Operator'S Manual: YRC1000 Material Handling, Press Tending, Cutting, and Other Applications

YRC1000
MATERIAL HANDLING, PRESS TENDING,

CUTTING, AND OTHER APPLICATIONS
OPERATOR’S MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
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”.
178647-1CD
1
MANUAL NO. RE-CSO-A053 2

DANGER
• This manual describes the various components of the YRC1000
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the YRC1000. 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 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.
ii
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”.
iii
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.
iv
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.
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 manipulator 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
v
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 symbols printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Keys] and [Numeric Keys] 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.
vi
Contents
1 Material Handling, Press Tending, Cutting, and Other Applications ............................................... 1-1
1.1 Simplified Teaching and Playback..................................................................................... 1-1
1.1.1 Teaching............................................................................................................... 1-1

1.1.1.1 Preparation for Teaching......................................................................... 1-1
1.1.1.2 Teaching Procedure ................................................................................ 1-4
1.1.1.3 Path Confirmation ................................................................................. 1-13
1.1.1.4 Correcting a Job .................................................................................... 1-14
1.1.1.5 Changing the Position Data .................................................................. 1-15
1.1.2 Playback ............................................................................................................. 1-19

1.1.2.1 Preparation before Playback ................................................................. 1-19
1.1.2.2 Playback Procedure .............................................................................. 1-19
1.1.3 Example for General Purpose Application.......................................................... 1-20

1.1.3.1 Example Job ......................................................................................... 1-20
1.1.3.2 Teaching Procedure .............................................................................. 1-21
1.1.3.3 Confirmation of Cutting Operation (Speed Limitation Drive) ................. 1-24
1.2 Operation for Tool Control .............................................................................................. 1-25
1.2.1 Function Keys..................................................................................................... 1-25
1.2.2 Tool Control Settings .......................................................................................... 1-26
1.2.3 Work Instructions................................................................................................ 1-27

1.2.3.1 TOOLON/TOOLOF Instructions ............................................................ 1-27
1.2.3.2 CALL Instruction.................................................................................... 1-28
1.2.3.3 WVON Instruction.................................................................................. 1-29
1.2.3.4 WVOF Instruction .................................................................................. 1-29
1.3 Weaving Operation .......................................................................................................... 1-30
1.3.1 Weaving Basic Coordinate System .................................................................... 1-30

1.3.1.1 Cases that Require the Registration of Reference Points..................... 1-31
1.3.2 WVON ................................................................................................................ 1-33

1.3.2.1 Function ................................................................................................ 1-33
1.3.2.2 Syntax ................................................................................................... 1-33
1.3.2.3 Explanation ........................................................................................... 1-34
1.3.2.4 Registering the WVON Instruction ........................................................ 1-37
1.3.3 WVOF Instruction ............................................................................................... 1-39

1.3.3.1 Function ................................................................................................ 1-39
1.3.3.2 Syntax ................................................................................................... 1-39
1.3.3.3 Explanation ........................................................................................... 1-40
1.3.3.4 Registering the WVOF Instruction......................................................... 1-41
1.3.4 WEAVING CONDITION Window........................................................................ 1-42

1.3.4.1 Displaying the Weaving File .................................................................. 1-49
1.3.4.2 Editing the Condition Data .................................................................... 1-50
1.3.5 Prohibiting Weaving............................................................................................ 1-51

1.3.5.1 Method to Prohibit Weaving during a “CHECK” Operation ................... 1-51
1.3.5.2 Method to Prohibit Weaving during a “TEST RUN” or FWD Operation ... 1-52
vii
Contents
1.3.5.3 Method to Prohibit Weaving by Means of a System Input Signal.......... 1-52
1.4 Table of Work Instructions ............................................................................................... 1-53
2 Handling Application ....................................................................................................................... 2-1
2.1 Outlines.............................................................................................................................. 2-1
2.1.1 Function Keys ....................................................................................................... 2-1
2.1.2 HAND Instruction .................................................................................................. 2-2

2.1.2.1 Function................................................................................................... 2-2
2.1.2.2 Instruction and Additional Items .............................................................. 2-3
2.1.3 HSEN (Gripper Sensor) Instruction ...................................................................... 2-4

2.1.3.1 Function................................................................................................... 2-4
2.1.3.2 Instruction and Additional Items .............................................................. 2-4
2.1.3.3 Examples................................................................................................. 2-5
2.1.4 Handling Window.................................................................................................. 2-6
2.1.5 Shock Sensor Function......................................................................................... 2-8
2.1.6 Shock Sensor Input Signal ................................................................................... 2-8
2.1.7 Shock Sensor Input Reset .................................................................................... 2-8
2.1.8 Low Air Pressure Input Signal .............................................................................. 2-8
2.2 Registering Instructions ..................................................................................................... 2-9
2.2.1 HAND Instruction .................................................................................................. 2-9
2.2.2 HSEN Instruction ................................................................................................ 2-11
2.3 Table of Work Instructions ............................................................................................... 2-13
viii
1 Material Handling, Press Tending, Cutting, and Other Applications
1.1 Simplified Teaching and Playback
1.1.1 Teaching
1.1.1.1 Preparation for Teaching

Perform the following tasks before starting to teach.
• Set the operation mode to teach mode.
• Enter the job name.
1. Confirm that the mode switch on the programming pendant is set to
“TEACH”. If not, set the switch to “TEACH”.
2. Press [SERVO ON READY].
The SERVO ON lamp will blink. If [SERVO ON READY] is not
pressed, the servo power supply cannot be turned ON using the
Enable switch.
3. Select {JOB} under the main menu, and select {CREATE NEW JOB} in
the sub menu.
4. After the NEW JOB CREATE window appears, press [SELECT].
1-1
5. After the following window appears, input the job name. The word
“TEST” is used in this example job name.
6. Move the active window to software keypad by pressing the [AREA].

Move the cursor to “T” and press [SELECT]. Enter “E,” “S,” and “T” in
the same manner. The characters can also be entered by directly
touching each character on the screen.
7. Press [ENTER] to register.
1-2
8. Move the cursor to “EXECUTE” and press [SELECT]. The job “TEST”
is registered and the job is displayed. The NOP and END instructions
are automatically registered.
Characters which can be Used for Job Names

Job names can be created from numbers and the alphabeti-
SUPPLE cal letters. The input display can be switched between
-MENT
upper-case characters, lower-case characters, and symbols
by pressing [PAGE] during the operation 5. Up to 32 charac-
ters can be used.
1-3
1.1.1.2 Teaching Procedure

To playback the manipulator, the instruction to move the manipulator must
be written in a job. This instruction is called a move instruction. The
destination position, the interpolation method, the play speed, etc. are
registered in the move instruction.
Main move instructions begin with “MOV” in the INFORM III language
used by the DX200.
<Example>
MOVJ VJ=50.00
MOVL V=1122 PL=1
<Example>
Refer to the following JOB CONTENT window. When executing playback,

the manipulator moves to the position of Step 1 with the interpolation type
and play speed registered in Step 1’s move instruction. Then, the
manipulator moves between Steps 1 and 2 with the interpolation type and
play speed registered in Step 2’s move instruction. Then, the manipulator
moves between Steps 2 and 3 with the interpolation type and play speed
registered in Step 3’s move instruction. After the manipulator reaches the
position of Step 3, the manipulator then executes the TIMER instruction
followed by the DOUT instruction, and then continues on to Step 4.
Step 1
Step 2
Line No. Step 3
Step 4
Step 5
Step 3
Step 2 MOVL V=1122
MOVJ VJ=50.00
To Step 4
Step 1
MOVJ VJ=50.00
1-4
 Teaching a Job
A job is a work program that describes the tasks that the manipulator will
execute. Jobs are created using a robot programming language called
INFORM III.
The following example will instruct you how to teach the manipulator all of
the steps from Point A to Point B of the following workpiece. This job can
be completed in 6 steps.
Fig. 1-1: Teaching a Job
CAUTION
Make sure that the teach lock is set.
Make sure to keep a safe distance between the operator and the manipulator.
TEACHING
Register
each step.
Step 1
Step 6
Step 6
Step 5
Step 2
Step 3 A B Step 4
Overlap
the first step
Step 1
and last step.
New Step
Step 6
Step Confirmation
+
Actual work is not performed here.
1-5
 Step 1 -- Standby Position

Always be sure the manipulator is in a safe work area before operation.
Step 1
1. Grip the Enable switch and the servo power will turn ON. The
manipulator can then be operated.
2. Move the manipulator to the standby position using [Axis Keys]. Be
sure the position is safe and that the work area is appropriate for the
job to be programmed.
3. Select joint interpolation by pressing [MOTION TYPE]. Joint
instruction “MOVJ...” will be displayed in the input buffer line.
4. Move the cursor to the line number 0000 and press [SELECT].
5. The input buffer line appears. Move the cursor to the right to VJ=*.**,
which shows the speed. While pressing [SHIFT] simultaneously, move
the cursor up and down (to higher and lower play speeds) until the
desired speed is specified.
Set the speed to 50%.
6. Press [ENTER]. Step1 (Line 0001) is registered.
1-6
 Step 2 -- Near the Work Start Position

Define the manipulator’s working posture.
Step 1
Step 2
1. Move the manipulator to the working position using [Axis Keys].

2. Press [ENTER]. Step 2 (Line 0002) is registered.
1-7
 Step 3 -- Work Start Position

Move the manipulator to the work start position with the pose as shown in
Step 2.
Step 1
Step 2
Step 3
1. Change to medium speed by pressing [FAST] or [SLOW] until is

displayed in the status area.
2. Do not release the pose in Step 2. Press [COORD] to select the

Cartesian coordinates. Move the manipulator to the welding start
position using [Axis Keys].
3. With the cursor located on the line number 0002, press [SELECT].
4. The input buffer line appears. Move the cursor to the right to VJ=*.**,
Set the speed to 12.50%.
1-8
 Step 4 -- Work End Position

Specify the work end position.
Step 1
Step 2
Step 3
Step 4
1. Move the manipulator to the work end position with [Axis Keys]. While
the manipulator is moving, keep a wide enough distance to ensure it
will not strike the workpiece. There is no need to follow the work line
too closely.
2. Press [MOTION TYPE] to select linear interpolation (MOVL).
3. With the cursor located on the line number 0003, press [SELECT].
4. The input buffer line appears. Move the cursor to the right to V= 100.0,
Set the speed to 200.0 cm/min.
1-9
 Step 5 -- Clear Position

Move the manipulator to a position where it will not strike the workpiece or
fixture.
Step1
Step2
Step5
Step3
Step4
1. Change the speed to high speed by pressing [FAST].
NOTE This button only affects teaching speed. When the job is
played, the job will execute at the speed defined in Step 4.
2. Move the manipulator with [Axis Keys] to a position where it will not
strike the fixture.
3. Press [MOTION TYPE] to set to the joint interpolation type (MOVJ).
4. With the cursor located on line number 0004, press [SELECT].
5. The input buffer line appears. Move the cursor to the right to
VJ=12.50, which shows the speed. While pressing [SHIFT]
simultaneously, move the cursor up and down (to higher and lower
play speeds) until the desired speed is specified.
Set the speed to 50%.
1-10
 Step 6 -- Near the Standby Position

Move the manipulator near the standby position.
Step1
Step6
Step2
Step3 Step5
Step4
1. Move the manipulator near the standby position with [Axis Keys].
1-11
 Ensuring the First and Last Step are Identical

The manipulator has stopped at Step 6, which should be very close to
Step1.
It is possible to move directly from the job end position of Step 5 to Step1,
so the manipulator can begin the next job quickly and efficiently.
The following operation will make Step 6 (end position) and Step1
(standby position) identical.
Modified Step 6
Step 1 Corrent Step 6
Step 2 Step 5
Step 3 Step 4
1. Move the cursor to Step1 (Line 0001).
2. Press [FWD]. The manipulator will move to Step1.

3. Move the cursor to Step 6 (Line 0006).
4. Press [MODIFY].
5. Press [ENTER]. This will change the position of Step 6 to be the same
as Step1.
1-12
1.1.1.3 Path Confirmation

The job is now complete. Try to check each step separately to ensure
there are no problems.
1. Move the cursor to Step 1 (Line 0001).
2. Change to medium speed by pressing [FAST] or [SLOW].
3. Press [FWD] to confirm each step executed by the manipulator. Each

time [FWD] is pressed, the manipulator moves one step.
4. When you finish step confirmation, move the cursor to the beginning of
the job.
5. Run all the steps continuously. Hold down [INTERLOCK] and press
[TEST START]. The manipulator plays back all the steps continuously
and stops when one cycle is finished.
Proceed to the next section to change the position and speed of the job
steps.
1-13
1.1.1.4 Correcting a Job

Confirm the manipulator’s motion in each step. If any position
modification or adding or deleting of steps is necessary, display the job
content first with the following procedure.
NOTICE
• After the job is corrected, be sure to confirm the path.
 Before Correcting a Job

1. Select {JOB} under the main menu and {JOB} under the sub menu to
display the JOB CONTENT window.
1-14
1.1.1.5 Changing the Position Data

Change the position registered in Step 2.
Current Step 2
New Step 2
1. Move the manipulator to Step 2 (Line 0002) by pressing [FWD].

2. Move the manipulator to the modified position with [Axis Keys].
3. Press [MODIFY].
4. Press [ENTER]. The step’s position data is changed.
1-15
 Adding a Step
Add a new step between Step 5 and Step 6.
Step6 Step7
Add Step6
Step5 Step5
2. Move the manipulator to the position at which you wish to add a step
using [Axis Keys].
3. Press [INSERT].
4. Press [ENTER]. The step is added. When a step is added, the
numbering is automatically adjusted to count the new step.
1-16
 Deleting a Step
Delete the step you just added.
Step 7 Step 6
Step 6 D el ete
Step 5 Step 5
2. Make sure the cursor is on the step you wish to delete, and press
[DELETE].
3. Press [ENTER]. The step is deleted. When a step is deleted, the
numbering of step is automatically adjusted corresponding to the
deletion.
When “Error 2070: Set Robot Exactly to Taught Position”

Occurs
When the operator presses [ENTER] during the previous
operation, an error can occur in some cases. The error
occurs because the manipulator has not been moved
exactly to the taught position. Cancel the error with either of
SUPPLE
the following two procedures:
-MENT
• Press [CANCEL] and press [FWD] to move the manipula-
tor to the position of the step.
• Press [MODIFY] and press [ENTER] to change the position
data of the step, then press [DELETE] and press [ENTER].
If the cursor in the window is blinking, the manipulator is not
in the taught position.
1-17
 Changing the Speed between Steps

Change the manipulator speed. Slow the speed between Step 3 and Step
4.
1. Move the cursor to Step 4.
2. Move the cursor to the instruction and press [SELECT].
“V= 200.0,” which shows the speed. While pressing [SHIFT]
Set the speed to 93.0 cm/min.
4. Press [ENTER]. The speed is changed.
SUPPLE
The unit for speed can be verified and modified by “SPEED
-MENT DATA INPUT FORM” from {SETUP}  {OPERATE COND}.
1-18
1.1.2 Playback
1.1.2.1 Preparation before Playback
To run the program from the beginning of the job, perform

the following operation.
• Move the cursor to the beginning of the job.
NOTE
• Move the manipulator close to Step 1 with [Axis Keys].
When playback is started, the manipulator begins to move
from the Step 1.
1.1.2.2 Playback Procedure

Begin operation only after ensuring there is no one in the working
envelope of the manipulator.
1. Switch the mode switch on the programming pendant to “PLAY.”
2. Press [SERVO ON READY] to turn ON the servo power.
3. Press [START]. The manipulator will perform one complete taught
cycle and then stop.
1-19
1.1.3 Example for General Purpose Application
1.1.3.1 Example Job

The figure below shows an example of cutting. The job creation
procedure is then explained.
Manipulator
Programming pendant
Power source
Tool
Workpiece
Pneumatic
source
Air line
Fixture
Manipulator cable
YRC1000
Line Instruction Explanation

0000 NOP
0001 MOVJ VJ=25.00 Moves manipulator to the standby position. (Step 1)
0002 MOVJ VJ=25.00 Moves manipulator near the cutting start position. (Step 2)
0003 MOVJ VJ=12.50 Moves manipulator to the cutting start position. (Step 3)
0004 TOOLON Starts cutting.
0005 MOVL V=50.0 Moves manipulator to the cutting end position. (Step 4)
0006 TOOLOF Ends cutting.
0007 MOVJ VJ=25.00 Moves manipulator to the position where the tools and (Step 5)
workpieces do not interfere.
0008 MOVJ VJ=25.00 Moves manipulator to the standby position. (Step 6)
0009 END
1-20
1.1.3.2 Teaching Procedure

The teaching procedure of Step 2 which specifies the cutting pose and
Step 3 and 4 (cutting section) are explained.
• Teach Step 1, which is the standby position, to a safe posi-

tion where the manipulator will not collide with the work-
NOTE piece and the tool.
• Confirm the cutting path with [FWD] and [BWD] after
teaching.
 Step 2 -- Near cutting position

Define the cutting pose.
1. Specify the correct posture with [Axis Keys] for the manipulator to start
cutting.
2. Press [ENTER]. Step 2 is registered.
1-21
 Step 3 -- Cutting Start Position

Move to the cutting start position with the pose as shown in Step 2, and
register the TOOLON instruction.
1. Change to medium speed by pressing [FAST] or [SLOW]. Medium
speed: is displayed in the status area.
2. Move the manipulator to the cutting start position with [Axis Keys]. At
this time, do not release the pose input in Step 2.
3. With the cursor located on the line number, press [SELECT].
“VJ=25.00,” which shows the speed. While pressing [SHIFT]
Set the speed to 12.50%.
6. Press [2/TOOL ON]. “TOOLON” is displayed in the input buffer line.
7. Press [ENTER]. The TOOLON instruction is registered.
1-22
 Step 4 -- Cutting End Position

Define the cutting end position.
1. Move the manipulator to the cutting end position with [Axis Keys]. It is
necessary to choose a direction in which the treatment device and the
tools do not interfere when the manipulator moves, and teach that
position.
2. Set linear interpolation (MOVL) by pressing [MOTION TYPE].
3. With the cursor located on the line number, press [SELECT].
4. The input buffer line appears. Move the cursor to the right to “V=11.0,”
which shows the speed.
Press [SELECT] to enable the input of numbers. Then, input the
desired value of 50.0mm/s with [Numeric Keys] and press [ENTER].
6. Press [./TOOL OF]. “TOOLOF” is displayed in the input buffer line.
7. Press [ENTER]. The TOOLOF instruction is registered.
1-23
1.1.3.3 Confirmation of Cutting Operation (Speed Limitation Drive)

The speed limitation drive is executed to confirm the taught path.
All the operations operate below the limitation speed during teach mode
(250 mm/s usually) in the speed limitation drive. If the taught speed is
below the limitation speed, the operation is executed at the same speed
as the teaching procedure.
1. Switch the mode switch on the programming pendant to “PLAY.”

2. Select {UTILITY} and {SETUP SPECIAL RUN}. The SPECIAL PLAY
window appears.
3. Move the cursor to the “SPEED LIMIT” setting and press [SELECT].
The condition becomes “VALID” and the speed limit is turned ON.
 Cutting Execution
Once the path has been determined, cutting is finally executed at actual
speed. If the job is played back with the speed limitation drive disabled,
cutting is executed at taught speed.
1-24
1.2 Operation for Tool Control
1.2.1 Function Keys

Each function used for tool control is allocated on the [Numeric Keys] of
the programming pendant.
Registers the TOOLON instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLON
operation is executed.
Registers the TOOLOF instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLOFF
operation is executed.
Registers the CALL instruction for the reserved job TOOLONxx.
Registers the CALL instruction for the reserved job TOOLOFxx.
1-25
1.2.2 Tool Control Settings

The following setting can be performed on the GENERAL DIAGNOSIS
window.
1. Select {GENERAL} under the main menu.
2. Select {GENERAL DIAGNOSIS}.
– The GENERAL DIAGNOSIS window appears.
– Select “CONTINUE” to continue the work operation when the

manipulator is restarted after it abort for any reason during the work
operation.
Select “STOP” to abort the work operation if the manipulator stops.
When the manipulator is restarted, it moves without doing any work.
Use the work start command to restart the work instruction.
3. Select the setting data of “WORKING ABORT PROCESS”.
– Each time [SELECT] is pressed, “CONTINUE” and “STOP” is
alternately displayed. The displayed state is the current setting.
1-26
1.2.3 Work Instructions
1.2.3.1 TOOLON/TOOLOF Instructions

These instructions are to perform TOOLON/TOOLOFF. The function keys
are [TOOLON] and [TOOLOF].
1. Select {JOB} under the main menu.

2. Select {JOB}.
3. Press [TOOLON] or [TOOLOF].
– The TOOLON or TOOLOF instruction is displayed in the input buffer
line. Or press [INFORM LIST] to display the instruction box and
select the TOOLON/TOOLOF instruction.
– TOOLON
Turns ON the work instruction.
Turns ON the work start command (system output relay #51530)
and waits for the work start response (system input relay #41130).
The next instruction is executed when the work response turns ON.
The work start response relay turns ON immediately after the work
start command is output.
– TOOLOF
Turns OFF the work instruction.
Turns ON the work end command (system output relay #51531) and
waits for the work end response (system input relay #41131).
The next instruction is executed when the work end response turns
ON.
The work end response relay turns ON immediately after the work
end command is output. The work instruction is programmed to hold
after the work start command turns ON and to turn OFF when the
work end command turns ON.
When the manipulator stops during the work operation, the work
instruction turns OFF.
When restarting, turn ON the work instruction when “WORKING
ABORT PROCESS” is set to “CONTINUE”. Do not turn OFF the
work instruction when “STOP” is set.
WORK START WORK END INHB WORK CONT #70040
WORK INST
HOLD
WORK START
WORK START
RESPONSE
WORK END
WORK END
RESPONSE
4. Press [INSERT].
5. Press [ENTER].
1-27
1.2.3.2 CALL Instruction

This instruction calls a reserved job TOOLONxx or TOOLOFxx. The
function keys for registration are [TOOLON JOB] and [TOOLOF JOB].

2. Select {JOB}.
3. Press [TOOLON JOB] or [TOOLOF JOB].
– The CALL instruction is displayed in the input buffer line.
4. Select the job name.

– The JOB LIST window appears.
5. Press [PAGE].
– The window for character input appears.
The job name can now be changed.
– Modify the job name and press [ENTER].
6. Press [INSERT].
7. Press [ENTER].
1-28
1.2.3.3 WVON Instruction
This instruction starts the weaving motion. Specify conditions in the

weaving condition file when registering the WVON instruction.

2. Select {JOB}.
3. Press [INFORM LIST].
4. Select the WVON instruction.
– The WVON instruction is displayed in the input buffer line.
– To register the instruction displayed in the input buffer line without

editing, press [INSERT] and then press [ENTER].
5. Select the file number and edit.
– The input line is displayed.
– Input weaving file number using [Numeric Keys] and press [ENTER].
(In the following example, 2 is entered.)
6. Press [INSERT].
7. Press [ENTER].
1.2.3.4 WVOF Instruction
This instruction ends the weaving motion.

2. Select {JOB}.
4. Select the WVOF instruction.
– The WVOF instruction is displayed in the input buffer line.
5. Press [INSERT].
6. Press [ENTER].
1-29
1.3 Weaving Operation
1.3.1 Weaving Basic Coordinate System

Weaving is performed based on the following coordinate system. This
coordinate system is automatically generated when weaving is executed.
Wall direction
Direction of travel
Horizontal direction
Weaving Basic Coordinate System
Wall Direction: Z-direction of the robot axis

Horizontal Direction: The direction to the approach point from the wall
Direction of Travel: The direction in which the manipulator moves from the
weaving start point to the end point
SUPPLE
The approach point is a point indicated by a step immedi-
-MENT ately before the step where weaving starts.
Z-axis
Wall direction
Approach point
Horizontal
direction
Depending on the mounting status and shape of the work-

piece, a definition of the above coordinate system may not
be sufficient to generate a weaving pattern. In this case,
register the reference point REFP 1, REFP 2, or REFP 3
NOTE (MODE: ELLIPSE).
If the “MODE” is set to “ELLIPSE”, the reference point
REFP 1 will not be referred to.
For details, see chapter 1.3.4.2 “Editing the Condition
Data” .
1-30
1.3.1.1 Cases that Require the Registration of Reference Points
The registration of the reference point REFP 1, REFP 2, or REFP 3 is not

usually required. They are required only with a special workpiece
condition, etc.
The REFP 1, that defines the wall direction, is a point on the wall surface
or its expansion plane. The REFP 2, which defines the horizontal
direction, is a point at the right or left side of the wall.
If the “MODE” is set to “ELLIPSE”, REFP 3 is the reference point which

defines the direction of travel.
REFP 1 REFP 2
On the wall surface or At the right or left side of the wall
its expansion plane
Wall
Wall
REFP 2
REFP 1
Wall direction Wall direction
REFP 2
REFP 1 Direction Direction
of travel of travel
Horizontal
direction
REFP 3
If MODE is ELLIPSE, REFP 3 is
a point in the direction of travel.
Direction
of travel
REFP 3
Horizontal
direction
For information on registering REFP, refer to “YRC1000

SUPPLE GENERAL OPERATOR’S MANUAL (RE-CSO-A051)
-MENT
3.2.3.2 Registering Reference Point Instructions”.
< Example 1 >

REFP 1 is registered because the wall direction is not parallel to the Z-axis
of the robot coordinates.
Example
Wall direction
0003 MOVL V=120
0004 WVON WEV#(1)
0005 REFP 1
REFP 1 0006 MOVL V=50
0007 WVOF
1-31
< Example 2 >

REFP 2 is registered because the approach point is at another side of the
wall.
Example
Wall
Approach point Approach point 0009 MOVJ VJ=25.00
0010 MOVL V=120
0011 WVON WEV#(1)
REFP 2
0012 REFP 2
0013 MOVL V=50
0014 WVOF
If the weaving start step (immediately before WVON) and

the previous step (approach point) are same, the weaving
NOTE start point and the approach point become same, and the
horizontal direction become undefined.
In this case, register the reference point REFP 2.
1-32
1.3.2 WVON
1.3.2.1 Function
This is the weaving start operation.
1.3.2.2 Syntax
The tag to be used varies according to the control group of job.
Weaving condition
WVON 2 WEV# ( file number ) C
Weaving half-
1 RBn 3 AMP= amplitude (mm) A B
Weaving
A 4 FREQ= frequency B
Weaving angle
5 ANGL= (degree)
C END
Starting direction
6 DIR= of weaving
Table 1-1: Job Type and Control Group

Type Control Group of Job Note
Independent Job with one manipulator (Standard)
Coordinated Job with two manipulators Option
Table 1-2: Tag Usage Limitation

Tag Control Group of Job Note
1 2
RB1 X O
RB2 X O
RB3 X O
RB4 X O
RB5 X O
RB6 X O
RB7 X O
RB8 X O
WEV#( ) O O
AMP= O O
FREQ= O O
ANGL= O O
DIR= O O
O: Available
X: Not available
1-33
1.3.2.3 Explanation
 RBn [1]
Be sure to choose one of the following tags.
Tag Explanation Note
RBn Specifies the weaving motion
of robot 1 to 8.
 WEV# (Weaving condition file number)/AMP [2] = Weaving half-

amplitude [3]
WEV# Specifies the weaving No. 1 to 16
(Weaving condition file number. The number can be
condition Conditions for the weaving specified by B/I/D/LB/LI/
file number) motion are registered in the LD variable.
weaving condition file.
AMP = Specifies the half-amplitude of Half-amplitude: 0.1 to 99.9
Weaving weaving. mm
half- The half-amplitude can be
amplitude specified by B/B[ ]/LB/
LB[ ]/I/I[ ]/LI/LI[ ]/D/D[ ]/LD/
LD[ ] variable.
(Unit: 0.1 mm)
 FREQ = Weaving frequency [4]

Only when “AMP = Weaving half-amplitude” is selected in the above
“WEV# (Weaving condition file number)/AMP [2] = Weaving half-
amplitude [3]” , be sure to add the following tag.
FREQ = Specifies the weaving Frequency: 0.1 to 5.0 Hz
Weaving frequency. The frequency can be
frequency specified by B/I/D/B[ ]/I[ ]/
D[ ]/LB/LI/LD/LB[ ]/LI[ ]/
LD[ ] variable.
(Unit: 0.1 Hz)
 ANGL = Weaving angle [5]

Only when “AMP = Weaving half-amplitude” is selected in the above
“WEV# (Weaving condition file number)/AMP [2] = Weaving half-
amplitude [3]” , this tag is added or omitted after “FREQ = Weaving
frequency [4]”
ANGL = Specifies the weaving angle. Angle: 0.0 to 180.0 degree
Weaving The degree can be
angle specified by B/I/D/B[ ]/I[ ]/
D[ ]/LB/LI/LD/LB[ ]/LI[ ]/
LD[ ] variable.
(Unit: 0.1)
1-34
 DIR = Starting direction of weaving [6]

This tag can be added or omitted.
DIR = Specifies the starting direction Direction: 0 to 1
Starting of weaving. 0: Forward
direction of 1: Backward
weaving The direction can be
specified by B/I/D/B[]/I[]/
D[]/LB/LI/LD/LB[]/LI[]/LD[]
variable.
1-35
Setting conditions for weaving

SUPPLE
-MENT
• Weaving half-amplitude
Specify the amplitude size of weaving motion.
Half-amplitude
• Weaving angle
Specify the angle of weaving motion.
Angle: 0.0 to 180.0 Vertical/horizontal distance:
1.0 to 25.0mm
Angle
Vertical Vertical
distance
Horizontal direction Horizontal direction
Horizontal Horizontal
distance
M ODE: TRIANGLE, L-TYPE MODE: TRIANGLE, L-TYPE
• Starting direction of weaving

Specify the starting direction of weaving motion.
Forward Backward
SINGLE 2 3
1 4 2
3
4 1
direction direction
Forward Backward
2 2
TRIANGLE 3 1
1 Horizontal 3 Horizontal
direction direction
Forward Backward
3 2
L-TYP E 4 1
2 3
1 Horizontal 4 Horizontal
direction direction
Forward Reverse
2 4 5
3
E LLIP SE
1 Travel 1 Travel
direction direction
4 5 3 2
direction direction
1-36
1.3.2.4 Registering the WVON Instruction

This is the instruction to start the weaving operation.
1. Move the cursor to the address area.
– The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
3. Select “DEVICE”.
IN/OUT
ARCON ARCCTE
CONTROL
ARCOF
DEVICE
VWELD
MOTION
AWELD
ARCSET
ARITH
WVON SHIFT
WVOF OTHER
ARCCTS SAME
PRIOR
4. Select the WVON instruction.

– The “WVON” instruction appears in the input buffer line.
JOB EDIT DISPLAY UTILITY
JOB CONTENT
IN/OUT
JOB NAME: WORK A STEP NO: 0003
ARCON ARCCTE
CONTROL GROUP: R1 TOOL: 00 CONTROL
0000 NOP ARCOF
DEVICE
0001 MOVJ VJ=80.00 VWELD
0002 MOVL V=800 MOTION
AWELD
0003 ARCON ARITH
0004 MOVL V=50 ARCSET
0005 MOVL V=50 WVON SHIFT
0006 ARCOF WVOF OTHER
0007 END
ARCCTS SAME
PRIOR
WVON WEV#(1)
Main Menu Simple Menu !Turn on servo power
1-37
5. Press [SELECT], and set the file number in the DETAIL EDIT window.
– Select the file number (1 to 255).
(1) Move the cursor to the file number and press [SELECT].
(2) Input the file number using [Numeric Key] and press [ENTER].
WVON WEV#(1)
DATA EDIT DISPLAY UTILITY
DETAIL EDIT
WVON
WEAVING FILE : WEV#() 1
SET METHOD : WEV#(1)
DIRECTION : UNUSED
WVON WEV#(1)
6. Press [ENTER].
– The set contents are displayed in the input buffer line.
7. Press [ENTER] again.
– The set contents are registered in the job.
JOB CONTENT
IN/OUT
JOB NAME: WORK A
ARCON ARCCTE
CONTROL GROUP: R1 CONTROL
0000 NOP ARCOF
DEVICE
AWELD
0003 ARCON ARITH
0004 WVON WEV#(1) ARCSET
0006 MOVL V=50 OTHER
WVOF
0007 ARCOF
0008 END ARCCTS SAME
PRIOR
WVON WEV#(1)
– When the set contents are not to be registered, press [CANCEL] to

return to the JOB CONTENT window.
1-38
1.3.3 WVOF Instruction
1.3.3.1 Function
This is the weaving end instruction.
1.3.3.2 Syntax
The control group of job limits the tag usage.
WVOF END
1 RBn
Table 1-3: Job Type and Control Group

Type Control Group of Job Note
Independent Job with one manipulator (Standard)
Coordinated Job with two manipulators Option
Table 1-4: Tag Usage Limitation

Tag Control Group of Job Note
1 2
RB1 X O
RB2 X O
RB3 X O
RB4 X O
RB5 X O
RB6 X O
RB7 X O
RB8 X O
O: Available
X: Not available
1-39
1.3.3.3 Explanation
 RB1/RB2/RB3/RB4/RB5/RB6/RB7/RB8 [1]
RBn Specifies the weaving motion
of robot 1 to 8.
<Example>
NOP
MOVJ VJ=50.00 ··· Step 1
MOVL V=220 ··· Step 2
WVON WEV#(2) ··· Weaving start
ARCON AC=220 AVP=100 T=0.50 ··· Welding start
ARCOF AC=160 AVP=90 T=0.50 ··· Welding end
WVOF ··· Weaving end
MOVJ VJ=50.00 ··· Step 6
END ···
Standby position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
1-40
1.3.3.4 Registering the WVOF Instruction

This is the instruction to end the weaving operation.
1. Move the cursor to the address area.
– The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
3. Select “DEVICE”.
IN/OUT
ARCON ARCCTE
CONTROL
ARCOF
DEVICE
VWELD
MOTION
AWELD
ARCSET
ARITH
WVON SHIFT
WVOF OTHER
ARCCTS SAME
PRIOR
4. Select the “WVOF” instruction.

JOB CONTENT
IN/OUT
JOB NAME: WORK A
ARCON ARCCTE
ARCOF
0000 NOP DEVICE
AWELD
0003 ARCON ARITH
ARCSET
0004 MOVL V=50
0006 ARCOF WVOF OTHER
0007 END
ARCCTS SAME
PRIOR
WVOF
5. Press [ENTER].
– The set contents are registered in the job.
JOB CONTENT IN/OUT

JOB NAME: WORK A ARCON ARCCTE
ARCOF
0000 NOP DEVICE
AWELD
0003 ARCON ARITH
ARCSET
0004 WVON WEV#(1)
0006 MOVL V=50 WVOF OTHER
0007 ARCOF
0008 END ARCCTS SAME
PRIOR
WVOF
1-41
1.3.4 WEAVING CONDITION Window
A
B
C
D
E
F
A. COND NO. (1 to 255)

The weaving condition file number between 1 and 255 is shown.
B. MODE, C. SMOOTH
Set the weaving mode to SINGLE, TRIANGLE, L-TYPE, or ELLIPSE.
For the SINGLE, TRIANGLE, or L-TYPE mode, ON/OFF of SMOOTH
can be set.
0: With smoothing
1: Without smoothing
Single Triangle L-type
Weaving Modes Smooth
D. SPEED TYPE (FREQUENCY, MOVING TIME)

Specify the setting type of the weaving motion speed.
Two types are available: setting by frequency and setting by the moving
time in each weaving section.
1-42
E. FREQUENCY
Specify the weaving frequency if “SPEED TYPE” is set to “FRE-
QUENCY”. Note that when the mode is set to “SINGLE” and the speed
type is set to “FREQUENCY”, the maximum frequency is determined by
the amplitude as illustrated in the graph below. Specify a frequency
within the allowable range.
Amplitude 60
(mm)
Usable
50
Not usable
40
30
20
10
0 1 2 3 4 5
Frequency (Hz)
Maximum Frequencies for Different Amplitudes
F. AMPLITUDE TYPE (SAME, EACH)

Specify the amplitude type of weaving, SAME or EACH.
When the amplitude type is set to EACH, the right-left amplitude for SIN-
GLE or the lateral-longitudinal amplitude for ELLIPSE (V: semi-minor
axis, H: semi-major axis) can be specified.
When set to SAME in the SINGLE, TRIANGLE, or L-TYPE mode
When set to EACH in the SINGLE, TRIANGLE, or L-TYPE mode
The definitions of “right” and “left” differ depending on the wall direction,
and the wall side is defined as “left”.
Half amplitude: Half amplitude:
left left
SINGLE
Half amplitude: Half amplitude:
right right
Horizontal direction Horizontal direction
1-43
When set to SAME in the ELLIPSE mode
When set to EACH in the ELLIPSE mode
3 2
Half amplitude:
V (semi-minor axis) Half amplitude:
H (semi-major axis)
1
ELLIPSE
Travel direction
4 5
Horizontal
direction
G. PATTERN
• AMPLITUDE
Specify the amplitude size at weaving when MODE is set to SINGLE
or ELLIPSE.
Half-amplitude
When AMPLITUDE TYPE is set to EACH in the above step F, spec-

ify the amplitude size individually for the right-left amplitude for SIN-
GLE or the lateral-longitudinal amplitude for ELLIPSE (V: semi-minor
axis, H: semi-major axis).
1-44
• VERTICAL, HORIZONTAL
If MODE is set to TRIANGLE or L-TYPE, the data for the triangle
must be set to define the weaving pattern.
Wall direction
Vertical/horizontal distance:
1.0 to 25.0 mm
Vertical
distance
Horizontal
distance
MODE: TRIANGLE, L-TYPE
• ANGLE
Specifies the angle of weaving motion.
Wall direction
Angle : 0.0 to 180.0
Horizontal
Angle direction
MODE: SINGLE
Wall direction
Angle: 0.0 to 180.0
Angle
Vertical
distance
Horizontal
distance
MODE: TRIANGLE, L-TYPE
3 2
2
3 Horizontal
1 direction
Travel 45
direction
5
4 5 4
Horizontal
direction
3 2 5
4
Horizontal
1 direction
Travel
direction 135
3
4 2
5
Horizontal
direction
MODE: ELLIPSE
1-45
• TRAVEL ANGLE
Specifies the travel angle of weaving motion.
View A Direction of travel
Travel angle
+
Travel angle 0°
-
View A
0 90
3 2 4 3
1
Travel Travel
direction 1 direction
4 5 5 2
direction direction
-90
2 5
1
Travel
direction
3 4
Horizontal
direction
MODE: ELLIPSE
1-46
H. TIMER (MODE)
As shown below, a single weaving cycle is divided into three or four sec-
tions. The timer mode can be specified for each section.
Wall direction Wall direction Wall direction
Horizontal Horizontal Horizontal

direction direction direction
Single Triangle L-type
Set one of the following timer modes:

WEAV STOP: Weaving stops but manipulator moves.
ROBOT STOP: Manipulator stops.
WEAV STOP: Weaving stops but manipulator moves.
ROBOT STOP: Manipulator pauses.
I. MOVING TIME
If “SPEED TYPE” is set to “MOVING TIME”, the moving time specified
here determines the moving speed in each of the weaving sections
(explained in “TIMER (MODE)” above).
J. STOP TIMER
Specifies the timer to determine weaving stop or manipulator stop for
each section (explained in “TIMER (MODE)” above).
NOTE If the corner radius (CR) is specified in the move instruction,

weaving operations cannot be performed.
When MODE is set to ELLIPSE, weaving operations can be

performed only in MOVL, MOVC, SMOVL, SMOVC, or
IMOV.
NOTE ELLIPSE cannot be used when the teaching such as the

following is performed in the two-manipulator coordinated
system.
• The travel distance of the master-side manipulator is lon-
ger than that of the slave-side manipulator.
1-47
K. HOVER WEAVING COND. (option)

• SET (ON/OFF)
Specifies whether hover weaving is used or not.
• TIMER
Finishes hover weaving when the time specified here ends.
• INPUT SIGNAL
Finishes hover weaving when the input signal specified here is input.
Reference Job
NOP
MOVJ VJ=10.00
MOVJ VJ=25.00
REFP 3
ARCON ASF#(1) Welding start point.
WVON WEV#(1) Reference point for defining the direction of travel.
MOVL V=60
*Teaching by interpolation instruction, not by joint
interpolation.
WVOF The same point with the welding start point.
ARCOF
MOVJ VJ=25.00
MOVJ VJ=25.00
END
In hover weaving, the start and end points are the same.
NOTE Therefore, the weaving direction cannot be determined.
For this reason, the user needs to register a reference point
(REFP 3) to define the direction of travel.
Wall direction
REFP 3
Direction of Travel
Weaving start point

Weaving end point Horizontal direction
Hover Weaving
Wall Direction: Robot axis Z+ direction

Horizontal Direction: Direction from the wall to approach point
Direction of Travel: Direction from weaving start point to REFP 3
In hover weaving, the start and end points are the same.
NOTE Therefore, the arc retry function and arc restart function are
not available.
1-48
1.3.4.1 Displaying the Weaving File

1. Select {ARC WELDING} under the main menu.
JOB PARAMETER
DOUT
MOVE
END
ARC START COND.

ARC WELDING
ARC END COND.

VARIABLE
B001
ARC AUX COND.
IN/OUT
In Out POWER SOURCE

COND.
ROBOT
ARC WELD DIAG.
SYSTEM INFO
WEAVING
Main Menu Simple Menu Set tool mass data
2. Select {WEAVING}.
WEAVING CONDITION
COND NO. 1/255
MODE : SINGLE
SMOOTH : ON
SPEED TYPE : FREQUENCY
FREQUENCY : 3.5 Hz
<PATTERN>
AMPLITUDE : 2.000 mm
VERTICAL : 10.000 mm
HORIZONTAL : 10.000 mm
ANGLE : 45.00 deg.
TRAVEL ANGLE : 5.00 deg.
<TIMER MODE>
POINT1 : WEAV STOP
POINT2 : WEAV STOP
POINT3 : WEAV STOP
DIRECT PAGE
3. Display the desired file number.

(1) The desired file can be called up by using [PAGE].
(2) Press [PAGE] to call the next file.
(3) Press [SHIFT]+ [PAGE] to call the previous file.
1-49
1.3.4.2 Editing the Condition Data

1. Select the item to be edited.
WEAVING CONDITION
COND NO. 1/255
MODE : SINGLE
SMOOTH : ON
FREQUENCY : 3.5 Hz
<PATTERN>
ANGLE : 45.00 deg.
<TIMER MODE>
POINT1 : WEAV STOP
POINT2 : WEAV STOP
POINT3 : WEAV STOP
2. Input the value using [Numeric Key].

WEAVING CONDITION
COND NO. 1/255
MODE : SINGLE
SMOOTH : ON
FREQUENCY : 5.0 Hz
<PATTERN>
ANGLE : 45.00 deg.
<TIMER MODE>
POINT1 : WEAV STOP
POINT2 : WEAV STOP
POINT3 : WEAV STOP
1-50
1.3.5 Prohibiting Weaving

If the weaving instruction is registered during the “CHECK” operation in
the play mode or “TEST RUN” or [FWD] operation in the teach mode,
weaving is performed as well as other move instructions.
However, in the cases when weaving should not be performed because
the manipulator collides with a workpiece, etc., follow the procedure below
to prohibit weaving.
1.3.5.1 Method to Prohibit Weaving during a “CHECK” Operation

1. Press [AREA] on the PLAYBACK window.
2. Select {UTILITY}.
UTILITY EDIT DISPLAY UTILITY
SETUP SPECIAL
RUN
PARALLEL SHIFT
JOB
MIRROR SHIFT
PAM
3. Select {SETUP SPECIAL RUN}.

– The SPECIAL PLAY window appears.
SPECIAL PLAY
LOW SPEED START : INVALID

SPEED LIMIT : INVALID
DRY-RUN SPEED : INVALID
MACHINE LOCK : INVALID
CHECK-RUN : INVALID
WEAV PROHIBIT IN CHK-RUN : INVALID
COMPLETE
4. Select “WEAV PROHIBIT IN CHK-RUN”.

– Each time [SELECT] is pressed, “VALID” and “INVALID” alternate.
1-51
1.3.5.2 Method to Prohibit Weaving during a “TEST RUN” or FWD Operation

1. Press [AREA] on the JOB CONTENT window in the TEACH mode.
2. Select {UTILITY}.
UTILITY EDIT DISPLAY UTILITY
SETUP SPECIAL
RUN
PARALLEL SHIFT
JOB
MIRROR SHIFT
PAM
3. Select {SETUP SPECIAL RUN}.

– The SPECIAL TEACH window appears.
SPECIAL TEACH
WEAV PROHIBIT IN TEST RUN/NEXT : INVALID
COMPLETE
4. Select “WEAV PROHIBIT IN TEST RUN/NEXT”.

SPECIAL TEACH
WEAV PROHIBIT IN TEST RUN/NEXT : VALID
1.3.5.3 Method to Prohibit Weaving by Means of a System Input Signal

The system input signal 40047 is used.
1-52
1.4 Table of Work Instructions

• < > indicates alpha-numerical data.
• If multiple items are shown in one additional item section, select
one.
Table 1-5: Instructions for Material Handling, Press Tending, Cutting, and Other Applications
TOOLON Function Turns ON work tools (work instructions).
Additional UNIT 1 to UNIT 4 Displayed only when using
Item multiple manipulators.
Example TOOLON
TOOLOF Function Turns OFF work tools (work instructions).
Additional UNIT 1 to UNIT 4 Displayed only when using
Example TOOLOF
WVON Function Starts weaving.
Additional RB 1 to RB 8 Displayed only when using
WEV#(<weaving condition file number>) 1 to 255
DIR=(<starting direction of weaving>) 0: Forward
1: Backward
Example WVON WEV#(1)
WVOF Function Ends weaving.
Additional RB 1 to RB 8 Displayed only when using
Example WVOF
1-53
2 Handling Application
2.1 Outlines
2.1 Outlines
2.1.1 Function Keys

Each function used for handling is allocated on the [Numeric Keys] of the
programming pendant.
Switches the signal output of [f•1] and [f•2] ON and

OFF when [INTERLOCK] is simultaneously pressed.
“1” side gripper valve signals (HAND 1-1 to HAND 4-
1) can be allocated to [f•1] and “2” side gripper valve
signals (HAND 1-2 to HAND 4-2) can be allocated to
[f•2]. Alternatively, user signals can be allocated to
the keys. The key allocations can be changed from
the HANDLING window or by changing the AP
parameters directly.
Switches gripper 1 (HAND 1-1/HAND 1-2) output or
the gripper 2 (HAND 2-1/HAND 2-2) output ON and
OFF when [INTERLOCK] is simultaneously pressed.
The output signal is a double-solenoid-type signal.
Also, press these keys during editing on the JOB
CONTENT window in the teach mode to register the
HAND instructions.
Not used.
2-1
2.1 Outlines
2.1.2 HAND Instruction
2.1.2.1 Function
The following instructions open and close the grippers mounted on the
manipulator. They correspond to single-, double-, and triple-position
solenoids. Up to four grippers can be controlled for each manipulator.
The following sequences are available for solenoid signal control,
according to the valve selected.
 SP (single-solenoid)
The HAND instruction turns ON/OFF the gripper valve (x-1). The inverse
signal is output to the gripper valve (x-2). Connect the valve to either one
when used in a single-solenoid.
 2P (double-solenoid)
The HAND instruction turns ON/OFF the gripper valve (x-1). The inverse
signal is output to the gripper valve (x-2).
 3P (triple-position solenoid)
Adding ALL to the HAND instruction allows both gripper valve (x-1) and
gripper valve (x-2) to be turned ON/OFF simultaneously. Functions as a
double-solenoid if ALL is not added to the HAND instruction.
Table 2-1: Valve ON/OFF Condition of Each Solenoid

Instruction SP 2P 3P
(x: Gripper No.) (Valve x-1/x-2) (Valve x-1/x-2) (Valve x-1/x-2)
HAND x ON ON/- (-/OFF) ON/OFF ON/OFF
HAND x OFF OFF/- (-/OFF) OFF/ON OFF/ON
HAND x ON ALL - - ON/ON
HAND x OFF ALL - - OFF/OFF
2-2
2.1 Outlines
2.1.2.2 Instruction and Additional Items
HAND 1 OFF ALL
 (1) (2) (3)
(1) Gripper Number(1 to 4)

Required.
(2) Gripper Output Status (ON/OFF)
Required.
Select ON or OFF.
(3) Valve Simultaneous Control (ALL)
Adds to turn valves 1 and 2 ON or OFF simultaneously.
2-3
2.1 Outlines
2.1.3 HSEN (Gripper Sensor) Instruction
2.1.3.1 Function
Confirm that the gripper sensor is in the specified status. If the gripper
sensor is in the specified status, the result is $B014* and the next
instruction is executed. If a timer is specified, the instruction waits for the
specified time (including infinity) to be input.
2.1.3.2 Instruction and Additional Items
HSEN 1 ON T=10.00
  (1) (2) (3)
(1) Sensor Number(1 to 8)

Required.
(2) Sensor Input Status (ON/OFF)
Required.
Select ON or OFF.
(3) Signal waiting time(T=0.01 to 655.35 sec)
FOREVER: Unlimited time
If omitted, T=0.
$B014: Variable for execution result

Sets the execution result.
0: is set when the instruction is ended before the timer is over.
1: is set when the instruction is ended when the timer is over.
2-4
2.1 Outlines
2.1.3.3 Examples
HSEN 1 ON FOREVER
OFF FOREVER
Waits until sensor 1 turns ON (OFF).

At completion, the result (1: gripper sensor 1 is ON (OFF)) is set in $B014.
HSEN 1 ON
Checks whether sensor 1 is turned ON at completion of HSEN instruction.

The result (0: gripper sensor 1 is OFF, 1: gripper sensor 1 is ON) is set in
$B014.
HSEN 1 ON T=10.00
Waits 10 seconds for gripper sensor 1 to turn ON.

Sets the result 1 (gripper sensor 1 is ON) in $B014 if the sensor input
turns ON. Sets the result 0 (gripper sensor 1 is OFF) if the sensor does
not turn ON after 10 seconds.
To observe the $B014 contents with an IF statement, use the GETS
instruction to read the contents to a B variable.
2-5
2.1 Outlines
2.1.4 Handling Window
1. Select {ROBOT} under the main menu.

2. Select {HANDLING DIAG}.
– The HANDLING window appears.
3. Select “F1 KEY ALLOCATION” or “F2 KEY ALLOCATION,” and then

edit.
– The selection dialog box appears.
– If a signal from “HAND1” to “HAND4” is selected, the key allocation

to the corresponding gripper valve signal can be modified. (In the
following example, “HAND3” is selected in the “F2 KEY
ALLOCATION.”)
When “GENERAL OUT” is selected, the output number of user

signal is asked.
2-6
2.1 Outlines
– Input desired number with [Numeric Keys] and press [ENTER] to

change the allocation of user output signal.
An error message is displayed if the input number lies outside the

designated range. Press [CANCEL] to cancel the modification of
the key allocation.
– If [f•1] or [f•2] and [INTERLOCK] are pressed simultaneously, the
output of the designated signal is switched ON and OFF.
NOTE The “-1” gripper valve signals can be allocated to [f•1] and
the “-2” gripper valve signals can be allocated to [f•2].
4. Select “SHOCK SENSOR FUNC” or “SHOCK SENSOR INPUT,” and

then edit.
– If “SHOCK SENSOR FUNC” is selected, “USED” and “NOT USED”
are alternately displayed.
If “SHOCK SENSOR INPUT” is selected, “VALID” and “INVALID” are
alternately displayed.
The displayed state is the current setting.
SHOCK SENSOR FUNC : NOT USED
SHOCK SENSOR INPUT : VALID
2-7
2.1 Outlines
2.1.5 Shock Sensor Function

If “SHOCK SENSOR FUNC” is “USED” in the HANDLING window, the
shock sensor is enabled. When the shock sensor does not exist, set
“NOT USED.”
2.1.6 Shock Sensor Input Signal

• Function
When this signal turns OFF, “SHOCK SENSOR WORKING” is dis-
played on the programming pendant and the system enters HOLD
status.
• Signal Condition
The signal is normally an ON (NC) signal.
• How to Use this Signal
Input the shock sensor output signal to #20026 (CN309-B2 of AIO
board).
2.1.7 Shock Sensor Input Reset

• Function
This function resets the HOLD status and enables the axis operation
and [FWD]/[BWD] operations in order to allow the manipulator to be
retracted after shock sensor operation.
Set the function on the HANDLING window. If “SHOCK SENSOR
FUNC” is “USED” and “SHOCK SENSOR INPUT” is “INVALID” in
the teach mode, “SHOCK SENSOR INP. RELEASING” is displayed
and the input is disabled. The input is enabled if “SHOCK SENSOR
INPUT” is “VALID.”
• How to Use this Function
Refer to chapter 2.1.4 “Handling Window” for details about using
this function.
2.1.8 Low Air Pressure Input Signal

• Function
If the air pressure drops, this signal turns ON and triggers a user
alarm (system section) in the play mode. In the teach mode, the
message “AIR PRESSURE LOWERING” is displayed.
• Signal Condition
The signal is normally an OFF (NO) signal.
• How to Use this Signal
Input the low air pressure signal to #20027 (CN309-A2 of AIO01
board). The alarm can be reset by turning OFF the signal and reset
the alarm
To perform axis operations while the air pressure is low, set to teach
mode and reset the alarm. The above message is displayed, but
manipulator operations are possible.
2-8
2.2 Registering Instructions
2.2.1 HAND Instruction

This instruction turns ON/OFF the gripper valve signal and controls the
tool.

2. Select {JOB}.
3. Press [TOOL 1 ON/OFF] or [TOOL 2 ON/OFF].
– “HAND 1 ON” is displayed if [TOOL 1 ON/OFF] is pressed; “HAND 2
ON” is displayed if [TOOL 2 ON/OFF] is pressed in the input buffer
line.
If “HAND” is selected after pressing [INFORM LIST], “HAND 1 ON”
is displayed.
– To register the instruction shown in the input buffer line without

editing, press [INSERT] and then press [ENTER].
4. Select the gripper number and edit.
– Input the gripper number with [Numeric Keys], and press [ENTER].
5. Select the gripper output status and edit.

– If the UP or DOWN cursor is pressed together with [SHIFT], “ON”
and “OFF” are alternately displayed.
– If no settings are to be made for other additional items, press

[INSERT] and then press [ENTER]. The HAND instruction is
registered.
6. Edit the valve simultaneous control.
– If inserting a valve simultaneous control (to make the gripper valve 1
output same as the valve 2 output), select “HAND.”
2-9
– Press [SELECT]. The DETAIL EDIT window appears.

Select “VALVE SIM CTRL.”
– The selection dialog box appears.
– Select “ALL.”
The data of “VALVE SIM CTRL” items change to the “ALL” and the
“ALL” tag is added to the input buffer data.
– Press [ENTER] to display the JOB CONTENT window.

7. Press [INSERT].
8. Press [ENTER].
2-10
2.2.2 HSEN Instruction

This instruction monitors the various inputs used for handling and outputs
the monitor result as a variable.
2. Select {JOB}.
4. Select the HSEN instruction.
– The HSEN instruction is displayed in the input buffer line.
– To register the instruction shown in input buffer line without editing,

press [INSERT] and then press [ENTER].
5. Select the sensor number and edit.
– Input the sensor number with [Numeric Keys], and press [ENTER].
6. Select the sensor input status and edit.

– If the UP or DOWN ARROW cursor is pressed together with
[SHIFT], “ON” and “OFF” are alternately displayed.
– If no settings are to be made for other additional items, press

[INSERT] and then press [ENTER]. The HSEN instruction is
registered.
7. Edit the signal waiting time.
– If inserting a signal waiting time, select “HSEN.”
Press [SELECT]. The DETAIL EDIT window appears.

Move the cursor to “WAIT TIME”.
2-11
– Press [SELECT]. The selection dialog box appears.

Move the cursor to “T=”.
– Press [SELECT]. “T=” is set for WAIT TIME, and a numerical value
entry field appears on the right. Move the cursor to the field.
– Press [SELECT]. The input line appears.

Input a desired waiting time by using [Numeric Keys].
– Press [ENTER]. The input value is shown in the input buffer line.
– To keep the waiting status for unlimited time, move the cursor to
“FOREVER” in the above-mentioned selection dialog box, and press
[SELECT].
– After editing the details, press [ENTER] to return to the JOB

CONTENT window.
8. Press [INSERT].
9. Press [ENTER].
2-12

• <> indicates alpha-numerical data.
• If multiple items are shown in one additional item section, select one.
Table 2-2: Handling Instructions

HAND Function Turns ON/OFF signals to the gripper valves to open and close grippers.
Additional <Gripper Number> 1 to 4
Item Required.
<Gripper Output Status> ON or OFF
Required.
ALL Valve simultaneous control
Used to turn gripper valves 1 and 2
ON or OFF simultaneously if a 3P
solenoid is used.
Example HAND 1 ON
HAND 1 OFF ALL
HSEN Function Monitors the sensor inputs used for handling applications and outputs the
monitored results to variable $B014.
Additional $B014 Result variable.
Item Cannot be displayed on screen.
<Gripper Sensor Number> 1 to 8
Required.
<Sensor Input Status> ON or OFF
Required.
T=<signal waiting time> or T:0.01 to 655.35 seconds
FOREVER FOREVER: Unlimited time
If omitted, T=0.
Example HSEN 1 ON FOREVER
HSEN 1 OFF
HSEN 1 ON T=10.00
2-13
Index
Numerics
2P (double-solenoid) .............................................................................. 2-2

3P (triple-position solenoid) .................................................................... 2-2
AIO01 board ......................................................................................... 2-8

amplitude size at weaving..................................................................... 1-44
angle of weaving motion ....................................................................... 1-45
approach point ............................................................................ 1-30, 1-32
cutting operation .................................................................................. 1-24
FREQUENCY ..................................................................................... 1-42

function keys for handling ....................................................................... 2-1
GENERAL DIAGNOSIS window ........................................................... 1-26

general-purpose application .................................................................. 1-20
gripper number .............................................................................. 2-3, 2-13
gripper output status ...................................................................... 2-3, 2-13
gripper sensor number ......................................................................... 2-13
gripper valve signal ......................................................................... 2-1, 2-9
HAND instruction .................................................................... 2-2, 2-9, 2-13

handling application ............................................................................... 2-1
HANDLING Window........................................................................ 2-1, 2-6
HOVER WEAVING .............................................................................. 1-48
HSEN (Gripper Sensor) Instruction.......................................................... 2-4
HSEN instruction ......................................................................... 2-11, 2-13
low air pressure input signal ................................................................... 2-8
Index-1
Index
MODE ................................................................................................ 1-42
NEW JOB CREATE window ................................................................... 1-1
Path Confirmation ................................................................................ 1-13

playback ............................................................................................. 1-19
REFP 1 ....................................................................................... 1-30, 1-31

REFP 2 ....................................................................................... 1-30, 1-32
REFP 3 ............................................................................................... 1-30
reserved job ........................................................................................ 1-25
sensor input status ............................................................................... 2-13

sensor number ...................................................................................... 2-4
SERVO ON READY key ......................................................................... 1-1
shock sensor function ............................................................................. 2-8
shock sensor input reset ......................................................................... 2-8
shock sensor input signal........................................................................ 2-8
signal waiting time......................................................................... 2-4, 2-13
single weaving cycle ............................................................................ 1-47
SMOOTH ............................................................................................ 1-42
SP (single-solenoid) ............................................................................... 2-2
speed limitation drive............................................................................ 1-24
switches gripper ..................................................................................... 2-1
switches the signal output ....................................................................... 2-1
teaching ................................................................................................ 1-1

tool control .......................................................................................... 1-25
tool control instruction .......................................................................... 1-25
TOOLOF ............................................................................ 1-25, 1-27, 1-53
TOOLON ........................................................................... 1-25, 1-27, 1-53
Index-2
Index
valve simultaneous control .............................................................. 2-3, 2-9
wall direction ....................................................................................... 1-31

WEAV STOP....................................................................................... 1-47
weaving basic coordinate system .......................................................... 1-30
weaving file ......................................................................................... 1-49
weaving frequency ............................................................................... 1-43
weaving pattern ................................................................................... 1-45
weaving start instruction ....................................................................... 1-29
weaving stop ....................................................................................... 1-47
working abort process specification ....................................................... 1-26
WVOF instruction ........................................................................ 1-29, 1-53
WVON instruction ........................................................................ 1-29, 1-53
Index-3
YRC1000
MATERIAL HANDLING, PRESS TENDING,
CUTTING, AND OTHER APPLICATIONS
OPERATOR’S MANUAL
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495
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12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199
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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.
MANUAL NO. RE-CSO-A053 2

C Printed in Japan March 2017 16-09

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YRC1000

MATERIAL HANDLING, PRESS TENDING,

MANUAL NO. RE-CSO-A053 2

Indicates an imminently hazardous

Indicates a potentially hazardous

Indicates a hazardous situation,

NOTICE is the preferred signal word

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

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

• Before releasing the emergency stop, make sure to remove the

• Observe the following precautions when performing a teaching

Definition of Terms Used Often in This Manual

Description of the Operation Procedure

1.1 Simplified Teaching and Playback..................................................................................... 1-1

1.1.1 Teaching............................................................................................................... 1-1

1.1.2 Playback ............................................................................................................. 1-19

1.1.3 Example for General Purpose Application.......................................................... 1-20

1.2 Operation for Tool Control .............................................................................................. 1-25

1.2.1 Function Keys..................................................................................................... 1-25

1.2.2 Tool Control Settings .......................................................................................... 1-26

1.2.3 Work Instructions................................................................................................ 1-27

1.3 Weaving Operation .......................................................................................................... 1-30

1.3.1 Weaving Basic Coordinate System .................................................................... 1-30

1.3.2 WVON ................................................................................................................ 1-33

1.3.3 WVOF Instruction ............................................................................................... 1-39

1.3.4 WEAVING CONDITION Window........................................................................ 1-42

1.3.5 Prohibiting Weaving............................................................................................ 1-51

1.3.5.3 Method to Prohibit Weaving by Means of a System Input Signal.......... 1-52

1.4 Table of Work Instructions ............................................................................................... 1-53

2 Handling Application ....................................................................................................................... 2-1

2.1 Outlines.............................................................................................................................. 2-1

2.1.1 Function Keys ....................................................................................................... 2-1

2.1.2 HAND Instruction .................................................................................................. 2-2

2.1.3 HSEN (Gripper Sensor) Instruction ...................................................................... 2-4

2.1.4 Handling Window.................................................................................................. 2-6

2.1.5 Shock Sensor Function......................................................................................... 2-8

2.1.6 Shock Sensor Input Signal ................................................................................... 2-8

2.1.7 Shock Sensor Input Reset .................................................................................... 2-8

2.1.8 Low Air Pressure Input Signal .............................................................................. 2-8

2.2 Registering Instructions ..................................................................................................... 2-9

2.2.1 HAND Instruction .................................................................................................. 2-9

2.2.2 HSEN Instruction ................................................................................................ 2-11

2.3 Table of Work Instructions ............................................................................................... 2-13

1 Material Handling, Press Tending, Cutting, and Other Applications

1.1 Simplified Teaching and Playback

1.1.1.1 Preparation for Teaching

4. After the NEW JOB CREATE window appears, press [SELECT].

6. Move the active window to software keypad by pressing the [AREA].

7. Press [ENTER] to register.

Characters which can be Used for Job Names

1.1.1.2 Teaching Procedure

MOVL V=1122 PL=1

Refer to the following JOB CONTENT window. When executing playback,

Fig. 1-1: Teaching a Job

Actual work is not performed here.

 Step 1 -- Standby Position

6. Press [ENTER]. Step1 (Line 0001) is registered.

 Step 2 -- Near the Work Start Position

1. Move the manipulator to the working position using [Axis Keys].