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3.11 ARM Control

3-50

"

Robot Setup Condition

It is necessary to set the following robot setup condition to execute the ARM control appropri-
ately.

• Robot installation angle
• S-head payload
• U-arm payload

Robot installation angle

The angle of the manipulator installed relative to ground is set in ANGLE REL. TO GROUND
to calculate the gravity moment which loads to each axis of the manipulator.
The robot installation angle sets how much X axis of the robot coordinates has inclined with
the earth around Y axis of the robot coordinates. The direction of + in the U axis operation
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 becomes -90 degrees.

<Example>

Because the gravity moment which loads to each axis can't be calculated correctly when this
value is not correctly set, it can not be possible to control the manipulator appropriately. Set
the value correctly. Especially, note the direction “+” or “-”.

Only rotation angle around Y axis of the robot coordinates can be set in the robot installa-
tion angle.
Contact YASKAWA representative when robots is installed to incline Y axis of the robot
coordinates relative to ground.

Robot
installation
Angle

+

-

X

Z

Y

0 degrees

-90 degrees

+90 degrees

180 degrees

N OT E

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Содержание SK300X

Страница 1: ...Motoman Inc and may not be copied reproduced or transmitted to other parties without the expressed written authorization of Motoman Inc 2001 by MOTOMAN All Rights Reserved Because we are constantly im...

Страница 2: ......

Страница 3: ...N i SK300X Manipulator Manual XRC 2001 Section Page 1 INTRODUCTION 1 1 2 SAFETY 2 1 3 XRC SETUP 3 1 4 SK300X INSTRUCTIONS 4 1 5 XRC INSTRUCTIONS NAS 2001 5 1 6 XRC INSTRUCTIONS GENERAL R2 6 1 7 SK300X...

Страница 4: ...SK300X Manipulator Manual XRC 2001 ii MOTOMAN NOTES...

Страница 5: ...e 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 inf...

Страница 6: ...Manual for Spot Welding P N 142101 1 Operator s Manual for Arc Welding P N 142098 1 Vendor manuals for system components not manufactured by Motoman 1 3 Customer Service Information If you are in nee...

Страница 7: ...INTRODUCTION MOTOMAN 1 3 SK300X Manipulator Manual XRC 2001 NOTES...

Страница 8: ...ogram 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...

Страница 9: ...diate 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...

Страница 10: ...puts 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 equi...

Страница 11: ...d with the operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications to PART 1 of the MRC controller PLC can cause severe personal inj...

Страница 12: ...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 sure the ar...

Страница 13: ...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 robot cell wh...

Страница 14: ...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...

Страница 15: ...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...

Страница 16: ...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...

Страница 17: ...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...

Страница 18: ...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...

Страница 19: ...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...

Страница 20: ...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...

Страница 21: ...viii...

Страница 22: ...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...

Страница 23: ...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...

Страница 24: ...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...

Страница 25: ...xii...

Страница 26: ...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...

Страница 27: ...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...

Страница 28: ...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...

Страница 29: ...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...

Страница 30: ...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...

Страница 31: ...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...

Страница 32: ...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...

Страница 33: ...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...

Страница 34: ...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...

Страница 35: ...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...

Страница 36: ...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...

Страница 37: ...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...

Страница 38: ...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...

Страница 39: ...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...

Страница 40: ...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...

Страница 41: ...1 7 Notes on MOTOMAN Disposal 1 16...

Страница 42: ...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...

Страница 43: ...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...

Страница 44: ...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...

Страница 45: ...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...

Страница 46: ...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...

Страница 47: ...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...

Страница 48: ...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...

Страница 49: ...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...

Страница 50: ...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...

Страница 51: ...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...

Страница 52: ...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...

Страница 53: ...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...

Страница 54: ...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...

Страница 55: ...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...

Страница 56: ...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...

Страница 57: ...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...

Страница 58: ...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...

Страница 59: ...4 3 Connection Methods 4 12...

Страница 60: ...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...

Страница 61: ...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...

Страница 62: ...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...

Страница 63: ...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...

Страница 64: ...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...

Страница 65: ...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...

Страница 66: ...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...

Страница 67: ...6 1 Movement of the Axes 6 4...

Страница 68: ...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...

Страница 69: ...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...

Страница 70: ...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...

Страница 71: ...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...

Страница 72: ...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...

Страница 73: ...8 2...

Страница 74: ......

Страница 75: ...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...

Страница 76: ...ior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN SK300X SK300X 170 SK300X 400 INSTRUCTIONS YASNAC XRC INSTR...

Страница 77: ...s 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 necessary due to product impr...

Страница 78: ...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...

Страница 79: ...k 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 opera...

Страница 80: ...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...

Страница 81: ...e labels Also an indentification label with important information is placed on the body of the manipula tor Prior to operating the manipulator confirm the contents MOTOMAN TYPE ORDER NO PAYLOAD kg MAS...

Страница 82: ...the Manipulator is Mounted Directly on the Floor 3 4 3 3 Location 3 5 4 Wiring 4 1 Grounding 4 1 4 2 Cable Connection 4 2 4 2 1 Connection to the Manipulator 4 2 4 2 2 Connection to the XRC 4 2 5 Basi...

Страница 83: ...for R Axis Speed Reducer 9 10 n Grease Replenishment Refer to Fig 24 R Axis Speed Reducer Diagram 9 10 n Grease Replacement Refer to Fig 24 R Axis Speed Reducer Diagram 9 11 9 2 5 Grease Replenishment...

Страница 84: ...ions ordered should be checked as well Manipulator XRC Programming Pendant Feeder Cable Between Controller and Manipulator Confirm that the manipulator and the XRC have the same order number Special c...

Страница 85: ...ponds to the XRC The order number is located on a label as shown below a XRC Front View b Manipulator Side View Fig 1 Location of Order Number Labels Label Enlarged view THE MANIPULATOR AND THE CONTRO...

Страница 86: ...nipulator is fixed with jigs before transporting and lift it in the posture as shown in Fig 2 Transporting Position Fig 2 Transporting Position Sling applications and crane or forklift operations must...

Страница 87: ...other than transporting the manipulator Mount the shipping bolts and jigs for transporting the manipulator Avoid exerting force on the arm or motor unit when transporting use caution when using transp...

Страница 88: ...in injury or damage Do not start the manipulator or even turn on the power before it is firmly anchored The manipulator may overturn and cause injury or damage Do not install or operate a manipulator...

Страница 89: ...arriers interlock barriers perimeter guarding awareness barriers and awareness signals 3 2 Mounting Procedures for Manipulator Baseplate The manipulator should be firmly mounted on a baseplate or foun...

Страница 90: ...fixture The thickness of the common base is 50mm or more and a size of the anchor bolt of M20 or larger is recommended Affix the manipulator by fastening the plate with the eight M20 mm anchor bolts...

Страница 91: ...epulsion forces of the manipulator as shown in Table 1 As a rough standard when there is a concrete thickness floor of 200mm or more the base of the manipulator can be fixed directly to the floor with...

Страница 92: ...ioned environmental conditions 0 to 45 C Ambient temperature 20 to 80 RH no moisture Free from dust soot or water Free from corrosive gases or liquid or explosive gases Free from excessive vibration l...

Страница 93: ...3 3 Location 3 6...

Страница 94: ...ON Failure to observe this warning may result in fire or electric shock Wiring must be performed by authorized or certified personnel Failure to observe this caution may result in fire or electric sho...

Страница 95: ...main key positions of the manipulator and insert cables in the order of 2BC 3BC and 1BC and then set the lever until hearing a click 4 2 2 Connection to the XRC Remove the cover on the XRC side Pass...

Страница 96: ...4 2 Cable Connection 4 3 Fig 6 a Power Cables 1BC 2BC XIU01 CN25 WRCA01 CNPG456 WRCA01 CNPG123 Connection to the XRC Connection to the manipulator 1BC 2BC Signal cable Power cable...

Страница 97: ...4 2 Cable Connection 4 4 Fig 6 b Power Cables 3BC Fig 7 a Power Connection to the Manipulator Connection to the XRC Connection to the manipulator CACR SK300AAB 3BC Power cable...

Страница 98: ...5 Signal Cable Tighten the screws with screw driver Power Cable Grounding plate for signal and power line Terminal No E Signal Cable Connector No WRCA01 CNPG456 upper WRCA01 CNPG123 lower Power Cable...

Страница 99: ...4 2 Cable Connection 4 6...

Страница 100: ...0 s 1 31 rad s 75 s 1 40 rad s 80 s L Axis 1 22 rad s 70 s 1 31 rad s 75 s 1 40 rad s 80 s U Axis 1 22 rad s 70 s 1 31 rad s 75 s 1 40 rad s 80 s R Axis 1 40 rad s 80 s 1 75 rad s 100 s 2 09 rad s 120...

Страница 101: ...Part Names and Working Axes 5 2 5 2 Part Names and Working Axes Fig 8 Part Names and Working Axes 5 3 Baseplate Dimensions Fig 9 Baseplate Dimensions mm 90 860 760 640 860 760 640 394 8 f28 Hole A Vie...

Страница 102: ...5 4 Dimensions and Working Range 5 3 5 4 Dimensions and Working Range Fig 10 a Dimesions and Working Range YR SK300 J0...

Страница 103: ...5 4 Dimensions and Working Range 5 4 Fig 10 b Dimesions and Working Range YR SK300 J1...

Страница 104: ...5 4 Dimensions and Working Range 5 5 Fig 10 c Dimesions and Working Range YR SK300 J2...

Страница 105: ...Working Range Fig 11 B Axis Working Range 5 6 Alterable Working Range The working range of the S Axis can be altered according to the operating conditions as shown in Table 3 S Axis Working Range If a...

Страница 106: ...tational unit When the volume load is small refer to the moment arm rating shown in Fig 12 Moment Arm Rating The allowable total inertia is calculated when the moment is at the maximum Contact your Ya...

Страница 107: ...2 Fig 12 Moment Arm Rating T B Axes Rotation Center Line T B Axes Rotation Center Line T B Axes Rotation Center Line Point P Point P Point P B Axis Rotation Center Line B Axis Rotation Center Line B...

Страница 108: ...er to see the tram marks it is recommended that the attachment be mounted inside the fitting Fitting depth of inside and outside fittings must be 8mm or less Fig 13 Wrist Flange Wash off anti corrosiv...

Страница 109: ...6 2 Wrist Flange 6 4...

Страница 110: ...tions should be observed Fig 14 Clamp and Tapped Holes Table 5 Constraint for Attaching Application Note A Cable Processing Attaching load weight is 300kg max for YR SK300 J0 170kg max for YR SK300 J1...

Страница 111: ...The maximum pressure for the air duct is 490kPa 5kgf cm2 and its inside diameter is 8mm Fig 15 Incorporated Wire and Airduct The same pin number 1 17 of two connectors is connected in the lead line of...

Страница 112: ...of S Axis Limit Switch 8 1 8 Motoman Construction 8 1 Position of S Axis Limit Switch The limit switches for the S Axis are located as shown in Fig 16 Location of Limit Switches Fig 16 Location of Li...

Страница 113: ...ber and location of connectors see Fig 17 Location and Numbers of Connec tors and Table 6 List of Connector Types Fig 17 Location and Numbers of Connectors Table 6 List of Connector Types Name Type of...

Страница 114: ...P P P P P BATTERY K P 1CN C DATA 1 BAT T P P S J G H OBT FG2 5V 0V No 3CN J D 3CN C D T S G H FG1 DATA 2 DATA 2 5V OBT BAT DATA 1 0V No 2CN U AXIS PG L AXIS PG S AXIS PG DATA 3 DATA 3 OBT BAT 0V FG3...

Страница 115: ...YB SM No 15CN 15CN A F BB3 E D C B BA3 MW3 ME3 MV3 MU3 YB SM U AXIS A1 B2 A2 B1 ME4 BA4 ME4 MW4 MW4 MV4 MU4 MV4 MU4 CN1 2 CN2 4 CN2 5 CN2 2 CN2 1 CN2 7 CN2 8 CN1 5 CN1 4 CN1 1 A2 A1 B2 B1 MU5 MV5 MU5...

Страница 116: ...ersonnel are to do inspection work Before maintenance or inspection be sure to turn the main power sup ply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may...

Страница 117: ...lead Visual Check for damage and deterioration of leads Working area and manipulator Visual Clean the work area if dust or spatter is present Check for damage and outside cracks LU axes motor Visual C...

Страница 118: ...lfunc tion Replace if nec essary Supply grease 3 6000H cycle See Par 9 2 2 Replace grease 3 12000H cycle See Par 9 2 2 L U axis speed reducer Grease Gun Check for malfunc tion Replace if nec essary Su...

Страница 119: ...4 Inspection No correspond to the numbers in Fig 19 Inspection Parts and Inspection Numbers 5 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor 6 This...

Страница 120: ...in Table 7 Inspection Items Table 8 Inspection Parts and Grease Used No Grease Used Inspected Parts 16 17 18 19 Molywhite RE No 00 Speed Reducers for all Axes B and T axis Gears 10 14 20 Alvania EP G...

Страница 121: ...9 6 9 2 Notes on Maintenance Procedures 9 2 1 Battery Unit Replacement If a battery alarm occurs in the XRC replace the battery according to the following procedure Fig 20 a Battery Location Back View...

Страница 122: ...Mount the battery unit with the screw connect the grease tube to the union and then mount the connector base Remove the old battery unit after connecting the new one so that the encoder absolute data...

Страница 123: ...ement Refer to Fig 22 S Axis Speed Reducer Diagram 1 Remove the So exhaust plug 2 Inject the grease into the Si grease inlet using a grease gun 3 The grease replacement is complete when new grease app...

Страница 124: ...Uo exhaust plugs 2 Inject grease into the Li and Ui grease inlet using a grease gun 3 Move the L and U Axis for a few minutes to discharge the excess grease 4 Wipe the Lo and Uo exhaust plugs with a c...

Страница 125: ...for R Axis Speed Reducer Fig 24 R Axis Speed Reducer Diagram n Grease Replenishment Refer to Fig 24 R Axis Speed Reducer Diagram 1 Remove the cap and the Ro exhaust plug 2 Inject grease into the Ri g...

Страница 126: ...ew grease appears in the Ro exhaust ports The new grease can be distinguished from the old grease by color 4 Move the R Axis for a few minutes to discharge the excess grease 5 Wipe the Ro exhaust plug...

Страница 127: ...grease into the Bi and Ti grease inlets G Nipple A M6F 4 The grease replacement is complete when new grease appears in the Bo exhaust ports The new grease can be distinguished from the old grease by...

Страница 128: ...plenishment for L Axis Cross Roller Bear ing Fig 27 L Axis Cross Roller Bearing 1 Remove the plug for air flow 2 Inject grease Lc grease inlet using a grease gun 3 Reinstall the plug for air flow Grea...

Страница 129: ...Roller Bearing 2 Inject grease Lc grease inlet using a grease gun 3 Reinstall the plug for air flow 9 2 9 Grease Replenshment for R Axis Taper Roller Bear ings YR SK300 J2 Fig 29 R Axis Taper Roller B...

Страница 130: ...ow 6ps refer to Fig 30 Link Connection Part Grease type Alvania EP grease 2 Amount of grease 12cc Grease type Alvania EP grease 2 Amount of grease 6cc 12cc for 1st supply Do not inject excessive greas...

Страница 131: ...art Fig 31 Balancer Connection Part 1 Remove the plug for air flow 4ps refer to Fig 31 Balancer Connection Part Grease type Alvania EP grease 2 Amount of grease 5cc 10cc for 1st supply Do not inject e...

Страница 132: ...attery backup connector of the motor 2 Connect the battery unit connection cable HW9470945 A for the motor with the bat tery backup connector of the motor 3 Connect the SLU axes battery unit HW9470932...

Страница 133: ...9 2 Notes on Maintenance Procedures 9 18...

Страница 134: ...0 SK300X 400 Rank Parts No Name Type Manufacturer Qty Qty per Unit Remarks A 1 Grease Molywhite RE No 00 Yaskawa Electric Corporation 16kg for all axes speed reducers and wrist units A 2 Grease Alvani...

Страница 135: ...400 Yaskawa Electric Corporation 1 1 B 14 Wrist Unit HW9171115 A Sk300X Yaskawa Electric Corporation 1 1 HW9171115 B Sk300X 170 HW9171115 C Sk300X 400 C 15 AC Servomotor for S L U Axis HW9381608 A Ya...

Страница 136: ...11 1 S Axis Driving Unit 11 1 11 Parts List 11 1 S Axis Driving Unit...

Страница 137: ...S head 1 0030 NO 3 5 312 O ring 1 0031 HW9403722 1 Cover 2 0032 M6x12 Screw 16 0032AA 2H 6 Spring washer 16 0049 HW9404016 1 Guide rail 1 0049AA HW9406016 2 Guide rail 1 0049AB M5x14 Flat countersuck...

Страница 138: ...11 2 L U Axis Driving Unit 1 11 3 11 2 L U Axis Driving Unit 1...

Страница 139: ...VAL 2 Accessary 1 0085 M3X14 Screw 2 0086 M3 Spring washer 2 0087 HW8415663 1 LS base 1 0094 HW9403766 1 Cver 1 0095 PT1 4 Plug 1 0096 SLE 062V Union 1 0097 M6x12 Screw 4 0098 M6 Washer 4 0099AA TP6...

Страница 140: ...11 3 L U Axis Driving Unit 2 11 5 11 3 L U Axis Driving Unit 2...

Страница 141: ...320 HW9481247 A Pulley 1 0321 HW9481248 A Pulley 1 0322 M10x30 Socket screw 2 0323 2H l10 Spring washer 2 0324 SGMGH 30A2A AC servo motor 3 0325 M12x35 Socket screw 12 0326 2H 12 Spring washer 12 0327...

Страница 142: ...i 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 JASON HK COMP...

Страница 143: ...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...

Страница 144: ...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...

Страница 145: ...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...

Страница 146: ...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...

Страница 147: ...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...

Страница 148: ...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...

Страница 149: ...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...

Страница 150: ...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...

Страница 151: ...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...

Страница 152: ...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...

Страница 153: ...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...

Страница 154: ...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...

Страница 155: ...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...

Страница 156: ...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...

Страница 157: ...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...

Страница 158: ...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...

Страница 159: ...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...

Страница 160: ...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...

Страница 161: ...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...

Страница 162: ...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...

Страница 163: ...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...

Страница 164: ...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...

Страница 165: ...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...

Страница 166: ...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...

Страница 167: ...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...

Страница 168: ...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...

Страница 169: ...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...

Страница 170: ...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...

Страница 171: ...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...

Страница 172: ...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...

Страница 173: ...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...

Страница 174: ...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...

Страница 175: ...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...

Страница 176: ...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...

Страница 177: ...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...

Страница 178: ...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...

Страница 179: ...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...

Страница 180: ...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...

Страница 181: ...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...

Страница 182: ...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...

Страница 183: ...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...

Страница 184: ...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...

Страница 185: ...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...

Страница 186: ...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...

Страница 187: ...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...

Страница 188: ...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...

Страница 189: ...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...

Страница 190: ...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...

Страница 191: ...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...

Страница 192: ...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...

Страница 193: ...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...

Страница 194: ...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...

Страница 195: ...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...

Страница 196: ...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...

Страница 197: ...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...

Страница 198: ...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...

Страница 199: ...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...

Страница 200: ...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...

Страница 201: ...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...

Страница 202: ...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...

Страница 203: ...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...

Страница 204: ...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...

Страница 205: ...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...

Страница 206: ...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...

Страница 207: ...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...

Страница 208: ...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...

Страница 209: ...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...

Страница 210: ...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...

Страница 211: ...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...

Страница 212: ...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...

Страница 213: ...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...

Страница 214: ...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...

Страница 215: ...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...

Страница 216: ...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...

Страница 217: ...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...

Страница 218: ...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...

Страница 219: ...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...

Страница 220: ...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...

Страница 221: ...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...

Страница 222: ...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...

Страница 223: ...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...

Страница 224: ...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...

Страница 225: ...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...

Страница 226: ...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...

Страница 227: ...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...

Страница 228: ...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...

Страница 229: ...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...

Страница 230: ...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...

Страница 231: ...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...

Страница 232: ...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...

Страница 233: ...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...

Страница 234: ...2 8 General I O Signal Assignment 2 72...

Страница 235: ...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...

Страница 236: ...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...

Страница 237: ...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...

Страница 238: ...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...

Страница 239: ...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...

Страница 240: ...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...

Страница 241: ...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...

Страница 242: ...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...

Страница 243: ...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...

Страница 244: ...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...

Страница 245: ...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...

Страница 246: ...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...

Страница 247: ...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...

Страница 248: ...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...

Страница 249: ...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...

Страница 250: ...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...

Страница 251: ...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...

Страница 252: ...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...

Страница 253: ...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...

Страница 254: ...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...

Страница 255: ...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...

Страница 256: ...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...

Страница 257: ...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...

Страница 258: ...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...

Страница 259: ...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...

Страница 260: ...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...

Страница 261: ...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...

Страница 262: ...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...

Страница 263: ...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...

Страница 264: ...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...

Страница 265: ...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...

Страница 266: ...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...

Страница 267: ...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...

Страница 268: ...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...

Страница 269: ...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...

Страница 270: ...4 4 Recommended Spare Parts 4 30...

Страница 271: ...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...

Страница 272: ...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...

Страница 273: ...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...

Страница 274: ...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...

Страница 275: ...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...

Страница 276: ...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...

Страница 277: ...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...

Страница 278: ...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...

Страница 279: ...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...

Страница 280: ...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...

Страница 281: ...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...

Страница 282: ...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...

Страница 283: ...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...

Страница 284: ...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...

Страница 285: ...xiv...

Страница 286: ...Setup Diagnosis...

Страница 287: ......

Страница 288: ...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...

Страница 289: ...1 2...

Страница 290: ...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...

Страница 291: ...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...

Страница 292: ...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...

Страница 293: ...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...

Страница 294: ...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...

Страница 295: ...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...

Страница 296: ...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...

Страница 297: ...2 1 Protection Through Security Mode Settings 2 8...

Страница 298: ...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...

Страница 299: ...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...

Страница 300: ...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...

Страница 301: ...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...

Страница 302: ...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...

Страница 303: ...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...

Страница 304: ...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...

Страница 305: ...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...

Страница 306: ...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...

Страница 307: ...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...

Страница 308: ...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...

Страница 309: ...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...

Страница 310: ...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...

Страница 311: ...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...

Страница 312: ...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...

Страница 313: ...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...

Страница 314: ...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...

Страница 315: ...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...

Страница 316: ...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...

Страница 317: ...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...

Страница 318: ...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...

Страница 319: ...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...

Страница 320: ...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...

Страница 321: ...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...

Страница 322: ...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...

Страница 323: ...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...

Страница 324: ...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...

Страница 325: ...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...

Страница 326: ...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...

Страница 327: ...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...

Страница 328: ...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...

Страница 329: ...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...

Страница 330: ...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...

Страница 331: ...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...

Страница 332: ...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...

Страница 333: ...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...

Страница 334: ...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...

Страница 335: ...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...

Страница 336: ...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...

Страница 337: ...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...

Страница 338: ...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...

Страница 339: ...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...

Страница 340: ...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...

Страница 341: ...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...

Страница 342: ...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...

Страница 343: ...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...

Страница 344: ...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...

Страница 345: ...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...

Страница 346: ...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...

Страница 347: ...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...

Страница 348: ...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...

Страница 349: ...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...

Страница 350: ...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...

Страница 351: ...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...

Страница 352: ...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...

Страница 353: ...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...

Страница 354: ...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...

Страница 355: ...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...

Страница 356: ...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...

Страница 357: ...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...

Страница 358: ...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...

Страница 359: ...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...

Страница 360: ...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...

Страница 361: ...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...

Страница 362: ...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...

Страница 363: ...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...

Страница 364: ...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...

Страница 365: ...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...

Страница 366: ...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...

Страница 367: ...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...

Страница 368: ...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...

Страница 369: ...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...

Страница 370: ...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...

Страница 371: ...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...

Страница 372: ...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...

Страница 373: ...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...

Страница 374: ...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...

Страница 375: ...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...

Страница 376: ...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...

Страница 377: ...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...

Страница 378: ...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...

Страница 379: ...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...

Страница 380: ...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...

Страница 381: ...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...

Страница 382: ...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...

Страница 383: ...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...

Страница 384: ...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...

Страница 385: ...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...

Страница 386: ...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...

Страница 387: ...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...

Страница 388: ...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...

Страница 389: ...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...

Страница 390: ...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...

Страница 391: ...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...

Страница 392: ...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...

Страница 393: ...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...

Страница 394: ...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...

Страница 395: ...3 17 File Initialize 3 98...

Страница 396: ...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...

Страница 397: ...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...

Страница 398: ...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...

Страница 399: ...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...

Страница 400: ...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...

Страница 401: ...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...

Страница 402: ...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...

Страница 403: ...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...

Страница 404: ...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...

Страница 405: ...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...

Страница 406: ...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...

Страница 407: ...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...

Страница 408: ...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...

Страница 409: ...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...

Страница 410: ...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...

Страница 411: ...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...

Страница 412: ...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...

Страница 413: ...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...

Страница 414: ...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...

Страница 415: ...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...

Страница 416: ...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...

Страница 417: ...4 2 Addition of Base and Station Axis 4 22...

Страница 418: ...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...

Страница 419: ...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...

Страница 420: ...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...

Страница 421: ...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...

Страница 422: ...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...

Страница 423: ...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...

Страница 424: ...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...

Страница 425: ...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...

Страница 426: ...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...

Страница 427: ...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...

Страница 428: ...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...

Страница 429: ...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...

Страница 430: ...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...

Страница 431: ...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...

Страница 432: ...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...

Страница 433: ...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...

Страница 434: ...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...

Страница 435: ...5 6 Position Data When Power is Turned ON OFF 5 18...

Страница 436: ...Hardware...

Страница 437: ......

Страница 438: ...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...

Страница 439: ...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...

Страница 440: ...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...

Страница 441: ...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...

Страница 442: ...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...

Страница 443: ...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...

Страница 444: ...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...

Страница 445: ...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...

Страница 446: ...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...

Страница 447: ...6 4 Equipment Configuration 6 10...

Страница 448: ...7 1 7 Description of Units and Circuit Boards Refer to XRC 2001 Supplement section 2 for description of units and circuit boards...

Страница 449: ...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...

Страница 450: ...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...

Страница 451: ...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...

Страница 452: ...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...

Страница 453: ...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...

Страница 454: ...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...

Страница 455: ...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...

Страница 456: ...8 8 Open Phase Check 8 8...

Страница 457: ...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...

Страница 458: ...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...

Страница 459: ...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...

Страница 460: ...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...

Страница 461: ...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...

Страница 462: ...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...

Страница 463: ...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...

Страница 464: ...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...

Страница 465: ...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...

Страница 466: ...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...

Страница 467: ...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...

Страница 468: ...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...

Страница 469: ...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...

Страница 470: ...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...

Страница 471: ...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...

Страница 472: ...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...

Страница 473: ...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...

Страница 474: ...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...

Страница 475: ...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...

Страница 476: ...9 4 Recommended Spare Parts 9 20...

Страница 477: ...Alarm Error...

Страница 478: ......

Страница 479: ...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...

Страница 480: ...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...

Страница 481: ...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...

Страница 482: ...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...

Страница 483: ...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...

Страница 484: ...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...

Страница 485: ...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...

Страница 486: ...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...

Страница 487: ...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...

Страница 488: ...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...

Страница 489: ...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...

Страница 490: ...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...

Страница 491: ...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...

Страница 492: ...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...

Страница 493: ...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...

Страница 494: ...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...

Страница 495: ...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...

Страница 496: ...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...

Страница 497: ...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...

Страница 498: ...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...

Страница 499: ...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...

Страница 500: ...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...

Страница 501: ...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...

Страница 502: ...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...

Страница 503: ...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...

Страница 504: ...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...

Страница 505: ...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...

Страница 506: ...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...

Страница 507: ...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...

Страница 508: ...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...

Страница 509: ...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...

Страница 510: ...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...

Страница 511: ...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...

Страница 512: ...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...

Страница 513: ...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...

Страница 514: ...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...

Страница 515: ...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...

Страница 516: ...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...

Страница 517: ...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...

Страница 518: ...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...

Страница 519: ...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...

Страница 520: ...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...

Страница 521: ...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...

Страница 522: ...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...

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