YASKAWA Motoman UP6, Instructions Manual

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1.2 Function List
1-4
1.2
Function List
Programming
Pendant
Operation Coordinate System Joint, Rectangular/Cylindrical, Tool, User Coordinates
Modification of
Teaching Points Adding, Deleting, Correcting (Robot axes and external axes
can be independently corrected.)
Inching Operation Possible
Locus Confirmation Forward/Reverse step, Continuous feeding
Speed Adjustment Fine adjustment possible during operating or pausing
Timer Setting Possible every 0.01 s
Short-cut Function Direct-open function, Screen reservation function
Interface RS-232
×
1 port for FC 1/FC2
(At Programming Pendant)
Application Arc welding, Spot welding, Handling, General, Others
Safety
Feature Essential Measures UL 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 frame (doughnut-sector), Cubic frame (user coordi-
nate)
Self-Diagnosis Classifies error and two types of alarms (major and minor)
and displays the data
User Alarm Display Possible to display alarm messages for peripheral device
Machine Lock Test-run of peripheral devices without robot motion
Door Interlock A door can be opened only when a circuit breaker is off.
Maintenance
Function Operation Time
Display Control power-on time, Servo power-on time, Playback time,
Operation time, Work time
Alarm Display Alarm message and previous alarm records
I/O Diagnosis Simulated enabled/disabled output possible
T.C.P. Calibration Automatically calibrates parameters for end effectors using a
master jig