YASKAWA YRC1000micro Collaborative Operation Instructions Download

Page: 100 / 105

HW1484764

Default Settings of Function Safety General-Purpose I/O Signals

11-2

HW1484764

Signal

Signal Name

MS-OUT53

Speed limit request during collaborative operation (to be output to

an external safety device)

MS-OUT54

Collaborative operation request (to be input from an external safety

device)

MS-OUT55

Category 0 stop request (to be input from an external safety device)

MS-OUT56

Category 1 stop request (to be input from an external safety device)

MS-OUT57

Operation resumption request (to be input from an external safety

device)

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Summary of Contents for YRC1000micro

Page 1: ...OMAN HC10 INSTRUCTIONS MOTOMAN HC10DT INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR S MANUAL GENERAL SUBJECT SPECIFIC YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES MAJOR ALARMS MINOR ALARMS YRC1...

Page 2: ...lds are removed to show details Make sure that all the covers or shields are installed in place before operating this product YASKAWA is not responsible for incidents arising from unauthorized modific...

Page 3: ...nt a lesser degree of risk of injury or death than those identified by the signal word DANGER Indicates a hazardous situation which if not avoided could result in minor or moderate injury It may also...

Page 4: ...autions may result in death or serious injury from unexpected turning of the manipulator s arm WARNING Maintenance and inspection must be performed by specified personnel Failure to observe this cauti...

Page 5: ...addition the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safety fence View the manipulator from the front wheneve...

Page 6: ...nce when going into the area enclosed by the safety fence In addition the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes...

Page 7: ...enance and repair Check for a problem in manipulator movement Check for damage to insulation and sheathing of external wires Return the programming pendant to a safe place after use If the programming...

Page 8: ...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 can s...

Page 9: ...arks registered trademarks or brand names for each company or corporation The indications of R and TM are omitted Explanation of Warning Labels YRC1000 YRC1000micro The following warning labels are at...

Page 10: ...s on the warning labels Failure to observe this warning may result in injury or damage to equipment The following warning labels are attached to YRC1000micro Observe the precautions on the warning lab...

Page 11: ...ollaborative Operation 3 7 3 3 1 Disabling Collaborative Operation by Changing the Safety Logic Circuit 3 8 3 3 2 Enabling or Disabling Collaborative Operation by Using External Sensor Input 3 10 3 4...

Page 12: ...tion Supported Only by YRC1000 System Version YAS2 52 or Later and YRC1000micro System Version YBS2 10 or Later 5 1 5 1 2 Checking the Torque Sensor Status Using the External Force Monitor 5 3 5 2 How...

Page 13: ...ault Settings of Function Safety General Purpose I O Signals 11 1 12 Default Settings of the Functional Safety Condition Files 12 1 13 Functions That Cannot be Used with Collaborative Operation Simult...

Page 14: ...if the external force exceeds the preset limit Protective stop belongs to Stop Category 2 After protective stop stop position monitoring is performed using the speed limit function one of the YRC1000...

Page 15: ...operation and functional safety functions The functions that support collaborative operation use some of the YRC1000 YRC1000micro functional safety functions Even if you disable collaborative operatio...

Page 16: ...Basic Settings for Collaborative Operation For YRC1000 the manipulator moves back a little along the path to reduce the impact of collision when stopped by the PFL function At this moment a significa...

Page 17: ...xternal torque acting on each axis Translation mode The avoidance operation is performed in the cartesian coordinate system depending on the external force acting on the TCP When the avoidance functio...

Page 18: ...configurable function to stop the manipulator more slowly than the PFL function When the manipulator is stopped by the force detection hold function the START button lamp at the top of the programming...

Page 19: ...om the clamping state During this process the angular speed of the axis is limited to 5 deg s When the manipulator escapes from the clamping state or the TCP s travel distance by the escape operation...

Page 20: ...nd workpiece If it is not correctly configured clamping state detection may fail possibly causing an unexpected operation of the manipulator During the escape from clamping operation the manipulator m...

Page 21: ...orce is between the threshold for starting the avoidance operation and the force detection hold threshold the avoidance function works if the external force is between the force detection hold thresho...

Page 22: ...and in the teach mode You can configure the settings on the dedicated screen on the programming pendant and move the manipulator by hand with the job edit screen displayed Teaching by using the direct...

Page 23: ...the programming pendant by selecting SAFETY FUNC External Force Monitor from the programming pendant main menu Maximum value reset button Press to reset all the force torque maximum values to zero Max...

Page 24: ...agement Mode before you can change the various settings for collaborative operation To change to Safety Mode use the following steps 1 Select SYSTEM INFO SECURITY under the main menu 2 Under Security...

Page 25: ...han one external force limit you must configure as many limit files as the limits You can configure and save up to 32 limit files CAUTION You are recommended not to enable more than five limit files a...

Page 26: ...WRITE button changes to CONFIRM make sure that the changed settings are correct and then press the CONFIRM button The External Force Limit Setting screen provides the following fields 1 COMMENT Allow...

Page 27: ...F Disable depending on the status of the input signal specified in 7 INPUT SIGNAL configured for this external force limit file 4 CTRL GROUP Use this field to set the control group to be monitored for...

Page 28: ...ith collaborative operation enabled this output signal turns on when the external force acting on the manipulator exceeds the value specified in this external force limit file 9 READBACK WRITE CONFIRM...

Page 29: ...itional speed limit condition file use a file number other than No 31 and No 32 The following example shows how to add the condition to set the TCP speed limit to 100 mm s Item Setting File number One...

Page 30: ...as muting For more information on how to configure the safety logic circuit refer to RE CTO A221 YRC1000 INSTRUCTIONS or RE CTO A222 YRC1000micro INSTRUCTIONS 8 26 Safety Logic Circuit Signal name De...

Page 31: ...ing the Safety Logic Circuit To disable collaborative operation i e muting by changing the safety logic circuit use the following steps 1 Select SYSTEM INFO SECURITY under the main menu 2 Under Securi...

Page 32: ...RITE II Make sure that the safety logic circuit is correct and then select CONFIRM III On the dialog that asks you if you want to update the file select YES Once the collaborative operation is disable...

Page 33: ...peration only when a worker comes in the vicinity of the manipulator CAUTION When switching from collaborative operation disabled muting to collaborative operation enabled there is a delay of about 10...

Page 34: ...in the safety logic circuit For information on available signals refer to Chapter 11 Default Settings of Function Safety General Purpose I O Signals For more information on how to connect the safety...

Page 35: ...external force monitoring function and prevents the alarms related to the PFL function from occurring Use the following steps only when you want to temporarily disable the PFL function for example to...

Page 36: ...3 13 HW1484764 3 Under Security Mode select SAFETY MODE For Safety Mode the initial password is set to 5555555555555555 4 Select SYSTEM SETUP under the main menu and select OPTION FUNCTION 5 Select DE...

Page 37: ...FORCE LIMITING setting screen change both 1 and 2 to NOT USED under PFL BOARD 7 Select YES on the confirmation dialog that appears 8 Perform the procedures in steps 1 to 3 again 9 Select FILE INITIALI...

Page 38: ...Each Function 3 15 HW1484764 10 Select YES on the confirmation dialog that appears 11 Select FILE INITIALIZE under the main menu and select PFL Board FLASH Reset 12 Select YES on the confirmation dial...

Page 39: ...4 3 4 2 Steps for Enabling the PFL Function 1 Restart the controller in the maintenance mode 2 Select SYSTEM SECURITY under the main menu 3 Under Security Mode select SAFETY MODE For Safety Mode the i...

Page 40: ...Each Function 3 17 HW1484764 4 Select SYSTEM SETUP under the main menu and select OPTION FUNCTION 5 Select DETAIL of POWER FORCE LIMITING 6 On the POWER FORCE LIMITING setting screen change 1 to USED...

Page 41: ...on all dialogs If the dialog does not appear proceed to step 8 Select NO on the confirmation dialog that appears Select NO on the confirmation dialog that appears Select NO on the confirmation dialog...

Page 42: ...Each Function 3 19 HW1484764 10 Select YES on the confirmation dialog that appears 11 Select FILE INITIALIZE under the main menu and select PFL Board FLASH Reset 12 Select YES on the confirmation dial...

Page 43: ...nce function instructions to 2 In the job add EI LEVEL 1 to the line from which you want to enable the avoidance function 3 Add DI LEVEL 1 to the line from which you want to disable the avoidance func...

Page 44: ...ttings 3 Press the MODE button and select the manipulator operation mode you want to use during the avoidance operation The operation mode currently in use is described in the area above this button a...

Page 45: ...performed by moving the TCP according to external forces while keeping the current tool posture JOINT Joint mode All the joints are moved according to the external torque acting on each axis during p...

Page 46: ...reshold translation N Refer also to the variables list in Chapter 8 Ensure that the start threshold is always larger than the end threshold as shown below 3 5 4 Setting the Avoidance Speed You can cha...

Page 47: ...t job settings use the following steps Select JOB INTERRUPT JOB under the main menu to check the interrupt job settings Output signal OUT 4089 Level 0 signal IN 4090 job name SYS_INT_AVOID_R1 WARNING...

Page 48: ...e set to zero 0 by factory default The force detection hold function uses the threshold for your selected avoidance mode if the avoidance function is enabled or the thresholds for both joint and trans...

Page 49: ...creen 2 Wait until the following screen appears 3 Press the MODE button and select the desired manipulator operation mode The operation mode currently in use is described in the area above this button...

Page 50: ...he R B and T axes according to the external torque acting on these three axes JOINT Moves all the joints according to the external torque acting on each axis CAUTION Turning off and back on the contro...

Page 51: ...ERVO ON READY on the programming pendant and turn on the enable switch to turn the servo power ON 9 Move the manipulator by hand to the position where you want to teach it For MOTOMAN HCxxDT equipped...

Page 52: ...by factory default The button 2 is assigned to the external output 20012 You can use it for such a purpose as opening closing the tool depending on your needs For more information on the external outp...

Page 53: ...e following items carefully Whether collaborative operation is enabled or disabled Make sure that the collaborative operation enable disable setting is correct Operation check of the PFL function Make...

Page 54: ...me in any operation mode results in AL 6002 NEAR SINGULARITY PFL The MOTOMAN HC10 has the following three singularities Singularity 1 The U axis is at an angle within the range of 0 or 180 15 Singular...

Page 55: ...pectively For instance in the case where a workpiece on the table is grasped and lifted by the hand the manipulator is loaded with the tool weight of the hand only before grasping the workpiece and wi...

Page 56: ...e is configured as Tool 1 Tool 1 configuration example incorrect Tool 1 configuration example correct For more information on how to configure the tool information refer to 8 3 Tool Data Setting in YR...

Page 57: ...iece Tool 02 01 MOVJ VJ 10 Tool change Tool 02 Tool 01 in the same position as the previous step DOUT OT XX OFF Release the workpiece 01 MOVJ V 10 Workpiece leaving Tool 01 END Using the tool change m...

Page 58: ...ernal torque value for an axis is found exceeding the following threshold 2 as the result of the self check an alarm 8016 will occur After resetting the alarm check again that the tool information is...

Page 59: ...ion as follows 1 Select SYSTEM INFO under the main menu 2 Select VERSION The VERSION window appears 2 The judgment thresholds of the external torque values for each axis that the self check function u...

Page 60: ...ut If the difference in external torque acting on each axis from when you started using the manipulator has become large reconfigure the torque sensor home position with reference to the next section...

Page 61: ...any axis is a posture without a tool as shown below The figure at left shows the home position posture while the figure at right shows the posture with the U axis moved 180 from the home position post...

Page 62: ...Select the axis you want to configure To reconfigure all the axes select EDIT SELECT ALL AXIS 4 Select YES on the confirmation dialog that appears 5 Press READBACK and further press WRITE 6 Select YE...

Page 63: ...First check if the tool mass is set correctly If the problem continues adjust the torque sensor home position over again An escape from clamping occurs when not in clamping state The escape from clam...

Page 64: ...on the power 2 If the alarm recurs replace the ASF04 board Save CMOS BIN before replacing the board Others If the alarm recurs after you have taken the action described above save CMOS BIN and send th...

Page 65: ...rn off and on the power 2 If the alarm recurs save CMOS BIN and send the description of when and how the alarm occurred operating steps etc to your YASKAWA representative Others If the alarm recurs af...

Page 66: ...o your YASKAWA representative Fuse error 1 Turn off and on the power 2 If the alarm recurs and the fuse attached to the ASF04 board CN232 cable in the controller is blown out first remove the cause su...

Page 67: ...nd send the description of when and how the alarm occurred operating steps etc to your YASKAWA representative 1930 SYSTEM ERROR2 PFL ASF04 board error 1 Turn off and on the power 2 If the alarm recurs...

Page 68: ...described above save CMOS BIN and send the description of when and how the alarm occurred operating steps etc to your YASKAWA representative 1934 ROM DIAGNOSIS ERROR PFL 1 ASF04 board error 1 Turn off...

Page 69: ...n described above save CMOS BIN and send the description of when and how the alarm occurred operating steps etc to your YASKAWA representative 1937 RAM DIAG WRITE ERROR PFL ASF04 board error 1 Turn of...

Page 70: ...MOS BIN and send the description of when and how the alarm occurred operating steps etc to your YASKAWA representative 1941 WATCHDOG ERROR PFL ASF04 board error 1 Turn off and on the power 2 If the al...

Page 71: ...ASKAWA representative 1944 TOOL NUMBER UNMATCH DETECTION PFL Subcode Setting file number ASF04 board error 1 Turn off and on the power 2 If the alarm recurs replace the ASF01 board Save CMOS BIN befor...

Page 72: ...SPEED LIMIT PFL Operation error 1 Reset the alarm 2 Check if the manipulator is in collision 3 Check the setting of the speed limit function one of the functional safety functions following the instru...

Page 73: ...the alarm recurs save CMOS BIN and send the description of when and how the alarm occurred operating steps etc to your YASKAWA representative 6008 TRQ SENSOR OVERLOAD Subcode Indicates the axis where...

Page 74: ...variable with the number of sub code 300 and that of the associated D variable and correct the value accordingly 8006 Cannot start hand guiding JOINT 1 Cannot start hand guiding JOINT mode Do not appl...

Page 75: ...eps etc to your YASKAWA representative 8201 Invalid Status in Sub State 0 Operational unconformity sub state 1 Turn off and on the power 2 If the alarm recurs save CMOS BIN and send the description of...

Page 76: ...ve 8320 mpStartJob NG Failed to resume force detection hold job 1 Turn off and on the power 2 If the alarm recurs save CMOS BIN and send the description of when and how the alarm occurred operating st...

Page 77: ...the alarm recurs save CMOS BIN and send the description of when and how the alarm occurred operating steps etc to your YASKAWA representative 8337 Get system parameter failed 1 Failed to acquire param...

Page 78: ...G FAILED 0 Failed to execute hand guiding Switch to teach mode and then try to execute it again 10 to 13 Check that the hand guiding is operable and then try to execute it again 16 Cancel the job edit...

Page 79: ...G function joint mode Maximum control force for S axis 200 0 1Nm 0 1000 201 HandG_JT_T_MAX_L HG function joint mode Maximum control force for L axis 400 0 1Nm 0 1000 202 HandG_JT_T_MAX_U HG function j...

Page 80: ...tion joint mode Minimum control force for L axis 300 0 1Nm 0 1000 210 HandG_JT_T_MIN_U HG function joint mode Minimum control force for U axis 200 0 1Nm 0 1000 211 HandG_JT_T_MIN_R HG function joint m...

Page 81: ...G function joint mode Maximum angular speed for L axis 30 deg s 0 30 218 HandG_JT_V_MAX_U HG function joint mode Maximum angular speed for U axis 30 deg s 0 30 219 HandG_JT_V_MAX_R HG function joint m...

Page 82: ...HG function joint mode Minimum angular speed for L axis 0 deg s 0 30 226 HandG_JT_V_MIN_U HG function joint mode Minimum angular speed for U axis 0 deg s 0 30 227 HandG_JT_V_MIN_R HG function joint mo...

Page 83: ..._MAX_X HG function translation mode Maximum control force in X direction 30 N 0 200 235 HandG_TRS_F_MAX_Y HG function translation mode Maximum control force in Y direction 30 N 0 200 236 HandG_TRS_F_M...

Page 84: ...direction 250 mm s 0 250 243 HandG_TRS_V_MAX_Z HG function translation mode Maximum speed in Z direction 250 mm s 0 250 244 HandG_TRS_V_MIN_X HG function translation mode Minimum speed in X direction...

Page 85: ...hange 50 269 HndG_LMT_CLB_B HG function reserved constant Do not change 50 270 HndG_LMT_CLB_T HG function reserved constant Do not change 50 273 HndG_LMT_CLB_X HG function reserved constant Do not cha...

Page 86: ...hold 50 0 1Nm 0 1000 306 AVD_T_BEG_B Avoidance function start of operation B axis threshold 50 0 1Nm 0 1000 307 AVD_T_BEG_T Avoidance function start of operation T axis threshold 50 0 1Nm 0 1000 311 A...

Page 87: ...B axis 50 0 1Nm 0 1000 319 AVD_JT_T_END_T Avoidance function joint mode End threshold for T axis 50 0 1Nm 0 1000 322 AVD_JT_V_MAX_S Avoidance function joint mode Maximum speed for S axis 10 deg s 0 20...

Page 88: ...erved constant Do not change 100 1 10000 335 AVD_JT_MASS_R Reserved constant Do not change 100 1 10000 336 AVD_JT_MASS_B Reserved constant Do not change 100 1 10000 337 AVD_JT_MASS_T Reserved constant...

Page 89: ...nge 10 0 200 357 AVD_JT_MAX_D_L Reserved constant Do not change 10 0 200 358 AVD_JT_MAX_D_U Reserved constant Do not change 10 0 200 359 AVD_JT_MAX_D_R Reserved constant Do not change 10 0 200 360 AVD...

Page 90: ...Avoidance function translation mode Maximum resultant speed 250 mm s 0 250 377 AVD_TRS_V_MAX_X Avoidance function translation mode Maximum speed in X direction 250 mm s 0 250 378 AVD_TRS_V_MAX_Y Avoid...

Page 91: ...Do not change 250 0 10000 389 AVD_TRS_SPG_K_Y Reserved constant Do not change 250 0 10000 390 AVD_TRS_SPG_K_Z Reserved constant Do not change 250 0 10000 391 AVD_TRS_MAX_D_X Reserved constant Do not c...

Page 92: ...reserved System reserved System reserved System reserved System reserved 60637 60636 60635 60634 60633 60632 60631 60630 System reserved Hand guiding operation mode ROTATE Hand guiding operation mode...

Page 93: ...72 79971 79970 System reserved System reserved System reserved System reserved System reserved System reserved System reserved System reserved 79987 79986 79985 79984 79983 79982 79981 79980 Hand guid...

Page 94: ...om clamping in progress 15117 15116 15115 15114 15113 15112 15111 15110 System reserved Hand guiding operation mode ROTATE Hand guiding operation mode TRANS Hand guiding operation mode JOINT System re...

Page 95: ...tem reserved Escape from clamping in progress 05117 05116 05115 05114 05113 05112 05111 05110 System reserved Hand guiding operation mode ROTATE Hand guiding operation mode TRANS Hand guiding operatio...

Page 96: ...ut 06 General purpose output 05 General purpose output 04 General purpose output 03 General purpose output 02 TEACH button LED output 9 6 External Inputs used by the MOTOMAN HCxxDT equipped with the d...

Page 97: ...st Collaborative operation speed limit request Resume switch input 81707 81706 81705 81704 81703 81702 81701 81700 Collaborative operation LED output Speed monitoring escape from clamping Stop positio...

Page 98: ...45 M344 M343 M342 M341 M340 Reserved Reserved Reserved Reserved Sensor data T CH2 Sensor data B CH2 Sensor data R CH2 Sensor data U CH2 Sensor data L CH2 Sensor data S CH2 M359 M358 M357 M356 M355 M35...

Page 99: ...50 MSOUT55 and MSOUT58 to MSOUT64 because MSOUT51 to MSOUT54 and MSOUT57 are used by the system by default If you connect a safety signal to an FSBIN input on the safety terminal block and also connec...

Page 100: ...to be output to an external safety device MS OUT54 Collaborative operation request to be input from an external safety device MS OUT55 Category 0 stop request to be input from an external safety devi...

Page 101: ...ions except for muting Doing so could cause collaborative operation not to operate correctly possibly resulting in a very dangerous situation Speed limit Parameter Condition file for stop position mon...

Page 102: ...ignal FS OUT 52 Safety logic circuit system side MOTOMAN HCxx not equipped with direct teach device No Signal 1 Logic Signal 2 Output signal Timer 1 PFL OUT19 MS OUT51 2 PFL OUT20 MS OUT52 3 NOT FSBIN...

Page 103: ...PFL OUT25 OR MS OUT56 SVOFF CAT1 8 MS OUT54 AND PFL IN21 TM1 ON DELAY 9 FS OUT51 PFL IN19 10 FS OUT53 PFL IN18 11 FS OUT52 PFL IN20 12 MS OUT54 MSOUT53 13 TEACH AND R126 14 DSU SVONRDY0 AND R126 R127...

Page 104: ...cannot be used with collaborative operation simultaneously Examples are shown below Independent Coordinate function MotoFit function YRC1000micro only Servofloat function Conveyer synchronized functi...

Page 105: ...HW1484764 4 2017 YASKAWA ELECTRIC CORPORATION Published by YASKAWA March 2019 17 07 MANUAL No YRC1000 YRC1000micro Collaborative Operation Instructions 105 105...

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