YASKAWA HC10DT, Quick Start Manual

Page 1: ...0 YASKAWA SMART SERIES HC10DT COLLABORATIVE ROBOT QUICK START GUIDE WITH SMART PENDANT AND YRC1000micro Upon delivery of the product and prior to operation read all included instructions thoroughly an...

Page 2: ...Automation Way Miamisburg OH 45342 Phone 937 847 6200 www motoman com Notes for Safe Operation Read all included manuals carefully before installing operating maintaining or inspecting the system In t...

Page 3: ...courses listed below before proceeding to the next sections HC10 w wo DT YRC1000micro Controller w Smart Pendant Intro to Robotics Yaskawa Safety Principles 1 4 1 How to Access Free Online Training 1...

Page 4: ...sporting CAUTION Use at least two people to transport and unpack the Manipulator and Controller to the installation location Do not transport the Manipulator and Controller at the same time Not follow...

Page 5: ...hexagon socket head cap screws and the anchor bolts must be tightened firmly so they do not loosen over time Refer to section 3 2 Mounting Procedures for Manipulator Base in the MOTOMAN HC10DT INSTRU...

Page 6: ...ntroller Installation The Controller can be installed in a 19 inch server rack with compatible hardware not included Refer to chapter 3 Installation in the YRC1000micro INSTRUCTIONS for detailed instr...

Page 7: ...als for detailed wiring instructions READ FIRST YRC1000micro GPIO and Direct IN Connections Section 1 5 2 Connecting to the YRC1000micro of the YRC1000 YRC1000micro INSTRUCTIONS FOR Smart Pendant Chap...

Page 8: ...Safety I O connects to the bottom section of the Controller see Fig 2 4 Refer to the READ FIRST YRC1000micro GPIO and Direct IN Connections for more details Fig 2 5 Controller Connections 2 4 2 2 Mani...

Page 9: ...Robot Fig 2 7 Base I O Cable Assembly WIRE SIDE SHOWN 2 1 18 19 20 1 2 14 11 12 13 3 4 10 17 16 15 5 6 9 8 7 XXXXXX 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 WHT 2...

Page 10: ...2 9 Pendant Startup Screen If the Pendant does not complete the startup sequence due to an error e g Controller Software incompatibility an Export Logs button appears Use the Export Logs button to sa...

Page 11: ...to view the systems General and Controller Settings 2 Notice the software versions for the Pendant and Controller appear Fig 2 11 Controller and Pendant Software Version 2 6 Power OFF To safely power...

Page 12: ...d Limit will override higher speed s programmed in a running Robot job The TCP speed also defines the maximum speed the Robot can be jogged An envelope with a personalized safety password in the lower...

Page 13: ...to open the Security Access pop up 2 Select the SAFETY access level 3 Enter the personalized safety password found in the included envelope 4 Press ENTER or SAVE NOTICE Safety Access Level is require...

Page 14: ...nging TCP Speed Complete section 3 1 before to changing the TCP Speed 1 Select MENU Safety Settings Safety Functions 2 Highlight the Speed Limit file for collaborative operation 3 Enter the TCP speed...

Page 15: ...factory External Force Monitor setting by selecting Always OFF in the Enable Condition drop down 5 Press READBACK WRITE and CONFIRM to save changes NOTICE Disabling the External Force Monitor enables...

Page 16: ...r mounting any EOAT End of Arm Tooling To calibrate the Robot s torque sensors 1 Complete section 3 1 2 2 Select MENU Safety Settings Torque Sensor Calibration 3 Move the Robot to a position where the...

Page 17: ...cating Manual Teach mode Fig 3 2 Manual Teach Mode 5 Select the Torque Sensor Calibration Position that best suits the installed tool Move the Robot to this position by pressing Move To Position Fig 3...

Page 18: ...nded Position 7 Press CALIBRATE ALL TORQUE SENSOR AT CURRENT POSITION 8 Press READBACK WRITE YES to save the calibration data 9 Refer to section 3 1 2 and change PFL Enable Condition from ALWAYS OFF t...

Page 19: ...rol for selecting the jogging mode Manual Teach mode The Pendant supports six types of Coordinate Frames Smart Frame Moves the Robot in Cartesian directions relative to where the Pendant is with respe...

Page 20: ...us Bar Robot Jog Panel SLOW and FAST membrane keys Review chapters 2 through 5 of the YRC1000 YRC1000micro INSTRUCTIONS FOR Smart Pendant for detailed descriptions for programming and operating the Ro...

Page 21: ...alarms exist all pop ups are shown in a scrollable list An overview of the alarm layout is provided below If an alarm occurs during operation the Robot stops immediately and the ALARM pop up window a...

Page 22: ...olor coded yellow minor alarm red major alarm Alarm Details Contains why the alarm happened and possible solutions Help Links Links located in alarm details will direct the user to screen s with actio...

Page 23: ...Select MENU Program Operate Move Robot 4 On the Move Robot screen select Robot Position Confirm from the Target Position dropdown list 5 Press MOVE TO POSITION to reach the target confirmation positi...

Page 24: ...The B axis is at an angle within the range of 0 or 180 15 Fig 5 1 Example of Singularities To avoid singularities the motion limits of various Robot axes are restricted to prevent it from entering si...

Page 25: ...elow Refer to section 3 1 2 Changing PFL Settings on page 3 4 for instructions to configure the external force monitor value With collaborative operation enabled the collaborative operation lamp locat...

Page 26: ...peration finishes and the manipulator changes to the stop position monitoring state when the Robot achieves one of the following two conditions The clamped state has successfully been removed OR Any a...

Page 27: ...the local YASKAWA website listed on the back cover When using the website to contact Customer Support provide a detailed description of the issue along with complete contact information Allow up to 36...

Page 28: ...KAWA ELECTRIC KOREA CORPORATION 35F Three IFC 10 Gukjegeumyung ro Yeongdeungpo gu Seoul 07326 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 http www yaskawa co kr YASKAWA ELECTRIC TAIWAN CORPORATION 12F...