YRC1000 CRC Confirm

General Overview:

In Early 2024 Yaskawa started to implement a CRC reporting method for HC-series robots. This was done to more closely monitor and make end-users more actively aware of changes within their cobot system. This function is detailed at length in the 178949-1CD “Functional Safety” manual (Section 7.3). When enabled, the controller will display a message stating, “The parameter / condition file monitored by TOTAL CRC Confirm has been changed.”. The message makes the operator aware of the fact that a safety related function has been knowingly or unknowingly updated and care should be exercised when operating the robot during its next cycle. The message alone does not prevent operation of the robot but serves as constant reminder that the safety system is operating in an altered state until “Registering” the altered safety files.

Example of the “CRC Confirm” message:

Monitored Safety Functions tracked via CRC Reporting Function:

To view the list of safety functions being monitored on your system, they can be located by following the following steps:

1. Login to “Safety Mode”
2. Choose “SAFETY FUNC”
3. Choose “TOTAL CRC DISPLAY”
4. From the “EDIT” menu choose “SET CRC MONITOR”

The following items are being monitored on all HC-series robots provided by Yasakawa as of Feb. 2024. These settings are loaded via a “CRCMON.DAT” file that is loaded prior to shipment from Yaskawa.

Process for clearing “CRC Confirm” message (steps correspond to the bubbles in the following screen captures):

1. Log in with your Safety Password
2. Choose “SAFETY FUNC.”
3. Choose “TOTAL CRC DISPLAY”
4. Note the fact the “RESULT” is “NG” indicating that some monitored safety feature has been edited/changed.
5. Choose “CLEAR” from the bottom of the screen
6. Note that the “RESULT” in now blank
7. Choose “REGISTER” from the bottom of the screen
8. After having pressed “REGISTER” notice that the “LATCH” and “LAST UPDATE” values of the “TOTAL SAFETY NUMBER” match each other
9. Also note the “RESULT” is “OK” after registering