YASKAWA Motoman GP8 EduCart Page 21 System Manual Download

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xxi

186638-1CD

Safety

Definition of Terms Used Often in This Manual

GP8 EduCart

Definition of Terms Used Often in This Manual

The Robot is a YASKAWA industrial robot product.
The Robot usually consists of a Manipulator, YRC1000micro Controller,

Programming Pendant, and Robot cables.
In this manual, the equipment is designated as follows:

Equipment

Manual Designation

GP8 EduCart

EduCart

YRC1000micro controller

YRC1000micro Controller

YRC1000micro Programming Pendant Programming Pendant
GP8 Manipulator

Manipulator

Cable between the Manipulator and the

YRC1000micro Controller

Robot cable

21 of 88

Summary of Contents for Motoman GP8 EduCart

Page 1: ...Part Number 186638 1CD Revision 2 Motoman GP8 EduCart System Manual Upon receipt of the product and prior to initial operation read these instructions thoroughly and keep for future reference 1 of 88...

Page 2: ...yrighted property of YASKAWA and may not be sold or redistributed in any way You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files...

Page 3: ...ment of the Industrial Safety and Health Law Industrial Safety and Health Regulations Technical Standards for Electrical Facilities Other related laws and regulations are Occupational Safety and Healt...

Page 4: ...and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the e...

Page 5: ...uipment frequently for proper operation Repair or replace any non functioning safety equipment immediately If safety equipment does not operate properly death or serious injury can result CAUTION Only...

Page 6: ...WILL result in death or serious injury WARNING Indicates a potentially hazardous situation which if not avoided MAY result in death or serious injury CAUTION Indicates a hazardous situation which if...

Page 7: ...ys follow these safety labels Fig EduCart Safety Labels Location Weight Limit Label This label notifies that if someone leans on the panels damage can occur Moving Parts This label indicates that movi...

Page 8: ...hine Nameplate Data supplies important electrical information that is required for installation Shock Hazard This label indicates that hazardous voltages are present and there is a danger of getting e...

Page 9: ...may result in death or serious injury from unexpected motion of the Robot s arm Any person who programs teaches operates maintains or repairs the included system MUST be trained and demonstrates comp...

Page 10: ...Do not make unauthorized modifications Unauthorized modifications can result in injury or equipment damage and will void the warranty Inspect For problems with movement Damages to external wires Repa...

Page 11: ...that will cause death or severe injury Make sure to clearly indicate when the Robot is in operation Use a pilot lamp and or an audible alert or The Robot stops operation if the operator comes close In...

Page 12: ...n s Clear the cell of all items which could interfere with the operation before releasing the Emergency Stop button Injury may result from unintentional or unexpected motion Fig Release of Emergency S...

Page 13: ...ctric shock caused by contact with the Manipulator or other equipment Strictly observe the following precautions about clothing Always wear approved work clothes no loose fitting clothes To prevent mi...

Page 14: ...147 29CFR Part 1910 Occupational Safety and Health Standards for General Industry OSHA Only trained personnel familiar with the operation of this equipment the operator s manuals the system equipment...

Page 15: ...Robot only within the specifications described in the manuals for the Robot Failure to observe this instruction may result in personal injury and or equipment damage Observe the following precautions...

Page 16: ...mode or REMOTE mode If operation of the Robot cannot be stopped in an emergency personal injury and or equipment damage may result Make sure that all safety protection devices are activated before st...

Page 17: ...ton immediately if there are problems Observe the following when performing teaching operation within the operating range Lockout by putting a lockout device on the safety fence when going into the ar...

Page 18: ...Robot temperature may rise quickly depending on ambient temperature and operation pattern If a warning message displays stop operations or equipment damage may occur Monitor warning messages on the P...

Page 19: ...for maximum performance All modifications made to the software will change the way the equipment operates and may cause death or serious injury as well as damage parts of the system Make sure all modi...

Page 20: ...ions can damage the equipment DANGER When relocating transferring or selling the Robot make sure that the Robot is always accompanied by its manuals so that all users have access to necessary manuals...

Page 21: ...consists of a Manipulator YRC1000micro Controller Programming Pendant and Robot cables In this manual the equipment is designated as follows Equipment Manual Designation GP8 EduCart EduCart YRC1000mi...

Page 22: ...keys for axis operation and number input Keys pressed simultaneously When two keys are to be pressed simultaneously the keys are shown with a sign between them e g SHIFT COORD Mode Switch Mode Switch...

Page 23: ...re to observe this instruction can cause fire mechanical failure or malfunction which may result in personal injury and or equipment damage NOTICE When disposing of or recycling the Robot follow the a...

Page 24: ...1 12 1 6 Customer Support Information 1 12 2 Assembly of GP8 EduCart 2 1 3 Powering Up GP8 EduCart 3 1 3 1 Check Gripper Operations Using Programming Pendant 3 2 4 Moving Robot to Second Home Positio...

Page 25: ...1CD Table of Contents GP8 EduCart 9 Replacement Parts 9 1 9 1 Common Replacement Parts 9 1 9 2 Recommended Electrical Spare Parts 9 1 10 Parts List 10 1 10 1 Robot Gripper Kit 10 1 Appendix A A 1 A 1...

Page 26: ...s for EduCart Simulation see chapter 7 Alarms and Messages see chapter 8 Replacement Parts see chapter 9 Parts List see chapter 10 1 2 System Overview Make sure the following items are included with t...

Page 27: ...layouts per each instructors lesson plan Any whiteboard marker may be used on the working surfaces for demonstrations and may be cleaned or wiped off using a dry cloth The system includes a default ma...

Page 28: ...e The design of the EduCart places a YRC1000micro Controller within the structure of the EduCart Care is taken to redirect airflow away from the users but also provide proper airflow to cool the inter...

Page 29: ...the EduCart Failure to observe this warning can potentially be a hazardous situation which results in death or serious injury NOTICE Having the selector switch in the TEACH position limits all Robot a...

Page 30: ...EduCart interactions before operating in an automatic operation Failure to observe this warning can potentially be a hazardous situation which results in death or serious injury NOTICE The area scanne...

Page 31: ...ering an area around the EduCart The scanner s feedback operates similar to a safety gate it is used as a safety function in PLAY Mode Therefore in TEACH Mode the status condition of the safety scanne...

Page 32: ...he table top indicators follow the colors from the scanner but only indicate the status in PLAY mode For example if the scanners are violated the table top indicators are red when in PLAY mode When th...

Page 33: ...ler are dual channel transistor outputs These outputs interface with a safety relay to send the proper signal to the YRC1000micro Controller safety inputs NOTICE Operator and Programming Pendant must...

Page 34: ...based Robot Range Limiting ensures safe operation of the EduCart The purpose for this Robot motion restriction is to prevent someone from reaching over the EduCart It will also limit motion to preven...

Page 35: ...he Robot out of the area of potential operators reaching overs To prevent the Robot from crashing into the rear wall To protect the Robot from colliding with the table top 1 4 4 2 PLAY Mode In PLAY mo...

Page 36: ...f this file is to protect the Robot from crashing into the vision equipment Robot Range Limit File Overview with Vision Option Robot Range Limit File 2 Settings Definition of volume where the Robot is...

Page 37: ...he inquiry GP8 EduCart Read Me First READ FIRST YRC1000micro READ FIRST Safety Requirements YRC1000micro Instructions YRC1000micro Operator s Manual YRC1000micro Options Instruction for Inform Languag...

Page 38: ...ion contact a local YASKAWA representative at the telephone on the back cover of this manual System GP8 EduCart Primary Application Teaching Controller YRC1000micro Software Version Access this inform...

Page 39: ...s and do an inventory while checking for any damaged items Items shipped in cardboard boxes include Programming Pendant Six teaching blocks and two nests Fixed Teaching Pointer TCP pointer and TCP for...

Page 40: ...to lock the panel brace in position 8 Roll the EduCart into position per the drawing below CAUTION Install the EduCart per the drawing below Installing the EduCart per the drawing below is required f...

Page 41: ...izer pads thus lifting the EduCart off the caster wheels 10 Connect the Programming Pendant cable to the Programming Pendant 11 Remove shipping brackets from the robot NOTICE The stabilizer pads reduc...

Page 42: ...ro ROBOT CONTROLLER STU 1000 STEP UP DOWN TRANSFORMER 110 120 220 240VAC 1000 WATT OUTPUT 220V RECEPTACLE 240VAC INPUT VOLTAGE SELECTOR 220VAC 200VAC 110VAC COGNEX IN SIGHT MICRO CAMERA NETGEAR GS308P...

Page 43: ...d OUT 2 to turn ON 5 Again press keys INTERLOCK 2 OUT 2 should now turn OFF NOTICE Normally the EduCart ships with the transformer and YRC1000micro Controller power switches in the ON position If the...

Page 44: ...performing teaching operations with the EduCart View the Robot from the front whenever possible Always follow the predetermined operating procedure Improper or unintended Robot operation may result in...

Page 45: ...lt in damage to the Programming Pendant or damage to the Robot Store the Programming Pendant key mode select switch in a safe place After operation remove and store the Programming Pendant key in a sa...

Page 46: ...t to Second Home Position GP8 EduCart 2 Press the once the JOB LIST displays 3 Observe the SECOND HOME POS screen appears The screen will look similar to the screen shot below besides the values will...

Page 47: ...to the second home position by pressing and holding the Enable switch and until the CURRENT column is selected and released NOTICE While pressing the Enable switch DO NOT press the switch too hard or...

Page 48: ...4 5 186638 1CD 186638 1CD 4 Moving Robot to Second Home Position GP8 EduCart 5 Using the outlines on the template for guidance for placing the Block Nests on the template 48 of 88...

Page 49: ...unt injury may result by the gripper smashing fingers Observe the following precautions when performing teaching operations with the EduCart View the Manipulator from the front whenever possible Alway...

Page 50: ...keys INTERLOCK and observe the gripper opens b Insert designated TCP in gripper mount Insert blue pointer in gripper as shown with the corners engaged in grooves and flange engaged in grooves c Press...

Page 51: ...rker 1 Install marker stop collar on marker 2 Press keys INTERLOCK and observe the gripper opens 3 Insert marker with marker stop collar in gripper 4 Press keys INTERLOCK 2 and observe the gripper clo...

Page 52: ...rogramming Pendant display 2 Place the OPERATION switch to PERM by pressing the INTERLOCK key on the keypad and pressing the OPERATION switch on the display of the Programming Pendant 3 To set up an i...

Page 53: ...t on the GENERAL PURPOSE INPUT screen by pressing the DISPLAY 5 Set the output either from the INFORM job or by manually setting on the GENERAL PURPOSE OUTPUT screen make sure the I F Panel is updated...

Page 54: ...6 3 186638 1CD 186638 1CD 6 Configuration Of The Programming Pendant 6 1 Programming Pendant GP8 EduCart 6 Observe the OUTPUT STATUS are filled in indicating active status 54 of 88...

Page 55: ...n the alarm below occurs simply press RESET on the Programming Pendant display to clear the alarm and continue 7 2 Robot Not at Safe Starting Position Alarm While running some jobs in MotoSim Simulati...

Page 56: ...o safety sensor documentation to determine location of interference ROBOT RANGE LIMIT FILE 1 DISABLED Robot Range Limit File 1 has been disabled by the user To operate the system software this file mu...

Page 57: ...Gripper Parallel Electric 24 VDC 1 186955 1 Panel Teach Grid Standard Education Magnetic 1 171179 1 Block Training 6 171180 1 Block Nest Training 2 185966 1 Robot Calibration Pointer Assy 1 188928 1 G...

Page 58: ...R I O 20 CONTACT CONN FLYING LEADS GP8 STEM 1 3 479296 6 SCREW SHC M5X16 CLASS 12 9 4 4 182519 1 WASHER CONICAL SPRING HEAVY LOAD M5 JIS B TYPE 2 6 5 479296 5 SCREW SHC M5X12 CLASS 12 9 6 6 186622 1 F...

Page 59: ...teristic and the attained characteristic R15 05 2 or the precision with which a computed or calculated robot position can be attained Accuracy is normally worse than the arm s repeatability Accuracy i...

Page 60: ...the joints represents a degree of freedom in the Robot system and allows translation and rotary motion Articulation Describes a jointed device such as a jointed manipulator The joints provide rotatio...

Page 61: ...mputer is used as a tool to design schematics and produce blueprints which enable the accurate production of the object The CAD system enables the three dimensional drawings of basic figures exact siz...

Page 62: ...about an axis other than one at it s center of mass it exerts an outward radial force called centrifugal force upon the axis which restrains it from moving in a straight tangential line To offset this...

Page 63: ...wed motion is accomplished through lateral horizontal axial vertical or rotational compliance Configuration The arrangement of links created by a particular set of joint positions on the robot Note th...

Page 64: ...d whose outputs are drive signals to a controlling motor or actuator R15 02 Controller Operator Handle Power switch on the controller Turns on the controller and provides power to the robot Controller...

Page 65: ...y and only for those situations presenting the most serious hazards Dead Man Switch Deprecated term See Enabling Device Degrees of Freedom The number of independent directions or joints of the robot R...

Page 66: ...A beam of light passes through a rotating code disk that contains a precise pattern of opaque and transparent segments on its surface Light that is transmitted through the disk strikes photo detector...

Page 67: ...rm a variety of different tasks Force Feedback A sensing technique using electrical signals to control a robot end effector during the task of the end effector Information is fed from the force sensor...

Page 68: ...nt along the Z axis The spool and shaft can move forward and back along tracks which provide movement along the Y axis Usually used to position its end effector over a desired object and pick it up Gr...

Page 69: ...ical Commission Inductive Sensor The class of proximity sensors which has half of a ferrite core whose coil is part of an oscillator circuit When a metallic object enters this field at some point the...

Page 70: ...sers Intelligent Robot A robot that can be programmed to make performance choices contingent on sensory inputs with little or no help from human intervention See Robot Interference Area Interference A...

Page 71: ...nsists of instructions that tell the YRC1000micro Controller what to do and data that the program uses when it is running Joint A part of the manipulator system which allows a rotation and or translat...

Page 72: ...ace mapping bar code scanning cutting welding etc Lifting Bracket A lifting fixture factory shipped installed on the manipulator It contains hoist rings used for lifting by a chain sling The lifting b...

Page 73: ...an machine cut form or change the shape function or properties of materials it handles between the time the materials are first grasped and the time they are released in a manufacturing process Mirror...

Page 74: ...his becomes important in manufacturing and assembly line production due to keeping productivity high while the robot is being programmed for other tasks Operator The person designated to start monitor...

Page 75: ...ad Maximum The maximum mass that the robot can manipulate at a specified speed acceleration deceleration center of gravity location offset and repeatability under continuous operation over a specified...

Page 76: ...or body part although it might cause injury it only has to trap or pinch the person to prevent them from escaping or removing the trapped part from the pinch point Pitch Rotation of the end effector...

Page 77: ...emented functional safety and additional detection hardware must be used A risk assessment shall be used determine if any additional safeguarding is necessary to mitigate risks within the robot system...

Page 78: ...e robot cell R Range of Motion The full movement potential of the robot Reach The volume of space envelope which a robot s end effector can reach in at least one orientation Real time System A compute...

Page 79: ...t exact location The degree of resolution within the robot control system determines the repeatability In general an arm s repeatability can never be better than its resolution See Teach and Accuracy...

Page 80: ...wists swings or bends about an axis Rotary Vector Drive RV A brand name for a speed reduction device that converts high speed low torque to low speed high torque usually used on the major larger axis...

Page 81: ...ts which enable it to determine aspects regarding the robot s environment as well as the robot s own positioning Sensors respond to physical stimuli such as heat light sound pressure magnetism and mot...

Page 82: ...ssembly to the motor brake Locks the Manipulator in place during transport Shipping Skid A custom made platform used to ship the manipulator and the YRC1000micro Controller It is included with the shi...

Page 83: ...on in software Soft Pendant Is software that is a digital version of the Programming Pendant that can be ran on a Windows operating system See Programming Pendant for more details Speed and Separation...

Page 84: ...creen on the programming pendant This window contains the JOB CONTENT window and teaching is conducted within this window The JOB CONTENT window contains the following items line numbers cursor instru...

Page 85: ...tive to the base frame Touch Sensor Sensing device sometimes used with the robot s hand or gripper which senses physical contact with an object thus giving the robot an artificial sense of touch The s...

Page 86: ...ough visual feedback such as a television camera W Warning Indicates a potentially hazardous situation which if not avoided will result in death or serious injury Hazards identified by the signal word...

Page 87: ...e this World Model to aid in determining its actions in order to complete given tasks Wrist A set of rotary joints between the arm and the robot end effector that allow the end effector to be oriented...

Page 88: ...78 http www ysr motoman cn YASKAWA ELECTRIC KOREA CORPORATION 35F Three IFC 10 Gukjegeumyung ro Yeongdeungpo gu Seoul 07326 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 http www yaskawa co kr YASKAWA E...

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