YRC1000 SUPPLEMENTARY INSTRUCTIONS FOR COLLABORATIVE OPERATION HC SERIES 2-MANIPULATOR COORDINATED CONTROL SPECIFICATION (R0)

September 29, 2026 19:59
Updated

2 Functional Overview

2.1 PFL Function

2.2 Speed Monitor Function

2.3 Avoidance Function

2.4 Force Detection Hold Function

2.5 Escape from Clamping Function

2.6 Direct Teach Function

2.7 External Force Monitor Output

3 Function Setting Procedures

3.1 Enabling the PFL Function

3.2 How to Reconfigure the Torque Sensor Home Position

4.1 External Input

4.2 External Output

4.3 General Input

4.4 General Output

4.5 Specific Input

4.6 Interface Panel Output

4.7 Auxiliary Relay

4.8 Control Status Signal

5 Register Output List

6 Functional Safety Signal List

6.1 Functional Safety Signal Assignments

6.2 Safety Circuit Extended Signal Assignments

6.3 Specific Input Signal Comment Setting

6.4 Timer Delay Time Setting

6.5 Safety Logic Circuit

6.5.1 Safety Logic Circuit (User)

6.5.2 Safety Logic Circuit (System)

7 List of the Functional Safety Condition Files

7.1 Axis Speed Monitoring

7.2 Speed Limit

7.3 External Force Limit Value

8.1 Functions That Cannot be Used with Collaborative Operation Simultaneously

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