1.5.1 Installation and Wiring Safety
1.6 Notes for Moving and Transferring the MOTOMAN
3.1.1 Using a Crane to Move the Controller
3.1.2 Using a Forklift to Move the Controller
3.5 Procedure of Stacking the Controllers
4.2.1 Three-Phase Power Supply
4.2.2 Noise Filter Installation
4.2.3 Leakage Breaker Installation
4.2.4 Primary Power Supply Breaker Installation
4.3.1 Connecting the Primary Power Supply
4.3.2 Connecting the Manipulator Cable
4.3.3 Connecting the Programming Pendant
4.3.4 User I/O Cable Connection
5 Turning ON and OFF the Power Supply
5.1 Turning ON the Main Power Supply
5.1.2 When Initial Diagnosis Are Complete
5.2 Turning ON the Servo Power
5.2.2 Play Mode Enable Function
5.2.2.3 Procedures for Operation Mode Change
5.3 Turning OFF the Power Supply
5.3.1 Turning OFF the Servo Power (Emergency Stop)
5.3.2 Turning OFF the Main Power
5.3.3 The Method of Stopping Manipulator Operation
6.2 Manual Brake Release Function
7.1 Protection through Security Mode Settings
7.1.1.1 Changing the Security Mode
8.1.1 Home Position Calibration
8.1.2.1 Registering All Axes at One Time
8.1.2.2 Registering Individual Axes
8.1.2.3 Changing the Absolute Data
8.1.2.4 Clearing Absolute Data
8.1.3 Home Position Posture of Manipulator
8.2 Setting the Second Home Position
8.2.1 Purpose of Position Check Operation
8.2.2 Procedure for the Second Home Position Setting (Check Point)
8.2.3 Procedure after the Alarm
8.3.1.2 Registering Coordinate Data
8.3.1.3 Registering Tool Posture Data
8.3.1.4 Setting the Tool Load Information
8.3.2.2 Setting of Tool Calibration Method
8.3.2.3 Teaching of Calibration Point
8.3.2.4 Clearing Calibration Data
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity
8.3.3.1 What is the Automatic Measurement of the Tool Load and the Center of Gravity?
8.3.3.2 Measurement of the Tool Load and the Center of Gravity
8.3.3.3 Measurement of the Moment of Inertia at the Center of Gravity
8.4.3 Tool Load Information Setting
8.4.3.2 How to Calculate Tool Load Information
8.4.3.3 Tool Load Information Registering
8.4.3.4 Tool File Overload Check Function
8.5.1 What is the Work Home Position?
8.5.2 Setting Work Home Position
8.5.2.1 Work Home Position Window
8.5.2.2 Registering/Changing the Work Home Position
8.5.2.3 Returning to the Work Home Position
8.5.2.4 Output of the Work Home Position Signal
8.6.2.1 Cubic Interference Area
8.6.3.1 Axis Interference Area
8.6.4 Clearing the Interference Area Data
8.7.1 Shock Detection Function
8.7.2 Shock Detection Function Setting
8.7.2.1 Shock Detection Level Setting
8.7.2.2 EACH AXIS LEVEL (CURRENT) Window
8.7.2.3 Tool Load Information Setting
8.7.2.5 Instruction of Shock Detection Function
8.7.2.6 Resetting the Shock Detected
8.7.3 High-Sensitivity Shock Detection Function (for Arc Welding Application Only)
8.7.3.1 Manipulator Type for High-Sensitivity Shock Detection Function
8.7.3.2 Setting for High-Sensitivity Shock Detection Function
8.7.3.3 Reading the Tool Load Information on the MAKER INITIAL VALUE Window
8.7.3.4 Explanation of Maker Initial Value
8.7.3.5 Reading the U-Arm Payload
8.7.3.6 Explanation of Maker Initial Value
8.8.1.1 Methods for User Coordinates Setting
8.8.1.2 User Coordinates Files
8.8.3 Clearing the User Coordinates
8.9 Overrun/Tool Shock Sensor Releasing
8.10 Soft Limit Release Function
8.11 All Limit Release Function
8.12 Instruction Level Setting
8.12.2 Setting the Instruction Set Level
8.12.3 Setting the Learning Function
8.13 Setting the Controller Clock
8.15 Numeric Key Customize Function
8.15.1 About the Numeric Key Customize Function
8.15.2.1 Key Allocation (EACH)
8.15.3.2 Instruction Allocation
8.15.3.5 Alternate Output Allocation
8.15.3.6 Momentary Output Allocation
8.15.3.7 Pulse Output Allocation
8.15.3.8 Group (4-bit/8-bit) Output Allocation
8.15.3.9 Analog Output Allocation
8.15.3.10 Analog Incremental Output Allocation
8.15.4 Allocation of I/O Control Instructions
8.15.5 Execution of Allocation
8.15.5.1 Executing the Instruction/Output Control Allocation
8.15.5.2 Executing the Job Call Allocation
8.15.5.3 Executing the Display Allocation
8.15.5.4 Executing the I/O Control Allocation
8.16 Changing the Output Status
8.17 Changing the Parameter Setting
8.18.3 Initializing Parameter File
8.18.5 Initializing System Data
8.18.6 Reset Safety Circuit Board FLASH Data
8.18.6.3 Setting to Hide the Safety Board FLASH Erase Item
8.19.1.1 Applicable Range for the Font Size Change
8.19.1.3 Setting the Font Size
8.19.2 Operation Button Size Setting
8.19.2.1 Applicable Range for the Button Size Change
8.19.2.3 Setting the Button Size
8.19.3 Initialization of Screen Layout
8.19.3.1 Initializing the Screen Layout
8.20 Encoder Back-Up Error Recovery Function
8.20.1 About Encoder Back-Up Error Recovery Function
8.20.2 Encoder Back-Up Error Recovery Function Operation
8.21 Preventive Maintenance Function
8.21.1 Preventive Maintenance Function
8.21.2 Preventive Maintenance Function for the Speed Reducer
8.21.2.1 Diagnose by the Lifetime Calculation
8.21.2.2 Diagnose by the Torque Average Value
8.21.2.3 After Replacement of the Speed Reducer
8.21.3 Inspection Notice Function
8.21.3.2 The Inspection Notice Window
8.21.4 Record of Inspection Date and Replacement Date
8.21.6 Preventive Maintenance for the Hardware
8.21.6.1 Target Components for Diagnosis
8.21.6.2 Replacement Time Display
8.21.6.3 Replacement of Component
8.21.6.4 Display of the Numbers of Motor Revolution and Reverse Revolution
8.21.7 Setting of Preventive Maintenance for the Hardware
8.21.7.1 Setting of Replacement Time Display
8.21.7.2 Mask of Replacement Time Display (Signal Display)
8.21.8 Display of the Numbers of Motor Revolution and Reverse Revolution
8.21.8.1 Display of the Numbers of Revolution and Reverse Revolution
8.21.8.2 Percent Display of the Number of Motor Revolution
8.21.8.3 Resetting the Number of Revolution
8.21.8.4 Changing the Numbers of Revolution and Reverse Revolution
8.21.9 Gas Pressure Check Function
8.21.9.1 Gas Pressure Check Window
8.21.9.2 Registering Criteria Values
8.21.9.3 Execute the Gas Pressure Check
8.21.9.4 When Low Gas Pressure Is Detected
8.22 Operating Status Monitor Function
8.25 Brake Line Ground Judgment Function
8.25.1 About the Brake Line Ground Judgment Function
8.25.3.1 Occurrence of a DC 24V Power Supply Failure (SERVO)
8.25.3.2 Brake Line Ground Check
8.25.3.3 Initializing the Related Information
8.26.2 Changing the Security Mode
8.26.3 Available I/O Signals and Instructions in Safety Logic Circuit
8.26.3.2 Switching Display of System and User Section
8.26.6 Setting ON/OFF to the Input Signals
8.26.7 Setting for the GP Safety I/O Signals
8.26.7.1 Preliminary setting for the GP Safety I/O Signal
8.26.7.2 Setting for the GP Safety Output Signals
8.26.8 Safety Signal Board Allocation
8.26.12 Display of the Message on the Programming Pendant
8.26.13 Enable Switch Link Function
8.26.13.1 Setting of the Enable Switch Link Function
8.26.13.2 Example of Use of the Enable Switch Link Function
8.26.14 Specific Input Signals Allocated to SPIN[xx]
8.26.15 Output to the Control Status Signal
8.26.16 Saving or Loading the File
8.26.17 Initializing the Safety Logic Circuit File
8.26.17.1 Initializing the Safety Logic Circuit File
8.26.17.2 Safety Circuit Board FLASH ROM Data Erase and Reset
8.26.18 Example of Safety Logic Circuit
8.26.19 Alarm List of the Safety Logic Circuit
8.26.20 General-Purpose Safety Output Monitoring Signal
8.27 Robot Stop Factor Monitor Function
8.27.1.1 The Robot Stop Factor
8.27.1.2 The Robot Stop Factor Record Number
8.27.2.1 Displaying the Robot Stop Factor Monitor
8.27.2.2 Clear the Robot Stop Factor Information
8.28 Robot Detachment Function
8.28.2 Setting Maintenance Mode
8.28.3 Setting Robot Detachment Function
8.29.2 Connecting the Dummy Connector
8.29.3 Setting Maintenance Mode
8.29.4 Setting Axes Detachment Function
8.29.5 Specific Output and Messages
8.30 User Group Input and Output
8.30.1 Outline of the Function
8.30.2.1 User Group Input Setting
8.30.2.2 Display of User Group Input
8.30.3.1 User Group Output Setting
8.30.3.2 Display of User Group Output
8.32 Controller Information Display Function
8.33 Power Supply Regeneration Monitor Function
8.33.2 Power Regeneration Window
8.33.3 Regeneration Monitor Window
8.33.5 Resetting the Amount of Regenerated Power for Today
8.33.6 Power Regeneration Monitor Data Output Function
8.33.6.1 Output from GP Output Signals
8.33.6.2 Writing Data to Register Addresses
8.35 Overload Detection Function
8.36 Overload Alarm Management Function
8.36.1 OVERLOAD ALARM MANAGEMENT Window
8.36.2 Overload Anomaly Notification
9.1 System Backup with YRC1000
9.3.1 Automatic Backup Function
9.3.2 Settings for Automatic Backup
9.3.2.1 The SD Card inserted in the Programming Pendant
9.3.2.2 USB Memory connected to the ACP01 Board
9.3.2.3 The SD Card of the ACP01 Board
9.3.2.4 RAMDISK on the ACP01 Board
9.3.2.5 YRC1000 Status and Automatic Backup
9.3.2.7 AUTO BACKUP FUNCTION SET Window
9.3.3 Limiting the Automatic Backup File Creation
9.3.3.1 Setting to Limit the Automatic Backup File Creation
9.4 Loading the Backup Data from the SD Card
10.2.1 Confirmation of Software Version
10.2.2 Automatic Upgrade of the Programming Pendant
11.3 Touch Panel Invalidate Function
12 Modification of System Configuration
12.2 Allocating External I/O Signal
12.2.1 Mechanism to Exchange I/O Signals with External Devices (Standard Settings)
12.2.3 Setup Procedure for the External I/O Allocation Function
12.3 Addition of Base and Station Axes
12.3.1.1 Selection of Base Axis Type
12.3.1.3 Axis Configuration Setting
12.3.1.4 Mechanical Specification Setting
12.3.1.5 Motor Specification Setting
12.3.2.1 Selection of Station Axis Type
12.3.2.3 Axis Configuration Setting
12.3.2.4 Mechanical Specification Setting
12.3.2.5 Motor Specification Setting
12.4 Encoder Connection Settings
13.4.1 Arrangement of Units and Circuit Boards
13.4.2 Cooling System of the Controller Interior
14 Description of Units and Circuit Boards
14.1 Power Supply Contactor Unit (JZRCR-APU0□-1)
14.2 Control Power Supply Unit (CSRA-CPS01Ko)
14.3.2 Unit and Circuit Board in the CPU Unit
14.3.2.1 CPU Board (JANCD-ACP01-E)
14.3.2.2 Robot I/F Circuit Board (JANCD-AIF01-☐E)
14.4 Converter (CSRA-CV□□□0□A)
14.4.1 Converter (Small-Capacity Model)
14.4.2 Converter (Medium/Large-Capacity Model)
14.5 Inverter Unit (CSRA-SDA□□H01A)
14.5.1 Inverter Unit Configuration
14.5.3 Servo Control Board (CSRA-SDCA01AA)
14.6 Safety Circuit Board (JANCD-ASF01-E)
14.6.1 Safety Circuit Board (JANCD-ASF01-E)
14.6.2 Connection for Tool Shock Sensor
14.7 Safety Terminal Block Board (IM-YE250/5-80P)
14.7.2 External Emergency Stop
14.7.4 Connection for Servo-ON Enable Input
14.7.7 General-Purpose Safety Input
14.7.8 General-Purpose Safety Output
14.7.9 Connection for Direct-In
14.7.10 General-Purpose Input (Servo)
14.8 General-Purpose I/O Board (JANCD-AIO0□-E)
14.10 Robot General-Purpose I/O Signal Assignment
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