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YASKAWA

YASKAWA ELECTRIC CORPORATION

Specifications are subject to change without notice
for ongoing product modifications and improvements.

MANUAL NO. RE-MTO-A211
Printed in Japan May 1999 98-12

MOTOMAN-UP6

INSTRUCTIONS

TOKYO OFFICE

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-0022, Japan

MOTOMAN INC. HEADQUARTERS

805 Liberty Lane West Carrollton, OH 45449, U.S.A.

MOTOMAN INC. TROY FACILITY

1050 S. Dorset, Troy, OH 45373, U.S.A.

MOTOMAN INC. COLUMBUS OFFICE

Dublin Tech Mart 5000 Blazer Memonal Parkway Dublin, OH 43017-3359, U.S.A.

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach,Germany.

Motoman Robotics AB

Box 504 S38525 Torsås, Sweden

Motoman Robotec GmbH

Kammerfeldstra

e1,85391 Allershausen, Germany

YASKAWA ELECTRIC KOREA CORPORATION

Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore

YATEC ENGINEERING CORPORATION

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, 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) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong

TAIPEI OFFICE

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.

30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083

SHOUGANG MOTOMAN ROBOT CO., LTD.

7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China

Phone 81-3-5402-4511

Fax 81-3-5402-4580

Phone 1-937-847-6200

Fax 1-937-847-6277

Phone 1-937-440-2600

Fax 1-937-440-2626

Phone 1-614-718-4200

Fax 1-614-718-4222

Phone 49-6196-569-300

Fax 49-6196-888-301

Phone 46-486-48800

Fax 46-486-41410

Phone 49-8166-900

Fax 49-8166-9039

Phone 82-2-784-7844

Fax 82-2-784-8495

Phone 65-282-3003

Fax 65-289-3003

Phone 886-2-2563-0010

Fax 886-2-2567-4677

Phone 86-10-6532-1850

Fax 86-10-6532-1851

Phone 86-21-6553-6600

Fax 86-21-6531-4242

Phone 852-2803-2385

Fax 852-2547-5773

Phone 886-2-2563-0010

Fax 886-2-2567-4677

Phone 86-10-6233-2782

Fax 86-10-6232-1536

Phone 86-10-6788-0551

Fax 86-10-6788-2878

Содержание Motoman UP6

Страница 1: ...Lane West Carrollton OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 Hour Service Hotline 937 847 3200 QVQOCP 4 QPVTQNNGT 72 CPKRWNCVQT CPWCN Part Number 142104 1 Release Date January 31 2001 Document...

Страница 2: ...produced or transmitted to other parties without the expressed written authorization of Motoman Inc 2003 by MOTOMAN All Rights Reserved Because we are constantly improving our products we reserve the...

Страница 3: ...Manipulator Manual Section Page 1 INTRODUCTION 1 1 2 SAFETY 2 1 3 UP6 INSTRUCTIONS R2 3 1 4 XRC INSTRUCTIONS NORTH AMERICAN STANDARD R1 4 1 5 XRC INSTRUCTIONS GENERAL R2 5 1 6 XRC TROUBLESHOOTING 6 1...

Страница 4: ...UP6 Manipulator Manual ii MOTOMAN NOTES...

Страница 5: ...troller and contains the following sections SECTION 1 INTRODUCTION Provides general information about the structure of this manual a list of reference documents and customer service information SECTIO...

Страница 6: ...or 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 need of technical assistance contact the Motoma...

Страница 7: ...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 traine...

Страница 8: ...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 concer...

Страница 9: ...nd 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 equipment...

Страница 10: ...th the operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications to PART 1 of the controller PLC can cause severe personal injury or d...

Страница 11: ...ent 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 area is...

Страница 12: ...es 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 while it...

Страница 13: ...tion read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN UP6 INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC X...

Страница 14: ...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 improvements modifi...

Страница 15: ...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 16: ...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 17: ...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 18: ...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 19: ...nted Directly on the Floor 3 4 3 3 Types of Mounting 3 5 3 3 1 S Axis Working Range 3 5 3 3 2 Affixing the Manipulator Base 3 5 3 3 3 Precautions to Prevent the Manipulator from Falling 3 5 3 4 Locati...

Страница 20: ...er 9 9 n Grease Replenishment Refer to Fig 27 L Axis Speed Reducer Diagram 9 9 n Grease Replacement Refer to Fig 27 L Axis Speed Reducer Diagram 9 10 9 2 4 Grease Replenishment Replacement for U Axis...

Страница 21: ...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 22: ...rresponds to the XRC The order number is located on a label as shown below Fig 1 Location of Order Number Labels a XRC Front View b Manipulator Top View Label Enlarged view THE MANIPULATOR AND THE CON...

Страница 23: ...d 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 be performed by...

Страница 24: ...X 3 B C M6 X 1 Check that the eyebolts are securely fastened The weight of the maniputator is approximately 150kg including the shipping bolts and jigs Use a wire rope strong enough to withstand the...

Страница 25: ...amage When mounting the manipulator on the ceiling or wall the base section must have sufficient strength and rigidity to support the weight of the manipulator Also it is necessary to consider counter...

Страница 26: ...eness signals 3 2 Mounting Procedures for Manipulator Baseplate The manipulator should be firmly mounted on a baseplate or foundation strong enough to sup port the manipulator and withstand repulsion...

Страница 27: ...e and an M16 size or larger anchor bolt is recommended Affix the manipulator by fastening the plate with the M16 mm anchor bolts The plate is tapped for M16 50mm length bolts Tighten the bolts and anc...

Страница 28: ...f the manipulator as shown in Table 1 As a rough standard when there is a concrete thickness floor is 150mm or more the base of the manipulator can be fixed directly to the floor with M16 anchor bolts...

Страница 29: ...must be 30 3 3 2 Affixing the Manipulator Base When performing a wall or ceiling installation be sure to use four M16 hexagon socket head cap bolts Use a torque of 206N m when screwing in the bolts 3...

Страница 30: ...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 31: ...e wiring make sure to turn the primary power supply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in fire or electric shock Wiring must be perfor...

Страница 32: ...s to the manipulator verify the numbers 1BC and 2BC on both power supply cables and the manipulator base connectors When connecting adjust the cable connector positions to the main key positions of th...

Страница 33: ...nnect each cable to the boards Be sure to verify the numbers on both the cable and board connectors before connecting and to fasten the bolts on 1BC connectors to prevent cables from loosening Fig 8 P...

Страница 34: ...XIU01 CN25 Signal Cable Connector No XIU01 CN29 Power Cable Grounding plate for Signal and power line Terminal No E Signal Cable Connector No WRCA01 CNPG456 upper WRCA01 CNPG123 lower Power Cable Con...

Страница 35: ...arm 190 170 R Axis wrist roll 180 B Axis wrist pitch yaw 225 45 T Axis wrist twist 360 Maximum Speed S Axis 2 44 rad s 140 s L Axis 2 79 rad s 160 s U Axis 2 97 rad s 170 s R Axis 5 85 rad s 335 s B...

Страница 36: ...5 2 Part Names and Working Axes 5 2 5 2 Part Names and Working Axes Fig 10 Part Names and Working Axes 5 3 Baseplate Dimensions Fig 11 Baseplate Dimensions mm View A...

Страница 37: ...5 4 Dimensions and Working Range 5 3 5 4 Dimensions and Working Range Fig 12 Dimesions and Working Range Point P WorkingRange Point P...

Страница 38: ...e Fig 13 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 alteration is...

Страница 39: ...olume load is small refer to the moment arm rating shown in Fig 14 Moment Arm Rating The allowable total inertia is calculated when the moment is at the maximum Contact your Yaskawa representative whe...

Страница 40: ...arks it is recommended that the attachment be mounted inside the fitting Fitting depth of inside and outside fittings must be 5mm or less Fig 15 Wrist Flange Wash off anti corrosive paint solid color...

Страница 41: ...nstance when the mass installed in the wrist point is 6kg the mass which can be installed on the upper arm becomes 9kg 7 1 2 Installation Position There is a limitation also on the installation positi...

Страница 42: ...Fig 19 Detailed Drawing of Connector Pin Numbers The same pin number 1 16 of two connectors is connected in the lead line of single 0 2mm2 0 75mm2 or 1 25mm2 Cable connector provided on U axis is Type...

Страница 43: ...shown in Fig 20 Location of Limit Switches The limit switch for the S Axis is standard The limit switch for the L and U Axes are optional model UP6 A01 The inspection and adjustment of the limit swit...

Страница 44: ...and location of connectors see Fig 21 Location and Numbers of Connec tors Fig 21 Location and Numbers of Connectors Table 5 List of Connector Types Name Type of Connector Base Connector for Internal...

Страница 45: ...6 CN5 4 CN5 3 CN6 1 CN6 5 CN6 3 CN6 4 CN6 2 LB1 BC2 0V 24V E SS2 CN2 6 CN3 6 CN4 6 CN5 6 CN6 6 24 19 47 21 45 22 16 14 37 11 39 13 WRCA01 CNPG123 8 3 FG 31 5 29 6 22 24 45 19 47 14 16 21 CNPG456 WRCA0...

Страница 46: ...1 CN 1 2 CN 1 4 CN 1 3 CN 1 5 CN 1 6 CN2 4 CN2 3 CN2 5 CN2 2 CN2 1 MU3 MW3 ME3 BA3 MV3 MU4 BA4 ME4 MW4 MV4 CN3 4 CN3 3 CN3 5 CN3 2 CN3 1 CN4 4 CN4 3 CN4 5 CN4 2 CN4 1 MU5 MW5 ME5 BA5 MV5 MV6 MU6 BA6 M...

Страница 47: ...ower sup ply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in electric shock or injury Maintenance and inspection must be performed by specified...

Страница 48: ...s Spanner Wrench Tighten loose bolts Replace if necessary Cover mount ing screws Screw driver Wrench Tighten loose bolts Replace if necessary Base connec tors Manual Check for loose con nectors RBT ax...

Страница 49: ...lace grease 3 12000H cycle See Par 9 2 3 Grease Replenishment Replacement for L Axis Speed Reducer RBT axes speed reduc ers Grease Gun Check for malfunc tion Replace if nec essary Supply grease 3 6000...

Страница 50: ...ce of a grease leakage indicates the possibility that grease has seeped into the motor This can cause a motor breakdown Contact your Yaskawa representative Fig 23 Inspection Parts and Inspection Numbe...

Страница 51: ...ers in Table 6 Inspection Items Table 7 Inspection Parts and Grease Used No Grease Used Inspected Parts 12 13 Molywhite RE No 00 S L and U axis speed reducers 14 15 Harmonic Grease SK 1A R B and T axi...

Страница 52: ...4 Remove the plastic tape insulation tape protecting the connection part of the battery unit in the manipulator 5 Connect the new battery Battery Unit Connector Base Connector Base Bolt Support See Pr...

Страница 53: ...e union and then mount the connector base 9 2 2 Grease Replenishment Replacement for S Axis Speed Reducer Fig 26 S Axis Speed Reducer Diagram Remove the old battery unit after connecting the new one s...

Страница 54: ...The grease replacement is complete when new grease appears in the So exhaust port The new grease can be distinguished from the old grease by color 4 Move the S axis for for a few minutes to discharge...

Страница 55: ...he L Axis for for a few minutes to discharge the excess grease 5 Wipe the Lo exhaust plugs with a cloth and reinstall the plugs For ceiling mounted manipulators the exhaust port and the grease inlet a...

Страница 56: ...few minutes to discharge the excess grease 6 Wipe the Lo exhaust plugs with a cloth and reinstall the plugs 9 2 4 Grease Replenishment Replacement for U Axis Speed Reducer Fig 28 U Axis Speed Reducer...

Страница 57: ...g a grease gun 4 The grease replacement is complete when new grease appears in the Uo exhaust ports The new grease can be distinguished from the old grease by color 5 Move the U Axes for a few minutes...

Страница 58: ...grease inlet using a grease gun Refer to Fig 29 R Axis Speed Reducer Diagram 3 Reinstall the Ro plug Grease type Harmonic grease SK 1A Amount of grease 8cc 16cc for first supply The Ro exhaust port i...

Страница 59: ...e U arm cover side of the B axis speed reducer Grease type Harmonic grease SK 1A Amount of grease For B axis Bi 10cc 20cc for 1st supply For T axis Ti 5cc 10cc for 1st supply The Bo and To exhaust por...

Страница 60: ...ct grease into the gear grease inlet using a grease gun Refer to Fig 31 T Axis Gear Diagram 3 Reinstall the Bo plug Grease type Harmonic grease SK 1A Amount of grease 5cc 10cc for 1st supply The Bo ex...

Страница 61: ...e into the Ci grease inlet using a grease gun Refer to Fig 32 R Axis Cross Roller Bearing Diagram 3 Reinstall the Co plug Grease type Alvania EP grease 2 Amount of grease 3cc 6cc for 1st supply The Co...

Страница 62: ...or with CAUTION label Connect the battery unit with reference to the following figure before removing the encoder connector with CAUTION label Fig 34 Encoder Connector Diagram Cover Cover joining face...

Страница 63: ...y Qty per Unit Remarks A 1 Grease Molywhite RE No 00 Yaskawa Electric Corporation 16kg A 2 Grease Harmonic Grease SK 1A Harmonic Drive System Co Ltd 2 5kg A 3 Grease Alvania EP Grease 2 Showa Oil Co L...

Страница 64: ...ith brake with key lead terminal treatment comple tion C 19 L Axis AC Servomotor HW9381363 A Yaskawa Electric Corporation 1 1 With brake with key lead terminal treatment comple tion C 20 R B and T Axe...

Страница 65: ...11 1 S Axis Parts List 11 1 11 Parts List 11 1 S Axis Parts List...

Страница 66: ...2303 1 Cover 1 1024 M5 16 APS bolt 4 1025 HW9302270 1 Cover 1 1026 GT SA M6 15 Socket screw 2 1027 CD 31 Saddle 1 1028 M6 8 APS bolt 2 1029 TA1 S10 Clamp 1 1030 M5 10 APS bolt 1 1031 T50R Insulok tie...

Страница 67: ...11 2 L U Axis Driving Unit 11 3 11 2 L U Axis Driving Unit...

Страница 68: ...2010 2H 6 Spring washer 1 2011 HW9302190 1 Cover 1 2012 M6 8 APS bolt 4 2013 SGMDH 06A2A YR 24 Motor 1 2014 GT SA M8 30 Socket screw 4 2015 HW9280738 A Reduction Gear 1 2016 M4 50 Socket screw 1 2017...

Страница 69: ...11 3 R Axis Driving Unit 11 5 11 3 R Axis Driving Unit...

Страница 70: ...HW9301500 1 Stopper 1 3014 HW9405356 1 Plate 1 3015 M5 10 APS bolt 2 3016 HQE10 03 Union 1 3017 PT3 8 Plug 1 3018 HW9301976 1 Support 1 3019 GT SA M5 12 Socket screw 2 3020 HW9302409 1 Support 1 3021...

Страница 71: ...11 4 Wrist Unit 11 7 11 4 Wrist Unit...

Страница 72: ...A Gear 1 4023 6811LLU Bearing 1 4024 HW9482218 A Bearing 1 4025 6900ZZ NS7 Bearing 1 4026 6902ZZ NS7 Bearing 1 4027 HW9381454 A Reduction gear 1 4028 GT SA M4 12 Socket screw 7 4029 GT SA M4 12 Socke...

Страница 73: ......

Страница 74: ...IJING 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 75: ...eration read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC XR...

Страница 76: ...with the protective covers or shields removed for clarity Be sure all covers and shields are replaced before operating this product The drawings and photos in this manual are representative examples...

Страница 77: ...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 78: ...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 79: ...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 80: ...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 81: ...egular Inspections 3 1 3 2 XRC Inspections 3 2 3 2 1 Checking if the Doors are Firmly Closed 3 2 3 2 2 Checking for Gaps or Damage in the Sealed Construction Section 3 3 3 3 Cooling Fan Inspections 3...

Страница 82: ...viii...

Страница 83: ...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 84: ...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 85: ...0 V 208 V Switch built in transformer tap according to the supplied voltage on customer side 480 VAC is set before ship ment Grounding Grounding resistance 100 or less Exclusive grounding Digital I O...

Страница 86: ...standard Running Speed Limit User definable Deadman Switch 3 position type Servo power can be turned on at the mid position only Located on programming pendant Collision proof Frames S axis frame dou...

Страница 87: ...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 88: ...QS1 Transformer NETH1000AUL16 1 1KVA Servopack CACR SV3AAA JZNC XIU01 CN28 CN29 CN30 CN07 CN27 CN26 CN04 CN24 CN25 CN12 CN13 CN22 CN23 CN03 CN10 CN11 CN21 CN02 CN01 CN20 CN06 Power Supply Unit with p...

Страница 89: ...S16 4 5kVA CACR SK16AAC SK16X 240 480 575V 208V JZNC XRK01 B 1 CPU Unit JZRCR XFL02 Sectional view A A JZRCR XPU09 A Fuse Class CC 5A UP6 Fues Class CC 10A Sk16X CP33FS 10D UP6 CP33FS 15D SK16X A UP6...

Страница 90: ...lass CC 15A Disconnecting Switch 194R NC030P3 Servo Unit CACR SK45AAB SK45X CACR SK16MAAB SK16M CPU Unit JZNC XRK01B 1 Sectional view A A Class H Transformer NETH8000AULS16 8kVA 240 480 575V 208V CACR...

Страница 91: ...r NETH8000AULS16 8kVA Converter JUSP ACP35JAA Huse Class CC 20A Disconnecting Switch 194R NC030P3 Servopack CACR UP130AAB UP130 and UP165 CACR UP130AABY18 UP200 and UP130R I O Power ON Unit JZNC XIU01...

Страница 92: ...Unit JZNC XRK01B 1 Playback Panel ZY1C SS3152 Brake Release Operation Panel Brake Reliase Control Board JZRCR XFL02 Disconnecting Switch QS1 194R NC030P3 Fuse Class CC 30A No Fuse Breaker QF2 BU ECA3...

Страница 93: ...tem of the Controller Interior Cooling System SV3X Cooling System Except for SV3X 1KM Servo Backside Duct Fan Air Inlet Servopack Air Outlet Servopack Natural heat radiation Air Output Backside Duct F...

Страница 94: ...1 4 Equipment Configuration 1 12...

Страница 95: ...ons 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 the manipul...

Страница 96: ...res prior to performing teach ing operations If problems are found correct them immediately and be sure that all other necessary processing has been performed Check for problems in manipulator movemen...

Страница 97: ...y Unit Configuration JZRCR XPU07 for UP130 UP130R UP165 UP200 SK300X and SP100X 4X Contactor Output 1KM Contactor 1Z Noise Filter 5X Single 200 VAC Output Connector Contactor Output etc 1X Single phas...

Страница 98: ...16MX NJ2096 3 DATE 1 1999 JAPAN YASKAWA ELECTRIC CORPORATION TYPE SER NO 1 2 3 4 1Z Noise Filter 1X Single phase Output Connector 1KM Contactor 1F 2F Fuse 5X Single phase Output Connector Connector Ou...

Страница 99: ...U03 JAPAN TYPE SER NO YASKAWA ELECTRIC CORPORATION 1 1999 1Z Noise Filter 1KM Contactor 1F 2F Fuse 3X Triple phase 200 VAC input 5X Single phase 200 VAC Output Connector Contactor Output etc 4X Contac...

Страница 100: ...ased as long as the button is pressed Watch on your feet and surroundings when releasing the brake When the brake is released the robot may move by its own weight which may cause a injury and damage t...

Страница 101: ...XRC Controller Check that the doors are completely closed Daily Check for gaps or dam age to the sealed con struction Monthly Fan on upper part of Servo and backside duct fan Check operation As requir...

Страница 102: ...ntenance after the main 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 YAS...

Страница 103: ...ock and check that no excessive gaps exist around the edge of the door 3 3 Cooling Fan Inspections Inspect the cooling fans as required A defective fan can cause the XRC to malfunction because of exce...

Страница 104: ...3 Cooling Fan Inspections 3 4 Cooling Fan Construction Except for SV3X Servo pack Natural heat radiation Backside duct fan Air Inlrt In panel fan on Upper part of esrbo Air Outlrt Natural heat radiati...

Страница 105: ...he 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 gr...

Страница 106: ...o replace the battery is described in 4 1 1 Replacing the Disconnecting Switch 3 7 Power Supply Voltage Confirmation Check the voltage of 1 R 3 S 5 T terminal of the disconnecting switch QS1 with an e...

Страница 107: ...of input power supply with an electric tester Normal value 575 480 240V 10 15 Disconnecting Switch QS1 Check Turn on the control power supply and check the open phase volt age of U V W of the disconne...

Страница 108: ...3 8 Open Phase Check 3 8...

Страница 109: ...rning ON the power 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 relate...

Страница 110: ...witch Configuration If 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 Part...

Страница 111: ...thout transformer SV3X ATDR3 3A Class CC ATDR10 10A Class CC UP6 ATDR5 5A Class CC ATDR10 10A Class CC SK16X ATDR10 10A Class CC ATDR15 15A Class CC SK45X SK16MX ATDR15 15A Class CC ATDR20 20A Class C...

Страница 112: ...use Locations in Power Supply Unit XPU07 for UP130 UP130R UP165 UP200 SK300X and SP100X Parts No Fuse Name Specification 1F 2F Control Power Supply Fuse 250V 10A Time Lag Fuse Std 326010 250V 10A LIT...

Страница 113: ...rts 4 5 Fuse Locations in Power Supply Unit XPU08 for SK45X and SK16MX 1 1999 DATE NJ2096 3 SER NO TYPE JAPAN YASKAWA ELECTRIC CORPORATION 2F 4X 10A 250V JZRCR XPU 1F 10A 250V 5X 1X 1KM 1F 2F Fuse 250...

Страница 114: ...ity with an electric tester If the fuse is blown replace it with the same type of fuse supplied Determine and correct the cause of the blown fuse If the problem is uncorrected the fuse may blow again...

Страница 115: ...CPS 150F 3 I O Power ON unit JZNC XIU01 Power ON circuit board JANCD XTU01 Specific I O circuit board JANCD XIO01 General I O circuit board JANCD XIO02 4 Brake release operation board JARCR XFL02 5 Tr...

Страница 116: ...k List Small Capacity Component SV3X UP6 SK16X Type Type Type Servopack CACR SV3AAA CACR UP6AAC CACR SK16AAC Converter JUSP WS05JAA JUSP ACP05JAA JUSP ACP05JAA Amplifier S JUSP WS02AA JUSP WS05AAY17 J...

Страница 117: ...ontrol circuit board JASP WRCA01 JASP WRCA01 Converter JUSP ACP25JAA JUSP ACP25JAA Control power supply JUSP RCP01AAC JUSP RCP01AAC Component UP130 UP165 UP130R UP200 Type Type Servopack CACR UP130AAB...

Страница 118: ...JUSP WS60AAY18 L JUSP WS60AAY18 JUSP WS60AAY18 U JUSP WS60AAY18 JUSP WS60AAY18 R JUSP WS30AAY18 B JUSP WS30AAY18 T JUSP WS30AAY18 JUSP WS20AAY19 Servo control circuit board JASP WRCA01 JASP WRCA01 Con...

Страница 119: ...S16 8 0 kVA 575 480 240V 208V SK300X SP100X NETH012AULS16 12 0 kVA 575 480 240V 208V Robot Type Fuse Type With transformer built in Without transformer SV3X ATDR3 3A Class CC ATDR10 10A Class CC UP6 A...

Страница 120: ...mensions Pcs Model Application 1 TIME DELAY CLASS CC FUSE Power supply fuse 2 1 Disconnecting switch 2 5A Glass Tube fuse 2 313005 5A 250V LITTEL JANCD XTU01 FU1 2 3 3A Glass Tube fuse 2 312003 3A 250...

Страница 121: ...awa representative The spare parts are ranked as follows Rank A Expendable and frequently replaced parts Rank B Parts for which replacement may be necessary as a result of frequent operation Rank C Dr...

Страница 122: ...atus 10 2 10 A Control Relay LY2 DC24V Omron 3 3 11 B Converter JUSP ACP05JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA01 Ya...

Страница 123: ...s 10 2 10 A Control Relay LY2 DC24V Omron 3 3 11 B Converter JUSP ACP05JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA01 Yaska...

Страница 124: ...V Daito Com munication Apparatus 10 2 10 A Control Relay LY2 DC24V Omron 3 3 11 B Converter JUSP ACP05JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack...

Страница 125: ...Apparatus 10 2 10 A Control Relay LY2 DC24V Omron 3 3 11 B Converter JUSP ACP25JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA...

Страница 126: ...on Apparatus 10 2 10 A Control Relay LY2 DC24V Omron 3 3 11 B Converter JUSP ACP25JAA Yaskawa 1 1 12 B Control Power Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA01 Y...

Страница 127: ...ol Relay LY2 DC24V Omron 3 3 11 A Converter JUSP ACP35JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 14 B Ampli...

Страница 128: ...3 11 A Converter JUSP ACP35JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA01 Yaskawa 1 1 14 B Amplifier JUSP WS60AA Yaskawa 1...

Страница 129: ...atus 10 2 10 A Control Relay LY2 DC24V Omron 3 3 11 A Converter JUSP ACP35JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA01 Ya...

Страница 130: ...paratus 10 2 10 A Control Relay LY2 DC24V Omron 3 3 11 A Converter JUSP ACP35JAA Yaskawa 1 1 12 B Control Power Supply Unit JUSP RCP01AAC SANRITZ 1 1 For Servo 13 B Servopack Control Board JASP WRCA01...

Страница 131: ...20...

Страница 132: ...aipei Taiwan 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 C...

Страница 133: ...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 134: ...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 135: ...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 136: ...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 137: ...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 138: ...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 139: ...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 140: ...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 141: ...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 142: ...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 143: ...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 144: ...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 145: ...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 146: ...xiv...

Страница 147: ...Setup Diagnosis...

Страница 148: ......

Страница 149: ...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 150: ...1 2...

Страница 151: ...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 152: ...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 153: ...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 154: ...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 155: ...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 156: ...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 157: ...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 158: ...2 1 Protection Through Security Mode Settings 2 8...

Страница 159: ...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 160: ...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 161: ...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 162: ...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 163: ...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 164: ...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 165: ...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 166: ...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 167: ...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 168: ...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 169: ...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 170: ...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 171: ...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 172: ...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 173: ...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 174: ...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 175: ...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 176: ...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 177: ...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 178: ...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 179: ...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 180: ...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 181: ...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 182: ...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 183: ...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 184: ...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 185: ...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 186: ...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 187: ...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 188: ...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 189: ...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 190: ...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 191: ...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 192: ...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 193: ...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 194: ...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 195: ...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 196: ...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 197: ...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 198: ...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 199: ...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 200: ...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 201: ...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 202: ...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 203: ...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 204: ...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 205: ...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 206: ...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 207: ...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 208: ...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 209: ...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 210: ...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 211: ...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 212: ...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 213: ...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 214: ...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 215: ...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 216: ...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 217: ...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 218: ...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 219: ...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 220: ...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 221: ...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 222: ...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 223: ...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 224: ...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 225: ...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 226: ...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 227: ...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 228: ...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 229: ...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 230: ...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 231: ...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 232: ...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 233: ...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 234: ...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 235: ...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 236: ...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 237: ...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 238: ...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 239: ...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 240: ...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 241: ...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 242: ...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 243: ...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 244: ...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 245: ...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 246: ...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 247: ...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 248: ...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 249: ...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 250: ...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 251: ...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 252: ...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 253: ...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 254: ...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 255: ...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 256: ...3 17 File Initialize 3 98...

Страница 257: ...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 258: ...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 259: ...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 260: ...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 261: ...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 262: ...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 263: ...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 264: ...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 265: ...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 266: ...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 267: ...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 268: ...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 269: ...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 270: ...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 271: ...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 272: ...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 273: ...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 274: ...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 275: ...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 276: ...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 277: ...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 278: ...4 2 Addition of Base and Station Axis 4 22...

Страница 279: ...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 280: ...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 281: ...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 282: ...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 283: ...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 284: ...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 285: ...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 286: ...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 287: ...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 288: ...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 289: ...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 290: ...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 291: ...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 292: ...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 293: ...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 294: ...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 295: ...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 296: ...5 6 Position Data When Power is Turned ON OFF 5 18...

Страница 297: ...Hardware...

Страница 298: ......

Страница 299: ...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 300: ...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 301: ...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 302: ...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 303: ...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 304: ...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 305: ...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 306: ...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 307: ...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 308: ...6 4 Equipment Configuration 6 10...

Страница 309: ...ons 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 the manipul...

Страница 310: ...ures prior to performing teach ing operations If problems are found correct them immediately and be sure that all other necessary processing has been performed Check for problems in manipulator moveme...

Страница 311: ...XPU01 JZRCR XPU02 1Z Line Filter 1KM Contactor 1X Single phase AC200V Output 2X 3 phase AC200V Output 3X 3 phase AC200V Input 4X Contactor Output 5X Single phase AC200V connector Contactor Coil etc 5...

Страница 312: ...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 Control Power Supply Unit CPS 150F This unit supplies the...

Страница 313: ...y can be turned ON and OFF by input from external device It is operated by the external switch connected with CN 04 of control power supply unit as shown in the fol lowing figures CN04 is shorted when...

Страница 314: ...procedure is described as follows 1 Insert part A of the wiring tool into one of the holes designed for the tool 2 Insert or pull out the wire while pushing the wiring tool downward Direction of the a...

Страница 315: ...GO Connector CN07 Input connector for Programming pendant Deadman switch Emergency stop CN29 Brake Output Connector CN25 Input connector for Power ON OFF WAGO connector See WAGO connector CN25 Output...

Страница 316: ...man Switch Control Circuit JANCD XIO01 I O Allocation and Connection Diagram Before use remove any jumper leads from the specific input signals The unit may malfunction resulting in injury or damage t...

Страница 317: ...bottom Size of terminal M3 5 Direct Output for emergency stop at Playback Panel Connect wire directly with the terminal of the play back panel emergency stop switch on the back of the door Terminal a...

Страница 318: ...his signal is ON SAF P CN05 5 6 Safety plug Disabled by jumper lead This signal turns OFF the servo power when the door of the safe guard is opened Connect to the interlock signal from the safety plug...

Страница 319: ...or is opened only during the TEACH mode In this case the servo power can be turned ON while the interlock signal is input DIN CN06 7 8 Direct in 4 Open Used for the search function FORCE CN06 9 10 For...

Страница 320: ...cific I O IN OUT 24 points 24 points General I O IN OUT 16 points 16 points relay contact output The specific I O is a signal in which the part is decided in advance The specific I O is used when the...

Страница 321: ...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 B detailed Connector Type FCN 365P040 AU Fujitsu 39 3...

Страница 322: ...External Device Only the rising edge of the servo ON signal is valid This signal turns ON the manipulator servo power supply The set and reset timings are shown in the following Timing Chart RUN STOP...

Страница 323: ...r I O circuit and emergency stop circuit Brake power supply circuit and its output Overrun OT shock sensor SHOCK and lamp light power supply output to robot Connection of Shock Sensor Remove SHOCK and...

Страница 324: ...9 and CN26 8 to 10 of the I O con tactor unit JZNC XIU01 2 Connect 24V of the external power supply to CN26 7 and 0V to CN26 8 of the I O contactor unit JZNC XIU01 When the shock sensor input signal i...

Страница 325: ...xternal power supply outside the XRC to avoid electric noise problems When the internal power supply is selected do not connect the line of the external power supply to the 24VU and 0VU terminals The...

Страница 326: ...he manipulator 1 Remove wire jumper connected with CN26 1 2 of I O power on unit JZNC XIU01 2 The overrun input of an external axis is connected between CN26 1 and 2 of I O power on unit JZNC XIU01 as...

Страница 327: ...nfiguration Servopack 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 WS...

Страница 328: ...wer supply JUSP RCP01AAB Servopack configuration Large Capacity Type Component SK16MX SK45X Type Capacity Type Capacity Servopack CACR UP16MAAB CACR SK45AAB Amplifier S JUSP WS30AA 3KW JUSP WS30AA 3KW...

Страница 329: ...Y18 6KW L JUSP WS60AA 6KW JUSP WS60AAY18 6KW U JUSP WS60AA 6KW JUSP WS60AA 6KW R JUSP WS20AAY13 2KW JUSP WS20AAY13 2KW B JUSP WS15AAY13 1 5KW JUSP WS15AAY13 1 5KW T JUSP WS15AAY13 1 5KW JUSP WS15AAY13...

Страница 330: ...6MX SK45 Servopack Dimensions for UP130 UP165 UP200 UP130R Servo Control Board Amplifier 6pcs Converte Servo cntrl Power Supply 5V Display LED Servopack Servo Control Board Amplifier 6pcs Converte Ser...

Страница 331: ...ervo control board AC input Single phase AC200 220V is supplied by power supply unit Converter This exchanges the power source 3 phase AC200 220V supplied by the power supply unit for DC power source...

Страница 332: ...2023 3010 3011 3012 3013 3014 3015 3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN26 9 and 7 CN26 10 and 8 when a external power supply is used 2 1 4 3 6 5 8 7 10 9 12 11 14...

Страница 333: ...3027 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 2 1 4 3 6 5 8 7 10 9 12 11 14 13 16 15 18...

Страница 334: ...3043 3044 3045 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 GeneralOu...

Страница 335: ...24VU 24VU FG IN 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 OUT...

Страница 336: ...on restarts if this signal turnsOFF 2013 ALARM ERROR RESET After an alarm or error has occurred and the cause been corrected this signal resets the alarm or error 2022 WORK PROHIBITED Arc Generation P...

Страница 337: ...the cursor or when editing operation is carried out after HOLD is applied during operation Therefore this signal can be used as a restart interlock after a HOL is applied However it also turns ON in...

Страница 338: ...23 3010 3011 3012 3013 3014 3015 3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN26 9 and 7 CN26 10 and 8 when a external power supply is used 2 1 4 3 6 5 8 7 10 9 12 11 14 13...

Страница 339: ...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 2 1 4 3 6 5 8 7 10 9 12 11 14 13 16 15 18 17 20 19 22 21...

Страница 340: ...UT OUT OUT OUT OUT OUT 3046 3047 Sensor Input 1 Hand Valve 1 1 RLY RLY 2 1 4 3 6 5 8 7 10 9 12 11 14 13 16 15 18 17 20 19 22 21 24 23 26 25 28 30 27 29 32 34 31 33 36 35 38 37 40 39 OUT OUT OUT OUT 24...

Страница 341: ...IN IN IN IN IN 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 O...

Страница 342: ...r ON During wait status the manipulator operation restarts if this signal turnsOFF 2013 ALARM ERROR RESET After an alarm or error has occurred and the cause been corrected this signal resets the alarm...

Страница 343: ...o confirm that the master job has been called 2 3023 INTERMEDIATE START OK This signal turns ON when the manipulator operates It turns OFF when the currently exe cuted line is moved with the cursor or...

Страница 344: ...3010 3011 3012 3013 3014 3015 3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN26 9 and 7 CN26 10 and 8 when a external power supply is used 2 1 4 3 6 5 8 7 10 9 12 11 14 13 1...

Страница 345: ...4 3025 3026 3027 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 2 1 4 3 6 5 8 7 10 9 12 11 14...

Страница 346: ...3043 3044 3045 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 GeneralOu...

Страница 347: ...24VU 24VU FG IN 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 OUT...

Страница 348: ...servo power ON During wait status the manipulator operation restarts if this signal turnsOFF 2013 ALARM ERROR RESET After an alarm or error has occurred and the cause been corrected this signal resets...

Страница 349: ...gnal can be used as a restart interlock after a HOL is applied However it also turns ON in the TEACH mode and TEACH MODE SELECTED signal must be referred together 3013 ALARM ERROR OCCURRED This signal...

Страница 350: ...3013 3014 3015 3016 3017 3020 3021 3022 3023 External Start Remove Jumper pin between CN26 9 and 7 CN26 10 and 8 when a external power supply is used 2 1 4 3 6 5 8 7 10 9 12 11 14 13 16 15 18 17 20 1...

Страница 351: ...4 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 2 1 4 3 6 5 8 7 10 9 12 11 14 13 16 15 18 17 20 19 22 21 24 23 26 25 2...

Страница 352: ...6 25 28 30 27 29 32 34 31 33 36 35 38 37 40 39 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 Logical Number Si...

Страница 353: ...24VU 24VU FG IN 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 OUT...

Страница 354: ...ts to enter the cub 4 2 area while this signal is ON the manipula tor goes to wait status with servo power ON During wait status the manipulator operation restarts if this signal turnsOFF 2015 SELECT...

Страница 355: ...e next step is executed when confirmation limit switch is not provided 2046 3 GUN SHORT OPEN DETECTION This signal is connected with a single gun open verification limit switch or a double stroke gun...

Страница 356: ...tc considering the robot status 3014 BATTERY ALAR This signal turns ON to notify that the battery requires replacing when the voltage drops from the battery for backup memory of the encoder Major prob...

Страница 357: ...e I O allocation display in operation condition 4 This signal can be select USE or NOT USE by pseudo input signal 822x If NOT USE is selected this signal can be used as general input signal Timer Cool...

Страница 358: ...2 3 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 WIRC...

Страница 359: ...Maintenance...

Страница 360: ......

Страница 361: ...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 362: ...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 363: ...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 364: ...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 365: ...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 366: ...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 367: ...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 368: ...8 8 Open Phase Check 8 8...

Страница 369: ...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 370: ...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 371: ...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 372: ...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 373: ...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 374: ...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 375: ...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 376: ...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 377: ...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 378: ...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 379: ...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 380: ...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 381: ...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 382: ...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 383: ...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 384: ...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 385: ...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 386: ...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 387: ...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 388: ...9 4 Recommended Spare Parts 9 20...

Страница 389: ...Alarm Error...

Страница 390: ......

Страница 391: ...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 392: ...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 393: ...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 394: ...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 395: ...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 396: ...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 397: ...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 398: ...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 399: ...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 400: ...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 401: ...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 402: ...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 403: ...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 404: ...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 405: ...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 406: ...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 407: ...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 408: ...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 409: ...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 410: ...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 411: ...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 412: ...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 413: ...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 414: ...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 415: ...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 416: ...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 417: ...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 418: ...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 419: ...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 420: ...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 421: ...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 422: ...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 423: ...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 424: ...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 425: ...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 426: ...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 427: ...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 428: ...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 429: ...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 430: ...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 431: ...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 432: ...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 433: ...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 434: ...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...

Страница 435: ...t correspond with reset process after the alarm occurred in arith metic section Reset the alarm and repeat the opera tion If the error occurs again contact you YASKAWA representative 4474 WRONG CONTR...

Страница 436: ...nterpolation motion impropriety of end less function Linear motion impropriety This error occurred as follows When operating play back panel and programming pendant though continuous rotation was com...

Страница 437: ...e the user coordinates 4501 OUT OF RANGE PARALLEL PROCESS Decimal Data The error occurred in task control process of independent control function Reset the alarm and repeat the opera tion If the error...

Страница 438: ...do not lie on the straight line 4513 EXCESSIVE SEGMENT SAFETY 1 LOW Robot Station Axis Data The specified speed exceeded the safe speed After resetting the alarm reduce the speed of the step where the...

Страница 439: ...ion unmatch Needs investigation Consult a YASKAWA representative 4529 TWIN COORDI NATED ERROR Decimal Data 1 The job started by SYNC was a job with out any robot axes job with station axes only or con...

Страница 440: ...ng error and repeat the operation 4581 DEFECTIVE ANTICI PATION FILE Decimal Data A setting in the anticipation output file is set to an improper value The setting of the OT output or OG output is 1 OT...

Страница 441: ...0 9010 01 MISSING ARC GENERATION CON FIRM 9020 02 ARC SHORTAGE 9030 03 9040 04 GAS SHORTAGE RESTART 9050 05 WIRE SHORTAGE RESTART 9060 06 9070 07 9080 08 9090 09 9100 10 9110 11 9120 12 9130 13 9140 1...

Страница 442: ...tem Section 9000 00 AIR PRESSURE LOWERED 9010 01 9020 02 9030 03 9040 04 9050 05 9060 06 9070 07 9080 08 9090 09 9100 10 9110 11 9120 12 9130 13 9140 14 9150 15 9160 16 9170 17 9180 18 9190 19 9200 20...

Страница 443: ...ING WATER 9010 01 ERROR OF GUN COOLING WATER 9020 02 ERROR IN TRANSTHERMO OF GUN 9030 03 AIR PRESSURE LOWERED 9040 04 9050 05 9060 06 9070 07 9080 08 9090 09 9100 10 9110 11 9120 12 9130 13 9140 14 91...

Страница 444: ...essage System Section 9000 00 9010 01 9020 02 9030 03 9040 04 9050 05 9060 06 9070 07 9080 08 9090 09 9100 10 9110 11 9120 12 9130 13 9140 14 9150 15 9160 16 9170 17 9180 18 9190 19 9200 20 9210 21 92...

Страница 445: ...r an external equipment com puter PLC etc accesses When an error occurs release it after the confirmation of the content of the error To release the error perform following the operation Press CANCEL...

Страница 446: ...ORG XX XY Not registered user coordinates basic 3 points ORG XX XY 70 Program and current tool different The tool number registered with teaching position data didn t match the tool number selected at...

Страница 447: ...ong specification of measure interval Wrong specification of measure interval for TRT function 410 Time could not be measured Time could not be measured 420 Incorrect number of taught points Taught po...

Страница 448: ...t JOB robot 630 Not completed to load original tool file 640 Not specified tool file 650 Incorrect measured data 660 Wrong data type of position variable 670 Enter path number 680 Defined data XXX Fil...

Страница 449: ...r instruction 860 Please release key registration mode 870 This key cannot be allocated 880 Same relay cannot be set 890 This key has already been registered Cannot register them once 900 Relay No not...

Страница 450: ...me not entered 2030 Undefined JOB name 2040 Defined JOB name 2050 Address not found 2060 Select master 2070 Set robot exactly to taught position 2080 Press INSERT or MODIFY 2090 Only modifying move in...

Страница 451: ...ction in JOB 2280 JOB memory is full 1 Lack of position file memories 2 Lack of JOB registering memories 3 Lack of instruction file memories 4 Lack of memory pool 5 Lack of pass condition file for mul...

Страница 452: ...g 2410 When variable is used for speed set ting perform a line edit 2420 When variable is used for teach set ting perform a line edit 2430 Reverse data not found 2440 Move C and W axis to basic positi...

Страница 453: ...orrect play speed in the JOB 2630 Conveyor position not reset 2640 Incorrect JOB name 2650 Defined JOB name 2660 Register MOVL inst after circular block 2670 Undefined target JOB 2680 Wrong designatio...

Страница 454: ...070 Number of files on floppy disk 3080 I O error on floppy disk 3090 Transmission error with floppy disk drive 1 Framing error 2 Overrun error 3 Parity error 4 Data code error 5 Data read error 6 Dat...

Страница 455: ...ror of channel No 5 Specification error of relay No 6 Timer value error 7 Specification error of timer No 3160 Cannot load illegal system data 3170 Condition file data error 1 Format error 2 Specified...

Страница 456: ...e data ATTR record is wrong for the format 9 Control group GROUP record is wrong for the format 10 Local variable LVARS record is wrong for the format 11 JOB argument JARGS record is wrong for the for...

Страница 457: ...ut format error 19 Date size over 20 MIN value over 21 MAX value over 22 Operation expression error 23 JOB call argument setting error 24 Macro JOB call argument setting error 25 Position vector setti...

Страница 458: ...a error 49 COMMENT data error 58 Invalid instruction tag detection 3230 Syntax not matched 3240 Undefined application 3250 Cannot load this file 3260 Excess input data 3270 Cannot verify this file 328...

Страница 459: ...80 Drive not ready 3390 File not found 3400 File already exists on the media 3410 Out of memory on the media 3420 Max number of files has been reached 3430 I O error on the drive 3440 Wrong media type...

Страница 460: ...070 Excess AND OR STR instructions XXX Line No 4080 Syntax error in CNT instructions XXX Line No 4090 Enter STR NOT at head of block Need STR NOT XXX Line No 4100 Relay No duplicated in TMR and CNT Ti...

Страница 461: ...ELETE keys 4190 Ladder program not found 4200 Cannot specify system variables 4210 Cannot edit line 4220 Excess TMR CNT or arithmetic instruc tions More than 100 TMR CNT or arithmetic instruction used...

Страница 462: ...11 1 Error Message List 11 18...

Страница 463: ......

Страница 464: ...n 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 LIMI...

Страница 465: ...ese 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...

Страница 466: ......

Страница 467: ...ngs 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 im...

Страница 468: ...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 mode...

Страница 469: ...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 operati...

Страница 470: ...ir them immediately and be sure 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...

Страница 471: ...CPU HANG UP ERROR 22 AL 0940 to 0945 WATCHDOG TIMER ERROR 19 AL 0950 to 0955 CPU ERROR 20 AL 0960 to 0965 CPU HANG UP ERROR 22 AL 0999 NMI ERROR 22 AL 0021 COMMUNICATION ERROR SERVO 23 AL 0030 ROM ERR...

Страница 472: ...ERROR V PHASE 50 AL 4100 OVERRUN IN ROBOT AXIS 51 AL 4301 CONTACTOR ERROR 52 AL 4302 BRAKE CIRCUIT ERROR 53 AL 4303 CONVERTER READY SIGNAL ERROR 54 AL 4304 CONVERTER INPUT POWER ERROR 55 AL 4305 CONV...

Страница 473: ...controller How to Use this Manual Alarm error codes are listed numerically in the Table of Contents Locate and turn to the page number of the alarm error code displayed on your controller Answer the...

Страница 474: ...alarm Contact your Yaskawa representative An error occurs during the check of the CPU board No Yes Yes No No Yes Yes No No Yes Alarm Alarm Alarm AL 0010 CPU BOARD INSERTION ERROR Alarm Remove the corr...

Страница 475: ...XCP01 circuit board caused the alarm Continue normal operation The defective XBB01 circuit board caused the alarm Contact your Yaskawa representative No Yes Yes No No Yes Yes No No Yes Alarm Alarm Al...

Страница 476: ...rm Remove the corresponding RAM board and remount it Replace the board Continue normal operation An alarm occurs Turn the power OFF and then ON AL 0030 ROM ERROR An error occurs during the ROM s total...

Страница 477: ...skawa representative Continue normal operation The defective RAM board caused the alarm No Yes Yes No No Yes Alarm Alarm Alarm Remove the corresponding RAM board and remount it Replace the board Conti...

Страница 478: ...Yes No Alarm No Yes Check the cable connected to the corresponding I O Module Turn the power OFF and then ON No Yes Continue normal operation The defective I O Module caused the alarm Contact your Yas...

Страница 479: ...AL 0210 MEMORY ERROR SYSTEM CONFIG DATA An alarm occurs An error occurs during the system configuration data s total check Yes No Alarm Replace the XCP01 circuit board Contact your Yaskawa representat...

Страница 480: ...ective XCP01 circuit board caused the alarm Replace the XCP01 circuit board Initialize the CIO ladder data AL 0220 MEMORY ERROR JOB MNG DATA An alarm occurs No Yes Alarm Continue normal operation The...

Страница 481: ...tive Replace the expansion CMOS board AL 0300 VERIFY ERROR SYSTEM CONFIG DATA An error occurs during the check of the system configuration data and the parameter file An alarm occurs No Yes Alarm Cont...

Страница 482: ...ON AL 0320 VERIFY ERROR I O MODULE The system configuration setting differs from the actual status of the hardware An alarm occurs Continue normal operation No Yes Remove the corresponding I O Module...

Страница 483: ...No Replace the corresponding sensor board Alarm Continue normal operation The defective sensor board caused the alarm Alarm Initialize the parameter file Reset the option board AL 0400 PARAMETER TRANS...

Страница 484: ...ing communications between the XCP01 circuit board and the WRCA01 circuit board Continue normal operation No Yes Alarm Contact your Yaskawa representative An alarm occurs Turn the power OFF and then O...

Страница 485: ...ation The defective board caused the alarm Contact your Yaskawa representative No Yes Yes No No Yes Alarm Alarm Alarm Check the connection of the corresponding board See the table below Replace the bo...

Страница 486: ...e board Continue normal operation An alarm occurs Turn the power OFF and then ON An error occurs during the internal control check AL0910 XCP01 circuit board AL095 0 AL0953 AL091 1 XCP02 1 circuit boa...

Страница 487: ...tative No Yes Yes No No Yes Alarm Alarm Alarm Check the connection of the corresponding board See the table below Replace the board Continue normal operation An alarm occurs Turn the power OFF and the...

Страница 488: ...on An alarm occurs Turn the power OFF and then ON An error occurs during the internal control check AL0930 AL096 0 AL0963 AL093 1 AL096 1 AL093 2 AL096 2 AL0964 AL0965 Continue normal operation No Yes...

Страница 489: ...onnector 2CN on the RCP01AAA unit and re insert it Alarm Yes No Is the LED on the RCP01AAA unit lit Yes No Remove connector 1CN on the RCP01AAA unit and re insert it Alarm Yes No Check the fuse for th...

Страница 490: ...it board caused the alarm Turn the control power supply OFF and then ON Alarm Yes No Continue normal operation AL 1001 ROM ERROR WRCA01 An alarm occurs Replace the WRCA01 circuit board Alarm Yes No Co...

Страница 491: ...gun with the power cable Alarm Yes No Does the alarm occur the first time the servo is turned ON after turning ON the control power supply No Yes Is the servo gun at the stroke end the first time the...

Страница 492: ...operation Remove connector CN05 on the XCP01 circuit board and re insert it Alarm Yes No Continue normal operation Replace the WRCA01 circuit board Alarm Yes No Contact your Yaskawa representative Con...

Страница 493: ...Alarm Yes No Is the LED on the RCP01AAA unit lit Yes No Remove connector 1CN on the RCP01AAA unit and re insert it Alarm Yes No Check the fuse for the RCP01AAA unit Blown out Normal Remove the connec...

Страница 494: ...n the control power supply OFF and then ON Alarm Yes No Replace the WRCA01 circuit board Alarm Yes No Continue normal operation The defective WRCA01 circuit board caused the alarm Replace the XIU01 un...

Страница 495: ...the specified range AL 1304 EX AXIS BOARD NOT INSTALLED An alarm occurs Remove the WRCF01 circuit board and re mount it Alarm Yes No Is a WRCF01 circuit board mounted No Yes Replace the WRCA01 circui...

Страница 496: ...t them See Fig 1 Alarm Yes No Replace the WRCA01 circuit board Alarm Yes No Replace the SERVOPACK Alarm Yes No Contact your Yaskawa representative The capacity of the amplifier 1 0 kW or less or 1 5 k...

Страница 497: ...56 on the WRCA01 circuit board The connection of CNPG 123 and CNPG 456 See Fig 2 Alarm Yes No Replace the encoder or motor Alarm Yes No The serial encoder type 16 bit or 17 bit is selected according t...

Страница 498: ...o Was MOVJ the move instruction at the position Yes No Does the robot axis move at the same time with any other axes Yes No Reduce the motion speed Alarm Yes No Does the alarm occur during operation Y...

Страница 499: ...s at a specific position Yes No Close the opening of the gun a little Alarm Yes No Does the alarm occur during operation Yes No Replace the WRCF01 circuit board Alarm Yes No Replace the motor Alarm Ye...

Страница 500: ...Does 90 V flow between the motor brake terminals BA and BB No Yes Continue normal operation Check the conductivity of the internal lead brake wires Abnormal Normal Replace the internal leads Alarm Yes...

Страница 501: ...a specific position Yes No Was MOVJ the move instruction at the position where the alarm occurred Yes No Does the robot axis move at the same time with any other axes Yes No Reduce the motion speed Al...

Страница 502: ...ard Alarm Yes No Replace the WRCF01 circuit board Alarm Yes No Replace the cable between the WRCF01 circuit board and the XEI01 circuit board Alarm Yes No A miscount of the feedback pulses is detected...

Страница 503: ...connecotor CN20 on the XIU01 unit and re insert it Alarm Yes No Check the power supply for the XEI01 board Check the power supply for the XEI01 board Replace the XEI01 circuit board Alarm Yes No Repla...

Страница 504: ...voltage of the breaker to the specified voltage Alarm Yes No Converter SERVOPACK CN30 CN1 Fig 3 Is the primary voltage of the breaker 200 V 10 to 15 Yes No Is the regenerative resistor disconnected D...

Страница 505: ...e motor power cable of the axis where the alarm occurred turn ON the servo power supply Alarm No Yes Replace the SERVOPACK Alarm No Yes Contact your Yaskawa representative Continue normal operation Tu...

Страница 506: ...and T all 200 V 10 to 15 Yes No Change the breaker s primary voltage to the specified voltage Alarm Yes No Continue normal operation Continue normal operation Replace the converter Alarm No Yes Is the...

Страница 507: ...Measure the resistance between E11 and U11 U12 V11 V12 W11 and W12 and between E12 and U11 U12 V11 V12 W11 and W12 to confirm that all the contacts are open Disconnect CN29 on the XIU01 unit After dis...

Страница 508: ...on the converter and re insert it See Fig 8 Alarm Yes No Continue normal operation Replace the converter Alarm No Yes Change the breaker s primary voltage to the specified voltage Alarm Yes No Convert...

Страница 509: ...city is discharged Remove connector CN30 on the WRCA01 circuit board and re insert it See Fig 10 Alarm Yes No Remove connector CN1 on the converter and re insert it See Fig 10 Alarm Yes No Continue no...

Страница 510: ...XEI circuit board See Fig 12 Yes No The serial encoder type 16 bit or 17 bit is selected according to the motor type A 16 bit encoder for the motor type SGM A1A A 17 bit encoder for SGM A2A A 12 bit...

Страница 511: ...hem Alarm Yes No Turn the control power supply OFF and then ON Alarm Yes No Replace the motor encoder Alarm Yes No This alarm is sent from the encoder This alarm is often caused by a defective encoder...

Страница 512: ...nnected See Fig 15 Contact your Yaskawa representative Remove connectors CNPG123 and CNPG456 on the corresponding WRCA01 circuit board and re insert them Alarm Yes No Continue normal operation The def...

Страница 513: ...larm Yes No Turn the control power supply OFF and then ON Alarm Yes No Replace the motor encoder Alarm Yes No This alarm is sent from the encoder This alarm is often caused by a defective encoder CNPG...

Страница 514: ...A01 circuit board and re insert them Alarm Yes No Turn the control power supply OFF and then ON Alarm Yes No Replace the motor encoder Alarm Yes No CNPG456 CNPG123 SERVOPACK Fig 17 Continue normal ope...

Страница 515: ...e between the WRCA01 circuit board and the amplifier Alarm Yes No Replace the WRCA01 cirucit board Alarm Yes No Replace the SERVOPACK Alarm Yes No SERVOPACK CNPB4 Fig 19 CNPB5 CNPB6 CNPB1 CNPB2 CNPB3...

Страница 516: ...cable between the WRCA01 circuit board and the amplifier Alarm Yes No Replace the WRCA01 cirucit board Alarm Yes No Replace the SERVOPACK Alarm Yes No Continue normal operation A faulty connection ca...

Страница 517: ...Alarm Yes No Remove connector CN1 of the converter and re insert it Alarm Yes No Continue normal operation Replace the converter Alarm No Yes Contact your Yaskawa representative Replace the WRCA01 ci...

Страница 518: ...istance r s t R S T Non fuse breaker K14 K15 K13 Confirm that relay K15 of the XTU01 circuit board is not stuck or disconnected See Fig 22 Alarm Yes No XIU01 XTU01 Fig 21 Fig 22 After turning OFF the...

Страница 519: ...tive Confirm that relay K15 of the XTU01 circuit board is not stuck or disconnected See Fig 23 Alarm Yes No XIU01 XTU01 Fig 23 Continue normal operation The defective WRCA01 circuit board caused the a...

Страница 520: ...confirm that all the LEDs on the SERVOPACK and converter are unlit and that no charged electricity remains It may take a few minutes until all the electricity is discharged K14 K15 K13 Alarm Yes No C...

Страница 521: ...larm Yes No Contact your Yaskawa representative Replace the converter Alarm Yes No Continue normal operation Alarm Yes No Converter SERVOPACK Tester Measure the resistance XIU01 XTU01 Fig 27 Fig 28 Fi...

Страница 522: ...Replace the WRCA01 circuit board Alarm Yes No Contact your Yaskawa representative Replace the converter Alarm Yes No Replace the SERVOPACK Alarm Yes No CN30 CN1 CN7 Converter SERVOPACK Fig 30 Continue...

Страница 523: ...larm Yes No Replace the amplifier Alarm Yes No Replace the WRCA01 circuit board Alarm Yes No CNPB4 CNPB5 CNPB6 CNPB1 CNPB2 CNPB3 SERVOPACK Fig 31 Continue normal operation The wrong operation of the W...

Страница 524: ...nnected See Fig 32 Contact your Yaskawa representative Remove connectors CNPG123 and CNPG456 on the corresponding WRCA01 circuit board and re insert them Alarm Yes No Check the connector of the amplif...

Страница 525: ...WRCA01 circuit board and re insert them See Fig 33 Alarm Yes No Turn the control power supply OFF and then ON Alarm Yes No Replace the motor encoder Alarm Yes No SERVOPACK CNPG456 CNPG123 Fig 33 Conti...

Страница 526: ...FF the control power supply and wait 10 minutes Alarm Yes No Replace the motor encoder Alarm Yes No Operate the encoder at 80 C or less Alarm Yes No Continue normal operation The overheated encoder ca...

Страница 527: ...Alarm Yes No CNPG456 CNPG123 When this alarm occurs the data for the accumulated rotation is lost To restart an operation after removing the cause of the error perform the zero point positioning payin...

Страница 528: ...e data for the accumulated rotation is lost perform zero point positioning paying attention to the robot s working envelope before restarting the operation SERVOPACK Fig 35 AL 4313 SERIAL ENCODER OVER...

Страница 529: ...ttention to the robot s working envelope before restarting the operation An alarm occurs Contact your Yaskawa representative Replace the battery Alarm Yes No Check the battery cable disconnection etc...

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Страница 532: ...EIJING 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 LIMITE...

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