1cd PDF
1cd PDF
1cd PDF
SUPPLEMENTARY
INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR’S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
185898-1CD
0
MANUAL NO.
HW1485245 1 1/17
HW1485245
Contents
ii HW1485245 2/17
HW1485245
1 Introduction
1 Introduction
This manual is a supplementary instruction manual for the YRC1000micro
European specification. The described contents are as follows;
• Connection
• Basic Specifications
• Controller Type List
• Dimension Diagram and Internal Arrangement Diagram
• The List of the Equipment Configuration
• Recommended Spare Parts List
For contents that are not described in this manual, refer to the
“YRC1000micro INSTRUCTIONS”, “YRC1000micro MAINTENANCE
MANUAL”, and all other related documents.
2 Connection
2.1 Power Capacity
2 Connection
To CPS circuit
(control circuit)
WARNING
• The system must be grounded.
Failure to observe this instruction may result in fire and/or electric
shock. Especially when using European specification YRC1000micro
in a power supply not being newtral grouded (in Japan etc.), there is
adanger of electric shock due to alarge leakage current.
2 Connection
2.3 Connection Methods
Programming pendant
Mounting Base
DANGER
• Make sure to use the supplied connector for the primary power
supply connection.
• Tighten the cable clamp to prevent the cable from breaking.
Failure to observe these cautions may result in electric shock or
equipment failure.
ACIN(F)
YRC1000micro
filter module Exclusive grounding
(ground resistance: 100 ohms or less)
2 Connection
2.3 Connection Methods
III) Connect the ground wire with the YRC1000micro and the filter
module respectively as shown in the following figure.
The size of the ground wire must be same or larger than the
size of the power supply cable shown in table 2-1
“YRC1000micro Power Capacity, Cable Sizes, and Breaker
Capacities” .
Fig. 2-4: Grounding the YRC1000micro and the Filter Module
Filter module
YRC1000micro
Do not connect the ground wire with the wires for the elec-
tric power source, the welder, etc.
NOTE
If using metallic ducts, metallic conduits, or cable trays for
cabling, perform grounding in accordance with all relevant
governmental regulations.
WARNING
• When turning ON the YRC1000micro power, confirm that no person
is present in the manipulator's operating range and that the operator
is in a safe location.
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 button
is located on the upper right of the programming pendant.
Switch (POWER)
YRC1000micro
3 Basic Specifications
3.1 Standard module
3 Basic Specifications
4 Equipment Configuration
4 Equipment Configuration
This section explains the configuration of the YRC1000micro equipment.
Configuration
Fig. 4-1: Configuration
YRC1000 micro
Safety circuit board (JANCD-ASF31-1E)
Each Point
DC24V
7mA MAX GPIO connector
YRC1000 micro
Safety Board (JANCD-ASF30-1E)
Each point
DC24V GPIO
7mA MAX
Logical Connector Name Signal
Number Pin No.
1 Direct in common
2 Direct in 1
27 Direct in 2
GND 3 Direct in 3
Each point 28 Direct in 4
DC24V 4
6.9 mA MAX
5
6 Input common 3_24V
20010 7 EXTERNAL START IN
20011 32 EXTERNAL HOLD IN
GND
20012 8 CALL MASTER JOB IN
20013 33 ALARM/ERROR RESET IN
20014 9 EXTERNAL SERVO ON IN
20015 34 SELECT PLAY MODE IN
20016 10 SELECT TEACH MODE IN
20017 35 IN08 IN
+24VU 14
GND
18
11 +24VU
36 +24VU
15 +24VU
Each point 22 +24VU
DC24V
25 +24VU
100 mA MAX
40 +24VU
47 +24VU
Buffer 30010 12 RUNNING OUT
30011 37 SERVO IS ON OUT
30012 13 TOP OF MASTER JOB OUT
30013 38 ALARM/ERROR OCCURRED OUT
30014 16 BATTERY ALARM OUT
30015 41 REMOTE MODE SELECTED OUT
30016 17 PLAY/TEACH MODE LSELECTED OUT
30017 42 OT08 OUT
19
20
26 024VU
31 024VU
024V 024V 21
23
24
29
30
39
43
44
45
46
48
CN11 49
50
Table 5-1: Specific Input (Press Tending, Cutting, and Other Applications)
Logical Input Name / Function
Number
20010 EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the
rising edge of the signal is valid. It starts robot operation (playback). This signal is
invalid if external start is prohibited from the playback condition display.
20011 EXTERNAL HOLD
The hold lamp turns on and the signal “HOLDING (50071)” turns ON while this signal
is ON. Depending on the setting, the status of manipulator can be “HOLDING” while
this signal is OFF.
20012 CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that
is the top of the master job1). This signal is invalid during playback, during teach-lock
and when play master or call is prohibited (set from the playback operation condition
display).
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets
the alarm or error.
20014 EXTERNAL SERVO ON
Only the rising edge of this signal is valid. This signal turns ON the servo power.
Use this signal to turn ON the servo power from an external device.
20015 SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
“REMOTE”. Only the rising edge of the signal is valid. When this selection signal
assigned concurrently with other mode selection signal, the teach mode is selected on
a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
20016 PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the
mode select switch in the programming pendant. The signal corresponding to the
selected mode turns ON
1 A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called
up immediately after the power is turned ON, is set as the master job.
Table 5-2: Specific Output (Press Tending, Cutting, and Other Applications)
Logical Output Name / Function
Number
30010 RUNNING
This signal signifies that the job is running. (Signifies that the job is running, system
status is waiting reserved start, or test run is running.) This signal status is the same
status as [START] in the programming pendant.
30011 SERVO IS ON
This signal signifies that the servo power is turned ON, internal processing such as
current position creation is complete, and the system is able to receive the START
command. This signal turns OFF when the servo power supply turns OFF. It can be
used for YRC1000micro status diagnosis for an external start.
30012 TOP OF MASTER JOB
This signal signifies that the execution position is the top of the master job. This signal
can be used to confirm that the master job has been called.1)*1
30013 ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error occurred. If a major error occurs, this
signal remains ON until the main power is turned OFF.
30014 BATTERY ALARM
This signal turns ON to notify that the battery requires replacing when the voltage
drops from the battery for backup memory of the encoder. Major problems may result
if memory data is lost because of an expired battery. It is recommended to avoid these
problems by using this signal as a warning signal.
30015 REMOTE MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the
mode select switch in the programming pendant. The signal corresponding to the
selected mode turns ON.
30016 PLAY MODE/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the
mode select switch in the programming pendant. The signal corresponding to the
selected mode turns ON.
1 This signal is not output during operation.
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10
MANUAL NO.
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