This document provides instructions for programming pendant dummy connector of the YRC1000 system. It lists several important YRC1000 manuals and notes that the operator's manual consists of general and subject-specific sections. It also provides safety warnings, emphasizing that turning off servo power is required before operating the manipulator and ensuring no one is in the workspace before running the system. Personal injury could result from unintended manipulator movement.
This document provides instructions for programming pendant dummy connector of the YRC1000 system. It lists several important YRC1000 manuals and notes that the operator's manual consists of general and subject-specific sections. It also provides safety warnings, emphasizing that turning off servo power is required before operating the manipulator and ensuring no one is in the workspace before running the system. Personal injury could result from unintended manipulator movement.
This document provides instructions for programming pendant dummy connector of the YRC1000 system. It lists several important YRC1000 manuals and notes that the operator's manual consists of general and subject-specific sections. It also provides safety warnings, emphasizing that turning off servo power is required before operating the manipulator and ensuring no one is in the workspace before running the system. Personal injury could result from unintended manipulator movement.
This document provides instructions for programming pendant dummy connector of the YRC1000 system. It lists several important YRC1000 manuals and notes that the operator's manual consists of general and subject-specific sections. It also provides safety warnings, emphasizing that turning off servo power is required before operating the manipulator and ensuring no one is in the workspace before running the system. Personal injury could result from unintended manipulator movement.
INSTRUCTIONS FOR PROGRAMMING PENDANT DUMMY CONNECTOR
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”. The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
MANUAL NO.
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DANGER • This manual explains the programming pendant dummy connector of 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 Operation
Read 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”.
Indicates an imminently hazardous
DANGER 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
WARNING 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,
CAUTION 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
NOTICE 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.
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure
NOTE to follow all instructions, even if not designated as “DAN- GER”, “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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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, 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.
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 supply cables. In this manual, the equipment is designated as follows. Equipment Manual Designation YRC1000 Controller YRC1000 YRC1000 Programming Pendant Programming Pendant Cable between the manipulator and the Manipulator cable controller
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or its Pendant /Symbol Keys symbol printed on them are denoted with [ ]. ex. [ENTER] Axis Keys [Axis Key] and [Numeric Key] are generic /Numeric Keys names for the keys for axis operation and number input. Keys pressed When two keys are to be pressed simultaneously simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD] Displays The menu displayed in the programming pendant is denoted with { }. ex. {JOB}
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.
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Contents
1 Programming Pendant Dummy Connector ..................................................................................... 1-1
2 Connecting the Programming Pendant Dummy Connector............................................................ 2-1
3 Disconnecting the Programming Pendant Dummy Connector ....................................................... 3-1
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1 Programming Pendant Dummy Connector
1 Programming Pendant Dummy Connector
To operate the manipulator in the remote mode without connecting the programming pendant to the YRC1000, the programming pendant dummy connector must be connected to the YRC1000. By connecting the dummy connector to the YRC1000, the terminals for inputting the emergency stop signal from the programming pendant are jumpered.
DANGER • When using the dummy connector, make sure to prepare the external emergency stop button on the peripheral equipment. Also, before operating the manipulator, confirm that the servo power is turned OFF by pressing the external emergency stop button. • Connect the external emergency stop button to the safety terminal block board (IM-YE250/5-80P). If operation of the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result. • Jumper cables are attached to the terminals for the external emergency stop at the factory. Make sure to remove the jumper cables before use. If the jumper cables are not removed, the external emergency stop will not be activated even if the external emergency stop signal is input, thus personal injury and/or equipment damage may result.
Turn ON/OFF at the same time 7 EXESP_2+ 8 EXESP_2-
Remove the jumper cable
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HW1484381 2 Connecting the Programming Pendant Dummy Connector
2 Connecting the Programming Pendant Dummy Connector
1. Turn OFF the power supply of the YRC1000. 2. Disconnect the cable for the programming pendant from the connector (-X81) on the lower right of the door of the YRC1000.
3. Confirm the alignment marks, and connect the dummy connector to
the YRC1000.
Alignment mark
4. Turn ON the power supply of the YRC1000.
Fig. 2-1: Programming Pendant Dummy Connector
Alignment mark
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3 Disconnecting the Programming Pendant Dummy Connector
3 Disconnecting the Programming Pendant Dummy Connector
1. Turn OFF the power supply of the YRC1000. 2. Disconnect the programming pendant dummy connector from the connector (-X81) on the lower right of the door of the YRC1000. 3. Confirm the alignment marks, and connect the cable for the programming pendant. 4. Turn ON the power supply of the YRC1000.
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YRC1000 OPTIONS INSTRUCTIONS FOR PROGRAMMING PENDANT DUMMY CONNECTOR
HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice
for ongoing product modifications and improvements.
