MANUAL NO.

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YRC1000 OPTIONSINSTRUCTIONSFOR T-AXIS OFFSET

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

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONSYRC1000 INSTRUCTIONSYRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

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DANGER• This manual explains the T-axis offset setting for the YRC1000

system. Read this manual carefully and be sure to understand its contents before handling the YRC1000. Any matter 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 INSTRUCTIONS”. To ensure correct and safe operation, carefully read “Chapter 1. Safety” of the YRC1000 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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Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the YRC1000.

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.

DANGERIndicates 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.

WARNINGIndicates 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.

CAUTIONIndicates 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”.

NOTICENOTICE 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.

NOTETo 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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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

TURN

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

operating the manipulator.

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Definition of Terms Used Often in This ManualThe MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and manipulator cables.

In this manual, the equipment is designated as follows.

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.

• Always return the programming pendant to the hook on the YRC1000 cabinet 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 DesignationYRC1000 controller YRC1000

YRC1000 programming pendant Programming pendant

Cable between the manipulator and the controller

Manipulator cable

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

Equipment Manual DesignationProgrammingPendant

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}

EMERGENCY STO

P

Numeric keys

Axis keys

Enter key

Mode switch*

Start button* Hold button*

Emergency stop button

Shift key

Page keyCoordinate key

PLAY

REMOTE

TEACH

START

*The button/switch names are denoted as symbols.

HOLD

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Description of the Operation ProcedureIn the explanation of the operation procedure, the expression “Select • • •” means that the cursor is moved to the object item and the [SELECT] is pressed, or that the item is directly selected by touching the screen.

Registered TrademarkIn 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.

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Explanation of Warning LabelsThe following warning labels are attached to the manipulator and YRC1000.

Fully comply with the precautions on the warning labels.

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.

• 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.

Crush hazard labelCollision hazard label

Ground terminal

View A: Ground terminal

A

Internal Breaker

No.THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

ORDER No.NJ4014-1

For Japan, Asia, North America

For Europe

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Contents

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1 T-axis Offset.................................................................................................................................... 1-1

2 Settings for the T-axis Offset .......................................................................................................... 2-1

2.1 Settings.............................................................................................................................. 2-1

2.2 Setting Procedure.............................................................................................................. 2-4

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1 T-axis Offset

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1 T-axis Offset

T-axis offset function provides an output flange far from the B-axis, by adding a separately prepared mechanical hand on the T-axis flange for specified MOTOMAN models.

This expands the manipulator working envelope.

This additional hand is called a “Parallel Hand”. A parallel hand can be prepared and installed by the user.

Set the information including the offset dimensions and angles, and the mass and center of gravity of the parallel hand, etc. to correctly operate the manipulator with the T-axis offset.

Set the following items:

• T-axis offset dimensions and angle

• T-axis offset (X)

• T-axis offset (Y)

• T-axis offset (angle)

• Parallel hand mass and center of gravity

• Parallel hand mass

• Parallel hand center of gravity (X)

• Parallel hand center of gravity (Y)

CAUTION

• Enter accurate dimensions and angles for the T-axis offset.

Correct interpolation can not be performed with errors in the T-axis offset dimensional information.

Injury or damage to machinery may result from unintentional or unexpected manipulator motion.

• Enter the settings for the T-axis offset when test-running the manipulator.

Changing the settings for T-axis offset may change the motion path at the job execution.

Injury or damage to machinery may result from unintentional or unexpected manipulator motion.

If any change in the setting is necessary, verify the motion path of each job that had been prepared before the setting was changed.

NOTE

• Enter the correct mass and center of gravity of the parallel hand.

• If the mass and center of gravity of the parallel hand are incorrect, proper motion control cannot be performed, which may shorten the life of the speed reducer or cause an alarm. Accurate values are not absolutely necessary, but the unit and direction (positive/negative) of the value must be strictly respected.

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2 Settings for the T-axis Offset2.1 Settings

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2 Settings for the T-axis Offset

2.1 Settings

This section explains the detailed settings of the T-axis offset dimensions and angles, and the parallel hand’s mass and center of gravity.

T-axis Offset Dimensions and AnglesSet the offset dimensions from the B-axis to the output flange surface and the angles. This is necessary for correct interpolation of the manipulator. Refer to the following figure, and set them correctly.

• T-axis offset (X) [Unit: mm]

• Enter the distance from the center of the manipulator’s T-axis flange to the center of the parallel hand’s output flange.

• T-axis offset (Y) [Unit: mm]

• Enter the distance from the rotation center of the B-axis to the surface of parallel hand’s output flange.

• T-axis offset (angle) [Unit: degree]

• Used to adjust the angle to install a parallel hand on the flange surface of the T-axis. As seen from the top of the U-arm, set the rotational angle so that the clockwise rotation to the T-axis flange surface is positive (+), and the counterclockwise rotation is nega-tive (-).

• For the standard setting, install a parallel hand so it appears to be in a straight line with the U-arm if viewed from above, so the T-axis offset (angle) is 0.000 degree.

NOTEMake sure to set the distance from the rotation center of the B-axis, not the distance from the flange surface of the T-axis.

T-axis offset (X)

Positive (+) direction

Negative (-) direction

View AU-arm

Output flange surface

Parallel hand

T-axis offset (Y)

T-axis offset (angle)

As viewed from A

Output flange surface

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2 Settings for the T-axis Offset2.1 Settings

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Parallel Hand Mass and Center of GravityEnter the mass and center of gravity of the installed parallel hand. This is necessary for proper motion control when carrying a load, so make sure to set them correctly.

• Parallel hand mass [Unit: kg]

• Set the total mass of the parallel hand.

• Enter a round number that has been increased from the actual value by 1 to 5kg. This increase should be the same for all the values.

• Parallel hand center of gravity (X) and (Y) [Unit: mm]

• Set the center of gravity of the whole parallel hand. For the directions of (X) and (Y), refer to the offset dimension settings previously explained in " ".

• Since it is difficult to obtain a precise center of gravity, enter an approximate value. Estimate the approximate position of the center of gravity from a visual check.

• When the center of gravity of the parallel hand is known by its specifications, enter the specified value.

Parallel hand

Parallel handcenter of gravity

(X)

Parallel hand centerof gravity (Y)

Center of gravity

U-arm

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2 Settings for the T-axis Offset2.1 Settings

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CAUTION

• Make sure to set the tool mass information in the tool file.

The YRC1000 estimates the load conditions for each axis of the manipulator according to the information provided for the tool mass, the parallel hand mass, and the center of gravity for control.

If the tool mass information is not set in the tool file, the YRC1000 recognizes that the maximum allowable load of the manipulator is applied on the output flange. Therefore, the estimated mass of the load on each axis becomes too large and detects a “collision” or an abnormal motion which may cause an injury or damage to machinery.

Set the information for the mass and center of gravity of the tool installed on the output flange in the tool file.

Make sure to set the distance from the output flange, not the distance from the T-axis flange.

For details on setting the tool mass information, refer to chapter 8.4 “Arm Control” in “YRC1000 INSTRUCTIONS”.

NOTE

• Do not include the section of the tool over the output flange when entering the mass and center of gravity of the parallel hand.

• The YRC1000 estimates the load conditions for each axis of the manipulator according to the information provided for the tool mass, the parallel hand mass, and the center of gravity for control.

• If a value including the tool on the output flange is set in the parallel hand mass and center of gravity information, this value overlaps the value set in the tool file.

Set the parallel hand mass and center ofgravity in the maintenance mode.

U-arm

Set the information of the tool mass,center of gravity, etc. in the tool file.

Output flange surface

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2 Settings for the T-axis Offset2.2 Setting Procedure

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2.2 Setting Procedure

In the maintenance mode, set and refer to the T-axis offset information in the detail setting screen of the control group.

Display of the Detail Setting Screen

1. Turn OFF the power suppy, and then ON while pressing {Main Menu}.

– The main menu for the maintenance mode appears.

2. Select {SYSTEM} from the main menu, then select {SECURITY} under the submenu.

SUPPLE-MENT

• Set the T-axis offset in the management mode.

• In the operation and the editing modes, the set status can be only referred to and not set.

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2 Settings for the T-axis Offset2.2 Setting Procedure

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– Select the "MANAGEMENT MODE".

– Enter your user ID and press [ENTER].

– After selecting the "MANAGEMENT MODE", the input buffer line for user ID appears.

3. Select {SYSTEM} from the main menu, then select {SETUP} under the submenu.

4. Select the "CONTROL GROUP" of the "SETUP" screen.

– The "SETUP" screen appears.

– The item marked with cannot be selected.

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2 Settings for the T-axis Offset2.2 Setting Procedure

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5. Select "DETAIL" for the control group whose T-axis offset is to be set.

– A list of control groups appears, and shows the model numbers for each control group.

– For the models for which the details can be set, "DETAIL" appears on its right.

– The detail setting screen for the selected control group appears.

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2 Settings for the T-axis Offset2.2 Setting Procedure

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Setting Data in the Detail Setting Screen

1. Move the cursor to the item to be changed. Then press [ENTER], and the number input line is shown.

2. Enter a value and press [ENTER]. The value is entered for the selected item.

3. Press [ENTER] in the "MANIPULATOR DIMENSION" screen, and select "YES" in the confirmation dialog box for modification.

– After pressing [ENTER], the confirmation dialog box appears.

– If "YES" is selected, the system parameter is automatically set according to the setting in the screen and the screen returns to the "CONTROL GROUP" screen as shown in the figure of the step 7 in " ".

– If "NO" is selected, the screen returns to the "MANIPULATOR DIMENSION" screen as shown in the figure of the step 1 above.

NOTE• When the settings are completed, press [ENTER] and

confirm the modification.

• If “YES” is not selected in the confirmation dialog box, the settings will not change the system parameter.

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C 2019 YASKAWA ELECTRIC CORPORATIONPublished by YASKAWA

MANUAL NO.

November 2019 19-11

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YRC1000 OPTIONSINSTRUCTIONSFOR T-AXIS OFFSET

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1 T-axis Offset2 Settings for the T-axis Offset2.1 Settings2.2 Setting Procedure