1.1 General Product Description
1.2 Smart Pendant Contents Confirmation
1.3 Smart Pendant Specification
1.5 Connection of the Smart Pendant
1.5.1 Connecting to the YRC1000 Controller
1.5.2 Connecting to the YRC1000micro
1.7 Display and Operating Elements
1.7.2 Key Description on Membrane Keypads
1.7.7.1 Emergency Stop Output for YRC1000
1.7.7.2 Emergency Stop Output for YRC1000micro
1.13 Character Input Operation
1.14 Numeric Value Input Operation
1.17.1 Types of Security Level
1.17.2 Default Security Level Passcodes
1.17.3 Security Level Access Information
1.17.4 Selecting Security Level
1.17.5 Security Level Settings
1.17.5.2 Changing Startup Security Level
2 Manipulator Coordinate Systems and Operations
2.1 Control Groups and Coordinate System
2.1.2 Types of Coordinate System
2.2.3 Select Coordinate System
2.3 Operation Check for Emergency Stop Buttons
2.4 Coordinate Frames and Manipulator Jogging
3.2.1 Default Job and Current Job
4.1.2 Jogging the Robot for Teaching
4.1.3 Motion Type (Interpolation Type)
4.1.3.3 Circular Interpolation
4.1.4.1 Teaching Motion Instructions
4.1.4.2 Setting Timer Instruction
4.1.5 Overlapping: The First and Last Steps
4.2.2 Circular Movements with the GO TO POINT Operation
4.2.3 Spline Curve Movements with the GO TO POINT Operation
4.5.3.3 Display Variable Names
4.5.4.3 Input/Output Number Direct Open
4.6.1 Setting Byte, Integer, Double, and Real Type Variables
4.6.2 Setting String (Character) Type Variable
4.6.3 Setting Position Variable with Variable Screen
4.6.3.1 Setting Position Variable by Moving the Manipulator
4.6.3.2 Setting Position Variable Using the Numeric Keypad
4.6.4 Specifying Motion Commands using Position Variables
4.7.1 Use Variable Watch to Monitor Variables
4.7.2 Monitor Values on Variables Screen
4.8.1.2 Entering Local Variables
4.8.1.3 Usage of Local Variable
4.8.1.4 Monitoring Local Variables
4.8.2.3 Job Argument Type Conversion
4.9.1 Changing Teaching Coordinate
5.2.1.1 Selecting the Start Mode
5.3.1.1 Using the Smart Pendant
5.3.1.2 Using an External Input Signal (System Input)
5.3.2.3 Restart After an Emergency Stop
5.3.4.1 Temporary Stop by Mode Change
5.3.4.2 Temporary Stop by the PAUSE Instruction
6.1.3.4 Automatic Estimation of Tool Mass Properties
6.1.4.2 Orientation of Tool Tip
6.1.4.4 Tool Center Point (TCP) Calibration
6.1.7 Tool Interference Model Settings
6.1.7.2 Example Tool Interference Model
6.3.1 Example Usage of User Frames
6.3.2 Methods for User Frame Setting
6.3.4.2 User Frame 3-Points Teach
6.4.1.1 Cubic Zone Setting Operation
6.4.2.1 Axis Zone Setting Operation
6.5.2 Shock Detection Setting Screen
6.5.3 Using Multiple Shock Detection Settings
6.6 Robot Configuration Positions
6.6.2 Move to a Robot Position
6.6.4 Robot Position Confirm Procedure
6.7.1 Verification of Home Position Calibration
6.7.2 Home Position Calibration Methods
6.7.2.1 Individual Axis Calibration Procedure
6.7.2.2 All Axes Calibration Procedure
6.7.2.3 Manual Calibration Procedure
6.8.1 Standard Function Limits
6.10.1 Brake Release Comparison - YRC1000 and YRC1000micro
6.10.2 Brake Release Procedure
7 Concurrent I/O (Input/Output)
7.1 Features of Concurrent I/O
7.2 Classification of Concurrent I/O Signals
7.4.2 Digital Output for a Group
7.5 Monitoring I/O from Smart Pendant Interface
7.5.1 Monitoring I/O Signals by I/O Monitor
7.5.2.1 Smart Pendant I/O Configuration
7.6.1 I/O Detailed View Overview
7.7 EtherNet/IP Status Warning
7.8.1 Edit a Block I/O Setting
7.8.2 Using Block I/O for Tool Operation
7.9 I/O Allocation and EtherNet/IP Configuration
7.9.3.2 Configuring the Adapter
7.9.5 Modifying Allocations using Input/Output Table
7.9.6 Applying EtherNet/IP Presets
8 System and YRC Controller Setting
8.1.4 Enable Membrane Key Legend
8.2.4 Enable Development Access
8.3 Software & Package Management
8.3.2.1 Updating the Smart Pendant Software
8.3.2.2 Installing Presets, Extensions, and other Packages
8.3.3.1 Enabling and Disabling Extensions
8.4.2 Software Pendant Application
8.5.3 Functional Safety Unit (FSU)
8.5.4 Power & Force Limiting (PFL)
8.5.6.1 Install MotoPlus Application Operation
8.5.6.2 Remove MotoPlus Application Operation
8.6.5 Setting Gateway IP Address
8.6.6 Resetting Controller Network Settings
9.1.1 Operation of the 3D Viewer
9.1.5 Display Interference Model
9.1.6 Display Robot Range Limit
9.2 File Transfer & System Backup
9.2.3 System Restore Procedure
9.2.4.1 Overwrite or Skip File(s)
9.2.5 Selection of Target/Source Folder
9.2.5.2 Rename An Existing Folder
9.2.5.3 Select the Target/Source Folder
9.2.6 Selection of Target/Source Folder
9.2.6.2 Rename an Existing Folder
9.2.6.3 Select the Target/Source Folder
10.2 Interface Panel List Screen
10.3 Interface Panel Operation
11.1.1 Direct Teach Description
11.1.2 Direct Teach Access and Setup Panel
11.1.2.3 Select Tool for Direct Teach
11.1.3.1 Enable Teach Button and Enable Tool Button
11.1.3.2 Tool Number for Block I/O State
11.1.3.3 Example on Setting Direct Teach
11.2.1 Avoidance Function Settings
12.1.1 Safety Circuit Board (JANCD-ASF01-E)
12.1.2 PFL Circuit Board (JANCD-ASF04-E)
12.1.3 Expansion Safety I/O Board (JANCD-ASF02-E)
12.1.4 Expansion Safety Terminal Block Board
12.2.4 Tool Interference Configuration
12.3.2 Available I/O Signals in Safety Logic Circuit
12.3.3 Operation of Safety Logic Circuit
12.3.3.2 Selecting System and User Circuits
12.3.3.3 Create New Safety Logic Circuit
12.3.3.12 Transferring and Updating Safety Logic Circuit File
12.3.3.13 Execute Safety Logic Circuit
12.3.4 Setting of Input/Output Signals
12.3.4.1 Setting of General Purpose Input Signal (FSBIN)
12.3.4.2 Setting of General Purpose Output Signal (FSBOUT)
12.3.4.3 Setting of Safety Fieldbus Input Signals (SFBIN (Fieldbus))
12.3.4.4 Setting of Safety Fieldbus Output Signals (SFBOUT (Fieldbus))
12.3.4.5 Setting of Safety Functions Output signals (FSOUT)
12.3.4.6 Setting of Safety Logic Circuit Output Signals (MSOUT)
12.3.4.7 Settings of Specific Input Signals (SPIN)
12.3.5 Setting ON/OFF Status to the Input Signals
12.3.6.1 Correspondence with Hard Wire
12.3.6.2 Display of the Message on the Pendant
12.3.7 General-Purpose Safety Output Monitoring Signal
12.3.7.2 Correspondence between General Purpose Output Signals and Monitoring Signals
12.3.7.3 Example of Setting for Monitoring Signals
12.3.9 Example of Safety Logic Circuit
12.3.9.5 Example 5 (Decelerate and Stop the Robot)
12.3.9.6 Example 6 (Temporarily Disable PFL for Human Collaborative Robots)
12.4 Functional Safety Functions
12.4.2 List of Safety Functions
12.4.3 Safety Functions List View
12.4.4.2 Confirming the Safety Range and Starting the Robot Range Limit
12.4.4.3 Switch the Monitoring Area
12.4.5.2 Confirming the Safety Range and Starting the Axis Range Monitor
12.4.6.1 Outline of the Speed Limit
12.4.6.3 Starting the Speed Limit
12.4.6.4 Speed Limit in MANUAL (TEACH) Mode
12.4.7.2 Starting the Axis Speed Monitor
12.4.8.2 Confirming the Acceptable Angle and Starting the Tool Angle Monitor
12.4.9.2 Confirming and Starting the Tool Change Monitor
12.4.9.3 When Using the Tool Change Monitor Function
12.4.10.2 Confirming and Starting the Tool Number Select
12.4.10.3 When Using the Tool Number Select Function
12.4.11 External Force Monitor
12.4.11.2 Confirming and Starting the External Force Monitor
12.4.11.3 Temporarily Disable All External Force Monitors
12.4.12 Torque Sensor Calibration
12.4.12.1 Monitor Forces During Programming
12.4.12.2 Torque Sensor Calibration
12.4.13.1 Allocation of Safety Logic Circuit Extended Signal
12.4.13.2 Allocation of Safety Fieldbus Signal
12.4.13.3 Enable Condition of Safety Functions Setting
12.4.13.4 Safety Signal Output Value
12.5.1 How to Restart the YRC Controller
12.5.2 Check Items before Operating the Manipulator
12.5.3 About the Behavior near Singularity
12.6.2 Safety Board FLASH Reset
12.6.3 Verify Safety Settings (CRC)
12.6.3.2 Verify Safety Settings (CRC) Screen
12.6.3.3 Change of Condition File by an External Device
12.7 Setting Example of the Safety Functions
12.7.1 Single Safety Laser Scanner to Pause Robot Motion
12.7.2 Single Safety Laser Scanner to Activate Collaborative Operation
12.7.3 Reduce the Robot Speed by Robot Position
12.7.4 Reduce the Robot Speed by Robot Position only when Collaborative Operation Mode
12.7.5 Add the Resume Switch for Collaborative Operation
12.7.6 Output Pendant Emergency Stop
13.1.1 Overview of Classic Interface
13.2 Enter & Exit Classic Interface
13.2.1 Enter the Classic Interface
13.2.2 Exit the Classic Interface
13.3 Classic Interface Display and Operations
13.3.1 Classic Interface Operations
13.3.2 Screen & Keyboard Display
13.3.3 Screen Capture Function
13.4 Application Examples on Classic Interface
13.4.3.1 Entering Maintenance Mode On Classic Interface
13.4.4 Safety Board Flash Reset
13.5.1 Overview of Software Pendant
13.5.2 Export Software Pendant Application from Smart Pendant
13.5.3 Software Pendant Connection
13.5.3.2 Startup of Software Pendant
14.1.2 Recommended USB Memory Stick
14.1.3 Notes on Handling USB Memory Stick
14.1.4 Rules for USB Connectors and USB Memory Sticks
14.1.5 Inserting a USB Memory Stick in Smart Pendant
14.1.6 Inserting a USB Memory Stick in the CPU Board (JANCD-ACP01)
15.1 Startup Errors and Notifications
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