 3056 3057 IN17 IN18 IN19 IN20 IN21 IN22 IN23 OUT17 OUT17 OUT18 OUT18 OUT19 OUT19 OUT20 OUT20 OUT21 OUT21 OUT22 OUT22 OUT23 OUT23...

Page 276: ...neglects the spot welding instruction and operates playback motion 2013 ALARM ERROR RESET After an alarm or error has occurred and the cause been corrected this signal resets the alarm or error 2024 I...

Page 277: ...nipulator goes to wait status with servo power ON Dur ing wait status the manipulator operation restarts if this signal turns OFF 2042 4 TRANSTHERMO ERROR Error signal is sent from the transfo mer in...

Page 278: ...ompleted and the next step is executed when confir mation limit switch is not provided 2046 3 GUN SHORT OPEN DETECTION This signal is connected with a sin gle gun open verification limit switch or a d...

Page 279: ...at the execution position is the top of the master job This signal can be used to confirm that the master job has been called 2 3025 IN CUBE 4 This signal turns ON when the current tool center point l...

Page 280: ...t tool center point lies inside a pre defined space Cube 2 Use this signal to pre vent interference with other manipulators and jigs 3 STROKE CHANGE1 SINGLE SOLENOID DOUBLE SOLENOID This is a signal w...

Page 281: ...4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 T P R K L F G H S J M N E A B C D MR Connector MS Connector Welder GASOF Gas Shortage GASOF Gas Shortage WIRCUT...

Page 282: ...2 8 General I O Signal Assignment 2 72...

Page 283: ...ection Item Inspection Frequency Comments XRC Controller Check that the doors are completely closed Daily Check for gaps or dam age to the sealed con struction Monthly Fan on the upper part of door an...

Page 284: ...YASNAC XRC Front View L4L4 Checking for Gaps or Damage in the Sealed Con struction Section Open the door and check that the seal around the door is undamaged Check that the inside of the XRC is not ex...

Page 285: ...y operate while the power is turned ON Check if the fans are operating correctly by visual inspection and by feel ing air moving into the air inlet and from the outlet Cooling System SV3X Small Capaci...

Page 286: ...e TEACH lamp lights 2 Press SERVO ON READY on the playback panel The SERVO ON READY lamp blinks 3 Press TEACH LOCK on the programming pendant The TEACH LOCK LED blinks 4 When the deadman switch is gra...

Page 287: ...ibed in 9 1 1 Replacing Parts of the CPU Rack of the YASNAC XRC Instructions La Power Supply Voltage Confirmation Check the voltage of 1 R 3 S 5 T terminal of the disconnecting switch QS1 with an elec...

Page 288: ...c tester Normal value 575 480 240 VAC 10 15 The voltage differs depending on the built in transformer tap selection Disconnecting Switch QS1 Check Turn on the control power supply and check the open p...

Page 289: ...BSB E OF B KSBGEB EAO E G N E B DFJBG DDAO K G N EB HBM D E D J G N N H d8 V d E E B DG GO DFJBG DDAO 2X IB J EH M J G N H GH E PGB XBGM BEHL7 K E E B 1 3 1 K GBA EBK HF EGFAABG K B HHBDEBK AFHXF EeE...

Page 290: ...f a fuse appears to be blown remove each fuse shown above and check the continuity with an electric tester If the fuse is blown replace it with the same type of fuse supplied Parts No Fuse Name Specif...

Page 291: ...e and check the continuity with an electric tester If the fuse is blown replace it with the same type of fuse supplied Fuse holders Parts No Fuse Name Specification QS2 FU4 FU5 FU6 Power Supply Fuse 6...

Page 292: ...in transformer 10A 15A 15A Without trans former 15A 15A SK45X SK16MX UP50 UP20M SP70X With built in transformer 15A 20A 20A Without trans former 20A 20A UP130 UP165 UP165 100 UP200 With built in tran...

Page 293: ...Parts No Fuse Name Specification 1F 2F Control Power Supply Fuse 250V 10A Time Lag Fuse Std 326010 250V 10A LITTEL Power Supply Unit Type Type Applicable Robot Model JZRCR XPU06B SV3X UP6 SK16X UP20 J...

Page 294: ...RCR XCU01B General I O circuit board JARCR XCI03 4 Power ON unit JZRCR XSU02 Power ON circuit board JARCR XCT01 5 Break release control board JARCR XFL02B 6 Transformer 4 7 Power supply unit 2 8 Playb...

Page 295: ...K List Small Capacity Component SV3X UP6 SK16X UP20 Type Type Type Type Servopack CACR SV3AAA CACR UP6AAC CACR SK16AA CACR UP20AAA Amplifier S JUSP WS02AA JUSP WS05AAY17 JUSP WS10AAY17 JUSP WS10AA L J...

Page 296: ...JUSP WS10AA Servo con torol circuit board JASP WRCA01 JASP WRCA01 JASP WRCA01 Converter JUSP ACP25JAA JUSP ACP25JAA JUSP ACP25JAAY11 Control power sup ply JUSP RCP01AAC JUSP RCP01AAC JUSP RCP01AAC SER...

Page 297: ...Y18 JUSP WS60AAY18 L JUSP WS60AA JUSP WS60AAY18 JUSP WS60AAY18 U JUSP WS60AA JUSP WS60AA JUSP WS60AAY18 R JUSP WS20AAY13 JUSP WS20AAY13 JUSP WS20AAY13 B JUSP WS15AAY13 JUSP WS15AAY13 JUSP WS15AAY13 T...

Page 298: ...S60AAY18 JUSP WS60AAY18 R JUSP WS30AAY18 B JUSP WS30AAY18 T JUSP WS30AAY18 JUSP WS20AAY19 Servo con trol circuit board JASP WRCA01 JASP WRCA01 Converter JUSP ACP35JAA JUSP ACP35JAA Control power suppl...

Page 299: ...ans former built in 3A 10A 5A Without trans former 10A 5A UP6 With trans former built in 5A 10A 10A Without trans former 10A 10A SK16X UP20 With trans former built in 10A 15A 15A Without trans former...

Page 300: ...s Pcs Model Application 1 Time Delay Fuse Power Supply Fuse Class CC 30 or less 2 1 Disconnecting switch Fuse holders Class J 40 or more 2 1 2 5A Glass Tube fuse 2 218005 5A 250V LITTEL JARCR XSU02 FU...

Page 301: ...t in transformer 10A 15A 15A Without trans former 15A 15A SK45X SK16MX UP50 UP20M SP70X With built in transformer 15A 20A 20A Without trans former 20A 20A UP130 UP165 UP165 100 UP200 With built in tra...

Page 302: ...n using spare parts from any company other than Yaskawa To buy the spare parts which are ranked B or C inform the manufacturing number or order number of XRC to Yaskawa representative The spare parts...

Page 303: ...0A 250V Daito Com munication Apparatus 10 2 12 A Control Relay LY2 DC24V Omron 3 3 13 B Converter JUSP ACP05JAA Yaskawa 1 1 14 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 15 B SER...

Page 304: ...trol Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP05JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15 B Amp...

Page 305: ...munication Apparatus 10 2 11 A Control Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP05JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Boar...

Page 306: ...3 3 12 B Converter JUSP ACP05JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15 B Amplifier JUSP WS10AA Yaskawa...

Page 307: ...2 11 A Control Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP25JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B Servopack Control Board JASP WRCA01 Yaskawa 1...

Page 308: ...10 2 11 A Control Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP25JAA Yaskawa 1 1 13 B Control Power Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 1...

Page 309: ...DC24V Omron 3 3 12 B Converter JUSP ACP25JAAY11 Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15 B Amplifier JUSP...

Page 310: ...DC24V Omron 3 3 12 B Converter JUSP ACP25JAAY11 Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15 B Amplifier JUSP...

Page 311: ...LY2 DC24V Omron 3 3 12 B Converter JUSP ACP25JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15 B Amplifier JUSP...

Page 312: ...11 A Control Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP35JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1...

Page 313: ...mron 3 3 12 B Converter JUSP ACP35JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15 B Amplifier JUSP WS60AA Yas...

Page 314: ...V Omron 3 3 12 B Converter JUSP ACP35JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15 B Amplifier JUSP WS60AA...

Page 315: ...A Control Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP35JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board JASP WRCA01 Yaskawa 1 1 15...

Page 316: ...unication Apparatus 10 2 11 A Control Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP35JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board...

Page 317: ...nication Apparatus 10 2 11 A Control Relay LY2 DC24V Omron 3 3 12 B Converter JUSP ACP35JAA Yaskawa 1 1 13 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 14 B SERVOPACK Control Board...

Page 318: ...4 4 Recommended Spare Parts 4 30...

Page 319: ...wan BEIJING OFFIC Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASON HK COMPANY LI...

Page 320: ...these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC XRC OPERATOR S...

Page 321: ...this product 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 neces...

Page 322: ...a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or m...

Page 323: ...envelope to teach a job Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel Observe the following precautions when performing teaching operat...

Page 324: ...e that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant...

Page 325: ...th ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page ke The cursor key is an exception and a picture is not shown Axis Ke...

Page 326: ...Point Setting 3 11 3 2 3 Procedure After an Alarm 3 12 3 3 Setting the Controller Clock 3 13 3 4 Setting Play Speed 3 14 3 5 All Limits Releasing 3 16 3 6 Overrun Shock Sensor Releasing 3 18 3 7 Inter...

Page 327: ...ile 3 45 3 10 2 User Coordinates Setting 3 46 Selecting User Coordinates File 3 46 Teaching User Coordinates 3 47 Clearing User Coordinates 3 48 3 11 ARM Control 3 49 3 11 1 ARM Control 3 49 3 11 2 AR...

Page 328: ...3 86 3 14 4 Allocation of I O Control Instructions 3 86 3 14 5 Execution of Allocation 3 88 Executing the Instruction Output Control Allocation 3 88 Executing the Job Call Allocation 3 88 Executing th...

Page 329: ...8 5 2 4 Specific Output 5 9 Specific Output Display 5 9 Specific Output Detailed Display 5 9 5 2 5 RIN INPUT 5 10 RIN INPUT Display 5 10 5 3 System Monitoring Time 5 11 5 3 1 System Monitoring Time Di...

Page 330: ...Board JANCD XIO01 7 8 Safety Plug Input Signal 7 11 7 3 2 General I O Circuit Board JANCD XIO02 7 12 Connection wire with General I O CN10 11 12 13 7 13 Specific I O Signal Related to Start and Stop...

Page 331: ...8 4 8 6 Battery Inspections 8 5 8 7 Power Supply Voltage Confirmation 8 6 8 8 Open Phase Check 8 7 9 Replacing Parts 9 1 Replacing XRC Parts 9 1 9 1 1 Replacing Parts of the CPU Rack 9 2 Replacing the...

Page 332: ...10 5 10 4 I O Alarm Message List 10 51 Arc Welding Application 10 51 Handling Application 10 52 Spot Welding Application 10 53 General Application 10 54 11 Error 11 1 Error Message List 11 1 11 1 1 Sy...

Page 333: ...xiv...

Page 334: ...Setup Diagnosis...

Page 335: ......

Page 336: ...imizes the system to perform to its maximum potential in the chosen application Various settings control system compatibility and manipulator perfor mance characteristics Exercise caution when changin...

Page 337: ...1 2...

Page 338: ...ity modes Editing mode and management mode require a user ID The user ID consists of numbers and letters and contains no less than 4 and no more than 8 char acters Significant numbers and signs 0 to 9...

Page 339: ...on Edit DOUBLE Operation Edit REAL Operation Edit POSITION ROBOT Operation Edit POSITION BASE Operation Edit POSITION ST Operation Edit IN OUT EXTERNAL INPUT Operation EXTERNAL OUTPUT Operation UNIVER...

Page 340: ...TOOL Edit Edit INTERFERENCE Management Management USER COORDINATE Edit Edit HOME POSITION Management Management MANIPULATOR TYPE Management ANALOG MONITOR Management Management OVERRUN S SENSOR Edit E...

Page 341: ...gement RS Management Management S1E Management Management S2E Management Management S3E Management Management S4E Management Management SETUP TEACHING COND Edit Edit OPERATE COND Management Management...

Page 342: ...entered the operation mode is changed Select SECURITY under the top menu 1 Select the desired mode 2 Input the user ID Press ENTER 3 At the factory the following below user ID number is preset Editin...

Page 343: ...can make changes to lower security modes 1 User ID registration display is shown 2 The character input line is displayed and the message Input current ID no 4 to 8 digits is displayed Select SETUP un...

Page 344: ...s 2 7 3 When the correct user ID is entered a new ID is requested to be input Input new ID no 4 to 8 digits is displayed 4 User ID is changed DATA EDIT DISPLAY UTILITY USER ID EDITING MODE MANAGEMENT...

Page 345: ...2 1 Protection Through Security Mode Settings 2 8...

Page 346: ...ont whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case of emergency Improper or unintended manipulator operation may resultin in...

Page 347: ...ally If the absolute data of the home position is already known set the absolute data again after completing home position registration Perform the following inspection procedures prior to teaching th...

Page 348: ...are specified as an angle in units of 1 1000 and vary for different manipulator types See 3 1 3 Home Position of the Robot Select ROBOT under the top menu Select HOME POSITION 1 Select DIS PLAY under...

Page 349: ...lay and select control group are shown Select ROBOT under the top menu Select HOME POSITION Select DIS PLAY under the menu Select the desired control group 1 Select the axis to be registered 2 Select...

Page 350: ...calibration display and select control group are shown 2 The number input buffer line is shown 3 Absolute data are modified Select ROBOT under the top menu Select HOME POSITION Select DIS PLAY Select...

Page 351: ...at once the home calibration display and select control group are shown 2 The all absolute data are cleared Select ROBOT under the top menu Select HOME POSITION 1 Select DATA under the menu Select CLE...

Page 352: ...n are as follows Other manipulator models have different positions Always consult the documentation for the correct manipulator model B axis center line angle against U axis center line 90 U axis angl...

Page 353: ...hen performing teaching oper ations within the working envelope of the manipulator View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that...

Page 354: ...Check for problems in manipulator movement Check for damage to the insulation and sheathing of external wires Always return the programming pendant to its hook on the XRC cabinet after use If the prog...

Page 355: ...tall when playback is started If the absolute data allowable range error alarm has occurred playback and test runs will not function and the position must be checked Position Check If the absolute dat...

Page 356: ...e control panel the specified point must be set for each manipulator or station 1 The specified point display is shown The message Available to move to any modify specified point is shown Home positio...

Page 357: ...eration such as replacing the PG etc The robot position data when turning power off and on are shown in Power ON OFF Position Display Be aware of safety hazards when performing the position confirma t...

Page 358: ...and playback operation can be done If the error is beyond the allowed band the alarm occurs again 3 3 Setting the Controller Clock The clock inside of the XRC controller can be set 1 The date and time...

Page 359: ...tations exist in the system the control group is changed by the page key Select SETUP under the top menu Select SET SPEED 1 Press the page key 2 Select JOINT or LNR CIR 3 Select desired speed value 4...

Page 360: ...isplayed 5 The speed value is modified SPEED SET LNR CIR R1 1 66 cm min 2 138 cm min 3 276 cm min 4 558 cm min 5 1122 cm min 6 2250 cm min 7 4500 cm min 8 9000 cm min R1 S C L DATA EDIT DISPLAY UTILIT...

Page 361: ...Type Contents Mechanical Limit Limit for checking manipulator s working envelope L U Interference Limit for checking L and U axes interference area Software Limit Every axis soft limit for checking m...

Page 362: ...been released is displayed When the setting changesto INVALID the message All limits release has been canceled is displayed for three seconds LIMIT RELEASE SOFT LIMIT RELEASE INVALID ALL LIMITS RELEA...

Page 363: ...AND E STOP and HOLD are displayed alternately every time SELECT is pressed 2 is displayed at the control group which detects overrun or shock sensor If RELEASE is selected overrun or shock sensor is r...

Page 364: ...s as a signal If the tool center point of the manipulator is inside the area the interference 1 inside signal or interference 2 inside signal come on and the manipulator automatically decelerates to a...

Page 365: ...n be set parallel to the base coordinate system or user coordinate system Setting Method There are three ways to set cubic interference areas as described in the following Number Input of Cube Coordin...

Page 366: ...ic interference area display is shown Select ROBOT under the top menu Select INTERFERENCE 1 Select the desired cube number 2 Select METHOD 3 Select CONTROL GROUP 4 Select REF COORDINATES 5 Select CHEC...

Page 367: ...ates are selected the number input line is displayed Input the user coordinate number and press ENTER INTERFERENCE AREA INTERFERENCE SIG 1 METHOD CUBIC INTERFERENCE CONTROL GROUP CHECK MEASURE COMMAND...

Page 368: ...the FEEDBACK POSITION setting so the timing of the output signal is more accurate Select METHOD 1 Input number for MAX and MIN data and press Enter 2 INTERFERENCE AREA INTERFERENCE SIG 1 METHOD CONTRO...

Page 369: ...he axis keys 5 The cubic interference area is registered Select METHOD 1 Press MODIFY 2 Move the cursor to MAX or MIN 3 Move the manipulator using the axis keys 4 Press ENTER 5 Operation Explanation I...

Page 370: ...e axis keys 4 Press Enter 5 Operation Explanation INTERFERENCE AREA INTERFERENCE SIG 1 METHOD CUBIC INTERFERENCE CONTROL GROUP R1 CHECK MEASURE COMMAND POSITION REF COORDINATE BASE TEACHING METHOD CEN...

Page 371: ...his range is output ON inside OFF outside Axis Interference Signal for Station Axis Setting Operation Number Input of Axis Data 1 The cubic interference area display is shown Select ROBOT under the to...

Page 372: ...rol group 5 Each time SELECT is pressed COMMAND POSITION and FEEDBACK POSI TION alternate 6 The interference area is set INTERFERENCE AREA INTERFERENCE SIG 1 METHOD AXIS INTERFERENCE CONTROL GROUP CHE...

Page 373: ...g the axis keys 4 The axis interference area is registered Select ROBOT under the top menu Select INTERFERENCE Select the desired interference signal number Select METHOD Select CONTROL GROUP 1 Press...

Page 374: ...dialog is displayed 3 All the data of the signal are cleared Select interference signal for clearing 1 Select DATA under the menu Select CLEARDATA 2 Select YES 3 Operation Explanation INTERFERENCE ARE...

Page 375: ...tion origin point the operation origin point signal turns ON 3 8 2 Setting Operation Origin Point Operation Origin Point Display 1 Operation origin point display is shown For spot application or handl...

Page 376: ...t position of the tool center point of the manipulator is checked and found to be within the operation origin cube When the operation origin point is changed the operation origin cube is automatically...

Page 377: ...When the tool extension function is invalid the coordinate display is shown Select ROBOT under the top menu Select TOOL 1 Select the desired tool number 2 Select the desired coordinate axis to modify...

Page 378: ...s DISPLAY LIST or DISPLAY COORDINATE DATA 3 The number input line is displayed 4 The tool data is registered TOOL COORDINATE NO NAME 00 TORCH1 01 TORCH2 02 03 04 05 06 07 DATA EDIT DISPLAY UTILITY R1...

Page 379: ...he order of Rz Ry Rx The following register Rz 90 Ry 90 Rx 0 Case of Tool A B Case ofTool C TOOL TOOL NO 00 NAME TORCH1 X 0 000 mm Rx 0 00 deg Y 0 000 mm Ry 0 00 deg Z 260 000 mm Rz 0 00 deg W 0 000 k...

Page 380: ...n includes weight a center of gravity position and moment of inertia at the center of gravity of the tool installed at the flange Select ROBOT under the top menu Select TOOL Select the desired tool nu...

Page 381: ...ration five different poses TC1 to 5 must be taught with the tool center point as the reference point The tool dimensions are automatically calculated on the basis of these five points Each pose must...

Page 382: ...on For details on how to register pose data refer to the preceding clause RegisteringTool Pose Select ROBOT under the top menu Select TOOL Select the desired tool number 1 Select UTILITY under the men...

Page 383: ...nd the dis played position data TC next to POSITION in the display flashes 6 Calibration data is registered in the tool file Once calibration is completed the tool coordinate display is shown TOOL CAL...

Page 384: ...ata number in the tool coordinate display Refer to RegisteringTool Pose for the operation R1 S C L TOOL TOOL NO 00 NAME TORCH1 X 0 000 mm Rx 0 00 deg Y 0 000 mm Ry 0 00 deg Z 300 000 mm Rz 0 00 deg W...

Page 385: ...by pressing the page key or selecting it in the tool list 3 By pressing the axis keys for the R B and T axes change the manipulator pose with out changing the tool center point position If this opera...

Page 386: ...s home position horizontal to the U B and R axes and operate the U B and R axes This function is available for the models listed below Contact your Yaskawa representa tive for information on other mo...

Page 387: ...again 6 Select REGISTER 7 Tool File Extension Function Use the following parameter to set the Tool File Extension Function S2C261 TOOL NO SWITCHING 0 Tool switching prohibited 1 Can change 24 kinds o...

Page 388: ...button pressed until measure ment is completed The manipulator moves in the order listed below Once measure ment is completed changes to Measurement of the U axis U axis home position 4 5 degrees 4 5...

Page 389: ...d during measurement automatically changes to Medium During measurement HOME or U blinks on the screen During measurement the NEXT button has to be kept pressed If the button is released during measur...

Page 390: ...t on the X axis XY is a point on the Y axis side of the user coordinates that has been taught and the directions of Y and Z axes are determined by point XY User Coordinates File Up to 24 kinds of user...

Page 391: ...for setting in the user coordinate list display The user coordinate teaching display is shown Select ROBOT under the top menu Select USER COORDINATE 1 Select desired user coordinate number 2 Operation...

Page 392: ...icates that teaching is completed and indicates that it is not completed Select the robot 1 Select SET POS 2 Move the manipulator using the axis key Press MODIFY and ENTER 3 Select COMPLETE 4 Operatio...

Page 393: ...te list display is shown Clearing User Coordinates 1 The confirmation dialog is shown 2 All data is cleared Select DATA under the menu Select CLEAR DATA 1 Select YES 2 USER COORDINATE NO SET NAME 00 W...

Page 394: ...ter of gravity position and moment of inertia at the center of gravity of the tool installed at the flange It is necessary to set these information correctly to do a better operation control by the AR...

Page 395: ...ation from the home position posture of the manipulator becomes direction of of the robot installa tion angle Therefore the robot installation angle for a vertical downward wall mount specifi cation b...

Page 396: ...by a negative num ber when the position is in direction Load at S head Top View U arm payload Set the weight and the center of gravity position roughly when the equipment such as the wire supplying m...

Page 397: ...ty position Side View Setting 1 ARM CONTROL display is shown ARM CONTROL display is shown only when the security mode is set as management mode Select ROBOT under the top menu Select ARM CONTROL 1 Pre...

Page 398: ...load information basically before teaching the job after the tool is installed Confirm the operation path of each job which uses the tool file when the tool load informa tion is changed after teaching...

Page 399: ...rom specifica tions etc moment of inertia at the center of gravity lx ly lz Unit kg m2 It is an moment of inertia of the tool at the center of gravity position The value is calculated around each axis...

Page 400: ...y followings methods Method to approximate the entire tool in hexahedron or cylinder Method to calculate from each weight and center of gravity position of plural mass Refer to the following setting e...

Page 401: ...e and sets the center of gravity position on the flange coordinates There is no problem even if the moment of inertia at the center of gravity is not set because the size of the gun is not too large S...

Page 402: ...e next expression when the center of gravity is at the center Refer the expression when the calculation of the moment of inertia at the center of gravity SUPPLE MENT 3 r 2 H2 Ix Iy W 12 r 2 Iz W 2 Ly2...

Page 403: ...each workpiece and to switch the tool on each step according to the held workpiece Set the tool load information in the state to hold the heaviest workpiece when the tool is not switched Weight W 55 4...

Page 404: ...of the big parts If parts are small it is not necessary to calculate the own moments of inertia Refer to above mentioned supple ment The own moment of inertia calculation for hexahedron and cylinder...

Page 405: ...ate Center of gravity position and moment of inertia at the center of gravity for plural mass How by the method of 2 to calculate the value is shown here Weight W w1 w2 3 6 9 approx 10 kg Center of gr...

Page 406: ...function is invalid the tool coordinates dis play is shown W 10 000 kg Xg 100 000 mm Yg 83 333 mm Zg 60 000 mm Ix 0 100 kg m2 Iy 0 010 kg m2 Iz 0 100 kg m2 Select ROBOT under the top menu Select TOOL...

Page 407: ...state of a numeric input if the cursor is on the desired item to register and the SELECT is pressed 4 The input value is registered The servo power is automatically turned off when editing the value...

Page 408: ...er of gravity position greatly offsets in X direction or Y direction is installed the generated moment by the tool cannot be compen sated Switch of the tool file In case that two or more tool files ar...

Page 409: ...tion is set by setting the detection level Shock Detection Level Setting The shock detection level is set in the shock detection level file The shock detection set file are nine condition files as fol...

Page 410: ...ection level in play mode 9 For detection level in teach mode The detection level of condition number 8 which is a standard file in play mode is adopted in play mode excluding the range between SHCKSE...

Page 411: ...is shown here Refer to this value when the detection level in 5 is input The maximum disturbance force can be cleared by setting inmenu DATA CLEAR MAX VALUE Detection Level Level range 1 to 500 The s...

Page 412: ...red number with page key in the tool coordinates display Select DISPLAY LIST or DISPLAY COORDINATE DATA under the menu in order to switch between the tool list display and the tool coordinates display...

Page 413: ...nates and where the original point is the center of gravity position Input the moment of inertia by numeric key and press ENTER after the numeric input status is appeared by moving the cursor and pres...

Page 414: ...ch is desired to reset the shock detection level is specified here If nothing is specified the detection level of the control group of the job to which this instruction is registered is changed Howeve...

Page 415: ...aneously When the value is input with the numericalkey press SELECT to display the input buffer line And press ENTER to change the number in the input buffer line When robot station specification is a...

Page 416: ...e inform list dialog is shown Move the cursor to the line just before the location where SHCKRST instruction is desired to register Press INFORM LIST 1 Select SHCKRST instruction 2 Change the value of...

Page 417: ...the detail edit display Move the cursor to UNUSED of ROBOT STATION and press SELECT The selection dialog is shown Move the cursor to added robot or station and press SELECT When the addition of the ro...

Page 418: ...nfirm the damage after moving the manipulator to the safety position once with teach mode though the playback operation is possible after reset ting Press SELECT 1 Operation after resetting the detect...

Page 419: ...on level was small Remove the object after resetting the alarm or move the robot to the safety posi tion When the alarm cannot be reset because the robot comes in contact with the object invalidate th...

Page 420: ...ll the INFORM II instructions can be used The number of additional items to be used in each instruction differ in the standard instruction set and expansion instruction set In the standard instruction...

Page 421: ...layed An instructions are regis tered The next time an attempt is made to register the same instruction as in 1 the same additional items as were reg istered last time are also dis played in the input...

Page 422: ...ber of key operations reduces the teaching time 3 14 2 Allocatable Functions There are two allocation methods as follows Key Allocation EACH Key Allocation SIM The Number Key Customize Function is onl...

Page 423: ...the reserved display call function Function Description Alternate output allocation Turns ON OFF the specified general output signal when INTERLOCK and the allocated number key are pressed at the sam...

Page 424: ...der the menu Select KEY ALLOCATION 1 Select DIS PLAY 2 Select ALLOCATE SIM KEY 3 Operation Explanation KEY ALLOCATION EACH APPLI NO 1 KEY FUNCTION ALLOCATION CONTENT MAKER MAKER 0 MAKER 1 MAKER 2 MAKE...

Page 425: ...ey to be allocated Press SELECT 1 Select INSTRUCTION 2 Operation Explanation KEY ALLOCATION EACH APPLI NO 1 KEY FUNCTION ALLOCATION CONTENT MAKER MAKER 0 MAKER 1 MAKER 2 MAKER 3 MAKER 4 MAKER DATA EDI...

Page 426: ...gistration No move the cursor to the No and press SELECT Numeric values can now be entered Input the number to be changed and press ENTER Move the cursor to the FUNCTION of the key to be allocated Pre...

Page 427: ...key to be allocated Press SELECT 1 Select DISPLAY Move the cursor to ALLOCATION CONTENT Press SELECT 2 Input the name of the reserved display and press ENTER 3 Open the display for allocation Press I...

Page 428: ...ion dialog box is displayed Move the cursor to the FUNCTION of the key to be allocated Press SELECT 1 Select ALTERNATE OUTPUT 2 Move the cursor to the FUNCTION of the key to be allocated Press SELECT...

Page 429: ...the output No or output time move the cursor to the No or time and press SELECT Numeric values can now be entered Input the number or time to be changed and press ENTER Move the cursor to the FUNCTIO...

Page 430: ...t number and the output voltage value are displayed in the ALLOCA TION CONTENT Move the cursor to the FUNCTION of the key to be allocated Press SELECT 1 Select 4 BIT OUTPUT or 8 BIT OUTPUT 2 Move the...

Page 431: ...of I O Control Instructions With key allocation SIM output control instructions can be allocated to the number keys that have been allocated one of the following I O controls key allocation EACH Move...

Page 432: ...remain the same Move the cursor to the FUNCTION of the key that has been allocated with I O control with key allocation SIM Press SELECT 1 Select OUTPUT CONTROL INST 2 Operation Explanation KEY ALLOC...

Page 433: ...ay is shown At the same time the reserved display key lights up Press the allocated key again to turn off the reserved display key and return to the previous display Executing the I O Control Allocati...

Page 434: ...ies the operation for changing the status of signals that are used frequently 1 The relay on display is shown 2 Select the status or of the desired signal to change A maximum of 16 output signals can...

Page 435: ...le to turn the relevant external output signal on only for the duration that INTER LOCK SELECT are pressed This selection is made in advance by setting the parameters S2C229 244 to 1 RELAY ON OUTPUT N...

Page 436: ...operation area set parallel to the robot coordinate system These soft limits are continually monitored by the system When it is detected that the manip ulator tool center point has reached a soft limi...

Page 437: ...imits have been released is dis played When SOFT LIMIT RELEASE is set to INVALID the message Soft limits have been released is displayed for three seconds The teaching data cannot be entered while rel...

Page 438: ...while pressing TOP MENU simultaneously Change the security mode to management mode Select FILE under the top menu Select INI TIALIZE 1 Select JOB 2 Select YES 3 Operation Explanation INITIALIZE JOB FI...

Page 439: ...FRAME CND VARIABLE DATA VAR DAT ARC START COND DATA ARCSRT CND ARC END COND DATA ARCEND CND ARC AUXILIARY COND DATA ARCSUP DAT WELDER CONDITION DATA WELDER DAT Maintenance Mode INITIALIZE TOOL DATA TO...

Page 440: ...LIZE ROBOT MATCH PRMTR RC PRM SYS DEF PRMTR SD PRM COORD ORG PRMTR RO PRM SYS MATCH PRMTR SC PRM CIO PRMTR CIO PRM FCTN DEF PRMTR FD PRM APPLI PRMTR AP PRM TRANSMISSION UNIV RS PRM Maintenance Mode IN...

Page 441: ...LE under the top menu Select INITIALIZE Select I O DATA 1 Select data for initializing 2 Press ENTER 3 Select YES 4 Operation Explanation INITIALIZE C IO PRGM CIOPRG LST IO NAME DATA IONAME LST SIMULA...

Page 442: ...planation INITIALIZE USER WORD UWORD DAT SV MONITOR SIGNAL SVMON DAT VARIABLE NAME VARNAME DAT SECOND HOME POSITION HOME2 DAT HOME POS CALIB DATA ABSO DAT OPERATION ORG POS DATA OPEORG DAT Maintenance...

Page 443: ...3 17 File Initialize 3 98...

Page 444: ...de or editing mode only confirmation of status setting is possible Turn the power supply ON while pressing TOP MENU simultaneously Select SYS TEM under the top menu 1 Select SETUP 2 Select IO MODULE 3...

Page 445: ...the status again If the status is correct the I O module may be defective Contact your Yaskawa representative IO MODULE ST 01 DI 008 DO 008 AI 002 AO 002 ST 02 DI 016 DO 016 ST 03 NONE ST 04 NONE ST 0...

Page 446: ...nance mode 1 The system display is shown The additional operation must be done in the management mode In operation mode or editing mode only confirmation of status setting is possible Turn the power s...

Page 447: ...d with each axis group and the contactor which is used for the SERVOPACK AXIS TYPE Select one in the axis type list In case of TURN type No need to select The axis type is set as TURN type In case of...

Page 448: ...ollowing items MOTOR SERVO AMP CONVERTER ROTATION DIRECTION NORMAL REVERSE MAX RPM rpm ACCELERATION SPEED sec INERTIA RATIO Select MOTOR AMPLIFIER and CONVERTER from each type s list 4 2 1 Base Axis S...

Page 449: ...es CARTESIAN X AXIS Base axis advancing direction coincides with robot coordinate X Axis RECT X CARTESIAN Y AXIS Base axis advancing direction coincides with robot coordinate Y Axis RECT Y CARTESIAN Z...

Page 450: ...y 1 Select connection item of desired control group 2 Select desired item Press ENTER in the connection display 3 Direction of Base Axis CARTESIAN Y AXIS CARTESIAN X AXIS CARTESIAN Z AXIS Base 1st 2nd...

Page 451: ...is 1CN SERVOPACK 1 1st contactor is used 2nd axis 2CN SERVOPACK 1 1st contactor is used 3rd axis 3CN SERVOPACK 1 1st contactor is used 4th axis 4CN SERVOPACK 1 1st contactor is used 5th axis 5CN SERVO...

Page 452: ...he axes configuration display 3 The setting in the axes configuration display is completed and the display moves to the mechanical specification display Confirm axis type of each axis in the axes conf...

Page 453: ...UCTIONRATIO Input the numerator and the denominator e g If the reduction ratio is 1 120 the numerator should be set as 1 0 and the denominator should be set as 120 0 PINION DIAMETER Input the diameter...

Page 454: ...increased The counterclockwise view from the loaded side is positioned normal Confirm specification of each axis in the motor specification display 1 Select desired item 2 Input the value and press E...

Page 455: ...atio in each 100 Phenomenon2 during pause the motor makes a lot of noise Confirm the motion with decreasing this ratio in each 100 3 After this motor specification setting the display moves to the nex...

Page 456: ...he control group construction is changed by addition a base axis or station axis the internal data of the job file are also changed so that the job file data should be initialized Initialize the job f...

Page 457: ...hen UNIVERSAL is selected interpolation motion linear circular etc is not supported If the number of axes is set beyond 27 error occurs MACHINE LIST NONE TURN 1 TURN 2 UNIV 1 UNIV 2 UNIV 3 UNIV 4 UNIV...

Page 458: ...nnects The example above means the following R1 Robot 1st axis 1CN SERVOPACK 1 1st contactor is used 2nd axis 2CN SERVOPACK 1 1st contactor is used 3rd axis 3CN SERVOPACK 1 1st contactor is used 4th a...

Page 459: ...is type of each axis is shown The axes form display In case of TURN type The axes form display In case of UNIVERSAL type Confirm axis type of each axis in the axes form display 1 Select desired axis 2...

Page 460: ...or and the denominator e g If the reduction ratio is 1 120 the numerator should be set as 1 0 and the denominator should be set as 120 0 OFFSET Offset should be specifiedat TURN 2 type only input leng...

Page 461: ...TION RANGE Input maximum moving position direction and direction from origin point Unit mm STATION 2ND AXIS ROTATION TABLE STATION 1ST AXIS INCLINATION AXIS OFFSET TURN 2 MECHANICAL SPEC S1 UNIV 3 AXI...

Page 462: ...ist of MOTOR SERVO AMP or CONVERTER is shown ROTATION DIRECTION Set the rotation direction to which the current pulse data is increased The counterclockwise from view from the loaded side is positione...

Page 463: ...in each 100 Phenomenon2 During pause the motor makes a lot of noise Confirm the motion with decreasing this ratio in each 100 3 After this motor specification setting the display moves to the next axi...

Page 464: ...In that case the control group construction is not changed so the job file data should not be initialized If the control group construction is changed by addition of a base axis or station axis the i...

Page 465: ...4 2 Addition of Base and Station Axis 4 22...

Page 466: ...Input The status of input signal from the external can be confirmed Universal Input Display Select SYSTEM INFO under the top menu Select VERSION 1 Select IN OUT under the top menu Select UNIVERSAL IN...

Page 467: ...Y under the menu Select DETAIL 1 Select IN OUT under the top menu Select UNIVERSAL OUTPUT 1 Explanation UNIVERSAL INPUT NO 7654 3210 001X 0111_1011 002X 0000_0000 003X 0000_0000 004X 1111_0000 005X 00...

Page 468: ...nder the menu Select DETAIL 1 Select the desired output signal number 1 Press INTER LOCK SELECT 2 Explanation UNIVERSAL OUTPUT NO 7654 3210 101X 0111_1011 102X 0000_0000 103X 0000_0000 104X 1111_0000...

Page 469: ...haracters on the input line by pressing CANCEL and then input a new name Select the desired output signal number in thedetailed display 1 Input the signal name 2 Press ENTER 3 UNIVERSAL OUTPUT GROUP O...

Page 470: ...GROUP IG 01 123 DEC 7b HEX IN 001 0010 TEST SIGNAL IN 002 0011 IN 003 0012 IN 004 0013 IN 005 0014 IN 006 0015 IN 007 0016 IN 008 0017 R1 S C L Operation Explanation DATA EDIT DISPLAY UTILITY UNIVERS...

Page 471: ...layed Select the signal number in the detailed display 1 Input the signal number 2 Press ENTER 3 Operation Explanation UNIVERSAL INPUT GROUP IG 01 123 DEC 7b HEX IN 001 0010 TEST SIGNAL IN 002 0011 IN...

Page 472: ...y Select EDIT under the menu 1 Select SEARCH 2 Input the signal number Press ENTER 3 Operation Explanation DATA EDIT DISPLAY UTILITY UNIVERSAL INPUT GROUP IG 01 123 DEC 7b HEX IN 001 0010 IN 002 0011...

Page 473: ...peration Explanation SPECIFIED INPUT NO 7654 3210 401X 0111_1011 402X 0000_0000 403X 0000_0000 404X 1111_0000 405X 0000_0000 406X 0000_1010 407X 0000_0000 408X 0000_0000 DATA EDIT DISPLAY UTILITY R1 S...

Page 474: ...ation SPECIFIED OUTPUT NO 7654 3210 501X 0111_1011 502X 0000_0000 503X 0000_0000 504X 1111_0000 505X 0000_0000 506X 0000_1010 507X 0000_0000 508X 0000_0000 DATA EDIT DISPLAY UTILITY R1 S C L Operation...

Page 475: ...NPUT RIN INPUT Display 1 RIN input display is shown Select IN OUT under the top menu Select RIN 1 Operation Explanation RIN INPUT RIN 001 DIRECT IN1 RIN 002 DIRECT IN2 RIN 003 DIRECT IN3 RIN 004 DIREC...

Page 476: ...G TIME Displays the cumulative time that the manipulator was in motion OPERATING TIME Displays the cumulative time spent in operation For example if the manipulator is used for arc welding it displays...

Page 477: ...show time as seen from the individual axes SERVO POWER TIME ROBOT1 1998 07 06 10 00 2 3 8 5 4 2 0 2 STATION1 1998 08 03 10 00 2 6 2 3 7 0 2 R1 S C L DATA EDIT DISPLAY UTILITY R1 S C L DATA EDIT DISPL...

Page 478: ...Select YE 2 Operation Explanation R1 S C L DATA EDIT DISPLAY UTILITY SYS MONITORING TIME CONTROL POWER TIME 1998 07 06 10 00 2 3 8 5 4 2 0 2 SERVO POWER TIME 1998 07 06 10 30 2 3 8 0 1 0 1 2 PLAYBACK...

Page 479: ...M MINOR ALARM USER ALARM SYSTEM USER ALARM USER OFF LINE 5 4 2 Clearing the Alarm History The history of the minor alarms and the user alarms system and user can be cleared Select SYSTEM INFO under th...

Page 480: ...Input the history number and press ENTER The search for the input history number begins and the I O mes sage that appeared on the screen is displayed Select SYSTEM INFO under the top menu Select I O M...

Page 481: ...the I O message history 1 The confirmation dialog box is displayed 2 The displayed I O message history is cleared Select EDIT under the menu Select SEARCH 1 Input the history No Press ENTER 2 Select D...

Page 482: ...wer was later turned on and the amount of difference between the two positions When alarm 4107 OUT OF RANGE ABSODATA occurs the error value of the faulty axes can be verified in this dis play 1 The po...

Page 483: ...5 6 Position Data When Power is Turned ON OFF 5 18...

Page 484: ...Hardware...

Page 485: ......

Page 486: ...hing operations within the working envelope of the manipulator Always view the manipulator from the front Always follow the predetermined operating procedure Always have an escape plan in mind in case...

Page 487: ...heck for problems in manipulator movement Check for damage to the insulation and sheathing of external wires Always return the programming pendant to its specified position after use If the programmin...

Page 488: ...2 Hz Grounding Grounding resistance 100 or less Exclusive grounding Digital I O Specific signal hardware 12 inputs and 2 outputs General signals standard max 40 inputs and 40 outputs Positioning Syst...

Page 489: ...Industrial Standard Running Speed Limit User definable Deadman Switch 3 position type Servo power can be turned on at the mid position only Located on programming pendant Collision proof Frames S axis...

Page 490: ...obot stop Execution of some instruc tions during robot motion Operation Instruc tions Preparing the operation instructions for each application Arc ON Arc OFF etc Variable Global variable Local variab...

Page 491: ...equipment configuration 6 4 1 Arrangement of Units and Circuit Boards Configuration SV3X UP6 SK16X Configuration Playback Panel ZY1C SS3152 I O Power On Unit JZNC XIU01 Sectional view A A No Fuse Bre...

Page 492: ...3P Servopack CACR SK45AAB SK45X CACR SK16MAAB SK16MX Sectional view A A TYPE SK16MX YASNAC XRC TYPE ERCR SK16M RA00 SK45X ERCR SK45 RA00 Power Supply Unit JZRCR XPU01 I O Power On Unit JZNC XIU01 CPU...

Page 493: ...large robots is equipped with a heat exchanger on the door to cool the interior of the XRC Section Unit Door Playback panel ZY1C SS3125 Heat exchange board Large type of robot Front section Servopack...

Page 494: ...on Small type Cooling Configuration Large type Servopack Ascending Fan Backside Duct Fan Air Intake Air Outlet Servopac Heat Exchange Air Intake Air Intake Air Outlet Air Outlet Air Outlet Servopack B...

Page 495: ...6 4 Equipment Configuration 6 10...

Page 496: ...7 1 7 Description of Units and Circuit Boards Refer to XRC 2001 Supplement section 2 for description of units and circuit boards...

Page 497: ...7 2...

Page 498: ...ments XRC Controller Check that the doors are completely closed Daily Check for gaps or dam age to the sealed con struction Monthly Servo ascending fan and backside duct fan Check operation As require...

Page 499: ...power is turned off CW Open CCW Close Make sure push the door closed and turn the door lock with the driver When the door is closed turn the door lock until the door clicks YASNAC XRC Front View 8 2 2...

Page 500: ...xcessive high temperatures inside The servo ascending fan and backside duct fan normally operate while the power is turned ON Check if the fans are operating correctly by visual inspection and by feel...

Page 501: ...ncy stop button on the play back panel after the servo ON button before the robot is operated 8 5 Deadman Switch Inspections The programing pendant is equipped with a three position deadman switch Per...

Page 502: ...ndicates when a battery has expired and must be replaced The programming pendant display and the message Memory battery weak appears at the bottom of the dis play The way to replace the battery is des...

Page 503: ...of the circuit breaker QF1 with an electric tester Circuit Breaker QF1 Power Supply Voltage Confirmation Measuring Items Terminals CorrectValue Correlate voltage Between R and S S andT R and T 200 to...

Page 504: ...repair it Input Power Supply Check Check the open phase voltage of input power supply with an electric tester Normal value 200 220V 10 15 Circuit Breaker QF1 Check Turn on the control power supply and...

Page 505: ...8 8 Open Phase Check 8 8...

Page 506: ...ower supply during maintenance put up a warning sign such as DO NOT TURN ON THE POWER at the primary power supply knife switch wiring circuit breaker etc and at the YASNAC XRC and related controllers...

Page 507: ...ay and LED on the system con trol board is turned on Replacement Procedure 1 Disconnect the battery connector BAT and remove the battery 2 Mount the new battery and connect the battery connector Altho...

Page 508: ...the circuit board from the rack 5 Insert a new circuit board into the slot of the rack with the levers spread 6 Push the board until it is placed in the same position of other boards 7 Tighten upper a...

Page 509: ...ch is attached at the upper and lower side 4 Insert the new control power unit in to the slot of the rack 5 Push the new control power unit until it is placed in the same position of other boards 6 Ti...

Page 510: ...d externally to the servo control board PG cable connectors CNPB123 CNPB456 Communications cable connector CN10 Power ON signal cable connector CN20 Motor cable connectors CN1 to CN6 4 Remove the grou...

Page 511: ...above How to Replace PWM Amplifier 1 Turn OFF the primary power supply and wait at least 5 minutes before replacing Do not touch any terminals during this period 2 Verify that the converter CHARGE la...

Page 512: ...Turn OFF the primary power supply and wait at least 5 minutes before replacing Do not touch any terminals during this period 2 Verify that the converter CHARGE lamp red LED is unlit 3 Disconnect all t...

Page 513: ...he continuity with an electric tester If the fuse is blown replace it with the same type of fuse supplied Parts No Fuse Name Specification FU1 2 Control Power Supply Fuse 250V 5A Time Lag Fuse Std 313...

Page 514: ...oard JANCD XCP01 High speed serial interface circuit board JANCD XIF03 Control power supply CPS 150F 3 I O Power on unit JZNC XIU01 Power on circuit board JANCD XTU01 Specific I O circuit board JANCD...

Page 515: ...circuit board JASP WRCA01 JASP WRCA01 JASP WRCA01 Control power supply JUSP RCP01AAB JUSP RCP01AAB JUSP RCP01AAB Servopack List Large Capacity Component SK16MX SK45X UP130 UP165 Type Type Type Servopa...

Page 516: ...WS60AAY18 L JUSP WS60AAY18 U JUSP WS60AA R JUSP WS20AAY13 B JUSP WS15AAY13 T JUSP WS15AAY13 Servo control circuit board JASP WRCA01 Converter JUSP ACP35JAA Control power supply JUSP RCP01AAB Power Sup...

Page 517: ...o buy the spare parts which are ranked B or C inform the manufacturing number or order number of XRC to Yaskawa representative The spare parts are ranked as follows Rank A Expendable and frequently re...

Page 518: ...y LY2 DC24V Omron 3 3 9 B Convertor JUSP ACP05JAA Yaskawa 1 1 10 B Control Power Unit JUSP RCP01AAB SANRITZ 1 1 For Servo 11 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 12 B Amplifier JUSP WS02A...

Page 519: ...P ACP05JAA Yaskawa 1 1 10 B Control Power Unit JUSP RCP01AAB SANRITZ 1 1 For Servo 11 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 12 B Amplifier JUSP WS05AAY17 Yaskawa 1 2 For S U axes 13 B Ampl...

Page 520: ...3 3 9 B Convertor JUSP ACP05JAA Yaskawa 1 1 10 B Control Power Unit JUSP RCP01AAB SANRITZ 1 1 For Servo 11 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 12 B Amplifier JUSP WS10AAY17 Yaskawa 1 3...

Page 521: ...JUSP ACP25JAA Yaskawa 1 1 10 B Control Power Unit JUSP RCP01AAB SANRITZ 1 1 For Servo 11 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 12 B Amplifier JUSP WS30AA Yaskawa 1 1 For S axis 13 B Ampli...

Page 522: ...JUSP ACP25JAA Yaskawa 1 1 10 B Control Power Unit JUSP RCP01AAB SANRITZ 1 1 For Servo 11 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 12 B Amplifier JUSP WS30AA Yaskawa 1 1 For S U axes 13 B Amp...

Page 523: ...r JUSP ACP35JAA SANRITZ 1 1 11 B Control Power Unit JUSP RCP01AAB Yaskawa 1 1 For Servo 12 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 13 B Amplifier JUSP WS60AA Yaskawa 1 3 For S L U axes 14 B...

Page 524: ...1 11 B Control Power Unit JUSP RCP01AAB SANRITZ 1 1 For Servo 12 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 13 B Amplifier JUSP WS60AAY18 Yaskawa 1 2 For S L axes 14 B Amplifier JUSP WS60AA Yas...

Page 525: ...9 4 Recommended Spare Parts 9 20...

Page 526: ...Alarm Error...

Page 527: ......

Page 528: ...m Then turn on the main power supply again 1 3 Level 1 3 Major alarm It is not possible to reset by RESET under the alarm display or the specific I O signal Alarm reset Turn off the main power supply...

Page 529: ...ency stop If the display is changed to the other during alar occurrence the alarm display can be shown again by selecting SYSTEM INFO and ALARM under the menu Release Alarms are classified by minor an...

Page 530: ...dinates when the alarm occurred are highlighted 123 data The data for the alarm that occurred is highlighted Control group data The control group where the alarm occurred is highlighted 2 Multiple Ser...

Page 531: ...independent control function multi task job the tasks that were being done when the alarm occurred are also displayed TASK 0 Master task job TASK 1 Sub task1 job SUB1 TASK 2 Sub task2 job SUB2 TASK 3...

Page 532: ...cuit board 1 0 11 XCP02 circuit board 1 1 12 XCP02 circuit board 1 2 20 XCP02 circuit board 2 0 21 XCP02 circuit board 2 1 22 XCP02 circuit board 2 2 Note XCP02 circuit board Slot NO 0 XCP02 circuit b...

Page 533: ...unication connector for servopack Check the connection of the terminal connector WRCA CN10 Replace the terminal connector Replace the circuit board 0030 ROM ERROR Decimal Data An error was found by su...

Page 534: ...it board 5 55 WRCA01 circuit board 6 Note WRCA01 circuit board The setting value of rotary switch on the WRCA01 circuit board is 1 Replace the circuit board When the XCP01 circuit board is replaced co...

Page 535: ...00 MEMORY ERROR PARAMETER FILE Decimal Data The parameter file was damaged Data stands for the damaged parameter file 0 RC 1 RO 2 SV 3 SVM 4 SC 5 SD 6 CIO 7 FD 8 AP 9 RS 10 SE 11 RMS 12 AMC 13 SVP 14...

Page 536: ...ard speed detect circuit board connected with WRCA01 circuit board 5 97 111 Contactor circuit board speed detect circuit board connected with WRCA01 circuit board 6 Note WRCA01 circuit board The setti...

Page 537: ...it board 1 1 12 XCP02 circuit board 1 2 20 XCP02 circuit board 2 0 21 XCP02 circuit board 2 1 22 XCP02 circuit board 2 2 Note XCP02 circuit board Slot NO 0 XCP02 circuit board main 1 Sub board1 connec...

Page 538: ...CPU ERROR XCP02 2 Decimal Data An insertion error of the XCP02 2 circuit board or defective circuit board Insert the circuit board in the CPU rack or the connector on the circuit board fast Replace th...

Page 539: ...error of the WRCA01 3 circuit board or defective circuit board Insert the circuit board in the CPU rack or the connector on the circuit board fast Replace the circuit board If the error occurs again...

Page 540: ...6 circuit board or defective circuit board Insert the circuit board in the CPU rack or the connector on the circuit board fast Replace the circuit board If the error occurs again contact you YASKAWA r...

Page 541: ...FC01 circuit board Replace the XFC01 circuit board ROM 1003 ROM XCP02 The error was found by sum check of sys tem program for the XCP02 circuit board Replace the XCP02 circuit board ROM 1030 MEMORY ER...

Page 542: ...le on maintenance mode Replace the XCP01 I O contactor unit I O module 1105 SYSTEM ERROR SERVO Decimal Data The error occurred in control check of th WACA01 WRCF01 circuit board Turn the power off the...

Page 543: ...tor WRCA CN10 Replace the terminal connector Replace the XCP01 circuit board WRCA01 circuit board If the error occurs again contact your YASKAWA representative 1302 COMMUNICATION ERROR SERVO I O Decim...

Page 544: ...o pack Error in external axis Check the type of servopack set by sys tem configuration is same as actual installed one If set data by system con figuration is correct replace installed servopack with...

Page 545: ...reducing the teaching speed on alarm There is a pos sibility that R B T axis move at a fast speed on liner interpolation according to teaching position In this case alter the teaching Error in robot...

Page 546: ...eck the breaking of the wire There is a possibility the robot moves by extra load Check the motion status of robot again and reduce the teaching speed Then confirm the reoccurrence Error in robot axis...

Page 547: ...aking of the wire There is a possibility the robot moves by extra load Check the motion status of robot again and reduce the teaching speed Then confirm the reoccurrence Error in robot axis Check that...

Page 548: ...tor again And check the breaking of the wire There is a possibility the robot moves by extra load Check the motion status of robot again and reduce the teaching speed Then confirm the reoccurrence Err...

Page 549: ...s tem configuration is the same as the actual installed one If set data by sys tem configuration is correct replace installed motor with correct one If set data by system configuration is not cor rect...

Page 550: ...01 and or WRCF01 circuit board Replace the amplifier motor for axis where the error occurred 1315 POSITION ERROR Robot Statio Axis Data The number of pulses generated by one rotation of the motor was...

Page 551: ...king the motor grounding There is a possibility the servopack is damaged when the servo turn on and off is repeat ing ground fault status Check the connection ofthe U V W E wires of motor again Remove...

Page 552: ...ier motor for the axis where the error occurred 1322 REGENERATIVE TROUBLE CONVERTER Bit Pattern Because the resurrection energy on reducing the motor speed was too high the resurrection circuit board...

Page 553: ...ing The no brake axes R B T axis for SK6 freely fell when the servo power supply was turned off by emergency stop When the power supply was turned back on this status this alarm occurred In case this...

Page 554: ...heck Check the connection cables of the I O contactor unit Replace the WRCA01 board 1338 SPEED MONITOR LEVEL ERROR The error occurred in the speed monitoring level signal signal error Check the connec...

Page 555: ...ype of motor is same as the one described in the manual If the type is not correct replace it with the correct motor Error in external axis Check that the type of motor set by sys tem configuration is...

Page 556: ...e Load the saved user coordinates file in the external memory unit and restore 4002 MEMORY ERROR SV MON SIGNAL FILE The servo monitor signal file of CMOS memory was damaged Initialize the servo monito...

Page 557: ...re 4017 MEMORY ERROR WELDER USER DEF FILE Decimal Data The welder user definition file of CMOS memory was damaged The data stands for the file No Initialize the welder user definition file in the main...

Page 558: ...4039 MEMORY ERROR FORM CUT FILE Decimal Data The form cut file of the CMOS memory was damaged The data stands for the file No Initialize the form cut file in the mainte nance mode Load the saved form...

Page 559: ...alarm 4104 WRONG EXECU TION OF LOAD INST Decimal Data When the installation was executed the error occurred in DCI function The data stands for the alarm factor Refer to the data transmission functio...

Page 560: ...sion timeout timer B Correct the error according to the data of the alarm factor after resetting the alarm 4116 TRANSMISSION SYSTEM ERROR Decimal Data When the data transmission function was used the...

Page 561: ...the alarm and repeat the opera tion Turn the power off then back on If the error occurs again contact your YASKAWA representative 4202 SYSTE ERROR JOB Decimal Data When access to the job was executed...

Page 562: ...l Data The error occurred in the safe circuit signal I O contactor unit Check the WRCA01 board duplication signal Check the safe circuit signal wiring of the cables connected to the I O contactor unit...

Page 563: ...the WRCA01 circuit board the converter 4304 CONVERTER INPUT POWER ERROR Bit Pattern There was no response ready 1 signal of primary power supply input from convertor at servo ON While turning servo ON...

Page 564: ...ter 4306 AMPLIFIER READY SIGNAL ERROR Bit Pattern There was no response amp ready signal of energizing completed from amplifier at servo ON While turning servo ON the amp ready signal was intercepted...

Page 565: ...R Robot Station Axis Data Because backup power supply voltage for encoder decreased less than 2 6V posi tion data of the encoder disappeared Whenever a new motor was used this error occurred Reset the...

Page 566: ...Data The error has occurred in job exec state ment part Data 1 255 stands for the alarm factor Reset the alarm and repeat the opera tion If the error occurs again contact you YASKAWA representative 44...

Page 567: ...or at specified speed Reset the alarm Reduce the speed of step Move instruction occurred the alarm or change the robot pose 4416 PULSE LIMIT MIN Robot Station Axis Data It exceeded pulse software limi...

Page 568: ...ONTROL GROUP Decimal Data The error occurs in information on the robot which uses for the job interpretation and the motion control Data 1 9 stands for the alarm factor Reset the alarm and repeat the...

Page 569: ...ion caused the alarm 4439 UNDEFINED LABEL Decimal Data No labels existed in the currently executing job Reset the alarm and register job Or Delete CALL JUMP instruction occurred the alarm 4440 UNDEFIN...

Page 570: ...g speed instruction was moving time instruction moving time was less than 0 5 Weaving speed instruction was frequency instruction frequency was less than 0 6 Weaving stopping time was negative 7 Verti...

Page 571: ...up the equation to reduce its length 4460 ZERO DIVIDED OCCURRENCE Decimal Data A division by zero was attempted Set not to divide by zero 4461 UNDEFINED AUTO WELD RELEASE COND Decimal Data Number of a...

Page 572: ...n BEIJING OFFIC Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASON HK COMPANY LIMI...

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