YASKAWA Motoman UP6, Instructions Manual

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MOTO MAN 1-1 UP6 Manipulator Manual
SECTION 1
INTRODUCTION
The Motoman UP6 and XRC controller represent state-of-the-art technology in
robotics today. The UP6 has six individual axes: Sweep, Lower arm, Upper arm,
Rotate, Bend, and Twist.
The XRC controller coodinates the operation of the UP6 robot with external
equipment such as power supply and positioning tables. The XRC processes input
and output signals, maintains variable data, and performs numeric processing to
convert to and from different coordinate systems. Furthermore, it provides main
logic functions, servo control, program and constant data memory, and power
distribution. Please read this manual thoroughly to familiarize yourself with the
many aspects of the UP6 robot and XRC controller.
1.1 About this Document
This manual provides system information for UP6 robot and XRC controller and
contains the following sections:
SECTION 1 — INTRODUCTION
Provides general information about the structure of this manual, a list of reference
documents, and customer service information.
SECTION 2 — SAFETY
Provides information regarding the safe use and operation of the UP6 robot.
SECTION 3 — UP6 INSTRUCTIONS
Provides detailed information about the UP6 including installation, wiring,
specifications, and maintenance.
SECTION 4 — XRC INSTRUCTIONS — NORTH AMERICAN STANDARD
Provides detailed information about the NAS XRC controller including
descriptions, inspections, and parts replacement.
SECTION 5 — XRC INSTRUCTIONS — GENERAL
Provides general information about the XRC controller including system setup,
inspections, diagnosis, and configuration, as well as specifications, maintenance,
and alarm/error message lists.
SECTION 6 — XRC TROUBLESHOOTING
Provides logic trees for troubleshooting the XRC controller.
SECTION 7 — UP6 ELEMENTARY DIAGRAMS
Provides detailed information about XRC wiring and system configuration with
regard to the UP6 robot.