YASKAWA Motoman XRC, Function Manual

Page 1: ...not be copied reproduced or transmitted to other parties without the expressed written authorization of Motoman Inc 2003 by MOTOMAN All Rights Reserved Because we are constantly improving our product...

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Page 3: ...2 1 Introduction 2 1 2 2 Standard Conventions 2 2 2 3 General Safeguarding Tips 2 4 2 4 Mechanical Safety Devices 2 4 2 5 Installation Safety 2 5 2 6 Programming Safety 2 5 2 7 Operation Safety 2 6 2...

Page 4: ...Twin Drive Function Manual ii MOTOMAN NOTES...

Page 5: ...wing Concurrent I O Parameters Manual for XRC 2001 P N 147626 1 Operator s Manual for General Purpose P N 142099 1 Operator s Manual for Handling P N 142100 1 Operator s Manual for Spot Welding P N 14...

Page 6: ...INTRODUCTION Twin Drive Function Manual 1 2 MOTOMAN NOTES...

Page 7: ...m and maintain the robot cell The robot must not be operated by personnel who have not been trained We recommend that all personnel who intend to operate program repair or use the robot system be trai...

Page 8: ...e and imminent hazards that if not avoided will result in immediate serious personal injury or loss of life in addition to equipment damage WARNING Information appearing under the WARNING caption conc...

Page 9: ...and Outputs The robot must be placed in Emergency Stop E STOP mode whenever it is not in use In accordance with ANSI RIA R15 06 section 6 13 4 and 6 13 5 use lockout tagout procedures during equipmen...

Page 10: ...lved with the operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications of the controller PLC can cause severe personal injury or deat...

Page 11: ...ty equipment for proper operation Repair or replace any non functioning safety equipment immediately Inspect the robot and work envelope to ensure no potentially hazardous conditions exist Be sure the...

Page 12: ...ram changes are made A backup must always be made before any servicing or changes are made to options accessories or equipment to avoid loss of information programs or jobs Do not enter the robot cell...

Page 13: ...peration read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC X...

Page 14: ...roduct The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary d...

Page 15: ...a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or m...

Page 16: ...k envelope to teach a job Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel Observe the following precautions when performing teaching opera...

Page 17: ...pair them immediately and be sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Alway...

Page 18: ...h ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis Ke...

Page 19: ...6 1 Precautions when selecting Motor 6 1 6 2 Precautions when Setting Station Axes 6 1 6 2 1 Setting Mechanical Specifications 6 1 6 2 2 Setting Motor Specifications 6 1 6 2 3 Setting the Rotating Di...

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Page 21: ...space for equipment installation A system where a station axis with a heavy load is operated by two motors may be built to provide the necessary motor capacity and torque In such a system the two moto...

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Page 23: ...es of stations where the twin drive can be used The above three station types can be selected when setting the station axis for the system configuration Station type Configuration Remarks Number of st...

Page 24: ...2 2 Fig A TWIN 3A Fig B TWIN 3B Fig C TWIN 2 3rd station axis 2nd station axis 1st station axis 3rd station axis 2nd station axis 1st station axis 2nd station axis 1st station axis...

Page 25: ...es move according to the taught job data 3 1 Axis Operation When the station axis with the twin drive is selected for the axis operation the following motion is performed For the station axis with the...

Page 26: ...on mode Example For TWIN 2 Press the 1st axis key to move the 2nd axis and the 1st axis at the same time In this case no axis moves when the 2nd axis key is pressed Pressing the master axis key moves...

Page 27: ...the single motion mode by external input before starting the axis operation The motion mode does not change when the external input status is changed while an axis key is pressed The motion mode is d...

Page 28: ...3 1 Axis Operation 3 4...

Page 29: ...the general purpose input numbers When general purpose input numbers are not set to the above parameters when 0 is set for the station axes with twin drive function the twin motion is the default mod...

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Page 31: ...The general purpose input number set for the parameter appears When there is not set general purpose input number appears MODE The external input signal status appears TWIN The specified general purpo...

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Page 33: ...A203 6 2 1 Setting Mechanical Specifications When setting the station axis enter the following data for the mechanical specifications MOTION RANGE MOTION RANGE REDUCTION RATIO NUMER REDUCTION RATIO DE...

Page 34: ...pon Application with Coordinated Motion The station coordinated function can be used as an option The following restrictions apply for the station axes with the twin drive 6 4 1 Coordinated Motion wit...

Page 35: ...wan BEIJING OFFICE Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASON HK COMPANY L...

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