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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Configuring Each Function

3.3.1. Disabling Collaborative Operation by Changing the Safety Logic Circuit

To disable collaborative operation (i.e., muting) by changing the safety logic circuit, use the following steps: (1) Select {SYSTEM INFO} - {SECURITY} under the main menu.

(2) Under Security Mode, select "SAFETY MODE". For Safety Mode, the initial password is set to

"5555555555555555".

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Changes to a white circle (○)

once collaborative operation is

disabled

Change to "NOT"

Button label changes to {WRITE} and then to {CONFIRM}

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Configuring Each Function

(3) Select {SAFETY FUNC.} - {SAFETY LOGIC CIRCUIT} under the main menu.

(4) On the SAFETY LOGIC CIRCUIT setting screen, do the following steps:

I) In the first line, select the blank cell on the left of "FSBIN01" to change it to "NOT" and

select {WRITE}. II) Make sure that the safety logic circuit is correct and then select {CONFIRM}. III) On the dialog that asks you if you want to update the file, select {YES}.

Once the collaborative operation is disabled, the cell on the right of "MS-OUT54" changes from a black circle (●) to a white circle (○). To enable collaborative operation, reverse the above steps.

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CAUTION

When switching from collaborative operation disabled (muting) to collaborative operation enabled, there is a delay of about 1000 ms until the signal input actually switches.

DANGER

・ With collaborative operation disabled, the manipulator may harm workers. Implement sufficient

risk assessment before disabling collaborative operation.

・ Whenever you use a presence detection sensor, ensure the safety distance based on ISO13855.

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Configuring Each Function

3.3.2. Enabling or Disabling Collaborative Operation by Using External Sensor Input

Connecting the safety signal (MS-OUT54; refer to Section 3.3) of the safety logic circuit to the safety input from an external sensor allows you to enable or disable (muting) manipulator collaborative operation depending on the external sensor input. This allows for flexible context-sensitive operations; for example, you can disable collaborative operation when there is no worker in the vicinity of the manipulator and enable collaborative operation only when a worker comes in the vicinity of the manipulator.

By factory default, FSBIN01 of the safety logic circuit is connected to MS-OUT54. If you connect a presence detection sensor to the safety terminal block as shown below, you can enable or disable collaborative operation depending on the I/O of the presence detection sensor.

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Configuring Each Function

In addition, you can use an input other than FSBIN01 by specifying the signal to be connected to MSOUT54 in the safety logic circuit. For information on available signals, refer to Chapter 11 "Default Settings of Function Safety General-Purpose I/O Signals". For more information on how to connect the safety laser scanner, the safety relay, and the expansion safety terminal block board, refer to "HW1483576 OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION".

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DANGER

・ With collaborative operation disabled, the manipulator may harm workers. Implement sufficient

risk assessment and reduce risk to a permissible level before disabling collaborative operation.

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3.4. Enabling or Disabling the PFL function

To enable or disable the PFL function, use the steps described below. For information on how to disable collaborative operation only, refer to "3.3 Enabling or Disabling Collaborative Operation". Disabling the PFL function not only disables collaborative operation but also suspends the monitoring by the external force monitoring function and prevents the alarms related to the PFL function from occurring. Use the following steps only when you want to temporarily disable the PFL function, for example, to recover from a major alarm related to the PFL function.

3.4.1. Steps for Disabling the PFL Function

Configuring Each Function

(1) Restart the controller in the maintenance mode. (2) Select {SYSTEM} - {SECURITY} under the main menu.

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Configuring Each Function

(3) Under Security Mode, select "SAFETY MODE". For Safety Mode, the initial password is set to

"5555555555555555".

(4) Select {SYSTEM} - {SETUP} under the main menu, and select "OPTION FUNCTION".

(5) Select "DETAIL" of "POWER FORCE LIMITING".

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Configuring Each Function

(6) On the POWER FORCE LIMITING setting screen, change both #1 and #2 to "NOT USED" under

"PFL BOARD".

(7) Select {YES} on the confirmation dialog that appears.

(8) Perform the procedures in steps (1) to (3) again. (9) Select {FILE} - {INITIALIZE} under the main menu, and select "Safety Board FLASH Reset".

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Configuring Each Function

(10) Select {YES} on the confirmation dialog that appears.

(11) Select {FILE} - {INITIALIZE} under the main menu, and select "PFL Board FLASH Reset".

(12) Select {YES} on the confirmation dialog that appears.

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Configuring Each Function

3.4.2. Steps for Enabling the PFL Function

(1) Restart the controller in the maintenance mode. (2) Select {SYSTEM} - {SECURITY} under the main menu.

(3) Under Security Mode, select "SAFETY MODE". For Safety Mode, the initial password is set to

"5555555555555555".

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Configuring Each Function

(4) Select {SYSTEM} - {SETUP} under the main menu, and select "OPTION FUNCTION".

(5) Select "DETAIL" of "POWER FORCE LIMITING".

(6) On the POWER FORCE LIMITING setting screen, change #1 to " USED" under "PFL BOARD".

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Configuring Each Function

(7) Select {YES} on the confirmation dialog that appears.

Note: The following dialogs will be displayed depending on the system version. Always select {NO} on all dialogs. If the dialog does not appear, proceed to step (8).

① Select {NO} on the confirmation dialog that appears.

② Select {NO} on the confirmation dialog that appears.

③ Select {NO} on the confirmation dialog that appears.

④ Select {NO} on the confirmation dialog that appears.

(8) Perform the procedures in steps (1) to (3) again. (9) Select {FILE} - {INITIALIZE} under the main menu, and select "Safety Board FLASH Reset".

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Configuring Each Function

(10) Select {YES} on the confirmation dialog that appears.

(11) Select {FILE} - {INITIALIZE} under the main menu, and select "PFL Board FLASH Reset".

(12) Select {YES} on the confirmation dialog that appears.

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CAUTION

You cannot use an IMOV instruction in the block where the avoidance function is enabled.

The avoidance function

is enabled in this block

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3.5. Configuring the Avoidance Function

3.5.1. Adding Instructions to a Job

To add instructions for the avoidance function to a job, use the following steps:

(1) Open the job you want to add the avoidance function instructions to. (2) In the job, add "EI LEVEL=1" to the line from which you want to enable the avoidance function. (3) Add "DI LEVEL=1" to the line from which you want to disable the avoidance function. The avoidance function is enabled for all the instructions between EI and DI on the INFORM.

Configuring Each Function

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Avoidance function

operation mode

currently in use

Avoidance function

operation mode

switch

Avoidance function

enable/disable

switch

Exit from the GUI

Avoidance function

setting screen

switch

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Configuring Each Function

3.5.2. Enabling the Avoidance Function

To enable the avoidance function, use the following steps:

(1) Start the GUI screen by pressing {EASY} at the right bottom of the programming pendant screen.

(2) At the upper right of the HAND GUIDING tab displayed on the GUI screen, change the avoidance

function setting screen switch to "Avoid Settings".

(3) Press the {MODE} button and select the manipulator operation mode you want to use during the

avoidance operation. The operation mode currently in use is described in the area above this

button along with an image. (4) Press the "Turn Avoidance On/Off" button to enable or disable the avoidance function. (5) Exit from the GUI screen by pressing the {EXIT} button at the lower right.

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Operating mode

Description

Displayed image

TRANSLATION (Translation mode)

The avoidance operation is performed by moving the TCP according to external forces while keeping the current tool posture.

JOINT (Joint mode)

All the joints are moved according to the external torque acting on each axis during play.

CAUTION

Turning off and back on the controller power resets the avoidance function enable/disable setting to the default (avoidance function disabled). To use the avoidance function, enable it again.

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Configuring Each Function

The avoidance function has the following operation modes:

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Avoidance mode

Variable

Description

Unit Joint mode

D302 to 307

Avoidance function start threshold (joint)

ｘ0.1Nm

D314 to 319

Avoidance function end threshold (joint)

ｘ0.1Nm

Translation mode

D310 to 313

Avoidance function start threshold (translation)

D372 to 375

Avoidance function end threshold (translation)

Avoidance mode

Variable

Description

Unit

Joint mode

D322 to 327

Maximum speed (joint)

deg/s

Translation mode

D376

Maximum resultant speed (translation)

mm/s

D377 to 379

Maximum speed (translation)

mm/s

NOTICE

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

(Time)

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Configuring Each Function

3.5.3. Setting the Start and End Thresholds

You can change the start and end external force thresholds for the avoidance function by using the following D variables. In translation mode, the force acting on the TCP in the cartesian coordinate system is compared with the thresholds.

Refer also to the variables list in Chapter 8.

Ensure that the start threshold is always larger than the end threshold as shown below:

3.5.4. Setting the Avoidance Speed

You can change the operating speed of the avoidance function by using the following D variables. In translation mode, the operating speed is limited to the maximum speed or maximum resultant speed for each direction, whichever is smaller.

(Force/torque)

Start threshold

End threshold

Avoidance function

operation

Refer also to the variables list in Chapter 8.

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WARNING

Do not change or delete the interrupt job named SYS_INT_AVOID_R1 for the avoidance function or its settings.

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Configuring Each Function

3.5.5. Checking the Interrupt Job Settings

To check the interrupt job settings, use the following steps:

Select {JOB} - {INTERRUPT JOB} under the main menu to check the interrupt job settings.

・ Output signal: OUT#4089 ・ Level 0, signal: IN#4090, job name: SYS_INT_AVOID_R1

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Variable

Description

Unit

D397

Threshold addition percentage in joint mode

D398

Threshold addition percentage in translation mode

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Configuring Each Function

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)

You can change the operation thresholds of the force detection hold function by setting the following D variables to a percentage of the start threshold for the avoidance function. Setting the thresholds to zero (0) disables the force detection hold function. The thresholds are set to zero (0) by factory default. The force detection hold function uses the threshold for your selected avoidance mode if the avoidance function is enabled or the thresholds for both joint and translation modes if the avoidance function is disabled. In translation mode, the force acting on the TCP in the cartesian coordinate system is compared with the thresholds.

Use the following formula:

Force detection hold threshold = avoidance operation start threshold x (100 + threshold addition percentage)/100

Refer also to the variables list in Chapter 8.

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Avoidance

function

setting screen

switch

Hand guiding

enable/disable

switch

Exit from the GUI

Hand guiding

operation mode

Hand guiding

operation mode

switch

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3.7. Teaching the Manipulator with the Direct Teach Function

To teach the manipulator with the direct teach function, use the steps described below.

3.7.1. Moving the Robot Using the Hand Guiding

(1) In teach mode, press {EASY} at the right bottom of the programming pendant screen.

Configuring Each Function

(2) Wait until the following screen appears:

(3) Press the {MODE} button and select the desired manipulator operation mode. The operation

mode currently in use is described in the area above this button along with an image. (4) Press "Turn Hand Guiding On/Off" to enable the hand guiding. (5) Exit from the GUI screen by pressing the {EXIT} button at the lower right.

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Operation mode

Description

Displayed image

XYZ + Tool

Moves the TCP according to external forces while keeping the current tool posture. Also, rotates the tool according to the external torque acting on the T-axis.

RBT

Moves only the R-, B-, and T-axes according to the external torque acting on these three axes.

JOINT

Moves all the joints according to the external torque acting on each axis.

CAUTION

Turning off and back on the controller power resets the hand guiding enable/disable setting to the default (hand guiding disabled). To use the hand guiding, open the HAND GUIDING tab and enable it again.

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Configuring Each Function

The hand guiding has the following operation modes:

(6) Select {JOB} under the main menu to display the desired job by selecting it from {SELECT JOB}. (7) Point to the line you want to add an operation instruction to.

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The following steps differ depending on the model. Use the steps corresponding to your model:

MOTOMAN-HCXX (not equipped with the direct teach button) -> Steps (8) and (9) MOTOMAN-HCXXDT (equipped with the direct teach button) -> Steps (8A) and (9A)

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Configuring Each Function

For MOTOMAN-HCxx (not equipped with the direct teach button)

(8) Press [SERVO ON READY] on the programming pendant and turn on the enable switch to turn

the servo power ON. (9) Move the manipulator by hand to the position where you want to teach it.

For MOTOMAN-HCxxDT (equipped with the direct teach button)

(8A) Press [SERVO ON READY] on the programming pendant to turn the servo power ON (* You

do not have to use the enable switch.) (9A) While holding down the direct teach button [1], move the manipulator by hand to the position

where you want to teach it. (* You cannot move the manipulator by hand unless you hold down

the button [1].)

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・ The maximum speed at which you can move the robot by the hand guiding is limited

to the manual operating speed for the currently selected teach mode. If the manual operating speed setting is low, so is the maximum speed and the manipulator may feel heavy.

・ If the hand guiding operation feels heavy, check and correct as needed the manual

operating speed setting for the teach mode.

・ Adding a force before pressing the button [1] results in one of alarms 8006 to 8008.

You must press the button [1] without and before adding a force.

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Configuring Each Function

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))

After you move the robot by the hand guiding to the position where you want to teach it, release the direct teach button [1] and press the TEACH button to add an operation instruction. The move instruction added when you do so is the same instruction that is inserted when you press [INSERT] and then [ENTER] on the programming pendant. Note: The button [2] is not used by factory default. The button [2] is assigned to the external output #20012. You can use it for such a purpose as opening/closing the tool depending on your needs. For more information on the external outputs, refer to Section 9.6.

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CAUTION

Never use the CPU reset function. To restart the YRC1000/YRC1000micro, always use the main power switch.

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4. Safety Precautions

4.1. How to Restart the Controller

To turn off and back on the power to the YRC1000/YRC1000micro, always use the main power switch. Wait at least 10 seconds after turning off the main power switch until turning it on.

4.2. Check Items before Operating the Manipulator

Before operating the manipulator in any mode, check the following items carefully:

- Whether collaborative operation is enabled or disabled Make sure that the collaborative operation enable/disable setting is correct.

- Operation check of the PFL function

Safety Precautions

Make sure that the PFL function is correctly configured. In particular with collaborative operation enabled (i.e., with the collaborative operation lamp lit in

green), make sure in advance that the PFL function works correctly by adding an external force to the manipulator.

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Singularity 1

Singularity 2

Singularity 3

U-axis

180±15

B-axis

0°±15°

P-point

≤300mm

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4.3. About the Behavior near Singularity

With collaborative operation enabled, the behavior of the manipulator near singularity is limited to operating on an axis by axis basis. An attempt to operate the manipulator along more than one axis at a time, in any operation mode, results in AL.6002 "NEAR SINGULARITY (PFL)". The MOTOMAN-HC10 has the following three singularities.

Singularity 1: The U-axis is at an angle within the range of 0° or 180° ±15°. Singularity 2: The rotation center of the B-axis (P-point) is near the vertical line of the S-axis

(within 300 mm).

Singularity 3: The B-axis is at an angle within the range of 0° or 180° ±15°.

Safety Precautions

Examples of singularities

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WARNING

Using the PFL function requires you to correctly configure the manipulator tool information by specifying the information on the hand and workpiece you are going to use. Failure to correctly configure the tool information could result in an unexpected operation of the manipulator.

Hand

Workpiece

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4.4. Settings Related to the Tool

With collaborative operation enabled, the gravity and inertia are also treated as external forces. Therefore, you must preconfigure the mass of the tool attached and the workpiece transported and change the settings before each step of the job. The following examples show how to configure the tool file by specifying the hand information when not transporting a workpiece and when transporting a workpiece, respectively.

For instance, in the case where a workpiece on the table is grasped and lifted by the hand, the manipulator is loaded with the tool weight of the "hand only" before grasping the workpiece and with the tool weight of the "hand and workpiece" after grasping the workpiece. The following steps to configure the tool settings assume such a hand and workpiece as shown below:

Safety Precautions

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For more information on how to configure the tool information, refer to "8.3 Tool Data Setting" in "YRC1000/YRC1000micro INSTRUCTIONS".

CAUTION

With the MOTOMAN-HC10, do not use the “Automatic Measurement of the Tool Load and the Center of Gravity” because of significant error. Manually enter the design values of the tool.

Hand weight not specified

Center of gravity of the

hand not specified

Workpiece-only

weight is set

Hand-only

center of gravity

is set

Be sure to configure

the weight and center

of gravity of the hand

and workpiece.

Be sure to specify

the weight and

the center of

gravity as well.

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Safety Precautions

4.4.1. How to Configure the Tool File

The following is an overview of how to configure the tool file.

1) Configure the Hand Information When not Grasping the Workpiece.

In this example, the hand information when not grasping the workpiece is configured as Tool 0.

Tool 0 configuration example (incorrect) Tool 0 configuration example (correct)

2) Configure the Hand Information When Grasping the Workpiece.

In this example, the hand information when grasping the workpiece is configured as Tool 1.

Tool 1 configuration example (incorrect) Tool 1 configuration example (correct)

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CAUTION

・ The tool change monitor function is disabled by default. However, be sure to enable it to

implement appropriate safety monitoring. Even if the no tool change occurs, you must enable it to monitor if the tool file is not changed.

・ After a tool change, the PFL function temporarily stops monitoring the external forces until the

TCP moves 5 mm (with the collaborative operation lamp still lit).

// Workpiece approaching (Tool 01)

// Tool change (Tool 01 -> Tool 02 in the same position as the previous step*)

// Grasp the workpiece // Raise the workpiece (Tool 02) // Transport workpiece (Tool 02) // Lower the workpiece (Tool 02)

// Tool change (Tool 02 -> Tool 01 in the same position as the previous step*)

// Release the workpiece // Workpiece leaving (Tool 01)

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Safety Precautions

4.4.2. How to Configure the Tool Change Settings

The tool change monitor function, one of the functional safety functions, monitors the tool file change status. The host CPU compares the tool number specified for the functional safety functions and the tool number set in the condition files specified by the safety signal and, if the manipulator is operating without the tool numbers matching, detects an error. Therefore, insert tool change commands before the tool grasps and releases the workpiece, respectively.

An example job is shown below. This example assumes that the tool information is configured as follows:

Tool 01: Before grasping workpiece, tool mass only Tool 02: After grasping workpiece, total mass of tool and workpiece

NOP [...] 01 MOVJ VJ=10 // Workpiece approaching (Tool 01)

02 MOVJ VJ=10 // Tool change (Tool 01 -> Tool 02 in the same position as the previous step*)

DOUT OT#(XX) ON // Grasp the workpiece 02 MOVJ VJ=10 // Raise the workpiece (Tool 02) 02 MOVJ VJ=50 // Transport workpiece (Tool 02) 02 MOVJ VJ=10 // Lower the workpiece (Tool 02)

01 MOVJ VJ=10 // Tool change (Tool 02 -> Tool 01 in the same position as the previous step*)

DOUT OT#(XX) OFF // Release the workpiece 01 MOVJ V=10 // Workpiece leaving (Tool 01) [...] END

Using the "tool change monitor function" requires you to configure the safety signal before tool change. For more information on the tool change monitor function, refer to HW1483576 YRC1000 OPTIONS “INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION" or "HW1484544 YRC1000micro OPTIONS “INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION” ("4.6 Tool Change Monitor Function").

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Alarm Code

Subcode

Message

8016

Axis exceeding judgment threshold

(Decimal representation of bits)

Need Resetting TORQUE SENSOR ORG POS

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5. Daily Inspection Items

5.1. Checking the Torque Sensor Status

The home position of the torque sensor attached to each axis of the MOTOMAN-HC10 may be misaligned if you fail to use the manipulator correctly. You can check the torque sensor status using the self-check function or the External Force Monitor screen, as described below.

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*1)

After powered ON, the controller self-checks whether or not the estimated external torque values for each axis are deviated. If the external torque value for an axis is found exceeding the following threshold (*2) as the result of the self-check, an alarm 8016 will occur. After resetting the alarm, check again that the tool information is correctly configured and then turn back on the controller.

Daily Inspection Items

If the same alarm is occurred after tuning back on the controller, reconfigure the torque sensor home position with reference to "5.2 How to Reconfigure the Torque Sensor Home Position".

The subcode shows the decimal representation of a bit value indicating the axis that is judged as exceeding the threshold, as shown in the figure below. Example: When the estimated external torque values for the R- and B-axes exceeds the threshold

Subcode: [24]

* Binary representation (011000) --> Decimal representation (24)

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S-axis

L-axis

U-axis

R-axis

B-axis

T-axis

27 Nm

12 Nm

3 Nm

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Daily Inspection Items

*1: It is possible to check the system version information as follows.

1. Select {SYSTEM INFO} under the main menu.

2. Select {VERSION}.

- The VERSION window appears.

*2: The judgment thresholds of the external torque values for each axis that the self-check function

uses are as follows:

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S-axis

L-axis

U-axis

R-axis

B-axis

T-axis

27 Nm

12 Nm

3 Nm

CAUTION

Even if the difference in external torque acting on each axis from when you started using the manipulator does not exceed the above value, reconfigure the torque sensor home position as soon as an abnormality is suspected regarding the PFL or escape from clamping function.

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Daily Inspection Items

5.1.2. Checking the Torque Sensor Status Using the External Force Monitor

To check the torque sensor status, periodically open the External Force Monitor screen with the manipulator in the same posture and under the same load condition. Record the value of the external torque acting on each axis, shown on the right side of the screen, and make sure that the difference from when you started using the manipulator is not growing remarkably. You are recommended to conduct this inspection once a day, for example, during everyday check-ups. For information on how to operate the external force monitor output, refer to “2.8 External Force Monitor Output ".

If the difference in external torque acting on each axis from when you started using the manipulator has become large, reconfigure the torque sensor home position with reference to the next section “5.2 How to Reconfigure the Torque Sensor Home Position".

In particular, the difference in external torque acting on each axis from when you started using the manipulator may exceed the value shown in the table below, affecting the estimated external force value. Therefore, reconfigure the torque sensor home position for the axis.

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Daily Inspection Items

5.2. How to Reconfigure the Torque Sensor Home Position

(1) Put the manipulator into such a posture that theoretically no gravity torque acts on the axis you

want to adjust. For example, the posture where no torque acts on any axis is a posture without a tool, as shown below. The figure at left shows the home position posture while the figure at right shows the posture with the U-axis moved 180° from the home position posture. Note: If 1926 (TRQ SENSOR RECEIVING ERROR) occurs, the alarm will not be automatically cleared after you reconfigure the home position. To clear the alarm, refer to "7 Alarm List".

(2) Put the controller into Safety Mode and select {SAFETY FUNC.} - {TORQUE SENSOR ORG

POS}.

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Daily Inspection Items

(3) Select the axis you want to configure. To reconfigure all the axes, select {EDIT} - {SELECT ALL

AXIS}.

(4) Select {YES} on the confirmation dialog that appears.

(5) Press {READBACK} and further press {WRITE}.

(6) Select {YES} on the confirmation dialog that appears.

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Trouble content

Corrective action

A protective stop against external forces always occurs near singularity, making it impossible to operate the manipulator.

Temporarily disable the PFL function and move the manipulator away from near the singularity. An external force error is likely to occur near singularity. In particular when the TCP passes near the rotating shaft for each axis, the error becomes larger. Move the TCP away from the center of rotation. The "multi-axis operation limit in progress" signal (#81712) is output near singularity. Connecting this signal to the PP buzzer (#40257) through the concurrent I/O improves recognition in a teaching process.

A protective stop occurs when no force or a weak force is applied.

First, check if the tool mass is set correctly. If the problem continues, adjust the torque sensor home position over again.

An escape from clamping occurs when not in clamping state.

The escape from clamping function does not operate when obviously in clamping state.

ALARM 1926, TRQ SENSOR RECEIVING ERROR occurs repeatedly.

A noise source may exist near the manipulator. Protect the manipulator from noise by, for example, installing the torque sensor cable and the manipulator cable away from each other.

The avoidance function does not work.

The avoidance function does not work if the external forces acting on the manipulator are larger than the start threshold for the avoidance function and you attempt to enable the avoidance function. Increase the start threshold. Or check the tool file settings.

The tool or other object is clamped (stuck) during contacting work, causing the forces to act continuously and the escape from clamping function does not work.

Temporarily disable collaborative operation (muting) with reference to Section 3.3 and then use the escape from clamping function.

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6. Troubleshooting

This chapter contains troubleshooting instructions. If an alarm occurs, refer also to the "Alarm List" in Chapter 7.

Troubleshooting

6-1

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

0300

Verify error (system configuration data)

Software (setting error)

(1) Verify the following settings.

- In the maintenance mode, select {FILE} {INITIALIZE}, and then execute "PFL Board FLASH Reset". (2) Turn off and on the power.

AIF01 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the AIF01 board. Save CMOS.BIN before replacing the board. After replacing the AIF01 board, load CMOS.BIN saved before the occurrence of the alarm.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to Yaskawa representative.

1920

SYSTEM ERROR(PFL)

Cable (error)

(1) Turn off and on the power. (2) If the alarm recurs, check if the following cables and connectors are properly connected or inserted.

- ASF04 board CN235, CN236, CN237, CN238

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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7. Alarm List

7.1. Major Alarms

Alarm List

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

1922

CPU COMMUNICATION ERROR(PFL)

Cable (error)

Check if the following board cables are properly connected or inserted.

- ACP01 board

- ASF04 board

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board.

ACP01 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ACP01 board. After installing a new ACP01 board, remove the SD card from the replaced ACP01 board and insert it into the new ACP01 board.

1923

EXTERNAL FORCE TORQUE MUTUAL DIAG. ERR(PFL)

Subcode: Indicates the axis where the alarm occurred.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board.

Sensor (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1924

EXTERNAL FORCE MUTUAL DIAG. ERR(PFL)

Subcode: Indicates the axis where the alarm occurred.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board.

Sensor (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

1925

TRQ SENSOR SENDING ERROR

Subcode: Indicates the axis where the alarm occurred.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1926

TRQ SENSOR RECEIVING ERROR

Subcode: Indicates the axis where the alarm occurred.

Cable (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

Fuse (error)

(1) Turn off and on the power. (2) If the alarm recurs and the fuse attached to the ASF04 board-CN232 cable in the controller is blown out, first remove the cause such as a cable error, then replace the fuse, and finally turn on the power.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Power supply board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the torque sensor power supply board inside the manipulator.

Torque sensor (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

1927

TRQ SENSOR AXIS NUMBER ERROR

Subcode: Indicates the axis where the alarm occurred. (Note 1)

Sensor (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1928

TRQ SENSOR SEQ.NUMBER ERROR

Subcode: Indicates the axis where the alarm occurred. (Note 1)

Sensor (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1929

TRQ SENSOR CRC ERROR

Subcode: Indicates the axis where the alarm occurred. (Note 1)

Sensor (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1930

SYSTEM ERROR2(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

1931

ARITHMETIC ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

1932

ENCODER COMM. ERR(PFL)

Cable (error)

(1) Turn off and on the power. (2) If the alarm recurs, check if the following cables and connectors are properly connected or inserted.

- ASF04 board CN235, CN236, CN237, CN238

ASF04 board (error)

If the ASF04 board is in use, check the following. (1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

1933

ENCODER CORR. NUM OVER(PFL)

Subcode: Indicates the axis where the alarm occurred. (Note 1)

Cable (error)

(1) Turn off and on the power. (2) If the alarm recurs, check if the following cables and connectors are properly connected or inserted.

- ASF04 board CN235, CN236, CN237, CN238

Encoder (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the encoder.

ASF04 board (error)

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1934

ROM DIAGNOSIS ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

1935

RAM DIAGNOSIS ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1936

RAM DIAG. READ ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1937

RAM DIAG. WRITE ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1938

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

1939

STACK DIAG ERR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1940

SEQUENCE DIAG. ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1941

WATCHDOG ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1942

VOLTAGE WATCH ERR(PFL)

Subcode: Shows the cause of the error in bit format.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Cause

Possible Solutions

1943

OPECODE DIAG. ERROR(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1944

TOOL NUMBER UNMATCH DETECTION (PFL)

Subcode: Setting file number

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF01 board. Save CMOS.BIN before replacing the board.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

1945

TRQ SENSOR ERROR NOTIFICATION

Subcode: Shows the cause of the error.

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Meaning

Possible Solutions

6000

System error 2(PFL)

ASF04 board (error)

(1) Turn off and on the power. (2) If the alarm recurs, replace the ASF04 board. Save CMOS.BIN before replacing the board.

6001

MUTING ERROR(PFL)

Operation (error)

(1) Reset the alarm. (2) Check if the manipulator is in collision. (3) If you execute muting the PFL function, ensure the safety and resume the operation.

6002

NEAR SINGULARITY (PFL)

Operation (error)

(1) Reset the alarm. (2) Check if the manipulator is in collision. (3) Ensure the safety and resume the operation.

6003

UNDEFINED SPEED LIMIT(PFL)

Operation (error)

(1) Reset the alarm. (2) Check if the manipulator is in collision. (3) Check the setting of the speed limit function, one of the functional safety functions, following the instructions in the manual. (4) Ensure the safety and resume the operation.

6004

ESCAPE FROM CLAMPING ERROR(PFL)

Subcode: Indicates the axis where the alarm occurred.

Operation (error)

(1) Reset the alarm. (2) If the manipulator is in collision, ensure the safety and make it escape. (3) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

Others

If the alarm recurs after you have taken the action described above, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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7.2. Minor Alarms

Alarm List

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Alarm Code

Alarm Message

Sub Code

Meaning

Possible Solutions

6005

EXTERNAL FORCE ERROR(PFL)

Subcode: Indicates the axis where the alarm occurred.

Tool (setting error)

Review the settings in the tool file. (Check if the units of the weight and the center of gravity are correct and if plus and minus signs (+ and -) are correctly used.)

Setting (error)

(1) Reset the alarm. (2) Check if the torque sensor home position is free from misalignment. If a misalignment is found, reconfigure the settings, following the instructions in the manual. (3) After configuring the home position, perform an operation check and then resume the operation.

Sensor (error)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

6008

TRQ SENSOR OVERLOAD

Subcode: Indicates the axis where the alarm occurred. (Note 1)

Sensor (error)

(1) Check that the manipulator has not been affected by an external force, such as a collision with surrounding objects. If an external force has been applied to the manipulator, perform avoidance operations following the instructions in the manual. (2) Turn off and on the power. (3) Check if the torque sensor home position is free from misalignment. If a misalignment is found, reconfigure the settings, following the instructions in the manual. (4) After configuring the home position, check the safety conditions. (5) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Meaning

Possible Solutions

8000

HNDG: PARAM RANGE ERROR

Hand guiding parameter range error

Change the setting of the D variable with the number of "sub-code + 200" to a value within the specified range.

8001

HNDG: PARAM CONFLICT

Hand guiding parameter relationship error

Check the magnitude relationship between the setting of the D variable with the number of "sub-code + 200" and that of the associated D variable and correct the value accordingly.

8002

AVOID: PARAM RANGE ERROR

Avoidance function parameter range error

Change the setting of the D variable with the number of "sub-code + 300" to a value within the specified range.

8003

AVOID: PARAM CONFLICT

Avoidance function parameter relationship error

Check the magnitude relationship between the setting of the D variable with the number of "sub-code + 300" and that of the associated D variable and correct the value accordingly.

8006

Cannot start hand guiding JOINT

Cannot start hand guiding (JOINT mode)

Do not apply an external force to the manipulator when you start hand guiding operation.

8007

Cannot start hand guiding XYZ-T

Cannot start hand guiding (XYZ+T mode)

Do not apply an external force to the manipulator when you start hand guiding operation.

8008

Cannot start hand guiding RBT

Cannot start hand guiding (RBT mode)

Do not apply an external force to the manipulator when you start hand guiding operation.

8010

Can not restart(IMOV)

Error in returning from avoidance operation

Correct the job so that avoidance operation is not performed during IMOV.

8011

Hand guide error.

Hand guiding operation error

Turn off and back on the servo and then resume hand guiding.

8015

Cannot Avoid from clamp

Escape from clamping operation error

Ensure that the servo is not in the off or hold state during escape from clamping operation.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Meaning

Possible Solutions

8016

Need Resetting TORQUE SENSOR ORG POS

Estimated external force accuracy test error

(1) After clearing the alarm, reconfigure the torque sensor home position. (2) Check the tool file settings again. (Check if the units of the weight and the center of gravity are correct and if plus and minus signs (+ and -) are correctly used.) (3) If the alarm recurs after you turn back on the power, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to Yaskawa representative.

8200

Invalid Status in State

Operational unconformity (main state)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8201

Invalid Status in SubState

Operational unconformity (sub state)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8202

Invalid Status in SubSub-State

Operational unconformity (sub-sub state)

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8300

motoplus api

MotoPlusAPI error

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8301

subsystem error

Failed to execute avoidance function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Meaning

Possible Solutions

8305

mpReadIO NG

Failed to acquire avoidance function operation mode

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8313

mpClkAnnounce NG

PFL auxiliary function stopped

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8319

mpHold NG

Force detection hold failed

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8320

mpStartJob NG

Failed to resume force detection hold job

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8324

AVOID: RUNNING FAILED

Failed to execute avoidance function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8330

PFL: Can not get tool No.

Failed to execute PFL auxiliary function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8332

mpPflGetExtTorque NG

Estimated external force value register output error

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Meaning

Possible Solutions

8333

mpPflGetExtForce NG

Estimated external force value register output error

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8334

mpPflGetSensorData NG

Estimated external force value register output error

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8336

AVOID: RUNNING FAILED

Failed to execute avoidance function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8337

Get system parameter failed

Failed to acquire parameter required to execute PFL function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8340

AVOID: RUNNING FAILED

Failed to execute avoidance function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8341

Get Current Position failed

Failed to execute avoidance function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

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Alarm List

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Alarm Code

Alarm Message

Sub Code

Meaning

Possible Solutions

8342

Get FB Speed failed

Failed to execute escape from clamping function

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8343

mpGetFBPulsePos NG

Failed to execute hand guiding

(1) Turn off and on the power. (2) If the alarm recurs, save CMOS.BIN and send the description of when and how the alarm occurred (operating steps, etc.) to your YASKAWA representative.

8344

HNDG: JOB EDITING FAILED

Failed to execute hand guiding

Switch to teach mode and then try to execute it again.

10 to 13

Check that the hand guiding is operable and then try to execute it again.

Cancel the job edit inhibition and then try to execute it again.

Cancel the HOLD and then try to execute it again.

Turn on the servo and then try to execute it again.

40 to 41

Clear the alarm and then try to execute it again.

50 to 54

Cancel the job edit inhibition and then try to execute it again.

60 to 64

Navigate to the job content screen and then try to execute it again.

Cancel the request unacceptable ([ENTER] key event unacceptable) state and then try to execute it again.

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Alarm List

Note 1) The subcode shows the axis where the alarm occurred in the following bit format.

Example: Alarms occurred on the R- and B-axes

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WARNING

The values of D variables 200 to 396 are parameters used by the avoidance and direct teach functions. Do not use them for any other purpose. Doing so could result in an unexpected operation of the manipulator.

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

200

HandG_JT_T_MAX_S

HG function - joint mode Maximum control force for S-axis

200

ｘ0.1Nm 0 1000

201

HandG_JT_T_MAX_L

HG function - joint mode Maximum control force for L-axis

400

ｘ0.1Nm 0 1000

202

HandG_JT_T_MAX_U

HG function - joint mode Maximum control force for U-axis

300

ｘ0.1Nm 0 1000

203

HandG_JT_T_MAX_R

HG function - joint mode Maximum control force for R-axis

ｘ0.1Nm 0 1000

204

HandG_JT_T_MAX_B

HG function - joint mode Maximum control force for B-axis

ｘ0.1Nm 0 1000

205

HandG_JT_T_MAX_T

HG function - joint mode Maximum control force for T-axis

ｘ0.1Nm 0 1000

206

HandG_JT_T_MAX_E

HG function - joint mode Maximum control force for E-axis

ｘ0.1Nm 0 1000

79/105

Variable List

8. Variable List

This chapter describes the D variables used by the various functions.

8-1

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

207

HandG_JT_T_MAX_8

HG function - joint mode Maximum control force for the eight axes

ｘ0.1Nm 0 1000

208

HandG_JT_T_MIN_S

HG function - joint mode Minimum control force for S-axis

100

ｘ0.1Nm 0 1000

209

HandG_JT_T_MIN_L

HG function - joint mode Minimum control force for L-axis

300

ｘ0.1Nm 0 1000

210

HandG_JT_T_MIN_U

HG function - joint mode Minimum control force for U-axis

200

ｘ0.1Nm 0 1000

211

HandG_JT_T_MIN_R

HG function - joint mode Minimum control force for R-axis

ｘ0.1Nm 0 1000

212

HandG_JT_T_MIN_B

HG function - joint mode Minimum control force for B-axis

ｘ0.1Nm 0 1000

213

HandG_JT_T_MIN_T

HG function - joint mode Minimum control force for T-axis

ｘ0.1Nm 0 1000

214

HandG_JT_T_MIN_E

HG function - joint mode Minimum control force for E-axis

ｘ0.1Nm 0 1000

80/105

Variable List

8-2

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

215

HandG_JT_T_MIN_8

HG function - joint mode Minimum control force for the eight axes

ｘ0.1Nm 0 1000

216

HandG_JT_V_MAX_S

HG function - joint mode Maximum angular speed for S-axis

deg/s 0 30

217

HandG_JT_V_MAX_L

HG function - joint mode Maximum angular speed for L-axis

deg/s 0 30

218

HandG_JT_V_MAX_U

HG function - joint mode Maximum angular speed for U-axis

deg/s 0 30

219

HandG_JT_V_MAX_R

HG function - joint mode Maximum angular speed for R-axis

deg/s 0 30

220

HandG_JT_V_MAX_B

HG function - joint mode Maximum angular speed for B-axis

deg/s 0 30

221

HandG_JT_V_MAX_T

HG function - joint mode Maximum angular speed for T-axis

deg/s 0 30

222

HandG_JT_V_MAX_E

HG function - joint mode Maximum angular speed for E-axis

deg/s 0 30

81/105

Variable List

8-3

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

223

HandG_JT_V_MAX_8

HG function - joint mode Maximum angular speed for the eight axes

deg/s 0 30

224

HandG_JT_V_MIN_S

HG function - joint mode Minimum angular speed for S-axis

deg/s 0 30

225

HandG_JT_V_MIN_L

HG function - joint mode Minimum angular speed for L-axis

deg/s 0 30

226

HandG_JT_V_MIN_U

HG function - joint mode Minimum angular speed for U-axis

deg/s 0 30

227

HandG_JT_V_MIN_R

HG function - joint mode Minimum angular speed for R-axis

deg/s 0 30

228

HandG_JT_V_MIN_B

HG function - joint mode Minimum angular speed for B-axis

deg/s 0 30

229

HandG_JT_V_MIN_T

HG function - joint mode Minimum angular speed for T-axis

deg/s 0 30

230

HandG_JT_V_MIN_E

HG function - joint mode Minimum angular speed for E-axis

deg/s 0 30

82/105

Variable List

8-4

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

231

HandG_JT_V_MIN_8

HG function - joint mode Minimum angular speed for the eight axes

deg/s 0 30

232

HandG_JT_ACC_TIME

HG function - joint mode Acceleration time

500

ms 0 10000

233

HandG_JT_DEC_TIME

HG function - joint mode Deceleration time

250

ms 0 10000

234

HandG_TRS_F_MAX_X

HG function translation mode Maximum control force in X direction

30 N 0

200

235

HandG_TRS_F_MAX_Y

HG function translation mode Maximum control force in Y direction

30 N 0

200

236

HandG_TRS_F_MAX_Z

HG function translation mode Maximum control force in Z direction

30 N 0

200

237

HandG_TRS_F_MIN_X

HG function translation mode Minimum control force in X direction

10 N 0

200

238

HandG_TRS_F_MIN_Y

HG function translation mode Minimum control force in Y direction

10 N 0

200

239

HandG_TRS_F_MIN_Z

HG function translation mode Minimum control force in Z direction

10 N 0

200

83/105

Variable List

8-5

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

240

HandG_TRS_V_MAX

HG function translation mode Maximum resultant speed

250

mm/s 0 250

241

HandG_TRS_V_MAX_X

HG function translation mode Maximum speed in X direction

250

mm/s 0 250

242

HandG_TRS_V_MAX_Y

HG function translation mode Maximum speed in Y direction

250

mm/s 0 250

243

HandG_TRS_V_MAX_Z

HG function translation mode Maximum speed in Z direction

250

mm/s 0 250

244

HandG_TRS_V_MIN_X

HG function translation mode Minimum speed in X direction

mm/s 0 250

245

HandG_TRS_V_MIN_Y

HG function translation mode Minimum speed in Y direction

mm/s 0 250

246

HandG_TRS_V_MIN_Z

HG function translation mode Minimum speed in Z direction

mm/s 0 250

247

HandG_TRS_ACCT

HG function translation mode Acceleration time

500

ms 0 10000

248

HandG_TRS_DECT

HG function translation mode Deceleration time

250

ms 0 10000

84/105

Variable List

8-6

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

265

HndG_LMT_CLB_S

HG function reserved constant (Do not change.)

300

266

HndG_LMT_CLB_L

HG function reserved constant (Do not change.)

300

267

HndG_LMT_CLB_U

HG function reserved constant (Do not change.)

150

268

HndG_LMT_CLB_R

HG function reserved constant (Do not change.)

269

HndG_LMT_CLB_B

HG function reserved constant (Do not change.)

270

HndG_LMT_CLB_T

HG function reserved constant (Do not change.)

273

HndG_LMT_CLB_X

HG function reserved constant (Do not change.)

274

HndG_LMT_CLB_Y

HG function reserved constant (Do not change.)

275

HndG_LMT_CLB_Z

HG function reserved constant (Do not change.)

299

DIAG_EXT_TRQ

Self-check function reserved constant (Do not change.)

300

AVD_END_TIME

Avoidance function wait time

500

10000

301

AVD_END_POS

Avoidance function completion determination position

10000

X0.01 mm

500

10000

85/105

Variable List

8-7

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

302

AVD_T_BEG_S

Avoidance function start of operation S-axis threshold

300

ｘ0.1Nm 0 1000

303

AVD_T_BEG_L

Avoidance function start of operation L-axis threshold

400

ｘ0.1Nm 0 1000

304

AVD_T_BEG_U

Avoidance function start of operation U-axis threshold

400

ｘ0.1Nm 0 1000

305

AVD_T_BEG_R

Avoidance function start of operation R-axis threshold

ｘ0.1Nm 0 1000

306

AVD_T_BEG_B

Avoidance function start of operation B-axis threshold

ｘ0.1Nm 0 1000

307

AVD_T_BEG_T

Avoidance function start of operation T-axis threshold

ｘ0.1Nm 0 1000

311

AVD_F_BEG_X

Avoidance function start of operation X direction threshold

50 N 0

200

312

AVD_F_BEG_Y

Avoidance function start of operation Y direction threshold

50 N 0

200

313

AVD_F_BEG_Z

Avoidance function start of operation Z direction threshold

50 N 0

1000

314

AVD_JT_T_END_S

Avoidance function joint mode End threshold for Saxis

200

ｘ0.1Nm 0 1000

315

AVD_JT_T_END_L

Avoidance function joint mode End threshold for Laxis

300

ｘ0.1Nm 0 1000

86/105

Variable List

8-8

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

316

AVD_JT_T_END_U

Avoidance function joint mode End threshold for Uaxis

300

ｘ0.1Nm 0 1000

317

AVD_JT_T_END_R

Avoidance function joint mode End threshold for Raxis

ｘ0.1Nm 0 1000

318

AVD_JT_T_END_B

Avoidance function joint mode End threshold for Baxis

ｘ0.1Nm 0 1000

319

AVD_JT_T_END_T

Avoidance function joint mode End threshold for Taxis

ｘ0.1Nm 0 1000

322

AVD_JT_V_MAX_S

Avoidance function joint mode Maximum speed for S-axis

deg/s 0 200

323

AVD_JT_V_MAX_L

Avoidance function joint mode Maximum speed for L-axis

deg/s 0 200

324

AVD_JT_V_MAX_U

Avoidance function joint mode Maximum speed for U-axis

deg/s 0 200

325

AVD_JT_V_MAX_R

Avoidance function joint mode Maximum speed for R-axis

deg/s 0 200

326

AVD_JT_V_MAX_B

Avoidance function joint mode Maximum speed for B-axis

deg/s 0 200

87/105

Variable List

8-9

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

327

AVD_JT_V_MAX_T

Avoidance function joint mode Maximum speed for T-axis

deg/s 0 200

330

AVD_JT_ACC_TIME

Reserved constant (Do not change.)

1000 - 1

10000

331

AVD_JT_DEC_TIME

Reserved constant (Do not change.)

500 - 1

10000

332

AVD_JT_MASS_S

Reserved constant (Do not change.)

100 - 1

10000

333

AVD_JT_MASS_L

Reserved constant (Do not change.)

100 - 1

10000

334

AVD_JT_MASS_U

Reserved constant (Do not change.)

100 - 1

10000

335

AVD_JT_MASS_R

Reserved constant (Do not change.)

100 - 1

10000

336

AVD_JT_MASS_B

Reserved constant (Do not change.)

100 - 1

10000

337

AVD_JT_MASS_T

Reserved constant (Do not change.)

100 - 1

10000

340

AVD_JT_DAMP_D_S

Reserved constant (Do not change.)

250 - 1

10000

341

AVD_JT_DAMP_D_L

Reserved constant (Do not change.)

250 - 1

10000

342

AVD_JT_DAMP_D_U

Reserved constant (Do not change.)

250 - 1

10000

343

AVD_JT_DAMP_D_R

Reserved constant (Do not change.)

250 - 1

10000

344

AVD_JT_DAMP_D_B

Reserved constant (Do not change.)

250 - 1

10000

345

AVD_JT_DAMP_D_T

Reserved constant (Do not change.)

250 - 1

10000

348

AVD_JT_SPG_K_S

Reserved constant (Do not change.)

250 - 1

10000

88/105

Variable List

8-10

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

349

AVD_JT_SPG_K_L

Reserved constant (Do not change.)

250 - 1

10000

350

AVD_JT_SPG_K_U

Reserved constant (Do not change.)

250 - 1

10000

351

AVD_JT_SPG_K_R

Reserved constant (Do not change.)

250 - 1

10000

352

AVD_JT_SPG_K_B

Reserved constant (Do not change.)

250 - 1

10000

353

AVD_JT_SPG_K_T

Reserved constant (Do not change.)

250 - 1

10000

356

AVD_JT_MAX_D_S

Reserved constant (Do not change.)

10 - 0

200

357

AVD_JT_MAX_D_L

Reserved constant (Do not change.)

10 - 0

200

358

AVD_JT_MAX_D_U

Reserved constant (Do not change.)

10 - 0

200

359

AVD_JT_MAX_D_R

Reserved constant (Do not change.)

10 - 0

200

360

AVD_JT_MAX_D_B

Reserved constant (Do not change.)

10 - 0

200

361

AVD_JT_MAX_D_T

Reserved constant (Do not change.)

10 - 0

200

364

AVD_JT_MAX_K_S

Reserved constant (Do not change.)

10 - 0

200

365

AVD_JT_MAX_K_L

Reserved constant (Do not change.)

10 - 0

200

366

AVD_JT_MAX_K_U

Reserved constant (Do not change.)

10 - 0

200

367

AVD_JT_MAX_K_R

Reserved constant (Do not change.)

10 - 0

200

368

AVD_JT_MAX_K_B

Reserved constant (Do not change.)

10 - 0

200

369

AVD_JT_MAX_K_T

Reserved constant (Do not change.)

10 - 0

200

89/105

Variable List

8-11

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

373

AVD_TRS_F_END_X

Avoidance function translation mode End threshold for X direction

30 N 0

200

374

AVD_TRS_F_END_Y

Avoidance function translation mode End threshold for Y direction

30 N 0

200

375

AVD_TRS_F_END_Z

Avoidance function translation mode End threshold for Z direction

30 N 0

200

376

AVD_TRS_V_MAX

Avoidance function translation mode Maximum resultant speed

250

mm/s 0 250

377

AVD_TRS_V_MAX_X

Avoidance function translation mode Maximum speed in X direction

250

mm/s 0 250

378

AVD_TRS_V_MAX_Y

Avoidance function translation mode Maximum speed in Y direction

250

mm/s 0 250

379

AVD_TRS_V_MAX_Z

Avoidance function translation mode Maximum speed in Z direction

250

mm/s 0 250

380

AVD_TRS_ACC_TIME

Avoidance function translation mode Acceleration time

1000

ms 0 10000

381

AVD_TRS_DEC_TIME

Avoidance function translation mode Deceleration time

500

ms 0 10000

382

AVD_TRS_MASS_X

Reserved constant (Do not change.)

100 - 0

10000

90/105

Variable List

8-12

HW1484764

D variable

Variable name

Description

Default

Unit

Minimum

value

Maximum

value

383

AVD_TRS_MASS_Y

Reserved constant (Do not change.)

100 - 0

10000

384

AVD_TRS_MASS_Z

Reserved constant (Do not change.)

100 - 0

10000

385

AVD_TRS_DAMP_D_X

Reserved constant (Do not change.)

250 - 0

10000

386

AVD_TRS_DAMP_D_Y

Reserved constant (Do not change.)

250 - 0

10000

387

AVD_TRS_DAMP_D_Z

Reserved constant (Do not change.)

250 - 0

10000

388

AVD_TRS_SPG_K_X

Reserved constant (Do not change.)

250 - 0

10000

389

AVD_TRS_SPG_K_Y

Reserved constant (Do not change.)

250 - 0

10000

390

AVD_TRS_SPG_K_Z

Reserved constant (Do not change.)

250 - 0

10000

391

AVD_TRS_MAX_D_X

Reserved constant (Do not change.)

10 - 0

10000

392

AVD_TRS_MAX_D_Y

Reserved constant (Do not change.)

10 - 0

200

393

AVD_TRS_MAX_D_Z

Reserved constant (Do not change.)

10 - 0

200

394

AVD_TRS_MAX_K_X

Reserved constant (Do not change.)

10 - 0

200

395

AVD_TRS_MAX_K_Y

Reserved constant (Do not change.)

10 - 0

200

396

AVD_TRS_MAX_K_Z

Reserved constant (Do not change.)

10 - 0

200

397

HOLD_JT_RATIO

Threshold addition percentage in joint mode 0 - 0 100

398

HOLD_TRS_RATIO

Threshold addition percentage in translation mode

0 - 0

100

91/105

Variable List

8-13

HW1484764

WARNING

Do not use the I/O described in this chapter for any other purpose. Doing so could result in an unexpected operation of the manipulator.

60527

60526

60525

60524

60523

60522

60521

60520

- - -

External

force

monitor

maximum

value reset

request

60627

60626

60625

60624

60623

60622

60621

60620

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

60637

60636

60635

60634

60633

60632

60631

60630

System

reserved

Hand

guiding

operation

mode

ROTATE

Hand

guiding

operation

mode

TRANS

Hand

guiding

operation

mode

JOINT

System

reserved

System

reserved

System

reserved

Hand

guiding

operation

permission

60647

60646

60645

60644

60643

60642

60641

60640

System

reserved

System

reserved

Avoidance

function

operation

mode

TRANS

Avoidance

function

operation

mode

JOINT

System

reserved

System

reserved

System

reserved

System

reserved

NOTICE

Some I/Os differ between the MOTOMAN-HCXX (not equipped with direct teach device) and the MOTOMAN-HCXXDT (equipped with direct teach device).

92/105

9. I/O List

This chapter describes the I/Os used by the direct teach and avoidance functions.

9.1. Interface Panel Output

I/O List

9-1

HW1484764

79877

79876

79875

79874

79873

79872

79871

79870

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

Reset

maximum

value of

estimated

external

force

79977

79976

79975

79974

79973

79972

79971

79970

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

79987

79986

79985

79984

79983

79982

79981

79980

Hand

guiding

operation

mode

ROTATE

Hand

guiding

operation

mode

TRANS

Hand

guiding

operation

mode

JOINT

Hand

guiding

operation

prohibited

Hand

guiding

function

available

79997

79996

79995

79994

79993

79992

79991

79990

Avoidance

function

operation

mode

TRANS

Avoidance

function

operation

mode

JOINT

- - -

93/105

9.2. Auxiliary Relay

I/O List

9-2

HW1484764

10027

10026

10025

10024

10023

10022

10021

10020

- - - - -

Button 2

detection

Button 1

detection

Direct

teaching in

progress by

smart

pendant

15107

15106

15105

15104

15103

15102

15101

15100

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

Escape

from

clamping in

progress

15117

15116

15115

15114

15113

15112

15111

15110

System

reserved

Hand

guiding

operation

mode

ROTATE

Hand

guiding

operation

mode

TRANS

Hand

guiding

operation

mode

JOINT

System

reserved

TEACH

button

execution

completed

Hand

guiding

operation

available

Hand

guiding

function

available

15127

15126

15125

15124

15123

15122

15121

15120

System

reserved

External

force hold in

progress

Avoidance

function

operation

mode

TRANS

Avoidance

function

operation

mode

JOINT

System

reserved

System

reserved

Avoidance

function

operation

request

Avoidance

function

operation

executing

94/105

9.3. General Output

* 10020 to 10022 are used by the HC10DT only.

I/O List

9-3

HW1484764

00027

00026

00025

00024

00023

00022

00021

00020

- - - - -

Button 2

input

Button 1

input

TEACH

button

input

05107

05106

05105

05104

05103

05102

05101

05100

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

Escape

from

clamping in

progress

05117

05116

05115

05114

05113

05112

05111

05110

System

reserved

Hand

guiding

operation

mode

ROTATE

Hand

guiding

operation

mode

TRANS

Hand

guiding

operation

mode

JOINT

System

reserved

TEACH

button

execution

completed

Hand

guiding

operation

available

Hand

guiding

function

available

05127

05126

05125

05124

05123

05122

05121

05120

Avoidance

function

operation

mode

TRANS

Avoidance

function

operation

mode

JOINT

Avoidance

function

operation

request

Avoidance

function

operation

executing

95/105

9.4. General Input

* 00020 to 00022 are used by the HC10DT only.

I/O List

9-4

HW1484764

30047

30046

30045

30044

30043

30042

30041

30040

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

TEACH

button LED

output

30017

30016

30015

30014

30013

30012

30011

30010

General-

purpose

output 08

General-

purpose

output 07

General-

purpose

output 06

General-

purpose

output 05

General-

purpose

output 04

General-

purpose

output 03

General-

purpose

output 02

TEACH

button LED

output

20047

20046

20045

20044

20043

20042

20041

20040

System

reserved

System

reserved

System

reserved

System

reserved

System

reserved

Button 2

input

Button 1

input

TEACH

button input

20017

20016

20015

20014

20013

20012

20011

20010

General-

purpose input 08

General-

purpose input 07

General-

purpose input 06

General-

purpose input 05

General-

purpose input 04

Button 2

input

Button 1

input

TEACH

button input

96/105

I/O List

9.5. External Outputs (used by the MOTOMAN-HC10xxDT (equipped with the direct teach button))

9.5.1. YRC1000

9.5.2. YRC1000micro

9.6. External Inputs (used by the MOTOMAN-HCxxDT (equipped with the direct teach button))

9.6.1. YRC1000

9.6.2. YRC1000micro

9-5

HW1484764

81667

81666

81665

81664

81663

81662

81661

81660

- - -

Muting

signal input

Speed

monitoring

request

(escape

from

clamping)

Stop

position

monitoring

request

Collaborative

operation

speed limit

request

Resume

switch input

81707

81706

81705

81704

81703

81702

81701

81700

- - -

Collaborative

operation

LED output

Speed

monitoring

(escape

from

clamping)

Stop

position

monitoring

state

Collaborative

operation

speed

limiting

PFL

function

enabled

81717

81716

81715

81714

81713

81712

81711

81710

- - - - -

Multi-axis

operation

limiting

Tool

switching

Category 1

stop request

97/105

9.7. Control Status Signal

I/O List

9-6

HW1484764

M309

M308

M307

M306

M305

M304

M303

M302

M301

M300

Reserved

M319

M318

M317

M316

M315

M314

M313

M312

M311

M310

Reserved

Estimated

external

torque

value T

Estimated

external

torque

value B

Estimated

external

torque

value R

Estimated

external

torque

value U

Estimated

external

torque

value L

Estimated

external

torque

value S

M329

M328

M327

M326

M325

M324

M323

M322

M321

M320

Reserved

Estimated

TCP

external

force value

resultant

Estimated

TCP external force Mz

Estimated

TCP external force My

Estimated

TCP

external force Mx

Estimated

TCP external force Fz

Estimated

TCP

external force Fy

Estimated

TCP

external force Fx

M339

M338

M337

M336

M335

M334

M333

M332

M331

M330

Reserved

Sensor data T

(CH1)

Sensor data B

(CH1)

Sensor data R

(CH1)

Sensor data U

(CH1)

Sensor data L

(CH1)

Sensor data S

(CH1)

M349

M348

M347

M346

M345

M344

M343

M342

M341

M340

Reserved

Sensor data T

(CH2)

Sensor data B

(CH2)

Sensor data R

(CH2)

Sensor data U

(CH2)

Sensor data L

(CH2)

Sensor data S

(CH2)

M359

M358

M357

M356

M355

M354

M353

M352

M351

M350

Reserved

External

torque T:

Maximum

value

External

torque B:

Maximum

value

External

torque R:

Maximum

value

External

torque U:

Maximum

value

External

torque L:

Maximum

value

External

torque S:

Maximum

value

M369

M368

M367

M366

M365

M364

M363

M362

M361

M360

Reserved

TCP

external

force

resultant:

Maximum

value

TCP external

force Mz:

Maximum

value

TCP external

force My:

Maximum

value

TCP

external

force Mx:

Maximum

value

TCP external

force Fz:

Maximum

value

TCP

external

force Fy:

Maximum

value

TCP

external

force Fx:

Maximum

value

M379

M378

M377

M376

M375

M374

M373

M372

M371

M370

Reserved

Value

External force (interpretation)

Calculation method

M310

9500

-50.0 [Nm]

(9500 - 10000)×0.1 = -50.0[Nm]

M321

11055

105.5[N]

(11055 - 10000)×0.1 = 105.5[N]

98/105

10. Register List

The following registers are used:

Each register value is expressed in units of 0.1 [N] (or [Nm]) and output by adding an offset of 10000. For how to interpret the value, refer to the following examples.

Example:

10-1

HW1484764

Signal

Signal Name

FSBIN1 to 5

Available to the user (Note that FSBIN1 is by default connected to the collaborative operation enable/disable selector.)

FSBIN7

Safety relay welding detection signal (HC10DT only)

FSBIN8

Resume switch

Signal

Signal Name

FSBOUT1 to 5

Available to the user

FSBOUT6

Signal without a dead man switch (HC10DT only)

FSBOUT7

Collaborative operation LED

FSBOUT8

Resume switch LED

MS-OUT51

Stop position monitoring request (to be output to an external safety device)

MS-OUT52

Speed monitoring request (escape from clamping) (to be output to an external safety device)

99/105

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

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

This chapter describes the default settings of the function safety general-purpose I/O signals. There are eight function safety general-purpose input signals (FSBIN) but you can use only FSBIN1 to FSBIN7 because FSBIN8 is used by the system by default. (With the HC10DT, FSBIN7 is also used by the system and therefore you can use only FSBIN1 to FSBIN6.) In addition, FSBIN1 is by default connected to the collaborative operation enable/disable switch in the user-side safety logic circuit. There are eight function safety general-purpose output signals (FSBOUT) but you can use only FSBOUT1 to FSBOUT6 because the FSBOUT7 and FSBOUT8 are used by the system by default. (With the HC10DT, FSBOUT6 is also used by the system and therefore you can use only FSBOUT1 to FSBOUT5.) For functional safety output signals (MSOUT), you can use only MSOUT1 to MSOU50, MSOUT55, and MSOUT58 to MSOUT64 because MSOUT51 to MSOUT54 and MSOUT57 are used by the system by default. If you connect a safety signal to an FSBIN input on the safety terminal block and also connect the FSBIN to one of MS-OUT54 to MS-OUT57 in the safety logic circuit, you can use the safety signal input to disable collaborative operation requests or issue an operation resumption request. Furthermore, if you connect one of MS-OUT51 to 53 to an FSBOUT in the safety logic circuit, you can output status information from that FSBOUT on the safety terminal block to an external safety PLC, etc.

■Input

■Output

11-1

HW1484764

Signal

Signal Name

MS-OUT53

Speed limit request during collaborative operation (to be output to an external safety device)

MS-OUT54

Collaborative operation request (to be input from an external safety device)

MS-OUT55

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

MS-OUT56

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

MS-OUT57

Operation resumption request (to be input from an external safety device)

100/105

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

11-2

HW1484764

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

3.3.1. Disabling Collaborative Operation by Changing the Safety Logic Circuit

3.3.2. Enabling or Disabling Collaborative Operation by Using External Sensor Input

3.4. Enabling or Disabling the PFL function

3.4.1. Steps for Disabling the PFL Function

3.4.2. Steps for Enabling the PFL Function

3.5. Configuring the Avoidance Function

3.5.1. Adding Instructions to a Job

3.5.2. Enabling the Avoidance Function

3.5.3. Setting the Start and End Thresholds

3.5.4. Setting the Avoidance Speed

3.5.5. Checking the Interrupt Job Settings

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)

3.7. Teaching the Manipulator with the Direct Teach Function

3.7.1. Moving the Robot Using the Hand Guiding

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))

4. Safety Precautions

4.1. How to Restart the Controller

4.2. Check Items before Operating the Manipulator

4.3. About the Behavior near Singularity

4.4. Settings Related to the Tool

4.4.1. How to Configure the Tool File

4.4.2. How to Configure the Tool Change Settings

5. Daily Inspection Items

5.1. Checking the Torque Sensor Status

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*1)

5.1.2. Checking the Torque Sensor Status Using the External Force Monitor

5.2. How to Reconfigure the Torque Sensor Home Position

6. Troubleshooting

7. Alarm List

7.1. Major Alarms

7.2. Minor Alarms

8. Variable List

9. I/O List

9.1. Interface Panel Output

9.2. Auxiliary Relay

9.3. General Output

9.4. General Input

9.5. External Outputs (used by the MOTOMAN-HC10xxDT (equipped with the direct teach button))

9.5.1. YRC1000

9.5.2. YRC1000micro

9.6. External Inputs (used by the MOTOMAN-HCxxDT (equipped with the direct teach button))

9.6.1. YRC1000

9.6.2. YRC1000micro

9.7. Control Status Signal

10. Register List

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