YASKAWA YRC1000micro, YRC1000 Collaborative Operation Instructions

MANUAL NO.

YRC1000/YRC1000micro

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-HC10 INSTRUCTIONS MOTOMAN-HC10DT INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) YRC1000/YRC1000micro INSTRUCTIONS FOR SmartPendant

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Collaborative Operation Instructions

181437-1CD 4

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DANGER

• This manual explains the collaborative operation function of the YRC1000/YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000/YRC1000micro. Any matter, including operation, usage, measures, and an item to use, not described in this manual must be regarded as "prohibited" or "improper".

• General information related to safety are described in "Chapter 1. Safety" of the YRC1000/YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read "Chapter 1. Safety" of the YRC1000/YRC1000micro INSTRUCTIONS.

CAUTION

• In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty.

NOTICE

• 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 necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

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Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards.

Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER.

Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”.

NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative

to “NOTICE”, the word “CAUTION” without the safety alert

symbol may be used to indicate a message not related to personal injury.

To ensure safe and efficient operation at all times, be sure to follow all

instructions, even if not designated as “DANGER”, “WARNING” and “CAUTION”.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000/YRC1000micro.

In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”.

Even items described as “CAUTION” may result in a serious accident in some

situations. At any rate, be sure to follow these important items.

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DANGER

• Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.

WARNING

• Maintenance and inspection must be performed by specified personnel.

Failure to observe this caution may result in electric shock or injury.

• For disassembly or repair, contact your YASKAWA representative.

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DANGER

• Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

- Press the emergency stop buttons on the front door of the YRC1000, on the programming pendant, on the external control device, etc.

- Disconnect the safety plug of the safety fence. (when in the play mode or in the remote mode)

If operation of the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result.

Fig.: Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the obstacle or error caused the emergency stop, if any, and then turn the servo power ON.

Failure to observe this instruction may cause unintended movement of the manipulator, which may result in personal injury.

Fig.: Release of Emergency Stop

• Observe the following precautions when performing a teaching operation within the manipulator's operating range:

- Be sure to perform lockout by putting a lockout device on the safety fence when going into the area enclosed by the safety fence. In addition, the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safety fence.

- View the manipulator from the front whenever possible.

- Always follow the predetermined operating procedure.

- Always keep in mind emergency response measures against the manipulator’s unexpected movement toward a person.

- Ensure a safe place to retreat in case of emergency.

Failure to observe this instruction may cause improper or unintended movement of the manipulator, which may result in personal injury.

• Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before:

- Turning ON the YRC1000 power

- Moving the manipulator by using the programming pendant

- Running the system in the check mode

- Performing automatic operations

Personal injury may result if a person enters the manipulator's operating range during operation. Immediately press an emergency stop button whenever there is a problem. The emergency stop buttons are located on the front panel of the YRC1000 and on the right of the programming pendant. The emergency stop buttons are located on the front panel of the YRC1000 and on the right of the programming pendant.

• Read and understand the Explanation of the Warning Labels before operating the manipulator.

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DANGER

- Press the emergency stop button on the programming pendant or on the external control device, etc.

- Disconnect the safety plug of the safety fence. (when in the play mode or in the remote mode)

If operation of the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result.

Fig.: Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the obstacle or error caused the emergency stop, if any, and then turn the servo power ON.

Failure to observe this instruction may cause unintended movement of the manipulator, which may result in personal injury.

Fig.: Release of Emergency Stop

• Observe the following precautions when performing a teaching operation within the manipulator's operating range:

- View the manipulator from the front whenever possible.

- Always follow the predetermined operating procedure.

- Always keep in mind emergency response measures against the manipulator’s unexpected movement toward a person.

- Ensure a safe place to retreat in case of emergency.

Failure to observe this instruction may cause improper or unintended movement of the manipulator, which may result in personal injury.

• Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before:

- Turning ON the YRC1000micro power

- Moving the manipulator by using the programming pendant

- Running the system in the check mode

- Performing automatic operations

• Read and understand the Explanation of the Warning Labels before operating the manipulator.

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DANGER

• In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button. Connect the external emergency stop button to the 4-14 pin and 5-15 pin of the Safety connector (Safety).

• Upon shipment of the YRC1000micro, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to supply a new connector, and then input it.

If the signal is input with the jumper cable connected, it does not function, which may result in personal injury or equipment damage.

WARNING

• Perform the following inspection procedures prior to conducting manipulator teaching. If there is any problem, immediately take necessary steps to solve it, such as maintenance and repair.

- Check for a problem in manipulator movement.

- Check for damage to insulation and sheathing of external wires.

• Return the programming pendant to a safe place after use.

If the programming pendant is left unattended on the manipulator, on a fixture, or on the floor, etc., the Enable Switch may be activated due to surface irregularities of where it is left, and the servo power may be turned ON. In addition, in case the operation of the manipulator starts, the manipulator or the tool may hit the programming pendant left unattended, which may result in personal injury and/or equipment damage.

Equipment

Manual Designation

YRC1000/YRC1000micro controller

YRC1000/YRC1000micro

YRC1000/YRC1000micro programming pendant

Programming pendant

Cable between the manipulator and the controller

Manipulator cable

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Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables. In this manual, the equipment is designated as follows:

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Equipment

Manual Designation

Programming Pendant

Character Keys /Symbol Keys

The keys which have characters or symbols printed on them are denoted with [ ]. e.g. [ENTER]

Axis Keys /Numeric Keys

[Axis Key] and [Numeric Key] are generic names for the keys for axis operation and number input.

Keys pressed simultaneously

When two keys are to be pressed simultaneously,

the keys are shown with a “+” sign between them,

e.g. [SHIFT]+[COORD].

Mode Switch

Mode Switch can select three kinds of modes that are denoted as follows: REMOTE, PLAY or TEACH. (The switch names are denoted as symbols)

Button

The three buttons on the upper side of the programming pendant are denoted as follows: START, HOLD, or EMERGENCY STOP. (The button names are denoted as symbols)

Displays

The menu displayed in the programming pendant is denoted with { }. e.g. {JOB}

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Descriptions of the programming pendant keys, buttons, and displays are shown as follows:

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DANGER

• The label described below is attached to the manipulator.

Observe the precautions on the warning labels. Failure to observe this caution may result in injury or damage to equipment. Refer to the manipulator manual for the warning label location.

Fall down hazard label

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Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means that

the cursor is moved to the object item and [SELECT] is pressed, or that the item is directly selected by touching the screen.

Registered Trademark

In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted.

Explanation of Warning Labels

The following warning labels are attached to the manipulator and YRC1000/YRC1000micro.

Fully comply with the precautions on the warning labels.

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• The following warning labels are attached to YRC1000.

Observe the precautions on the warning labels. Failure to observe this warning may result in injury or damage to equipment.

• The following warning labels are attached to YRC1000micro.

Observe the precautions on the warning labels. Failure to observe this warning may result in injury or damage to equipment.

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List of contents

1. Introduction ......................................................................................................... 1-1

2. Functional Overview ........................................................................................... 2-1

2.1. PFL Function ................................................................................................... 2-3

2.2. Speed Monitor Function .................................................................................. 2-4

2.3. Avoidance Function ......................................................................................... 2-4

2.4. Force Detection Hold Function (Supported Only by YRC1000 System Version YAS2.41 or Later and YRC1000micro System Version YBS2.10

or Later) ........................................................................................................... 2-5

2.5. Escape from Clamping Function ..................................................................... 2-6

2.6. Relationships among Various Stop Functions ................................................. 2-8

2.7. Direct Teach Function ...................................................................................... 2-9

2.8. External Force Monitor Output ...................................................................... 2-10

3. Configuring Each Function .................................................................................. 3-1

3.1. Changing the Security Mode ........................................................................... 3-1

3.2. Basic Settings for Collaborative Operation ..................................................... 3-2

3.2.1. Changing the External Force Limits ........................................................ 3-2

3.2.2. Configuring the Speed Limit .................................................................... 3-6

3.3. Enabling or Disabling Collaborative Operation ............................................... 3-7

3.3.1. Disabling Collaborative Operation by Changing the Safety

Logic Circuit ............................................................................................ 3-8

3.3.2. Enabling or Disabling Collaborative Operation by Using

External Sensor Input ........................................................................... 3-10

3.4. Enabling or Disabling the PFL function ......................................................... 3-12

3.4.1. Steps for Disabling the PFL Function ................................................... 3-12

3.4.2. Steps for Enabling the PFL Function .................................................... 3-16

3.5. Configuring the Avoidance Function ............................................................. 3-20

3.5.1. Adding Instructions to a Job .................................................................. 3-20

3.5.2. Enabling the Avoidance Function .......................................................... 3-21

3.5.3. Setting the Start and End Thresholds ................................................... 3-23

3.5.4. Setting the Avoidance Speed ................................................................ 3-23

3.5.5. Checking the Interrupt Job Settings ...................................................... 3-24

3.6. Configuring the Force Detection Hold Function (Supported Only by YRC1000 System Version YAS2.41 or Later and

YRC1000micro System Version YBS2.10 or Later) ...................................... 3-25

3.7. Teaching the Manipulator with the Direct Teach Function ............................. 3-26

3.7.1. Moving the Robot Using the Hand Guiding .......................................... 3-26

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3.7.2. Adding Operation Instructions to a Job by Using the Direct

Teach Button (for Only the MOTOMAN-HCxxDT (Equipped

with the Direct Teach Button)) .............................................................. 3-29

4. Safety Precautions .............................................................................................. 4-1

4.1. How to Restart the Controller .......................................................................... 4-1

4.2. Check Items before Operating the Manipulator .............................................. 4-1

4.3. About the Behavior near Singularity ................................................................ 4-2

4.4. Settings Related to the Tool ............................................................................ 4-3

4.4.1. How to Configure the Tool File ................................................................ 4-4

4.4.2. How to Configure the Tool Change Settings ........................................... 4-5

5. Daily Inspection Items ......................................................................................... 5-1

5.1. Checking the Torque Sensor Status ................................................................ 5-1

5.1.1. Checking the Torque Sensor Status Using the Self-check Function

(Supported Only by YRC1000 System Version YAS2.52 or Later and

YRC1000micro System Version YBS2.10 or Later) ............................... 5-1

5.1.2. Checking the Torque Sensor Status Using the External Force

Monitor.................................................................................................... 5-3

5.2. How to Reconfigure the Torque Sensor Home Position .................................. 5-4

6. Troubleshooting .................................................................................................. 6-1

7. Alarm List ............................................................................................................ 7-1

7.1. Major Alarms.................................................................................................... 7-1

7.2. Minor Alarms.................................................................................................... 7-9

8. Variable List ......................................................................................................... 8-1

9. I/O List ................................................................................................................. 9-1

9.1. Interface Panel Output .................................................................................... 9-1

9.2. Auxiliary Relay ................................................................................................. 9-2

9.3. General Output ................................................................................................ 9-3

9.4. General Input ................................................................................................... 9-4

9.5. External Outputs (used by the MOTOMAN-HC10xxDT

(equipped with the direct teach button)) .......................................................... 9-5

9.5.1. YRC1000 ................................................................................................. 9-5

9.5.2. YRC1000micro ........................................................................................ 9-5

9.6. External Inputs (used by the MOTOMAN-HCxxDT

(equipped with the direct teach button)) .......................................................... 9-5

9.6.1. YRC1000 ................................................................................................. 9-5

9.6.2. YRC1000micro ........................................................................................ 9-5

9.7. Control Status Signal ....................................................................................... 9-6

10. Register List ...................................................................................................... 10-1

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11. Default Settings of Function Safety General-Purpose I/O Signals ................... 11-1

12. Default Settings of the Functional Safety Condition Files ................................. 12-1

13. Functions That Cannot be Used with Collaborative Operation

Simultaneously .................................................................................................. 13-1

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DANGER

Enabling human-robot collaborative operation requires you to conduct risk assessment on the entire robot system taking into account the safety for humans and then reduce the danger of harm to humans to a permissible level or implement the ISO (International Organization for Standardization)

standards for industrial robots (i.e., ISO 10218-1: 2011 and ISO 10218-2: 2011).

Function name

Description

PFL (Power and Force Limiting) function

This function monitors the external force acting on the manipulator and performs a protective stop of the manipulator if the external force exceeds the preset limit. Protective stop belongs to Stop Category 2. After protective stop, "stop position monitoring" is performed using the "speed limit function", one of the YRC1000/YRC1000micro functional safety functions.

Speed monitor function

This function limits the manipulator operating speed (TCP speed) to thereby limit the force applied by the manipulator to its surroundings, using the "speed limit function", one of the YRC1000/YRC1000micro functional safety functions.

Avoidance function

This function moves the manipulator in the direction where no force is acting before the PFL function performs a protective stop of the manipulator.

Escape from clamping function

This function lets the manipulator automatically escape from a protective stop condition due to something clamped (stuck) between the manipulator and surrounding environment or between the joints of the manipulator.

Force detection hold function (supported only by YRC1000)

This function stops the manipulator before the PFL function performs a protective stop of the manipulator. Direct teach function

This function allows you to directly apply a force to the manipulator to move it to the teaching position when you create a job (or teach the manipulator).

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1. Introduction

The robot controller YRC1000/YRC1000micro provides functions to ensure that robots do not harm workers working close to them for the enablement of human-robot collaborative operation. This instruction manual explains how to use those functions. When using the Smart Pendant, refer also to "HW1485509 YRC1000/YRC1000micro INSTRUCTIONS FOR SmartPendant".

2. Functional Overview

Collaborative operation is supported mainly by the following functions:

Introduction

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■ Collaborative operation and functional safety functions The functions that support collaborative operation use some of the YRC1000/YRC1000micro functional safety functions. Even if you disable collaborative operation, you can still use the functional safety functions.

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Functional Overview

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For YRC1000, the manipulator moves back a little along the path to reduce the impact of collision when stopped by the PFL function. At this moment, a significant acceleration occurs on the TCP, possibly resulting in vibration or noise.

Resume switch

Collaborative

operation lamp

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2.1. PFL Function

The PFL (Power and Force Limiting) function stops the manipulator depending on the external force acting on the manipulator with collaborative operation enabled. With collaborative operation enabled, the PFL function monitors the external forces acting on the TCP and each axis of the manipulator. If the external forces exceed the preset limit, it performs a protective stop and puts the manipulator into the stop position monitoring state, i.e., the condition under which the manipulator is subject to stop position monitoring by the functional safety functions. The job execution is interrupted at this time. For information on how to configure the external force limit value, refer to "3.2 Basic Settings for Collaborative Operation".

If an external force remains acting in the stop position monitoring state, the manipulator may be

Functional Overview

moved by the escape from clamping function described in Section 2.5.

With collaborative operation enabled, the collaborative operation lamp (shown below), located on the cover between the T- and B-axes of the manipulator, lights up. In addition, when in the stop position monitoring state, the resume switch (shown below) located below the collaborative operation lamp lights up. Pressing the resume switch while it is lit cancels the stop position monitoring and allows you to resume the operation from the protective stop position.

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Avoidance mode

Description

Joint mode

The avoidance operation is performed depending on the external torque acting on each axis.

Translation mode

The avoidance operation is performed in the cartesian coordinate system depending on the external force acting on the TCP.

NOTICE

By factory default, the TCP speed is limited to 250 mm/s.

NOTICE

The avoidance function is not functions compliant with safety related standards.

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2.2. Speed Monitor Function

With collaborative operation enabled, the "speed limit function", one of the YRC1000/YRC1000micro functional safety functions, limits the manipulator operating speed within the safe speed range. You can change the speed limit but only to a speed lower than the factory default. For information on how to configure the speed limit, refer to "3.2 Basic Settings for Collaborative Operation".

2.3. Avoidance Function

The avoidance function ensures the safe use of the manipulator by temporarily stopping or moving the manipulator in the direction where no force is acting before the PFL function performs a protective stop

Functional Overview

of the manipulator. The avoidance function provides two avoidance modes that differ in how the manipulator moves.

When the avoidance function is enabled and the estimated external torque value for each axis exceeds the start threshold for the avoidance function for the current mode, the mode-specific interrupt job is executed. The avoidance operation started when the estimated torque value for each axis exceeds the threshold continues until the estimated external torque value for each axis drops below the end threshold for the avoidance function (for each axis). The avoidance operation started when the estimated TCP external force value exceeds the threshold continues until the estimated TCP external force value drops below the end threshold for the avoidance function (for translation). After the avoidance function ends, the suspended job is automatically resumed.

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NOTICE

The force detection hold function is not functions compliant with safety related standards.

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Functional Overview

2.4. Force Detection Hold Function (Supported Only by YRC1000 System Version YAS2.41 or Later and YRC1000micro System Version YBS2.10 or Later)

The force detection hold function temporarily stops the job when the external force acting on the manipulator exceeds the preset threshold with collaborative operation enabled. You can use this easily configurable function to stop the manipulator more slowly than the PFL function. When the manipulator is stopped by the force detection hold function, the [START] button lamp at the top of the programming pendant goes off, the [HOLD] button lamp lights up, and the resume switch located below the collaborative operation lamp lights up. Pressing the resume switch while it is lit cancels the stop position monitoring and allows you to resume the operation from the protective stop position.

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monitoring state

on a single axis

Clamping occurs

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2.5. Escape from Clamping Function

With collaborative operation enabled, the PFL function described above puts the manipulator into a stop position monitoring state in which it is not operable if something is clamped (stuck) between the manipulator and surrounding environment or between the joints of the manipulator. The escape from clamping function lets the manipulator escape from such a state. If the PFL function performs a protective stop during collaborative operation and further the manipulator is detected to be in a clamping state, the escape from clamping function determines which axis of the manipulator was subjected to the highest torque and operates that axis in such a direction that the manipulator can escape from the clamping state. During this process, the angular speed of the axis is limited to 5 [deg/s]. When the manipulator escapes from the clamping state or the TCP's travel distance by the escape operation reaches 50 [mm], the escape operation finishes and the manipulator goes into the stop position monitoring state. You can neither disable the escape from clamping function nor change the escape operation.

Functional Overview

After the escape, the

manipulator goes into

the stop position

Escape operation

During the escape operation, the external force limit of the PFL function is temporarily set to the value larger than the current external force. After the escape from clamping, the external force limit is reset to the original setting and the job goes into the suspended state. You can resume the job from the suspended position by pressing the resume switch to cancel the stop position monitoring state and then pressing the [START] button.

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CAUTION

・ Correctly configure the tool information by specifying the information on the hand and

workpiece. If it is not correctly configured, clamping state detection may fail, possibly causing an unexpected operation of the manipulator.

・ During the escape from clamping operation, the manipulator moves not in accordance with the

taught path.

・ Do not input an external start instruction during the escape from clamping operation.

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Functional Overview

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2.6. Relationships among Various Stop Functions

With collaborative operation enabled, various functions work when the external forces acting on the TCP and each axis of the manipulator exceed the preset thresholds. You can change these thresholds but the threshold for the force detection hold function must be always larger than the start threshold for the avoidance operation. The force detection hold function takes precedence over the avoidance operation and the PFL function takes precedence over the force detection hold function. As shown below, if the external force is between the threshold for starting the avoidance operation and the force detection hold threshold, the avoidance function works; if the external force is between the force detection hold threshold and the external force limit, the force detection hold function works; if the external force is above the external force limit, the PFL function works. If the external force sustains with the PFL function working, the escape from clamping function works. You cannot change the operation of the escape from clamping function because it is automatically configured depending on the external force limit of the PFL function. In addition, the avoidance and

Functional Overview

force detection hold functions are not functions compliant with safety related standards. Note: Force detection hold function is supported only by YRC1000.

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2.7. Direct Teach Function

The direct teach function allows you to create a job (or teach the manipulator) without holding the teaching pendant in your hand. More specifically, it provides the following two teaching methods:

・ Moving the robot using the hand guiding ・ Adding operation instructions to the job (teaching) using the direct teach button

The "hand guiding" refers to directly moving the manipulator by hand in the teach mode. You can configure the settings on the dedicated screen on the programming pendant and move the manipulator by hand with the job edit screen displayed.

Teaching by using the direct teach button is only supported by the MOTOMAN-HCxxDT (the type equipped with the direct teach button). With the MOTOMAN-HCxx (the type not equipped with the direct teach button), you can move the robot using the hand guiding but you must use the programming pendant to add operation

Functional Overview

instructions.

For more information on how to use the hand guiding and the direct teach button, refer to "3.7 Teaching the Manipulator with the Direct Teach Function".

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Unit

Estimated external torque values for each axis

M310 to 317

[0.1Nm]

Estimated TCP external force values

M320 to 326

[0.1N] Sensor data for each axis (CH1)

M330 to 335

Sensor data for each axis (CH2)

M340 to 345

Maximum value reset button

- Press to reset all the force/torque maximum

values to zero.

Maximum value

- Displays the maximum of the absolute value

of the accumulated force/torque values.

Estimated external torque values

for each axis

Estimated TCP external force values

Monitor screen exit button

- Press to exit from the monitor screen.

Sensor output data for each axis

External force judgment marks

- A black circle (●) appears if the

force/torque exceeds the limit.

A white circle (○) appears if the

force/torque is within the limit.

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2.8. External Force Monitor Output

The estimated external force values and sensor data are output to the M registers as shown below:

Also, you can check these values on the programming pendant by selecting {SAFETY FUNC.} {External Force Monitor} from the programming pendant main menu.

Functional Overview

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3. Configuring Each Function

3.1. Changing the Security Mode

You must change the controller security mode to "Safety Mode" or "Management Mode" before you can change the various settings for collaborative operation. To change to Safety Mode, use the following steps: (1) Select {SYSTEM INFO} - {SECURITY} under the main menu.

Configuring Each Function

(2) Under Security Mode, select "SAFETY MODE" and enter the password. The password for Safety

Mode is set to "5555555555555555" by factory default. Change the password for Safety Mode as needed.

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CAUTION

・ You are recommended not to enable more than five limit files at a time. You can enable six or

more limit files but doing so may result in a longer time taken to judge the external forces.

・ Disabling all the external force limit files disables the PFL function itself.

NOTICE

By factory default, the file number 1 is enabled and the external force limit for the TCP resultant force and the external forces along the X-, Y-, and Z-axes is set to 100 N.

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3.2. Basic Settings for Collaborative Operation

3.2.1. Changing the External Force Limits

To change the external force limits PFL function monitors, use the following steps

(1) Select {SAFETY FUNC.} - {EXTERNAL FORCE LIMIT SETTING} under the main menu.

(2) Select the file number for the external force limit you want to configure. To configure more than

one external force limit, you must configure as many limit files as the limits. You can configure and save up to 32 limit files.

Configuring Each Function

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Configuring Each Function

(3) On the External Force Limit Setting screen, enter the settings and finally press the {READBACK}

button. When the label of the {READBACK} button changes to {WRITE}, press the {WRITE} button. When the label of the {WRITE} button changes to {CONFIRM}, make sure that the changed settings are correct, and then press the {CONFIRM} button.

The External Force Limit Setting screen provides the following fields:

1. COMMENT

Allows you to edit the comment of the currently selected external force limit file as displayed on the external force limit file selection screen (Figure 2.3.1.2). Selecting this field displays a text entry dialog that allows you to enter a new comment.

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Setting status

Description

SETTING

The file has just been initialized or is being configured.

CONFIRMING

The settings are currently being confirmed after you press the {WRITE} button.

COMPLETED

This appears once you confirm the external force limit and press the {CONFIRM} button.

Value

Description

DISABLE

Disables this external force limit file.

ENABLE

Enables this external force limit file.

SIGNAL

Switches between "ON: Enable" and "OFF: Disable" depending on the status of the input signal specified in " 7. INPUT SIGNAL" configured for this external force limit file.

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Configuring Each Function

2. FILE SET STATUS

Displays the status of the currently selected external force limit file. The status can be one of the following:

3. FILE VALID COND

Use this field to configure the condition of the currently selected external force limit file. You can set it to one of the following values:

4. CTRL GROUP

Use this field to set the control group to be monitored for the condition file. Select "R1" here.

5. LIMIT (EACH AXIS)

Use these fields to enable/disable monitoring and configure the external force limits (moment [N/m]) for each of the axes used by the control group specified in " 4. CTRL GROUP". (Valid range: 0 to 100 [N/m])

6. LIMIT (TCP)

Use these fields to enable/disable the monitoring of the forces acting on the TCP of the manipulator used by the control group specified in " 4. CTRL GROUP" and configure the external force limits [N] in the cartesian coordinate system. (Valid range: 0 to 300 [N])

7. INPUT SIGNAL

If "SIGNAL" is selected in " 3. FILE VALID COND", the currently selected external force limit file is enabled when all the safety input signals configured here turn on. (Valid input signals: PFLIN1 to 16, valid output signals: PFLOUT1 to 16)

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Configuring Each Function

8. OUTPUT SIGNAL

Use this field to output the monitoring results of the currently selected external force limit file. If this external force limit file is enabled with collaborative operation enabled, this output signal turns on when the external force acting on the manipulator exceeds the value specified in this external force limit file.

9. READBACK/WRITE/CONFIRM

After you press the {READBACK} button, the label changes to {WRITE}. When you press the {WRITE} button after that, the label will change from {WRITE} to {CONFIRM}. Press the {CONFIRM} button to apply the edited settings.

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Item

Setting

File number

One of No.1 to No.30

File valid condition

Signal

Group

Speed limit

100

Detection delay time

Input signal

bit0

MS-OUT53 ON

bit1

bit2

bit3

bit4

Output signal

Any

WARNING

When configuring the condition files for the functional safety functions, do not edit the file No.31 or No.32 used for the PFL function by factory default. Doing so could cause collaborative operation to fail.

By factory default, the TCP speed is limited to 250 mm/s.

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Configuring Each Function

3.2.2. Configuring the Speed Limit

With collaborative operation enabled, one of the functional safety functions limits the speed. You can change the speed limit to 250 mm/s or lower by using the following method. For more information on how to configure the speed limit, refer to "HW1483576 YRC1000 OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION" or "HW1484544 YRC1000micro OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION" ("4.4 Speed Limit Function").

The speed limit condition files No.31 and No.32 are used by factory default. To add an additional speed limit condition file, use a file number other than No.31 and No.32. The following example shows how to add the condition to set the TCP speed limit to 100 mm/s:

If you want to enable the speed limit when a particular safety signal is input, specify that particular safety signal in the input signal bit 1 to 4.

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Signal name

Description

MS-OUT54

Enable/disable collaborative operation ON: Enables collaborative operation OFF: Disables collaborative operation (muting)

Signal name

Description

FSBOUT08

Display the status (enabled/disabled) of collaborative operation ON: Collaborative operation enabled OFF: Collaborative operation disabled (muting state)

Collaborative

operation lamp

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3.3. Enabling or Disabling Collaborative Operation

You can enable or disable collaborative operation by using the safety signal shown in the following table. Disabling collaborative operation causes the following changes: Protective stop based on the external force is not performed. Also, the escape from clamping function is disabled. You can, however, use the external force monitor output. The alarm conditions related to the PFL function are continuously monitored. Disabling collaborative operation is referred to as "muting". For more information on how to configure the safety logic circuit, refer to "RE-CTO-A221 YRC1000 INSTRUCTIONS" or "RE-CTO-A222 YRC1000micro INSTRUCTIONS" (8.26 Safety Logic Circuit).

Configuring Each Function

You can check the collaborative operation lamp to see the status (enabled/disabled) of collaborative operation.

You can check the following signal to see the status (enabled/disabled) of collaborative operation.

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YASKAWA YRC1000micro, YRC1000 Collaborative Operation Instructions

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Introduction

2. Functional Overview

2.1. PFL Function

2.2. Speed Monitor Function

2.3. Avoidance Function

2.4. Force Detection Hold Function (Supported Only by YRC1000 System Version YAS2.41 or Later and YRC1000micro System Version YBS2.10 or Later)

2.5. Escape from Clamping Function

2.6. Relationships among Various Stop Functions

2.7. Direct Teach Function

2.8. External Force Monitor Output

3. Configuring Each Function

3.1. Changing the Security Mode

3.2. Basic Settings for Collaborative Operation

3.2.1. Changing the External Force Limits

3.2.2. Configuring the Speed Limit

3.3. Enabling or Disabling Collaborative Operation