Yaskawa Motoman UP20 Instructions

Motoman XRC Controller
UP20
Manipulator Manual
Part Number:
Release Date:
Document Status:
145965-1
March 22, 2007
Final
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
COMPLETE OUR ONLINE SURVEY
Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you
received with your Motoman robotic solution.
To participate, go to the following website:
http://www.motoman.com/forms/techpubs.asp
The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2007 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
TABLE OF CONTENTS
Section
Page
1
INTRODUCTION .......................................................................................................................... 1-1
2
SAFETY ....................................................................................................................................... 2-1
3
XRC SETUP (R1) ......................................................................................................................... 3-1
4
UP20 INSTRUCTIONS ................................................................................................................. 4-1
5
XRC INSTRUCTIONS (NAS 2001) ............................................................................................... 5-1
6
XRC INSTRUCTIONS – GENERAL (R2) ....................................................................................... 6-1
7
UP20 ELEMENTARY DIAGRAMS ................................................................................................ 7-1
MOTOMAN
i
UP20 Manipulator Manual (XRC 2001)
NOTES
UP20 Manipulator Manual (XRC 2001)
ii
MOTOMAN
SECTION 1
INTRODUCTION
The Motoman UP20 and XRC 2001 controller represent state-of-the-art
technology in robotics today. The Motoman UP20 has six individual axes: Sweep,
Lower arm, Upper arm, Rotate, Bend, and Twist.
The XRC 2001 controller coodinates the operation of the UP20 robot with external
equipment such as power supply and positioning tables. The XRC 2001 processes
input and output signals, maintains variable data, and performs numeric processing
to convert to and from different coordinate systems. Furthermore, it provides main
logic functions, servo control, program and constant data memory, and power
distribution. Please read this manual thoroughly to familiarize yourself with the
many aspects of the UP20 robot and XRC 2001 controller.
1.1
About this Document
This manual provides system information for UP20 robot and XRC 2001
controller and contains the following sections:
SECTION 1 – INTRODUCTION
Provides general information about the structure of this manual, a list of reference
documents, and customer service information.
SECTION 2 – SAFETY
Provides information regarding the safe use and operation of the UP20 robot.
SECTION 3 – XRC SETUP
Provides basic information about the installation, connection, initial operation, and
home calibration of your Motoman robot and XRC 2001 controller.
SECTION 4 – UP20 INSTRUCTIONS
Provides detailed information about the UP20 including installation, wiring,
specifications, and maintenance.
SECTION 5 – XRC INSTRUCTIONS — NORTH AMERICAN STANDARD 2001
Provides detailed information about the NAS XRC 2001 controller including
descriptions, inspections, and parts replacement.
SECTION 6 – XRC INSTRUCTIONS — GENERAL
Provides general information about the XRC 2001 controller including system
setup, inspections, diagnosis, and configuration, as well as specifications,
maintenance, and alarm/error message lists.
SECTION 7 – UP20 ELEMENTARY DIAGRAMS
Provides detailed information about XRC 2001 wiring and system configuration
with regard to the UP20 robot.
1.2
Reference to Other Documentation
For additional information refer to the following:
• 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 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Vendor manuals for system components not manufactured by Motoman.
MOTOMAN
1-1
UP20 Manipulator Manual (XRC 2001)
INTRODUCTION
1.3
Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (UP6, SK16X, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)
UP20 Manipulator Manual (XRC 2001)
1-2
MOTOMAN
SECTION 2
SAFETY
2.1
Introduction
.
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, 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 trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)
MOTOMAN
2-1
UP20 Manipulator Manual (XRC 2001)
SAFETY
2.2
Standard Conventions
This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate 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 concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE:
Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.
UP20 Manipulator Manual (XRC 2001)
2-2
MOTOMAN
SAFETY
2.3
General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs 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 equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).
2.4
Mechanical Safety Devices
The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware of
the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.
MOTOMAN
2-3
UP20 Manipulator Manual (XRC 2001)
SAFETY
2.5
Installation Safety
Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs, and
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
2.6
Programming Safety
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
UP20 Manipulator Manual (XRC 2001)
2-4
MOTOMAN
SAFETY
•
•
•
•
•
•
2.7
Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
Be sure that all safeguards are in place.
Check the E-STOP button on the teach pendant for proper operation before
programming.
Carry the teach pendant with you when you enter the workcell.
Be sure that only the person holding the teach pendant enters the workcell.
Test any new or modified program at low speed for at least one full cycle.
Operation Safety
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are as
follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any nonfunctioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
MOTOMAN
2-5
UP20 Manipulator Manual (XRC 2001)
SAFETY
2.8
Maintenance Safety
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any nonfunctioning safety equipment immediately.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Back up all your programs and jobs onto a floppy disk whenever program
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 while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).
UP20 Manipulator Manual (XRC 2001)
2-6
MOTOMAN
YASKAWA
MOTOMAN-UP20
INSTRUCTIONS
YR-UP20-A00
YR-UP20-A01 (WITH LU-AXIS LIMIT SWITCH)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-UP20 INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANUAL NO. RE-MTO-A220 2
MANDATORY
• This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-UP20.
• General items related to safety are listed in the Safety Manual Section
1: Safety. To ensure correct and safe operation, carefully read the Setup
Manual before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• 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 due to
product improvements, modifications, or changes in specifications.
If such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or “PROHIBITED”.
WARNING
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this
MANDATORY heading.
PROHIBITED Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
iii
WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or programming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
• Always set the Teach Lock before entering the robot work 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 operations
within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope
and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.
The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant.
iv
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair 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.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup
Manual before operating the manipulator:
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
YASNAC XRC Controller
XRC
YASNAC XRC Playback Panel
Playback Panel
YASNAC XRC Programming Pendant
Programming Pendant
v
AN EXPLANATION OF WARNING LABELS
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an indentification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents.
WARNING
MOTOMAN
TYPE
!!!!!!
PAYLOAD
!!""""kg
ORDER NO.
!!!!!!
SERIAL NO.
!!!!!!
WARNING
MASS
!!!"""kg
DATE
!!
YASKAWA ELECTRIC CORPORATION JAPAN
Moving parts may
cause injury
vi
Do not enter
robot work area
1
Receiving
1.1 Checking Package Contents . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Checking the Order Number . . . . . . . . . . . . . . . . . . . . . . . .1-2
2
Transporting
2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Using the Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 Using the Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 Shipping Bolts and Jigs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
3
Installation
3.1 Safety Guard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Mounting Procedures for Manipulator Baseplate . . . .3-2
3.2.1 When the Manipulator and Mounting Fixture are
Installed on a Common Flat Steel Plate . . . . . . . . . . . . . . . . . .3-3
3.2.2 When the Manipulator is Mounted Directly on the Floor . . . . . .3-4
3.3 Types of Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3.1 S-Axis Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3.2 Affixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3.3 Precautions to Prevent the Manipulator from Falling. . . . . . . . .3-5
3.3.4 IP (International Protection) for Main Part of the Manipulator . .3-6
3.4 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
4
Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.2 Connection to the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
5
Basic Specifications
5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . .5-2
5.3 Baseplate Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.4 Dimensions and Working Range . . . . . . . . . . . . . . . . . . . .5-3
5.5 B-Axis Working Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
vii
5.6 Alterable Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
6
Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7
System Application
7.1 Mounting Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Incorporated Wire and Airduct . . . . . . . . . . . . . . . . . . . . . . 7-2
8
Motoman Construction
8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
9
Maintenance and Inspection
9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-6
9.2.1 Battery Unit Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.2.2 Grease Replenishment/Replacement for S-Axis Speed Reducer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
# Grease Replenishment (Refer to " Fig. 26 S-Axis Speed
Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
# Grease Replacement (Refer to " Fig. 26 S-Axis Speed Reducer
Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9.2.3 Grease Replenishment/Replacement for L-Axis Speed Reducer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
# Grease Replenishment (Refer to " Fig. 27 L-Axis Speed
Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
# Grease Replacement (Refer to " Fig. 27 L-Axis Speed Reducer
Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.4 Grease Replenishment/Replacement for U-Axis Speed Reducer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
# Grease Replenishment (Refer to " Fig. 28 U-Axis Speed
Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
# Grease Replacement (Refer to " Fig. 28 U-Axis Speed Reducer
Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
viii
9.2.5 Grease Replenishment for R-Axis Speed Reducer . . . . . . . . .9-12
9.2.6 Grease Replenishment for B- and T-Axis Speed Reducers . .9-13
9.2.7 Grease Replenishment for T-Axis Gear . . . . . . . . . . . . . . . . .9-14
9.2.8 Grease Replenishment for R-Axis Cross Roller Bearing. . . . .9-15
9.2.9 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16
# Wrist Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16
# Encoder Connector (with CAUTION label) . . . . . . . . . . . . .9-16
10
Recommended Spare Parts
11
Parts List
11.1 S-Axis Driving Unit(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-1
11.2 L-Axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3
11.3 U.R-Axis Driving Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5
11.4 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7
ix
x
1.1 Checking Package Contents
1 Receiving
CAUTION
• Confirm that the manipulator and the XRC have the same order number.
Special care must be taken when more than one manipulator is to be
installed.
If the numbers do not match, manipulators may not perform as expected and cause injury
or damage.
1.1
Checking Package Contents
When the package arrives, check the contents for the following standard items (Any additional options ordered should be checked as well.):
• Manipulator
• XRC
• Programming Pendant
• Feeder Cable Between Controller and Manipulator
1-1
1.2 Checking the Order Number
1.2
Checking the Order Number
Check that the order number of the manipulator corresponds to the XRC. The order number is
located on a label as shown below.
Label(Enlarged view)
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER. No. !!!!!!
YASNAC XRC
Check that the manipulator
and the XRC have the
same order number.
UP20
RE
SE
T
OFF
TR
IP
ON
X
X+
S+
XS-
R+
Y+
Z-
Z+
L-
U-
X
R-
Y-
Y
B-
L+
Z
U+
T-
7
8
9
4
5
6
1
2
3
0
.
-
Y
B+
Z
T+
ORDER NO.
NJ1530
TYPE
ERCR-
POWER SUPPLY
200/220V
50/60Hz
3PHASE
KVA
SERIAL NO.
DATE
P/N
MADE IN JAPAN
NJ2063-1
(a) XRC (Front View)
(b) Manipulator (Top View)
Fig. 1 Location of Order Number Labels
1-2
2.1 Transporting Method
2 Transporting
CAUTION
• Sling applications and crane or forklift operations must be performed by
authorized personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transporting.
The system consists of precision components, so failure to observe this caution may
adversely affect performance.
2.1
Transporting Method
2.1.1
Using the Crane
As a rule, when removing the manipulator from the package and moving it, a crane should be
used. The manipulator should be lifted using wire rope threaded through attached eyebolts.
Be sure the manipulator is fixed with jigs before transporting, and lift it in the posture as shown
in " Fig. 2 Transporting Position ".
A
E
2 × M10 Eyebolts
(Provided at factory)
View E
B
F
View F
C
D
View F side
Fig. 2 Transporting Position
2-1
2.2 Shipping Bolts and Jigs
2.1.2
Using the Forklift
When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and jigs
as shown in " Fig. 3 Using the Forklift ". Insert claws under the pallet and lift it. The pallet must
be strong enough to support the manipulator. Transporting of the manipulator must be performed slowly in order to avoid overturning or slippage.
4 × M16 Bolts
Pallet
Forklift Claw Entry
Fig. 3 Using the Forklift
• Check that the eyebolts are securely fastened.
NOTE • The weight of the maniputator is approximately 280kg including the shipping bolts and
jigs. Use a wire rope strong enough to withstand the weight.
• Attached eyebolts are designed to support the manipulator weight. Do not use them for
anything other than transporting the manipulator.
• Mount the shipping bolts and jigs for transporting the manipulator.
• Avoid exerting force on the arm or motor unit when transporting, use caution when using
transporting equipment other than a crane or forklift, as injury may occur.
2.2
Shipping Bolts and Jigs
The manipurator is provided with shipping bolts and jigs at points A and B (" Fig. 2 Transporting Position ").
• The jigs are painted yellow.
• The number of hexagon socket head cap screws are: A: M6 X 1, B: M6 X 1
Before turning on the power, check to be sure that the shipping bolts and jigs have been
NOTE removed. The shipping bolts and jigs then must be stored for future use, in the event that
the manipulator must be moved again.
2-2
3 Installation
WARNING
• Install the safety guards.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the fully extended arm and
tool will not reach the wall, safety guards, or controller.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn on the power before it is firmly
anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the ceiling or wall, the base section
must have sufficient strength and rigidity to support the weight of the
manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling.
Failure to observe these warnings may result in injury or damage.
CAUTION
• Do not install or operate a manipulator that is damaged or lacking parts.
Failure to observe this caution may cause injury or damage.
• Before turning on the power, check to be sure that the shipping bolts
and jigs have been removed.
Failure to observe this caution may result in damage to the driving parts.
3-1
3.1 Safety Guard Installation
3.1
Safety Guard Installation
To insure safety, be sure to install safety guards. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance.
(ISO10218)
Responsibility for Safeguarding
The user of a manipulator or robot system shall ensure that safeguards are provided and used
in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include
but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding,
awareness barriers, and awareness signals.
3.2
Mounting Procedures for Manipulator Baseplate
The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand maximum repulsion
forces of the manipulator as shown in Table 1.
During installation, if out of the plane is not right, the manipulator shape may change and its
functional ability may be compromised. Out of the plane for installation must be kept at 0.5mm
or less. Mount the baseplate in either of the following ways: " 3.2.1 When the Manipulator and
Mounting Fixture are Installed on a Common Flat Steel Plate " or " 3.2.2 When the Manipulator is Mounted Directly on the Floor ".
Table. 1 Maximum Repulsion Forces of the Manipulator
Horizontal rotating maximum torque
( S-axis moving direction)
8000N • m
Vertical rotating maximum torque
(LU-axis moving direction)
5000N • m
3-2
3.2 Mounting Procedures for Manipulator Baseplate
3.2.1
When the Manipulator and Mounting Fixture are
Installed on a Common Flat Steel Plate
The common base should be rugged and durable to prevent shifting of the manipulator or the
mounting fixture. The thickness of the common base is 40mm or more and an M16 size or
larger anchor bolt is recommended. Affix the manipulator by fastening the plate with the M16
anchor bolts. The plate is tapped for M16 (60mm length) bolts. Tighten the bolts and anchor
bolts securely so that they will not work loose during operation. See " Fig. 4 Mounting the
Manipulator Baseplate " for the method.
4 × M16 Bolts
Spring Washer
25
Washer
Manipulator Base
40mm or more
Manipulator Base
Anchor Bolt (M16 or More)
Common Base
Fig. 4 Mounting the Manipulator Baseplate
3-3
Common Base
3.2 Mounting Procedures for Manipulator Baseplate
3.2.2
When the Manipulator is Mounted Directly on the
Floor
The floor should be strong enough to support the manipulator. Construct a solid foundation
with the appropriate thickness to withstand maximum repulsion forces of the manipulator as
shown in Table 1. As a rough standard, when there is a concrete thickness (floor) is 150mm or
more, the base of the manipulator can be fixed directly to the floor with M16 anchor bolts.
Before mounting the manipulator, however, check that the floor is level and that all cracks, etc.
are repaired. Any thickness less than 150mm is insufficient for mounting, even if the floor is
concrete.
Concrete
4 × M16 Anchor Bolts
150mm or More
Fig. 5 Direct Mounting on the Floor
3-4
3.3 Types of Mounting
3.3
Types of Mounting
The manipulator can be mounted in three different ways: floor-mounted (standard), wallmounted, and ceiling-mounted types are available. For wall- and ceiling-mounted types, the
three points listed below are different from the floor-mounted types.
• S-Axis Working Range
• Affixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
• IP (International Protection) for Main Part of the Manipulator
3.3.1
S-Axis Working Range
When performing a wall installation, the S-Axis movable range must be ±30°.
3.3.2
Affixing the Manipulator Base
When performing a wall or ceiling installation, be sure to use four M16 hexagon socket head
cap bolts. Use a torque of 206N• m when screwing in the bolts.
3.3.3
Precautions to Prevent the Manipulator from Falling
When performing wall or ceiling installations, for safety purposes, take measures to keep the
manipulator from falling. Refer to " Fig. 6 When Using Ceiling and Wall-Mounted Types " for
details.
Manipulator Base
Support
4 × M16 Hexagon Socket Head Cap Bolts
2
(Tensile Strength: 1200N/mm )
Fig. 6 When Using Ceiling and Wall-Mounted Types
3-5
3.4 Location
3.3.4
IP (International Protection) for Main Part of the
Manipulator
For wall-mounted or ceiling mounted types, environmental resistance for main part of the
manipulator does not conform to IP54. Environmental resistance for IP65 is optional. For
wrist part, the resistance conforms to IP67.
NOTE When using wall-mounted or ceiling mounted types, contact your Yaskawa representative.
3.4
Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental
conditions:
• 0° to +45°C (Ambient temperature)
• 20 to 80%RH (no moisture)
• Free from dust, soot, or water
• Free from corrosive gases or liquid, or explosive gases
• Free from excessive vibration (less than 4.9m/s2 (0.5G))
• Free from large electrical noise (plasma)
• Out of the plane for installation is 0.5mm or less
3-6
4 Wiring
WARNING
• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply off, and put
up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
4-1
4.1 Grounding
4.1
Grounding
Follow local regulations for grounding line size.
NOTE
• Do not use this line in common with other ground lines or grounding electrodes for other
electric power, motor power, welding devices, etc.
• Where metal ducts, metallic conduits, or distributing racks are used for cable laying,
ground in accordance with Electric Equipment Technical Standards.
5.5mm 2 or More
M8 Bolt (For Grounding)
(Provided at Factory)
View A
Fig. 7 Grounding Method
4.2
Cable Connection
There are two cables for the power supply; a signal cable for detection (1BC) and a power
cable (2BC). Connect these cables to the manipulator base connectors and the XRC. Refer to
" Fig. 9 (a) Power Cable Connection to the Manipulator ", " Fig. 9 (b) Power Cable Connection to the XRC ".
4.2.1
Connection to the Manipulator
Before connecting two cables to the manipulator, verify the numbers: 1BC and 2BC on both
power supply cables and the manipulator base connectors. When connecting, adjust the
cable connector positions to the main key positions of the manipulator, and insert cables in the
order of 2BC, 1BC, and then set the lever until hearing a “click”.
4-2
4.2 Cable Connection
4.2.2
Connection to the XRC
Remove the two entrance cable covers on the XRC side. Pass the signal cable for detection
(1BC) through one entrance, the power cable (2BC) through the other entrance, and then fasten bolts on the entrances.
First, connect the cable 2BC to the board. Then connect the cable 1BC. Be sure to verify the
numbers on both the cable and board connectors before connecting, and to fasten the bolts
on 1BC connectors to prevent cables from loosening.
Connection to the manipulator
Connection to the XRC
Connector
Connector
1BC
WRCA01-CNPG123
Terminal
WRCA01-CNPG456
Signal Cable
Manipulator Base Side
E
SHOCK
XIU01-CN25
E
1VU SHOCK
2BC
XIU01-CN29
Power Cable
1SV-1CN
Manipulator Base Side
1SV-2CN
1SV-3CN
1SV-4CN
1SV-5CN
1SV-6CN
Fig. 8 Power Cables
Connector details
(Manipulator side)
Fig. 9 (a) Power Cable Connection to the Manipulator
4-3
4.2 Cable Connection
Power Cable
Signal Cable
Connector No.
XIU01-CN29
Connector No.
XIU01-CN25
Signal Cable
Connector No.
WRCA01-CNPG456 (upper)
WRCA01-CNPG123 (lower)
Grounding plate
for Signal and power line
Terminal No.: E
Power Cable
Connector
1SV-1CN, 2CN, 3CN, 4CN, 5CN, 6CN
(from left side)
Fig. 9 (b) Power Cable Connection to the XRC
4-4
Tighten the screws with
screw driver(+).
5.1 Basic Specifications
5 Basic Specifications
5.1
Basic Specifications
Table. 2 Basic Specifications*1
Operation Mode
Vertically Articulated
Degree of Freedom
6
Payload
20kg
Repetitive Positioning Accuracy*2
±0.08mm
S-Axis (turning)
±180°
L-Axis (lower arm)
+155°, -110°
U-Axis (upper arm)
+210°, -80°
R-Axis (wrist roll)
±190°
B-Axis (wrist pitch/yaw)
+230°, -50°
T-Axis (wrist twist)
±360°
S-Axis
2.88 rad/s, 165°/s
L-Axis
2.88 rad/s, 165°/s
U-Axis
2.88 rad/s, 165°/s
R-Axis
5.85 rad/s, 335°/s
B-Axis
5.85 rad/s, 335°/s
T-Axis
8.90 rad/s, 510°/s
R-Axis
31.4N•m
B-Axis
31.4N•m
T-Axis
15.7N•m
R-Axis
0.7kg•m2
B-Axis
0.7kg•m2
T-Axis
0.2kg•m2
Motion
Range
Maximum
Speed
Allowable
Moment*3
Allowable
Inertia
Mass
Ambient
280kg
Temperature
0° to 45C°
Humidity
20 to 80% RH (non-condensing)
Vibration
Less than 4.9m/s2 (0.5G)
Conditions*4
• Free from corrosive gasses or liquids, or
Others
explosive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Capacity
*1
*2
*3
*4
2.8kVA
SI units are used in this table.
Conformed to ISO9283
Refer to " 6.1 Allowable Wrist Load " for details on the permissible moment of inertia.
Comformed to IP54 for the main part of the manipulator (only floor-mounted type). Conformed to IP67 for the
wrist part (IP65 for the main part is optional.)
5-1
5.2 Part Names and Working Axes
5.2
Part Names and Working Axes
R+
U+
B+
T+
Wrist Flange
U-
B-
R-
(U) Arm
T-
Wrist
L+
L-
(L) Arm
Rotary Head
S+
Manipulator Base
S-
Fig. 10 Part Names and Working Axes
Baseplate Dimensions
375
4-φ18
313
335
200±0.1
φ12 +0.0180
View
Fig. 11 Baseplate Dimensions (mm)
5-2
375
60
260±0.1
335
170 ±0.1
200 ±0.1
60
250
5.3
5.4 Dimensions and Working Range
5.4
Dimensions and Working Range
8
65
R1
150
152
180°
R314
R
42
1
Point P
180°
1358 1267
599 484 429 265
0 57
358 421
1658
787
2043
765
105
175
22°
140 80
150
65
Point P
806
155°
11
0°
1485
730
1014
535
362
535
276
535
Point P Working Range
0
460
490
831
904
244
459
787
Fig. 12 Dimesions and Working Range
5-3
455
264 191
5.5 B-Axis Working Range
5.5
B-Axis Working Range
The working range of the B-Axis maintaining a constant angle to the center of the U-arm is
shown in " Fig. 13 B-Axis Working Range ".
14
0°
0
14
B-Axis Rotation Center
Fig. 13 B-Axis Working Range
5.6
Alterable Working Range
The working range of the S-Axis can be altered according to the operating conditions as
shown in " Table. 3 S-Axis Working Range ". If alteration is necessary, contact your Yaskawa
representative in advance.
Table. 3 S-Axis Working Range
Item
Specifications
S-Axis
Working
Range
±180°(standard)
±150°
±120°
±90°
±60°
±30°
5-4
6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is 20kg. If force is applied to the wrist instead of the load, force on R-,
B-, and T-Axes should be within the value shown in " Table. 4 Moment and Total Inertia ". Contact your Yaskawa representative for further information or assistance.
Table. 4 Moment and Total Inertia
Axis
Moment N•m
Total Inertia kg•m2
R-Axis
B-Axis
T-Axis
31.4
31.4
15.7
0.7
0.7
0.2
When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment
Arm Rating ".
The allowable total inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only inertia moment, or load moment is small and inertia
moment is large. Also, when the load mass is combined with an outside force, contact your
Yaskawa representative.
300
Load Gravity Position
LB
LT
T-Axis, R-Axis Rotation
Center Line
LT (mm)
200
105
W=6kg
W=10kg
100 W=16kg
W=20kg
B-Axis Rotation Center Line
0
100
200
LB (mm)
Fig. 14 Moment Arm Rating
6-1
300
400
6.2 Wrist Flange
6.2
Wrist Flange
The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". In order to see the tram
marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of
inside and outside fittings must be 5mm or less.
Tram Mark
0.5
6
45°
φ50 -0.0390
4-M6×P1.0
Depth:10mm
φ25 +0.0210
6
P.C
.D4
0
φ6 +0.0120
Depth:6mm
Fig. 15 Wrist Flange
NOTE Wash off anti-corrosive paint (solid color) on the wrist flange surface with thinner or light oil
before mounting the tools.
6-2
7.1 Mounting Equipment
7 System Application
7.1
Mounting Equipment
When peripheral equipment is attached to the U-axis, the following conditions should be
observed.
7.1.1
Allowable Load
The allowable load on the U-Axis is a maximum of 31kg, including the wrist load.
For instance, when the mass installed in the wrist point is 20kg, the mass which can be
installed on the upper arm becomes 11kg.
7.1.2
Installation Position
There is a limitation also on the installation position.
" Fig. 17 Allowable Load on U-Axis " shows the distance between the U-Axis rotation center
and the load gravity.
A
W2
Limited dimension
of Z-axis Max. 400
Z
W1
22°
212
9
4-M6P1.0
Depth: 10mm
X
80
50
U-Axis Rotation Center
View A
Fig. 16 Installing Peripheral Equipment
7-1
7.2 Incorporated Wire and Airduct
(kg)
30
W1=6kg
W1=10kg
20
W1=16kg
Weight W2
W1=20kg*1
10
*1 In this case, unbalanced
moment is not permitted.
0
-200 -100
0
100 200 300 400 500 (mm)
Distance Between U-Axis Rotation
Center And Load Gravity ( direction)
Fig. 17 Allowable Load on U-Axis
7.2
Incorporated Wire and Airduct
Wires and an air line are incorporated into the manipulator for user application. There are 16
wires and an air duct rating. The allowable current for wires must be 3A or below for each
wire. (The total current value for pins 1 to 16 must be 40A or below). The maximum pressure
for the air duct is 490 kPa and its inside diameter is φ6.5mm.
Cable connector provided on U-axis
is Type JL05-2A-20-29SC (with cap)
Mating plug type is JL05-6A20-29P
Air outlet: PT 3/8
with pressure plug
Air inlet: PT 3/8
with pressure plug
A
View A
Cable connector provided on S-axis
is Type JL05-2A20-29PC (with cap)
Mating plug type is JL05-6A20-29S
Fig. 18 Incorporated Wire and Airduct
7-2
7.2 Incorporated Wire and Airduct
Internal wires : 0.2mm2 ,10 wires
: 0.75mm2 , 2 wires
: 1.25mm2 , 4 wires
Pins used number
1
2
3
4
5
6
7
8
9
10
11(0.75mm2)
12(0.75mm2)
13(1.25mm2 )
14(1.25mm2 )
15(1.25mm2)
16(1.25mm2)
2
4
1
5
3
6
8 10
7
9
11
13
12
15
16
14
Fig. 19 Detailed Drawing of Connector Pin Numbers
The same pin number (1-16) of two connectors is connected in the lead line of single 0.2mm2,
0.75mm2, or 1.25mm2.
7-3
7.2 Incorporated Wire and Airduct
7-4
8.1 Position of S-Axis Limit Switch
8 Motoman Construction
8.1
Position of S-Axis Limit Switch
The limit switches for the S-, L-, and U-Axes are located as shown in " Fig. 20 Location of
Limit Switches ". The limit switch for the S-Axis is standard. The limit switch for the L- and UAxes are optional (model UP20-A01).
LU-Axis Interference L.S.
(Option)
L-Axis Overrun L.S.
(Option)
S-Axis Overrun L.S.
Fig. 20 Location of Limit Switches
8-1
8.2 Internal Connections
8.2
Internal Connections
High reliability connectors which can be easily removed are used with each connector part.
For the number and location of connectors, see " Fig. 21 Location and Numbers of Connectors ".
3BC (For Internal Wire)
3BC (For Internal Wire)
Fig. 21 Location and Numbers of Connectors
Table. 5 List of Connector Types
Name
Type of Connector
Base Connector
for Internal Wire
JL05-2A20-29PC
(JL05-6A20-29S: Optional)
U-arm Connector
for Internal Wire
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
8-2
YASNAC-XRC
Feeder Cable
Internal Wiring
1BC(6´6)
LS0
LB2
LD2
LB3
LD3
WRCA01
CNPG123
24
22
19
45
21
47
P
P
P
AL1
AL2
LA2
LB2
LC2
LD2
B and T Axes Internal wiring
AL1
AL2
P
LB1
LB2
LC2
LD2
LA2
LB2
LC2
LD2
P
P
DATA+1
DATA-1
CN 1-3
CN 1-4
+5-1
0V-1
P
P
P
11
37
13
39
P
P
for Laxis L.S.
-1
-2
-3
-4
-5
-6
DATA+ 1
DATA- 1
BAT
OBT
+5V
0V
-7
FG 1
No. 2CN
CN2- 1
CN2-2
DATA+2
DATA-2
P
CN2-3
CN2-4
+5-2
0V-2
CN2-5
FG2
A2
(for Laxis Zone L.S.)
for Laxis Zone L.S.
No. 1CN
CN 1- 1
CN 1-2
P
16
14
for Fan
P
-C
-D
-T
-S
-H
-G
DATA+2
DATA-2
BAT
OBT
+5V
0V
Shield
-J
FG2
BAT
OBT
PG
S-AXIS
PG
L-AXIS
BAT
OBT
BATTERY
BAT1
P
P
0BT1
BATTERY
BAT1
0BT1
P
BAT4
P
0BT4
8
6
P
DATA+3
DATA-3
CN3-3
CN3-4
+5-3
0V-3
CN4- 1
CN4-2
DATA+4
DATA-4
BAT4
0BT4
P
P
P
24
22
P
-1
-2
-3
-4
-5
-6
-7
P
P
P
P
CN4-3
CN4-4
-1
-2
-3
-4
P
+5-4
0V-4
P
CN5- 1
CN5-2
PG
U-AXIS
PG
R-AXIS
BAT
OBT
DATA+4
DATA-4
BAT
OBT
No.7CN
P
P
16
14
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
No. 6CN
P
19
45
21
47
BAT
OBT
No.5CN
P
3
29
5
31
FG
WRCA01
CNPG456
CN3- 1
CN3-2
-1
-2
-3
+5V
0V
FG4
No.8CN
DATA+5
DATA-5
-1
-2
-3
-4
P
No.14CN
DATA+5
DATA-5
BAT
OBT
-1
-2
-3
-4
P
P
DATA+5
DATA-5
BAT
OBT
BAT
OBT
B-AXIS
PG
11
37
13
39
P
P
CN5-3
CN5-4
+5-5
0V-5
No.15CN
-5
-6
P
+5V
0V
P
P
8
6
No.9CN
CN6- 1
CN6-2
DATA+6
DATA-6
CN6-3
CN6-4
+5-6
0V-6
P
FG6
Shield
-1
-2
P
-1
-2
-3
+5V
0V
FG5
No.16CN
DATA+6
DATA-6
-1
-2
-3
-4
P
DATA+6
DATA-6
BAT
OBT
BAT
OBT
T-AXIS
PG
3
29
5
31
FG
P
P
CN6-5
XIU01-CN25
-A1
-B1
-D1
-A3
-C1
-D2
-C3
-D3
No.17CN
No.20CN
CN2-6
CN3-6
CN4-6
CN5-6
CN6-6
+24V
LB1
BC2
0V
SS2
E
E
20CN-1
-2
-3
-4
-5
-6
B1
SS1
BC1
BC2
B1
SS1
BC1
LA1
LB1
BC2
A1
LA1
LB1
S-AXIS OVERRUN L.S.
Fig.22 (a) Internal Connection Diagram
8-3
+5V
0V
FG6
P
Shield
1
2
P
LA3
LB3
LC3
LD3
B2
SS2
-3
-4
-5
LB2
LB1
LC3
LD3
P
P
-1
-2
-3
+5V
0V
FG6
1
2
P
For LAMP (OPTION)
U
V
LA3
LB3
LC3
LD3
for L,U-axis interference L.S.
for U-axis Zone L.S.
A3
(for U-axis Zone L.S.)
Feeder Cable
Internal Wiring
B and T Axes Internal wiring
E
E
E
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
E
1
2
3
4
5
6
1
2
3
4
5
6
1
2
3
4
P
P
-A2
-B2
-A1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
P
E
AC1
AC2
No.3CN
CN 1- 1
CN 1-2
CN 1-3
CN 1-4
CN 1-5
CN 1-6
MU1
MV1
MW1
ME1
BA1
BB1
3CN-1
-2
-3
-4
-5
-6
CN2- 1
CN2-6
CN2-2
CN3-6
CN2-3
CN5-6
CN2-4
CN6-6
CN2-5
MU2
MU2
MV2
MV2
MW2
MW2
ME2
ME2
BA2
4CN-A
MU2
-B
MV2
-C
MW2
-D
ME2
-E
-F
BA2
BB2
CN3- 1
CN3-2
CN3-3
CN3-4
CN3-5
MU1
MV1
MW1
ME1
BA1
BB1
SM
No.4CN
SM
No.10CN
MU3
MV3
MW3
ME3
BA3
10CN-1
-2
-3
-4
-5
-6
CN4- 1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6
MU4
MV4
MW4
ME4
BA4
BB4
11CN-1
-2
-3
-4
-5
-6
CN5- 1
CN5-2
CN5-3
CN5-4
CN5-5
MU5
MV5
MW5
ME5
BA5
12CN-1
-2
-3
-4
-5
-6
CN6- 1
CN6-2
CN6-3
CN6-4
CN6-5
MU3
MV3
MW3
ME3
BA3
BB3
SM
YB
MU4
MV4
MW4
ME4
BA4
BB4
SM
No.18CN
MU5
MV5
MW5
ME5
BA5
BB5
18CN-1
-2
-3
-4
-5
-6
No.13CN
Notes
1 .These drawings are applicable to UP20-A00.
PE
LB1
MU5
MV5
MW5
ME5
BA5
BB5
SM
YB
-1
-2
-3
MU6
MV6
MW6
-4
BA6
19CN-1
-2
-3
-4
-5
-6
S-AXIS OVERRUN L.S.
MU6
MV6
MW6
ME6
BA6
BB6
SM
YB
A1
LA2
LB2
LB2
L-AXIS OVERRUN L.S.
A2
LA3
2. In case of UP20-A01, connection of parts A1, A2, A3
were changed as shown in the right drawing.
Fig.22 (b) Internal Connection Diagram
8-4
LB3
UP20-A01
B-AXIS
No.19CN
XIU01-CN29
LA1
LB1
R-AXIS
YB
No.12CN
MU6
MV6
MW6
ME6
BA6
-B1
-A1
-C1
-D1
-B2
-A2
-C2
-D2
U-AXIS
No.11CN
1SV-6CN
-2
-3
-4
-1
L-AXIS
YB
1SV-5CN
-2
-3
-4
-1
S-AXIS
YB
1SV-4CN
-2
-3
-4
-1
Incorporated wires
For FAN (OPTION)
1SV-3CN
-2
-3
-4
-1
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
AC1
AC2
1SV-2CN
-B1
E
1
2
3
4
P
1SV-1CN
-2
-3
-4
-1
3BC(20-29)
E
P
2BC(6´6)
E
Casing
Base
3BC(20-29)
L AND U-AXIS INTERFERENCE L.S.
A3
T-AXIS
9.1 Inspection Schedule
9 Maintenance and Inspection
WARNING
• Before maintenance or inspection, be sure to turn the main power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
• Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• The battery unit must be connected before removing detection connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
9.1
Inspection Schedule
Proper inspections are essential not only to assure that the mechanism will be able to function
for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are displayed in six levels. Conduct periodical inspections according to the inspection
schedule in " Table. 6 Inspection Items ".
In " Table. 6 Inspection Items ", the inspection items are classified into three types of operation: operations which can be performed by personnel authorized by the user, operations
which can be performed by personnel being trained, and operations which can be performed
by service company personnel. Only specified personnel are to do inspection work.
• The inspection interval must be based on the servo power supply on time.
NOTE • These inspections were developed for applications where the manipulator is used for arc
welding work. For any different or special applications, the inspection process should be
developed on an case-by-case basis.
For axes which are used very frequently (in handling applications, etc.), it is recommended that inspections be conducted at shorter Intervals. Contact your Yaskawa representative.
9-1
9.1 Inspection Schedule
Table. 6 Inspection Items
Schedule
Items*4
Daily
1000
H
Cycle
Inspection Charge
Method
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Operation
Specified
Service
Licensee
Person
Company
$ Tram mark
%
Visual
Check tram mark
accordance and
damage at the home
position.
%
%
%
& External lead
%
Visual
Check for damage
and deterioration of
leads.
%
%
%
%
Visual
Clean the work area
if dust or spatter is
present. Check for
damage and outside
cracks.
%
%
%
%
Visual
%
%
%
%
%
%
Tighten loose bolts.
Replace if necessary.
%
%
%
%
%
%
%
%
%
%
'
Working area
and
manipulator
S,L,U-axes
( motor
Baseplate
Cover mount-
%
Screwdriver,
Wrench
Base connec-
%
Manual
Check for loose connectors.
Manual
Check for belt
tension and wear.
* ing screws
+ tors
RBT-axes
, timing belt
Wire harness
in manipulator
(SLURBTaxes leads))
%
Check for conduction between the
main connecter of
base and intermediVisual
Multimeter ate connector with
manually shaking the
wire. Check for wear
%
of protective spring*1
Replace*2
%
11
Tighten loose bolts.
Replace if necessary.
Spanner
Wrench
bolts
.
leakage.*5
%
) mounting
-
Check for grease
Wire harness
In manipulator
(BT-axes
leads)
Battery unit in
manipulator
Check for conduction between termiVisual
Multimeter nals and wear of
protective spring.*1
%
%
%
Replace*2
%
%
9-2
Replace the battery
unit when the battery
alarm occurs or the
manipulator drove for
36000H.
%
%
%
%
9.1 Inspection Schedule
Table. 6 Inspection Items
Schedule
Items*4
Daily
1000
H
Cycle
6000
H
Cycle
Inspection Charge
Method
12000
24000 36000
H
H
H
Cycle
Operation
Specified
Service
Licensee
Person
Company
Check for malfunction. (Replace if necessary.) Supply
12
S-axis speed
reducer
%
Grease
Gun
%
grease*3 (6000H
cycle). See Par. "
9.2.2 Grease
Replenishment/
Replacement for SAxis Speed Reducer
"
%
%
%
%
%
%
%
%
Replace grease*3.
(12000H cycle)
See Par. " 9.2.2
Grease Replenishment/Replacement
for S-Axis Speed
Reducer "
Check for malfunction. (Replace if necessary.) Supply
13
LU-axes
speed reducers
%
Grease
Gun
%
grease*3 (6000H
cycle). See Par. "
9.2.3 Grease
Replenishment/
Replacement for LAxis Speed Reducer
"
Replace grease*3
(12000H cycle). See
Par. " 9.2.3 Grease
Replenishment/
Replacement for LAxis Speed Reducer
"
Check for malfunction. (Replace if necessary.) Supply
14
RBT-axes
speed reducers
Grease
Gun
%
grease*3 (6000H
cycle).
See Par. " 9.2.4
Grease Replenishment/Replacement
for U-Axis Speed
Reducer ", " 9.2.5
Grease Replenishment for R-Axis
Speed Reducer "
Check for malfunction. (Replace if necessary.) Supply
15
T-axis gear
Grease
Gun
%
9-3
grease*3 (6000H
cycle).
See Par. " 9.2.6
Grease Replenishment for B- and TAxis Speed Reducers "
9.1 Inspection Schedule
Table. 6 Inspection Items
Schedule
Items*4
Daily
1000
H
Cycle
Inspection Charge
Operation
Method
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Specified
Service
Licensee
Person
Company
Check for malfunction. (Replace if necessary.) Supply
16
R-axis cross
roller bearing
17
Overhaul
Grease
Gun
%
grease*3 (6000H
cycle).
See Par. " 9.2.7
Grease Replenishment for T-Axis Gear
", " 9.2.8 Grease
Replenishment for RAxis Cross Roller
Bearing "
%
%
%
%
*1
When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the
motor side for each axis, and then remove connectors on detecter side for each axis from the motor. Otherwise, the home position may be lost. (Refer to " 9.2.9 Notes for Maintenance ")
*2
*3
*4
*5
Wire harness in manipulator to be replaced at 24000H inspection.
For the grease, refer to " Table. 7 Inspection Parts and Grease Used ".
Inspection No. correspond to the numbers in " Fig. 23 Inspection Parts and Inspection Numbers ".
The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can
cause a motor breakdown. Contact your Yaskawa representative.
5
1 S-Axis
8 R-Axis
8 T-Axis
14 R-Axis
8 B-Axis
1 B-Axis
10
U-Axis
1 R-Axis
T-Axis
4 (for ceiling mounted)
14 B-Axis
16 T-Axis
15
4
13
L-Axis
4 (for ceiling mounted)
13
11
9
2
4
4
12
Fig. 23 Inspection Parts and Inspection Numbers
9-4
7
9.1 Inspection Schedule
Table. 7 Inspection Parts and Grease Used
No.
Grease Used
12, 13
Molywhite RE No. 00
S-, L-, and U-axis speed reducers
Harmonic Grease SK-1A
R-, B-, and T-axis speed reducers,
T-axis gear
Alvania EP Grease 2
R-axis cross roller bearings
14, 15
16
Inspected Parts
The numbers in the above table correspond to the numbers in " Table. 6 Inspection Items ".
9-5
9.2 Notes on Maintenance Procedures
9.2
Notes on Maintenance Procedures
9.2.1
Battery Unit Replacement
If the battery alarm occurs in the XRC, replace the battery according to the following procedure:
Battery Unit
Connector Base
Support
Connector Base Bolt
Fig. 24 Battery Location
Battery unit for SLU-axes
before replacement
See Procedure 6
See Procedure 7
0BT1
a
b
0BT1
BAT1
b
a
BAT1
0BT1
a
BAT1
b
a: Insertion-type pin terminal (Male)
b: Insertion-type pin terminal (Female)
HW9470932-A
(See "Table. 8 Spare Parts
for the Motoman-UP20")
b 0BT1
a BAT1
See Procedure 4
See Procedure 6
Battery unit for RBT-axes
before replacement
See Procedure 7
See Procedure 5
0BT4
a
b
0BT4
BAT4
b
a
BAT4
0BT4
a
b 0BT4
BAT4
b
a BAT4
See Procedure 4
Connector base
New battery unit
Support
HW9470917-A
(See "Table. 8 Spare Parts
for the Motoman-UP20")
Fig. 25 Battery Connection
1.
2.
3.
4.
Turn the XRC main power supply off.
Remove the connector base, and grease tube from the union.
Remove the battery unit mounting screw on the support.
Remove the plastic tape (insulation tape) protecting the connection part of the battery
unit in the manipulator.
5. Connect the new battery.
9-6
9.2 Notes on Maintenance Procedures
6. Remove the old battery.
NOTE Remove the old battery unit after connecting the new one so that the encoder absolute
data does not disappear.
7. Protect the connection part of the battery unit in the manipulator with plastic tape (insulation tape).
8. Mount the battery unit with the screws, connect the grease tube to the union, and then
mount the connector base. Apply silicon sealant (modifer silicon caulk, refer to “Table
8 Spare Parts for the Motoman-UP20”) on fitting surfaces of connector base.
9.2.2
Grease Replenishment/Replacement for S-Axis
Speed Reducer
So: Grease exhaust plug
Plug PT1/8
S-axis speed reducer
Si: Grease Inlet
Plug PT1/8
Fig. 26 S-Axis Speed Reducer Diagram
NOTE For ceiling mounted manipulators, the exhaust port and the grease inlet are inverted.
9-7
9.2 Notes on Maintenance Procedures
#
Grease Replenishment (Refer to " Fig. 26 S-Axis Speed Reducer
Diagram ".)
Replenish the grease according to the following procedure:
1. Remove the So exhaust plug.
NOTE If grease is added without removing the exhaust plug, the grease will go inside the motor
and may damage it. It is absolutely necessary to remove the plug.
2. Install the G nipple PT1/8 on the Si grease inlet, and inject the grease into the Si
grease inlet using a grease gun. (G nipple is provided at factory.)
Grease type: Molywhite RE No. 00
Amount of grease: 30cc
(60cc for 1st supply)
3. Move the S-axis for for a few minutes to discharge the excess grease.
4. Reinstall the plugs on the Si grease inlet and the So exhaust port. Apply Three Bond
1211 on screwed parts.
#
Grease Replacement (Refer to " Fig. 26 S-Axis Speed Reducer
Diagram ".)
1. Remove the So exhaust plug.
NOTE If grease is added without removing the exhaust plug, the grease will go inside the motor
and may damage it. It is absolutely necessary to remove the plug.
2. Install the G nipple PT1/8 on the Si grease inlet, and inject the grease into the Si
grease inlet using a grease gun. (G nipple is provided at factory.)
Grease type: Molywhite RE No. 00
Amount of grease: 600cc
3. The grease replacement is complete when new grease appears in the So exhaust port.
The new grease can be distinguished from the old grease by color.
4. Move the S-axis for for a few minutes to discharge the excess grease.
5. Wipe the So exhaust port with a cloth and reinstall the plugs on the Si grease inlet and
the So exhaust port. Apply Three Bond 1211 on screwed parts.
9-8
9.2 Notes on Maintenance Procedures
9.2.3
Grease Replenishment/Replacement for L-Axis
Speed Reducer
°
52
Lo: Grease exhaust plug
(Hexagon socket head M6)
arm
L-axis speed reducer
Li: Grease Inlet
(Hexagon socket head M6)
Fig. 27 L-Axis Speed Reducer Diagram
NOTE For ceiling mounted manipulators, the exhaust port and the grease inlet are inverted.
#
Grease Replenishment (Refer to " Fig. 27 L-Axis Speed Reducer
Diagram ".)
1. Maintain the L-arm as shown in " Fig. 27 L-Axis Speed Reducer Diagram "
2. Remove the Lo exhaust plugs.
NOTE If grease is added without removing the exhaust plugs, the grease will go inside the motor
and may damage it. It is absolutely necessary to remove the plugs.
3. Install the G nipple A-MT6×1 on the Li grease inlet, and inject grease into the Li grease
inlet using a grease gun. (G nipple is provided at factory.)
Grease type: Molywhite RE No. 00
Amount of grease: 30cc
(60cc for 1st supply)
4. Move the L-Axis for for a few minutes to discharge the excess grease.
5. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs on the Li grease inlet and
the Lo exhaust port. Apply Three Bond 1211 on screwed parts.
9-9
9.2 Notes on Maintenance Procedures
#
Grease Replacement (Refer to " Fig. 27 L-Axis Speed Reducer Diagram ".)
1. Maintain the L-arm as shown in " Fig. 27 L-Axis Speed Reducer Diagram "
2. Remove the Lo exhaust plugs.
NOTE If grease is added without removing the exhaust plugs, the grease will go inside the motor
and may damage it. It is absolutely necessary to remove the plugs.
3. Install the G nipple A-MT6×1 on the Li grease inlet, and inject grease into the Li grease
inlets using a grease gun.
Grease type: Molywhite RE No. 00
Amount of grease: approx. 500cc
4. The grease replacement is complete when new grease appears in the Lo exhaust
ports. The new grease can be distinguished from the old grease by color.
5. Move the L-Axis for for a few minutes to discharge the excess grease.
6. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs on the Li grease inlet and
the Lo exhaust port. Apply Three Bond 1211 on screwed parts.
9.2.4
Grease Replenishment/Replacement for U-Axis
Speed Reducer
Uo: Grease exhaust plug
(Hexagon socket head M6)
Ui: Grease Inlet
(Hexagon socket head M6)
U-axis speed reducer
View A
A
U arm
16°
Fig. 28 U-Axis Speed Reducer Diagram
NOTE For ceiling mounted manipulators, the exhaust port and the grease inlet are inverted.
9-10
9.2 Notes on Maintenance Procedures
#
Grease Replenishment (Refer to " Fig. 28 U-Axis Speed Reducer
Diagram ".)
1. Maintain the U-arm as shown in " Fig. 28 U-Axis Speed Reducer Diagram "
2. Remove the Uo exhaust plugs.
NOTE If grease is added without removing the exhaust plugs, the grease will go inside the motor
and may damage it. It is absolutely necessary to remove the plugs.
3. Install the G nipple A-MT6×1 on the Ui grease inlet, and inject grease into the Ui
grease inlet using a grease gun.
Grease type: Molywhite RE No. 00
Amount of grease: 30cc
(60cc for 1st supply)
4. Move the U-Axes for a few minutes to discharge the excess grease.
5. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs on the Ui grease inlet
and the Uo exhaust port. Apply Three Bond 1211 on screwed parts.
#
Grease Replacement (Refer to " Fig. 28 U-Axis Speed Reducer
Diagram ".)
1. Maintain the U-arm as shown in " Fig. 28 U-Axis Speed Reducer Diagram "
2. Remove the Uo exhaust plugs.
NOTE If grease is added without removing the exhaust plugs, the grease will go inside the motor
and may damage it. It is absolutely necessary to remove the plugs.
3. Install the G nipple A-MT6×1 on the Ui grease inlet, and inject grease into the Ui
grease inlets using a grease gun.
Grease type: Molywhite RE No. 00
Amount of grease: approx. 300cc
4. The grease replacement is complete when new grease appears in the Uo exhaust
ports. The new grease can be distinguished from the old grease by color.
5. Move the U-Axes for a few minutes to discharge the excess grease.
6. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs on the Ui grease inlet
and the Uo exhaust port. Apply Three Bond 1211 on screwed parts.
9-11
9.2 Notes on Maintenance Procedures
9.2.5
Grease Replenishment for R-Axis Speed Reducer
Ro: Plug for air flow
(Hexagon socket head M6)
R-axis speed reducer
A
A
Ri: Grease Inlet
(Hexagon socket head M6)
Section A-A
Fig. 29 R-Axis Speed Reducer Diagram
1. Remove the Ro plug for air flow.
2. Remove the bolt from the Ri grease inlet and install the G nipple A-MT6×1. Inject
grease into the Ri grease inlet using a grease gun. (Refer to " Fig. 29 R-Axis Speed
Reducer Diagram " )
Grease type: Harmonic grease SK-1A
Amount of grease: 8cc
(16cc for first supply)
NOTE The Ro exhaust port is used for air flow. Do not inject excessive grease into the Ri grease
inlet.
3. Reinstall the Ro plug. Apply Three Bond 1211 on screwed part.
4. Reinstall the bolt on the Ri grease inlet. Apply Three Bond 1211 on screwed parts.
9-12
9.2 Notes on Maintenance Procedures
9.2.6
Grease Replenishment for B- and T-Axis Speed
Reducers
Bo: Plug for air flow
(Plug)
T-axis speed
reducer
B-axis speed reducer
To: Plug for air flow
(Hexagon socket head M6)
Ti: Gease Inlet
(Hexagon socket head M6)
Bi: Gease Inlet
(G Nipple A-MT6×1)
Fig. 30 B- and T-Axis Speed Reducers Diagram
1. Remove the Bo and To plugs for air flow.
NOTE Remove the U-arm cover side of the B-axis speed reducer.
2. Remove the bolt from the Bi and Ti grease inlets and install the G nipples A-MT6×1.
Inject grease into the Bi and Ti grease inlets using a grease gun. (Refer to " Fig. 30 Band T-Axis Speed Reducers Diagram ".)
Grease type: Harmonic grease SK-1A
Amount of grease:
For B-axis (Bi): 10cc (20cc for 1st supply)
For T-axis (Ti): 5cc (10cc for 1st supply)
NOTE The Bo and To exhaust ports are used for air flow. Do not inject excessive grease into the
Bi and Ti grease inlets.
3. Reinstall the Bo and To plugs. Apply Three Bond 1211 on screwed parts.
4. Reinstall the bolts on the Bi and Ti grease inlets. Apply Three Bond 1211 on screwed
parts.
NOTE Mount the U-arm cover side of the B-axis speed reducer. (Refer to " 9.2.9 Notes for Maintenance ")
9-13
9.2 Notes on Maintenance Procedures
9.2.7
Grease Replenishment for T-Axis Gear
Bo: Plug for air flow
(Plug)
Gear Grease Inlet
(Hexagon socket head M6)
Fig. 31 T-Axis Gear Diagram
1. Remove the Bo plug for air flow.
2. Remove the bolt from the Bi grease inlet and install the G nipple A-MT6×1. Inject
grease into the gear grease inlet using a grease gun. (Refer to " Fig. 31 T-Axis Gear
Diagram ".)
Grease type: Harmonic grease SK-1A
Amount of grease: 5cc
(10cc for 1st supply)
NOTE The Bo exhaust port is used for air flow. Do not inject excessive grease into the gear
grease inlet.
3. Reinstall the Bo plug. Apply Three Bond 1211 on screwed parts.
4. Reinstall the bolt on the Bi grease inlet. Apply Three Bond 1211 on screwed parts.
9-14
9.2 Notes on Maintenance Procedures
9.2.8
Grease Replenishment for R-Axis Cross Roller Bearing
R-axis cross roller bearing
Co: Plug for air flow
(Plug)
A
A
Ci: Grease Inlet
(Hexagon socket head M6)
Section A-A
Fig. 32 R-Axis Cross Roller Bearing Diagram
1. Remove the Co plug for air flow.
2. Remove the bolt from the Ci grease inlet and install the G nipple A-MT6×1. Inject
grease into the Ci grease inlet using a grease gun. (Refer to " Fig. 32 R-Axis Cross
Roller Bearing Diagram ").
Grease type: Alvania EP grease 2
Amount of grease: 8cc
(16cc for 1st supply)
NOTE The Co exhaust port is used for air flow. Do not inject excessive grease into the gear
grease inlet.
3. Reinstall the Co plug. Apply Three Bond 1211 on screwed parts.
4. Reinstall the bolt on the Ci grease inlet. Apply Three Bond 1211 on screwed parts.
9-15
9.2 Notes on Maintenance Procedures
9.2.9
#
Notes for Maintenance
Wrist Axes
The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrating into the wrist unit, the matched parts are sealed with silicon sealant. Therefore, if the wrist
cover is disassembled, reseal with silicon sealant (modifier silicon caulk, refer to " Table. 8
Spare Parts for the Motoman-UP20 ").
Cover
Cover joining face
Cover joining face
Cover
Fig. 33 Sealing Part of Wrist Unit
#
Encoder Connector (with CAUTION label)
Remove the old battery unit after connecting the new one so that the encoder absolute data
does not disappear.
Battery Unit Connection for L-Axis
The connector for the battery unit connection is attached to the main body of the L-axis motor.
Connect the battery unit according to the following procedure.
1. Remove the cap attached to the battery backup connector of the motor.
2. Connect the battery unit connection cable (HW9470945-A) for the motor with the battery backup connector of the motor.
3. Connect the battery unit (HW9470932-A) with the battery unit connection cable
(HW9470945-A) for the motor. (Under such a condition, remove the encoder connector
and do the maintenance check work.)
4. Confirm all connectors connection after the maintenance check ends, and remove the
battery unit connection cable for the motor and the battery unit.
5. Install the cap attached to the battery backup connector of the motor.
Battery Unit Connection for S-, U-, R-, B-, and T-Axis
The connector (insertion-type pin terminal) for the battery backup is installed in the end point
of the cable for the encoder of the S, U, R, B, and T axis motors (BAT and OBT are marked).
Connect the battery unit according to the following procedure.
1. Connect battery unit (HW9470917-A) with the battery backup connector (BAT and
OBT are marked) located in the end point of the cable for the encoder. (Under such a
condition, remove the encoder connector and do the maintenance check work.)
2. Confirm all connectors connection after the maintenance check ends, and remove the
battery unit.
9-16
9.2 Notes on Maintenance Procedures
NOTE Do not remove the battery unit in the base connector.
L-Axis
Connector for the battery backup
Motor
0BT
BAT
a
b
0BT1
b
a
BAT1
Battery unit (HW9470932-A)
Battery unit connection cable for the motor (HW9470945-A)
S, U, R, B, T-Axis
Encoder
Motor
Motor cable etc.
Power connector
Internal wire
Connection
hw27230hw927089401hw721.0y
hw27230hw927089401hw721.0y
b 0BT4
1.000
(1.260 1.890 0.000 0.000 0.000 0.000 0.000 3.150 12.000 0 )
else448nj182000001nje81.0t
10.000
4.000
else448nj182000001nje81.0t
0BT
a
BAT
b
a BAT4
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Encoder connector
Battery unit (HW9470917-A)
CAUTION label
0BT
a
b
0BT4
BAT
b
a
BAT4
CAUTION label (Enlarged view)
a: Insertion-type pin terminal (Male)
b: Insertion-type pin terminal (Female)
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Fig. 34 Encoder Connector Diagram
9-17
9.2 Notes on Maintenance Procedures
9-18
10 Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the Motoman-UP20. The spare parts list for the Motoman-UP20 is shown below. Product performance can not be guaranteed when using spare parts from any company other than
Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of frequent operation
• Rank C: Drive unit
NOTE For replacing parts in Rank B or Rank C, contact your Yaskawa representative.
Table. 8 Spare Parts for the Motoman-UP20
Rank
Parts
No.
A
1
A
2
A
3
A
4
A
5
A
6
A
7
A
8
B
9
B
10
B
11
Name
Type
Manufacturer
Qty
Qty
per
Unit
Grease
Molywhite
RE No. 00
Yaskawa Electric
Corporation
16kg
-
Grease
Harmonic Grease
SK-1A
Harmonic Drive
System Co., Ltd.
2.5kg
-
Grease
Alvania EP
Grease 2
Showa Oil Co.,
Ltd.
16kg
-
Silicon Rubber
Compound Tube
Modifier Silicon
Caulk
Konishi Co., Ltd.
-
-
Liquid gasket
Three Bond 1211
Three Bond Co.,
Ltd.
-
-
Battery Unit
HW9470932-A
Yaskawa Electric
Corporation
1
1
Battery Unit
HW9470917-A
Yaskawa Electric
Corporation
1
1
Batttery Unit Connection Cable for
the Motor
HW9470945-A
Yaskawa Electric
Corporation
1
1
R-Axis Timing Belt
60S4.5M414
Mitsuboshi Belting Limited
1
1
B-Axis Timing Belt
60S4.5M729
Mitsuboshi Belting Limited
1
1
T-Axis Timing Belt
60S4.5M518
Mitsuboshi Belting Limited
1
1
10-1
Remarks
for SLU-axes
for RBT-axes
for L-axis motor
Table. 8 Spare Parts for the Motoman-UP20
Manufacturer
Qty
Qty
per
Unit
HW9381641-B
Yaskawa Electric
Corporation
1
1
L-Axis
Speed Reducer
HW9381641-A
Yaskawa Electric
Corporation
1
1
14
U-Axis
Speed Reducer
HW9280880-A
Yaskawa Electric
Corporation
1
1
B
15
R-Axis
Speed Reducer
HW9380623-A
Yaskawa Electric
Corporation
1
1
B
16
B-Axis
Speed Reducer
HW9381633-A
Yaskawa Electric
Corporation
1
1
B
17
T-Axis
Speed Reducer
HW9381634-A
Yaskawa Electric
Corporation
1
1
B
18
Internal Wiring
HW9171682-A
Yaskawa Electric
Corporation
1
1
B
19
B- and T-Axes
Internal Wiring
HW9371168-A
Yaskawa Electric
Corporation
1
1
S-Axis
AC Servomotor
HW9381363-A
Yaskawa Electric
Corporation
L-Axis
AC Servomotor
HW9381717-A
U-Axis
AC Servomotor
HW9381360-A
R-, B- and T-Axes
AC Servomotor
HW9381353-A
Limit Switch Set
HW9371171-A
Rank
Parts
No.
B
12
S-Axis
Speed Reducer
B
13
B
C
20
C
21
C
22
C
23
C
24
C
25
C
26
Name
Type
Yaskawa Electric
Corporation
Yaskawa Electric
Corporation
Yaskawa Electric
Corporation
Yaskawa Electric
Corporation
in U-arm
1
1
With brake, with
key, lead terminal
treatment completion
1
1
With brake, with
key, lead terminal
treatment completion
1
1
Lead terminal
treatment completion
1
3
With brake, no
key, lead terminal
treatment completion
1
1
Lead terminal
treatment completion
Wrist Unit
HW9171670-A
Yaskawa Electric
Corporation
1
1
R-axis Driving Unit
HW9370855-B
Yaskawa Electric
Corporation
1
1
10-2
Remarks
11.1 S-Axis Driving Unit(1)
11 Parts List
11.1 S-Axis Driving Unit(1)
11-1
11.1 S-Axis Driving Unit(1)
No.
DWG No.
Name
Pcs.
No.
DWG No.
Name
Pcs.
1001
HW9302601-1
Support
1
1057
M6x8
APS bolt
2
1002
GT-SA M6x15
Socket screw
2
1058
TA1-S10
Clamp
1
1003
CD-31
Saddle
1
1059
T50R
Insulok’ tie
5
1004
M6x10
Socket screw
2
1061
HW9405948-1
N base B
1
1005
2H-6
Spring washer
2
1006
TA1-S10
Clamp
1
1007
T50R
Insulok’ tie
1
1008
M5x10
APS bolt
1
1009
TU0604B
Tube
2
1010
HW9101002-1
S head
1
1011
SGMDH-12A2AYR12
Motor
1
1012
GT-SA M8x25
Socket screw
4
1013
HW9405456-1
Spacer
1
1014
M14x45
Socket screw
1
1015
HW9302681-1
Support
1
1016
GT-SA M4x12
Socket screw
2
1017
GT-SH M14
Washer
1
1018
HW9405825-1
Lever
1
1019
HW9405823-1
Shaft
1
1020
GT-SA M6x30
Socket screw
1
1021
M5x10
APS bolt
4
1022
LFF-1410
Oiless
1
1023
TSH6-01M
Union
2
1024
HW9101000-1
Base
1
1025
GT-SA M10x40
Socket screw
12
1026
HW9381641-B
Reduction
gear
1
1027
HW9482744-A
Gear
1
1028
HW9481645-A
Bolt
1
1029
STW-9
C stopper
1
1030
GT-SA M12x80
Socket screw
9
1031
GT-SA M8x25
Socket screw
3
1032
HW9302600-1
M base
1
1033
HW9482899-A
Shaft
1
1034
HW9481648-A
Shaft
1
1035
PMF6-01
Union
1
1036
PT1/8
Plug
1
1037
M5x10
Round head
screw
3
1038
M6x8
APS bolt
2
1039
HW9406149-1
Cover
1
1040
M12
I bolt
2
1041
COOLER H417-100
Fin
1
1042
HW9481967-A
Seat
2
1043
D4C-4424
Limit switch
1
1048
HW9405821-1
Cover
1
1049
M5x14
Socket screw
2
1050
GT-SA M6x15
Socket screw
2
1051
HW9302594-1
N base A
1
1052
CD-31
Saddle
1
1054
M4x10
Round head
screw
4
1056
M5x6
Round head
screw
2
11-2
11.2 L-Axis Driving Unit
11.2 L-Axis Driving Unit
11-3
11.2 L-Axis Driving Unit
No.
DWG No.
Name
Pcs.
1010
HW9101002-1
S head
1
2001
M6x10
Socket screw
1
2002
SGMGH-14A2AYR11
Motor
1
2003
M12x35
Socket screw
4
2004
2H-12
Spring washer
4
2005
HW9302680-1
Cover
1
2006
M6x8
APS bolt
7
2007
HW9101001-1
L arm
1
2008
HW9302591-1
Cover
1
2009
M6x8
APS bolt
3
1
2010
HW9381641-A
Reduction gear
2011
GT-SA M10x40
Socket screw
1
2013
HW9101004-1
Cover
1
2014
HW9405822-1
Cover
1
2015
M6x8
APS bolt
4
2016
HW9302602-1
Support
1
2017
GT-SA M5x16
Socket screw
4
2018
GT-SA M8x25
Socket screw
5
2019
HW9406001-A
Stopper
2
2020
GT-SA M6x45
Socket screw
2
2021
M6
Washer
2
2022
HW9406148-1
Plate
1
2023
M4x10
Socket screw
2
2024
2H-4
Spring washer
2
2025
EZ5037BO
Cap
1
2026
HW9381661-A
Gear
1
2027
2H-6
Spring washer
1
2028
M6x75
Socket screw
1
2031
M12x60
Socket screw
9
2032
2H-12
Spring washer
9
2033
M6x10
Socket screw
1
2034
2H-6
Spring Washer
1
11-4
11.3 U.R-Axis Driving Unit
11.3 U.R-Axis Driving Unit
11-5
11.3 U.R-Axis Driving Unit
No.
DWG No.
Name
Pcs.
3053
HW9302219-1
Housing
1
4001
HW9381658-A
Gear
1
4002
HW9405452-1
B cover
1
4003
HW9482218-A
Bearing
1
4004
HW9302577-1
Flange
1
4005
HW9481187-A
Bearing
1
4006
HW9405809-1
B nut
1
4007
HW9302568-1
Housing
1
4008
HW9381634-A
Reduction gear
1
4009
HW9302567-1
Housing
1
4010
HW9481180-A
Bearing
1
4011
HW9405199-1
B nut
1
4012
HW9405791-1
Housing
1
4013
HW9405792-1
Housing
1
4014
HW9482725-A
Pulley
1
4015
HW9381659-A
Gear
1
4016
HW9381633-A
Reduction gear
1
4017
HW9482668-A
Oil seal
1
4018
HW9100977-1
U arm
1
4019
HW9200798-1
Cover
2
4020
HW9482727-A
Pulley
2
4021
HW9200977-1
Wrist base
1
4022
HW9482726-A
Pulley
1
4023
HW9405025-1
Support
1
4024
GT-SA M5x20
Socket screw
12
4025
GT-SA M4x16
Socket screw
19
4026
GT-SA M4x12
Socket screw
18
4027
GT-SA M5x16
Socket screw
14
4028
GT-SA M5x12
Socket screw
32
4029
6811LLU
Bearing
1
4030
TC60747
Oil seal
2
4031
S75
O ring
1
4032
M6x6
H set screw
1
4033
A-MT6x1
G nipple
1
4034
M6x6
Socket screw
2
4034AA
2H-6
Spring washer
2
4035
6002ZZ
Bearing
1
4036
6814ZZ
Bearing
1
4037
6901ZZ
Bearing
1
4038
80S4.5M729
Timing belt
1
4039
80S4.5M518
Timing belt
1
4040
SGMPH-02A1AYR31
Motor
2
4041
LP-M5
Plug
1
4042
CD-12
Saddle
1
4043
M5x10
APS bolt
2
4044
TA1-S8
Clamp
1
4045
M4x8
Round head
screw
1
4046
T50R
Insulok’ tie
1
4047
SP-0120
Shim
1
11-6
11.4 Wrist Unit
11.4 Wrist Unit
11-7
11.4 Wrist Unit
No.
DWG No.
Name
Pcs.
No.
DWG No.
Name
2007
HW9101001-1
L arm
1
3052
GT-SA M5x16
Socket screw
8
3001
PT1/8
Plug
2
3053
HW9302219-1
Housing
1
3054
HW9381397-A
Cross rollar
bearing
1
Pcs.
3002
HW9405819-1
Stopper
2
3003
M8x16
Socket screw
2
3004
2H-8
Spring washer
2
3055
6806ZZ
Bearing
1
3005
HW9200979-1
Cover
1
3056
6809ZZ
Bearing
1
3006
GT-SA M4x16
Socket screw
6
3057
GT-SA M6x20
Socket screw
2
3007
SGMDH-06A2AYR12
Motor
1
3058
IRTW-58
C stopper
1
3059
GT-SA M4x12
Socket screw
4
3008
M8x30
Socket screw
4
3060
HW9481267-A
Pulley
1
3009
2H-8
Spring washer
4
3061
GT-SA M6x40
Socket screw
14
3010
HW9101003-1
Casing
1
3062
HW9200959-1
Cover
1
3011
HW9280880-A
Reduction gear
1
3063
HW9380623-A
Reduction gear
1
3013
M4x65
Socket screw
1
3064
GT-SA M5x16
Socket screw
3
3014
2H-4
Spring washer
1
3065
GT-SA M5x12
Socket screw
2
3015
M4x35
Socket screw
6
3066
HW9301976-1
Support
1
3016
GT-SH-M14
Washer
6
3017
GT-SA M8x45
Socket screw
16
3018
M6x10
Socket screw
1
3019
2H-6
Spring washer
1
3020
GT-SA M5x16
Socket screw
4
3021
HW9302603-1
Support
1
3021AA
M5x16
Socket screw
2
3021AB
2H-5
Spring washer
2
3022
M8x16
Socket screw
1
3023
2H-8
Spring washer
1
1
3024
HW9406148-1
Plate
3025
M4x10
Socket screw
2
3026
2H-4
Spring washer
2
3027
RP2BG-16-LG
Plug
1
3028
M6x6
Socket screw
2
3029
M6
Washer
2
3030
LP-M5
Plug
1
3031
M6x8
H set screw
1
3032
SGMPH-02A1AYR31
Motor
1
3033
GT-SA M5x12
Socket screw
2
3034
CD-12
Saddle
1
3035
M5x10
APS bolt
3
3036
PT1/8
Plug
1
3037
TA1-S8
Clamp
1
3038
M4x8
Round head
screw
1
3039
PT3/8
Plug
1
3040
KQE10-03
Union
1
3041
HW9302409-1
Support
1
3042
M4x10
APS bolt
4
3043
HW9405818-1
Cover
1
3044
HW9482742-A
Pulley
1
3045
GT-SA M4x16
Socket screw
1
3046
60S4.5M414
Timing belt
1
3047
GT-SA M4x12
Socket screw
12
3048
TC1301427
Oil seal
1
3049
GT-SA M6x40
Socket screw
16
3050
HW9302574-1
Stopper
1
3051
GT-SA M5x10
Socket screw
2
11-8
MOTOMAN-UP20
INSTRUCTIONS
TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-0022, Japan
Phone 81-3-5402-4511
Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200
Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600
Fax 1-937-440-2626
MOTOMAN INC. CANADA OFFICE
Dublin Tech Mart 5000 Blazer Memonal Parkway Dublin, OH 43017-3359, U.S.A.
Phone 1-614-718-4200
Fax 1-614-718-4222
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany.
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800
Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Germany
Phone 49-8166-900
Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844
Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003
Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385
Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO. RE-MTO-A220 2
C Printed in Japan June 2000 00-01
YASKAWA
MOTOMAN
SETUP MANUAL
Upon receipt of the product and prior to initial operation, read these instructions
thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-ooo MANIPULATOR INSTRUCTION MANUAL
YASNAC XRC INSTRUCTION MANUAL
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL FOR BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Please be sure to use the appropriate manual.
YASKAWA
MANUAL NO. RE-TA-A503
1
• This manual explains the various components of the YASNAC XRC system and general operations. Read this manual carefully and be sure to
understand its contents before handling the YASNAC XRC.
• General items related to safety are listed in Section 1: Safety of the
Setup Manual. To ensure correct and safe operation, carefully read the
Setup Manual before reading this manual.
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• 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 due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.”
Indicates 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 moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this
heading.
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING.”
iii
• Before operating the manipulator, check that the servo power is turned
off when the emergency stop buttons on the playback panel or programming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
• Always set the Teach Lock before entering the robot work 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 operations
within the working envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope
and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems. The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
iv
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair 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.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup
Manual before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
Manipulator
Manipulator
Power Cable
Power Cable
YASNAC XRC Controller
XRC
YASNAC XRC Playback Panel
Playback Panel
YASNAC XRC Programming Pendant
Programming Pendant
v
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
The keys which have characters printed on them are
denoted with [ ], e.g., [ENTER].
Symbol Keys
The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
e.g., page key
The cursor key is an exception, and a picture is not
shown.
Playback Panel
Axis Keys
Number Keys
“Axis Keys” and “Number Keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
e.g., [SHIFT]+[COORD].
Displays
The menu displayed in the programming pendant is
denoted with { }, e.g., {JOB}.
Buttons
Playback panel buttons are enclosed in brackets,
e.g., [TEACH] on the playback panel.
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed.
vi
Explanation of warning labels
The following warning labels are attached to the manipulator and XRC.
Fully comply with the precautions on the warning labels.
• The label described below is attached to the manipulator.
Observe the precautions on the warning labels.
Failure to observe this caution may result in injury or damage to equipment.
Refer to the manipulator manual for the warning label location.
• The following warning labels are attached to XRC.
Fully comply with the precautions on the warning labels.
Failure to observe this warning may result in injury or damage to equipment.
vii
viii
1
Safety
1.1 For Your Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Special Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.3 Motoman Manual List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.4 Personnel Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.5 Motoman Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6
1.5.1 Installation and Wiring Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6
1.5.2 Work Area Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10
1.5.3 Operation Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-11
1.6 Notes for Moving and Transferring the MOTOMAN . . . . . . . .1-14
1.7 Notes on MOTOMAN Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15
2
Product Confirmation
2.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
3
Installation
3.1 Handling Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1.1 Using a Crane to Move the Controller . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1.2 Using a Forklift to Move the Controller . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Place of Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.4 Mounting the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
4
Connection
4.1 Notes on Cable Junctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2.1 Three-Phase Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2.2 Noise Filter Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4
4.2.3 Leakage Breaker Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4
4.2.4 Primary Power Supply Switch Installation . . . . . . . . . . . . . . . . . . . . . .4-5
4.3 Connection Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
4.3.1 Connecting the Primary Power Supply . . . . . . . . . . . . . . . . . . . . . . . .4-6
4.3.2 Connecting the Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-9
4.3.3 Connecting the Programming Pendant . . . . . . . . . . . . . . . . . . . . . . .4-11
ix
5
Turning on the Power Supply
5.1 Turning on the Main Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Startup Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.2 When Startup Diagnostics are Complete . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Turning on the Servo Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.1 During Play Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.2 During Teach Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.3 Turning the Power Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3.1 Turning the Servo Power Off (Emergency Stop) . . . . . . . . . . . . . . . . 5-4
5.3.2 Turning the Main Power Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
6
Test of Program Operation
6.1 Movement of the Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
7
Home Position Confirmation
7.1 Home Position Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.1.1 Operating Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
8
Final Notes
x
About Setup Manual Configuration
Thank you very much for purchasing Yaskawa Electric Mfg. Co., Ltd.’s manipulator .
This Setup Manual contains instructions for the safe use of the manipulator, and safe installation and wiring.
This manual is arranged as follows:
Chapter 1 includes general notes for safe and proper operation of the MOTOMAN.
Chapter 2 explains how to receive the manipulator and its support equipment.
Chapter 3 explains XRC installation, location, and setup.
Chapter 4 explains how to connect the primary power supply and power cables.
Chapter 5 explains how to turn the power supply on/off.
Chapter 6 explains the check operation and manipulator handling.
Chapter 7 explains home position registration and confirmation.
Chapter 8 lists all the manuals and their relevant uses.
xi
xii
1.1 For Your Safety
1 Safety
1.1
For Your Safety
Robots generally have requirements which are different from other manufacturing equipment,
such as larger working areas, high-speed operation, rapid arm movements, etc., which can
pose safety hazards.
Read and understand the instruction manuals and related documents, and observe all precautions in order to avoid the risk of injury to personnel and damage to equipment.
It is the user’s responsibility to ensure that all local, state, and national codes, regulations
rules, or laws relating to safety and safe operating conditions are met and followed.
1-1
1.1 For Your Safety
• Teaching maintenance of the robot must conform to:
-Industrial Safety and Health Law
-Enforcement Order of Industrial Safety and Health Law
-Ordinance of Industrial Safety and Health Law
Other related laws are:
-Occupational Safety and Health Act in USA
-Factory Act (Gewerbeordnung) in Germany
-Health and Safety at Work, etc. Act in UK
-EC Directive 89/392 Machinery and 91/368 EEC
• Prepare
-SAFETY WORK REGULATIONS
based on concrete policies for safety management complying with related laws.
• Observe the
-MANIPULATING INDUSTRIAL ROBOTS-SAFETY (ISO 10218)
for safe operation of the robot. (Japan Only) (JIS B 8433)
• Reinforce the
-SAFETY MANAGEMENT SYSTEM
by designating authorized workers and safety managers, as well as giving continuing
safety education.
• Teaching and maintaining the robot are specified as
"Hazardous Operations" in the Industrial Safety and Health Law
(Japan only).
Workers employed in these above operations are requested to attend special training
offered by YASKAWA.
1-2
1.2 Special Training
1.2
Special Training
• Persons who teach or inspect the manipulator must undergo required
training before using the manipulator.
• For more information on training, inquire at the nearest YASKAWA
branch office.
The telephone numbers are listed on the back cover of this manual.
1.3
Motoman Manual List
• It is important to have and be familiar with all manuals concerning the
MOTOMAN.
You should have the four manuals listed below:
-MOTOMAN SETUP MANUAL
-MOTOMAN-ooo INSTRUCTIONS
-YASNAC XRC INSTRUCTIONS
-YASNAC XRC OPERATOR’S MANUAL FOR BEGINNERS
-YASNAC XRC OPERATOR’S MANUAL
Confirm that you have all these manuals on hand.
If any manuals are missing, contact your salesman from YASKAWA’s local branch office.
The relevant telephone numbers are listed on the back cover.
1-3
1.4 Personnel Safety
1.4
Personnel Safety
The entire manipulator working envelope is potentially dangerous.
All personnel working with the MOTOMAN (safety administration, installation, operation, and
maintenance personnel) must always be prepared and "Safety First" minded, to ensure the
safety of all personnel.
• Avoid any dangerous actions in the area where the MOTOMAN is
installed.
There is a danger of injury if there is contact with the manipulator or peripheral equipment.
• Please take strict safety precautions by placing signs such as "Flammable," "High Voltage," "Waiting," and "Off-limits to Unauthorized Personnel" in necessary areas in the factory.
Failure to observe these cautions may result in fire, electric shock, or injury due to contact
with the manipulator and other equipment.
• Strictly observe the following items:
-Always wear approved work clothes (no loose-fitting clothes).
-Do not wear gloves when operating the MOTOMAN.
-Do not allow underwear, shirts, or neckties to hang out from the work
clothes.
-Do not wear large jewelry, such as earrings, rings, or pendants.
Always wear protective safety equipment such as helmets, safety shoes (with slip-proof
soles),face shields, safety glasses, and gloves as necessary.
Improper clothing may result in injury.
• Unauthorized persons should not approach the manipulator or associated peripheral equipment.
Failure to observe this caution may result in injury due to contact with XRC, playback
panel, the workpiece, the positioner, etc.
1-4
1.4 Personnel Safety
• Never forcibly move the manipulator axes.
Failure to observe this caution may result in injury or equipment damage.
• Never lean on XRC or other controllers, and avoid inadvertently pushing
buttons.
Failure to observe this caution may result in injury or damage by unexpected movement
of the manipulator.
• Never allow unauthorized personnel to touch the XRC during operation.
Failure to observe this caution may result in injury or damage resulting from unexpected
movement of the manipulator.
1-5
1.5 Motoman Safety
1.5
1.5.1
Motoman Safety
Installation and Wiring Safety
Refer to the MOTOMAN-ooo Instructions manual and XRC Instructions for details on installation and wiring.
In planning installation, adapt an easy to observe arrangement to ensure safety. Take safety
into consideration when planning the installation. Observe the following when installing the
manipulator:
• Select an area such as that described below to install the manipulator:
Confirm that the area is large enough so that the fully extended manipulator arm with tool will not reach a side wall, safeguards, or the controller.
Failure to observe this caution may result in injury or damage resulting from unexpected
movement of the manipulator.
ENCLOSURE
XRC
1000 mm or more
DOOR
1000 mm or more
1000 mm or more
WORKING ENVELOPE
OF MANIPULATOR
MAXIMUM WORKING ENVELOPE OF
MANIPULATOR INCLUDING TOOL
OR WORKPIECE END
1000 mm or more
• Perform grounding in accordance with all applicable electrical codes.
Failure to observe this caution may result in fire or electric shock.
1-6
1.5 Motoman Safety
• Operation of the crane, sling, or forklift should only be performed by
authorized personnel.
Failure to observe this precaution may result in injury or equipment damage.
MOTOMAN should be lifted with a crane using wire rope threaded through the shipping
bolts and jigs and the body should be lifted in an upright posture as described in the
manipulator instruction manual.
Failure to observe these precautions may cause the manipulator to turn downward,
potentially causing injury or damage to equipment.
• When lifting the XRC, please check the following:
-As a rule, handling of XRC must be performed using a crane with wire
rope threaded through attached eyebolts.
-Be sure to use wire that is strong enough to handle the weight of the
XRC.
THE WEIGHT OF XRC (approx.)
XRC equivalent
model
Approx.
weight
(kg)
SV3X,UP6,SK16X
70
SK45X,SK16MX
90
UP130,UP165,
UP200,UP130R,
SP100X
100
• Be sure the eyebolts are securely fastened.
Failure to observe this caution may result in injury or damage to equipment.
• If storing the manipulator temporarily before installation, be sure to
place it on a stable and flat surface and take precautions to prevent
unauthorized personnel from touching it.
Failure to observe this precaution may result in injury of damage to equipment.
1-7
1.5 Motoman Safety
• Be sure there is sufficient room for maintenance on the manipulator,
XRC, and other peripheral equipment.
500
Failure to observe this precaution could result in injury during maintenance.
500
[650]
470
500
320
(550)
(420)
500
760
(860)
[860]
(630)
(420)
(550)
20]
470
XRC
0]
550
[420]
320
[650]
470
(550)
[650]
DOOR
XRC
Securing (mm) SV3X,UP6,SK16X,
( )SK16MX,SK45X,
[ ]UP130,UP165,UP200,UP130R,SP100X
External Dimensions (mm) SV3X,UP6,SK16X
( )SK16MX,SK45X,
[ ]UP130,UP165,UP200,UP130R,SP100X
• The manipulator is controlled by the XRC or the welding fixture controller.
To ensure safety, be sure to operate the controller from a location where the manipulator
is easily visible.
Operation by unauthorized personnel may result in injury or equipment damage.
• Install the XRC outside the safeguard of the manipulator’s safety enclosure.
Failure to observe this precaution may result in injury or damage to equipment resulting
from contact with the manipulator.
• Install the manipulator using bolts of the size and type specified for
each MOTOMAN in the MOTOMAN INSTRUCTION MANUAL.
Failure to observe this caution may result in injury or damage to equipment.
1-8
1.5 Motoman Safety
• Secure the position of the XRC after setting up.
Attach the XRC to the floor or rack, etc., using the screw holes on the bottom of the
XRC.
Failure to observe this caution could lead to injury or equipment damage if the XRC
should shift or fall.
• Be familiar with the connection diagram before wiring the XRC, and perform the wiring in accordance with the connection diagram.
There is a danger of equipment damage or injury due to miswiring and unexpected movement of the equipment.
• Take precautions when wiring and piping between the XRC, manipulator, and peripheral equipment. Run the piping, wiring, or cables through
a pit or use a protective cover, so that they are not stepped on by personnel or run over by the forklift.
Operators and other personnel may stumble on
exposed wiring or piping. Cable damage can
cause unexpected manipulator motion resulting
in injury or property damage.
1-9
1.5 Motoman Safety
1.5.2
Work Area Safety
Carelessness contributes to serious accidents in the work area. To ensure safety, enforce the
following precautions:
• Install an enclosure around the manipulator to prevent any accidental
contact with the manipulator while the power is on.
Post a warning sign stating "Off-limits During Operation" at the
entrance of the enclosure. The gate of the enclosure must be equipped
with a safety interlock. Be sure the interlock operates correctly before
use.
Failure to observe this caution may result in a serious accident due to contact with
the manipulator.
• Store tools and similar equipment in proper locations outside of the
enclosure.
Tools and loose equipment should not be left on the floor around the manipulator, XRC,
or welding fixture, etc., as injury or damage to equipment can occur if the manipulator
comes in contact with objects or equipment left in the work area.
1-10
1.5 Motoman Safety
1.5.3
Operation Safety
• When attaching a tool such as the welding torch to the manipulator, be
sure the power supply of the XRC and the tool is off, lock the switch,
and display a warning sign.
RE
SE
T
OFF
TR
IP
ON
PADLOCK
Turning the power on during tool installation may case electric shock or injury due to
unexpected movement of the manipulator.
• Never exceed the rated capacity of the manipulator (capacity can be
found in the specifications section of the manipulator manual.).
Failure to observe this caution may result in injury or damage to equipment.
• Teach jobs from outside the manipulator’s work area whenever possible.
• When teaching within the working envelope of the manipulator, please
observe the following:
- Always view the manipulator from the front.
- Follow the predetermined operating procedure.
- Always have an escape plan in mind in case the manipulator comes
toward you unexpectedly.
Failure to observe these precautions may result in injury due to unexpected manipulator
motion.
1-11
1.5 Motoman Safety
• Before operating the manipulator, confirm that the emergency stop circuit is functioning by pressing the emergency stop button on the playback panel and programming pendant, and confirm that the servo lamp
is turned off.
If the manipulator cannot be stopped in the event of an emergency, there is a risk of injury
or damage to equipment.
• Always press Teach Lock before starting to teach.
Failure to observe this precaution may result in injury due to unauthorized personnel
operating the manipulator from the playback panel.
• Prior to operation, be sure there are no personnel in the manipulator’s
working envelope. The following operations should always be performed from a safe location.
-Turning on the XRC power supply
-Moving the manipulator using the programming pendant
-The check operation
-Automatic operation
Failure to observe this caution may result in injury from contact with the manipulator.
Press the emergency stop button immediately in the event any problems occur.
The emergency stop button is on the upper right side of the playback panel on the controller and on the right side of the programming pendant.
MOTOMAN
MOTOMAN
YASNAC XRC
YASNAC XRC
1-12
1.5 Motoman Safety
• Inspect all equipment before turning on power to the controller. Correct
problems before operating.
-Check for problems in manipulator motion
-Check for damage to insulation and sheathing of cables.
• Always return the programming pendant to the hook on the front of the
controller after use.
The programming pendant can be damaged if it is left on the floor or in the manipulator
work area.
• Persons operating or inspecting the manipulator should be trained as
required by applicable laws and company policies.
(Refer to the 1.2 Special Training)
1-13
1.6 Notes for Moving and Transferring the MOTOMAN
1.6
Notes for Moving and Transferring the MOTOMAN
When moving or transferring the Motoman, observe the following safety precautions:
• Attach the instructions to the controller cabinet so that all users have
access to necessary manuals. See Section 1.3 for a complete list of
manuals.
If any manuals are missing, contact your Yaskawa representative.
• If the warning labels on the manipulator and YASNAC XRC are illegible,
clean the labels so that they can be read clearly. Note that some local
laws may prohibit equipment operation if safety labels are not in place.
Contact your YASKAWA representative if you require new warning labels.
• When the MOTOMAN is transferred, it is recommended to check with
Yaskawa Engineering Co. which is listed on back cover of this manual.
Incorrect installation or wiring may result in personal injury and property damage.
• Never modify the manipulator or XRC.
Failure to observe this precaution could result in injury or damage resulting from fire,
power failure, or operation error.
1-14
1.7 Notes on MOTOMAN Disposal
1.7
Notes on MOTOMAN Disposal
• When disposing of the MOTOMAN, follow the applicable national/local
laws and regulations.
• Anchor the manipulator well, even when temporarily storing it before
disposal.
Failure to observe this precaution may result in injury due to the manipulator falling down.
1-15
1.7 Notes on MOTOMAN Disposal
1-16
2.1 Contents Confirmation
2 Product Confirmation
2.1
Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following five items (Information for the content of optional
goods is given separately):
• Manipulator
• XRC
• Programming Pendant
• Power Cable (Between Manipulator and XRC)
• Complete Set of Manuals
2-1
2.2 Order Number Confirmation
2.2
Order Number Confirmation
Confirm that the order number pasted on the manipulator and XRC match.
The order number plates are affixed to the figure below.
Example
2-2
3.1 Handling Procedure
3 Installation
3.1
Handling Procedure
• Crane, sling, and forklift operations must be performed only by authorized personnel.
Failure to observe this caution may result in injury or damage.
• Avoid jarring, dropping, or hitting the controller during handling.
Excessive vibration or impacting the XRC may adversely affect the performance of the
XRC.
3.1.1
Using a Crane to Move the Controller
Check the following before handling the XRC:
• Confirm the weight of the controller before handling, and use a wire rope with a rating that
is greater than the weight of the controller.
• Install eyebolts for handling and make sure they are securely fastened before hoisting.
THE WEIGHT OF YASNAC XRC (approx.)
3-1
XRC equivalent
model
Approx.
weight (kg)
SV3X,UP6, SK16X
70
SK16MX,SK45X
90
UP130,UP165,
UP200,UP130R,
SP100X
100
3.2 Place of Installation
3.1.2
Using a Forklift to Move the Controller
Observe the following precautions when using a forklift to handle the controller:
• Confirm that there is a safe work environment and that the XRC can be transported safely
to the installation site.
• Inform people along the forklift route that equipment is being moved in their area.
• Secure the controller so it cannot shift or fall during handling.
• Transport the controller at the lowest possible height.
• Avoid jarring, dropping, or hitting the controller during handling.
3.2
Place of Installation
The conditions listed below must be met before installing the XRC:
• Ambient temperature must be 0 to 45° C (32 to 113°F) during operation and -10 to 60°C
(14 to 140°F) during transportation and maintenance.
• Humidity must be low with no condensation (under 20%RH).
• It must be a place with little dirt, dust, or water.
• No flammable or corrosive liquids or gases, etc. in the area.
• Little jarring or potential for striking of the XRC (under 0.5 oscillation).
• No large electric noise source (such as a TIG welding device, etc.) nearby.
• No potential for collision with moving equipment such as forklifts.
3-2
3.3 Location
3.3
Location
• Install the XRC outside of the working envelope of the manipulator (outside of the enclosure)
ENCLOSURE
XRC
1000 mm or more
DOOR
1000 mm or more
1000 mm or more
WORKING ENVELOPE
OF MANIPULATOR
MAXIMUM WORKING ENVELOPE OF
MANIPULATOR INCLUDING TOOL
OR WORKPIECE END
1000 mm or more
500
• Install the controller in a location from which the manipulator is easily visible.
• Install the controller in a location from which you can easily inspect it when the door is
open.
500
[650]
470
500
(630)
(420)
(550)
XRC
0]
550
[420]
320
[650]
470
(550)
DOOR
760
[650]
20]
470
320
(550)
(420)
(860)
[860]
• Install the controller at least 500mm from the nearest wall to allow maintenance access.
Shows the external dimensions.
XRC
3-3
500
3.4 Mounting the Controller
3.4
Mounting the Controller
Attach the controller to the floor using user-supplied brackets made according to the specifications shown below.
External Dimensions (mm)
Attaching the XRC (mm)
Refer to the Instruction Manual for information on installation of the manipulator.
3-4
4 Connection
• The system must be grounded.
Failure to ground equipment may result in injury from fire or electric shock.
• Before grounding the system, turn off the power supply and lock the
main power switch.
Failure to observe this caution may result in injury and electric shock.
• Do not touch any board inside the controller for five minutes after turning off the power supply.
Capacitors inside the controller store electricity after power is turned off. Exercise caution
whenever handling circuit boards. Failure to observe this caution may cause electrical
shock.
• Power cannot be turned on unless the door is closed. Interlocks prevent power from being turned on.
Failure to observe this caution may result in fire and electric shock.
• Any occurrence during wiring while the XRC is in the emergency stop
mode is the user’s responsibility. Do an operation check once the wiring
is completed.
Failure to observe this caution could lead to injury or mechanical failure.
4-1
4.1 Notes on Cable Junctions
• Wiring must be performed only by authorized personnel.
Incorrect wiring may cause fire and electric shock.
• Perform wiring in accordance with the rated capacity as specified in
the Instructions.
Incorrect wiring may cause fire or mechanical breakdown.
• Be sure the power circuit screws are securely tightened.
Loose power circuit wires can cause fire and electric shock.
• Do not handle the circuit board directly by hand.
The IC board may malfunction due to static electricity.
4.1
Notes on Cable Junctions
• The cables that connect the controller to peripheral equipment are low voltage circuits.
Keep controller signal cables away from the primary power circuit. High voltage power
lines should not be run in parallel to controller signal cables. If running parallel cables is
unavoidable, use metal ducts or conduit to isolate electrical signal interference. If cables
must be crossed, run the power cables perpendicular across the signal cables.
• Confirm the connector and cable numbers to prevent misconnection and equipment damage. One connects the manipulator and XRC. Another connects the XRC and peripheral
equipment. A wrong connection can cause damage to electronic equipment.
• Clear the area of all unauthorized personnel while making cable connections. Place all
cables in a covered cable channel in the floor.
4-2
4.2 Power Supply
XRC Cable Junction Diagram
4.2
4.2.1
Power Supply
Three-Phase Power Supply
The three-phase power supply consists of AC200/220V(+10/-15%) and 50/60Hz(+2Hz/-2Hz).
The power failure processing circuit operates when there is a temporary power frequency
black out or drop in voltage, and the servo power turns off.
Connect the power supply to a stable power source that is not prone to power fluctuations.
Input Power Source Connection
4-3
4.2 Power Supply
4.2.2
Noise Filter Installation
Insert the three-phase noise filter if you hear noise coming from the power source.
Seal up each cable opening so that dust does not enter.
Connection of Three-Phase Noise Filter
4.2.3
Leakage Breaker Installation
When connecting the leakage breaker to the controller power supply wiring, use a leakage
breaker which can handle high frequencies. Leakage breakers which cannot handle high frequencies may malfunction.
Example of High Frequency Leakage Breakers
Maker
Model
Mitsubishi
Electric Co.,
Ltd.
NV series (manufactured since 1988)
Fuji Electric
Co., Ltd.
EG or SG Series (manufactured since 1984)
Even with a leakage breaker installed, there is still a possibility of some high frequency current
leakage (small capacity 60-80 mA or large capacity 80-200 mA) from the XRC inverter. This
current leakage presents no safety risks.
Connection of the Leakage Breaker
4-4
4.2 Power Supply
4.2.4
Primary Power Supply Switch Installation
Install the primary power supply switch as shown.
Installation of the Primary Power Supply Switch
Cable Sizes and Switch Capacities
Manipulator
Voltage
source
capacity
(kVA)
Cable size (size of terminal)
(In case of Cabtyre cable (four wicks)) mm2
Switch
capacity
(A)
SV3X
1
2.0 (M5)
10
UP6
2
3.5 (M5)
15
SK16X
2
3.5 (M5)
15
SK16MX,
SK45X
5
5.5 (M5)
30
UP130,UP165,
UP200
7.5
5.5(M5)
40
UP130R
10
5.5(M5)
40
SP100X
11
5.5(M5)
40
The maximum load value (payload, operation speed, and frequency, etc.) is displayed.
However, the voltage source capacity is different depending on work conditions.
Inquire at the nearest branch office listed on the back cover for information when selecting the
transformer.
4-5
4.3 Connection Methods
4.3
Connection Methods
A connection diagram for the manipulator, controller power cable, primary power cable and
programming pendant is shown below.
4.3.1
1.
Connecting the Primary Power Supply
Open the front door of the XRC.
(1) Insert the door handle in the door lock on the front of XRC (two places), and rotate it
90 degrees clockwise.
Rotating the Door Handle Clockwise.
(2) Rotate the main switch to the "OPEN RESET" position and open the door gently.
4-6
4.3 Connection Methods
SET
RE
N
ON
OPE
N
ET
RES
OFF TRIP
PED
OP
E
Rotating the main switch to the OPEN RESET position.
2. Confirm that the main power supply is OFF.
3. Make a hole in the plate and run the primary power supply cable through it. It is located
on the top or on the left side of the XRC.
Attach the plate and cable firmly so that it won’t shift or slide out of place.
(1) Pull off the top cover of the switch which is on the upper left side of the XRC.
Pulling Off the Cover
(2) Connect the primary power supply cable.
Connection to the Terminal
4-7
4.3 Connection Methods
(3) Connect a ground wire to reduce noise and prevent current leakage.
1) Connect the ground wire to the ground terminal (screw) of the switch which is on
the upper left side of XRC.
Ground wire
Crimped terminal
Connection of the Ground Wire
2) Perform grounding in accordance with all relevant local and national electrical
codes. Grounding wire must be 8.0 mm2 or larger.
The customer must prepare the ground wire.
Exclusive Grounding
• Don’t connect the grounding wire with the wires for the electric power source, the welder,
etc.
• Ground in accordance with all relevant governmental regulations when using metallic
ducts, metallic conduits, and wiring hedges to construct the cable.
4-8
4.3 Connection Methods
(4) Install the cover.
Install the Switch Cover
4.3.2
Connecting the Power Supply
1. Remove the cover from the left side of the controller cabinet.
Detaching the Cable Hole Cover
4-9
4.3 Connection Methods
2. Remove the package, and take out the cable. Once you have run the cables through
the cable holes on each side of XRC, tighten the screws.
Tightening the Screws for the Cable
Cables Passed Through the Holes
in the Side of the XRC
For more information on connecting the power cables, please refer to the Instruction Manual which corresponds to the particular XRC model.
3. Connect the manipulator to the XRC.
Check the shape and size of the cable connector, the key fitting, and the position of the
pins of the manipulator. Push the cable connector into the manipulator side connector
firmly, and tighten securely.
4. Close the XRC door.
(1) Close the door gently.
(2) Rotate the door handle counterclockwise 90 degrees.
4-10
4.3 Connection Methods
4.3.3
Connecting the Programming Pendant
Connect the programming pendant cable to the connector on the left side of the controller
cabinet.
Connecting the Programming Pendant
The manipulator, XRC, and the programming pendant connections are now complete.
4-11
4.3 Connection Methods
4-12
5.1 Turning on the Main Power Supply
5 Turning on the Power Supply
• Confirm that nobody is present in the working envelope of the manipulator when turning on XRC power supply.
Failure to observe this caution could result in injury caused by accidental contact with the
manipulator.
Push the emergency stop button immediately if any problems occur.
The emergency stop button is located on the upper right side of XRC playback panel and
on the right side of the programming pendant.
5.1
Turning on the Main Power Supply
The main power supply is turned on when the main power supply switch on the front of the
XRC is turned to the "ON" position, and the initial diagnosis and the current position begin.
ON
RE
SE
T
OFF
TR
I
ED
PP
OP
EN
5.1.1
Startup Diagnostics
The startup diagnostics are performed when the XRC main power is turned on, and the startup display is shown on the programming pendant screen.
5-1
5.2 Turning on the Servo Power
5.1.2
When Startup Diagnostics are Complete
When the power is turned off, the XRC saves all condition data, including:
• Mode of operation
• Cycle
• Called job (active job if the XRC is in the play mode; edit job if the XRC is in the teach
mode) and the cursor position in the job.
5.2
5.2.1
Turning on the Servo Power
During Play Mode
The worker’s safety is secure if the safety plug is turned on.
1. When the safety guard is closed, press [SERVO ON READY]
on the playback panel to turn on the servo power supply. This
button lights.
When the safety guard is open, the servo power supply cannot be turned on.
5-2
5.2 Turning on the Servo Power
5.2.2
During Teach Mode
1. Press [SERVO ON READY] on the playback panel to turn on
the servo power supply. The button will light when the servo
power is turned on.
2. Press [TEACH LOCK] to enter the teach mode.
3. The servo power is turned on and [SERVO ON READY] on the
playback panel lights when the operator grips the deadman
switch.
Servo Power ON/OFF --- Deadman Switch
When the operator squeezes the deadman switch, the servo power turns ON. However, if
the operator squeezes the switch until a “click” is heard, the servo power will turn OFF.
When using the playback panel, programming pendant, or external signal to perform emergency stop, the servo power on operation from the deadman switch is cancelled. When
turning the power back on, follow the previously listed instructions.
5-3
5.3 Turning the Power Off
5.3
5.3.1
Turning the Power Off
Turning the Servo Power Off (Emergency Stop)
The manipulator cannot be operated when the emergency stop button is pressed and the
servo power supply is turned off.
Turning the Servo Power Off
• Pressing the emergency stop button on either the programming pendant or the playback box will turn off servo power.
• The brake operates once the servo power supply is turned off, and the
manipulator can no longer operate.
• The emergency stop mode can be operated at any time.
5.3.2
Turning the Main Power Off
After turning off the servo power, turn off the main power.
When the main power switch on the front of XRC is turned off, the main
power is cut off.
RE
SE
T
OFF TRI
ED
PP
OP
EN
5-4
ON
6 Test of Program Operation
• Press the emergency stop button on the playback panel and the programming pendant before operating the manipulator. Confirm that the
servo on lamp is turned off.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of
an emergency.
• Set the teach lock before starting to teach.
Injury can occur if unauthorized personnel operate the playback panel during operation.
• Observe the following when teaching in the working envelope:
-View the manipulator from the front at all times.
-Follow the predetermined operating procedure.
-Always have an escape plan in mind in case the manipulator comes
toward you unexpectedly.
Improper or unintentional manipulator movement can result in injury.
• Ensure no persons are present in the manipulator work area before:
-Turning on the power supply to XRC
-Moving the manipulator using the programming pendant
-Doing a check operation
-Performing automatic operation
Persons who enter the manipulator’s work area while the manipulator is in operation may
be injured if they come in contact with the manipulator.
Push the emergency stop button immediately if any problems occur.
The emergency stop button is located on the upper right of the playback panel of the
XRC and on the right side of the programming pendant.
6-1
• Inspect the system before teaching jobs. If problems are found, correct
them before resuming operation. Specifically check for:
-Problems in manipulator motion
-Damage to cables
• Always return the programming pendant to its specified position after
use.
The programming pendant can be damaged if it is left in the manipulator work area or on
the floor.
6-2
6.1 Movement of the Axes
6.1
Movement of the Axes
Move each axis of the manipulator by pressing the axis keys on the programming pendant.
This figure illustrates each axis of motion in the joint coordinate system.
Be sure to remove all items from the area before moving the manipulator.
Refer to the Instruction Manual for the appropriate position of the fixture.
6-3
6.1 Movement of the Axes
6-4
7 Home Position Confirmation
• Press each emergency stop button on the playback panel and the programming pendant before operating the manipulator. Be sure the servo
on lamp is turned off.
There is a danger of injury and equipment damage if the manipulator cannot be stopped
in the event of an emergency.
• Set the teach lock before starting to teach.
There is a danger of injury when unauthorized personnel operate the playback panel during operation.
• Strictly observe the following when teaching in the working envelope:
-View the manipulator from the front at all times.
-Follow the predetermined operating procedure.
-Always have an escape plan in mind in case the manipulator comes
toward you unexpectedly.
-Ensure that you have a safe place to retreat in the event of an emergency.
Improper or unintentional manipulator operation can result in injury.
• Prior to performing the following operations, be sure that there is no
one within the working envelope of the manipulator, and be sure that
you are in a safe area from which to operate:
- When turning on the power supply to the XRC
-When moving the manipulator using the programming pendant
-When doing a check operation
-When performing automatic operation
Injury may result from contact with the manipulator if anyone carelessly enters the working envelope of the manipulator.
Push the emergency stop button at once if any problems occur.
The emergency stop button is located on the upper right of the playback panel of the XRC
and on the right side of the programming pendant.
7-1
• Perform the following inspection procedures before starting to teach. If
problems are found, repair them immediately and be sure all necessary
processing has been performed:
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Return the programming pendant to its specified position after use.
If the programming pendant is left carelessly on the floor, manipulator, or positioner etc.
the manipulator or a tool could collide with it during manipulator movement, possibly
causing injury and equipment damage.
7-2
7.1 Home Position Confirmation
7.1
Home Position Confirmation
It is necessary to register the home position (each axis has a position of 0 pulse) correctly so
that the manipulator will work accurately.
The home position for the UP6 is shown.
Other manipulator models have different positions. Always consult the documentation for
the correct manipulator model.
7.1.1
Operating Procedure
Operation
Select{ROBOT}
Select {CURRENT POSITION}*1
Explanation
*1
The position display is shown.
Operation
Press the AXIS KEY
Press {E. STOP]*2
Explanation
*1
Move each manipulator axis using the programming pendant axis key. Adjust each axis
to the position of 0 pulse. Make sure the manipulator servo power supply is off and that
the axis home position calibration is accurate.
7-3
7.1 Home Position Confirmation
The angle of the central line of
the B-axis against the central
line of the U-axis is 90 degrees.
The angle of the L-axis perpendicular to
the ground.
B-AXIS
R-AXIS
U-AXIS
(opposite side)
T-AXIS
The angle of the U-axis against
the horizon is 0 degrees.
L-AXIS
(opposite side)
S-AXIS
Home positions for the UP6
Confirm whether the home position calibration mark (of each axis of the manipulator) are
accurately matched with each other.
The home position is correctly registered if home position mark for each axis is matched
accurately.
Contact Customer Service if you encounter any problems performing home position calibration.
7-4
8 Final Notes
Refer to the manuals listed below for additional information in work involving robot operations
such as teaching and playback.
• Operator’s Manual For Beginners
Operating procedures are clarified for beginning users.
The operations are explained carefully in order.
• Operator’s Manual
Composed of several sections, each corresponding to operation of the system.
Work involving setting and diagnosis of the controller, alarm explanations, setting of the
home position, etc.
• MOTOMAN-***** Instruction manual
Covers manipulator topics
• INFORM Manual
Covers the INFORM robot programming language
• Concurrent I/O and Parameter Manual
Covers concurrent I/O and parameters
8-1
8-2
MOTOMAN
SETUP MANUAL
TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-0022, Japan
Phone 81-3-5402-4511
Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200
Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600
Fax 1-937-440-2626
MOTOMAN INC. COLUMBUS OFFICE
Dublin Tech Mart 5000 Blazer Memonal Parkway Dublin, OH 43017-3359, U.S.A.
Phone 1-614-718-4200
Fax 1-614-718-4222
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany.
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800
Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Germany
Phone 49-8166-900
Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844
Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003
Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385
Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO. RE-TA-A503
1
C Printed in Japan August 1999 98-12
YASKAWA
YASNAC XRC
INSTRUCTIONS
SUPPLEMENTARY FOR NORTH AMERICAN (ANSI/RIA) STANDARD
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMANINSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANUAL NO. RE-CTO-A208 1
RE-CTO-A208
CAUTION
• This manual explains the North American specifications which differ
from the standard XRC specifications.
• The items which are not explained in the manual are the same as the
standard specificatrions. Use the standard XRC instructions with this
manual.
MANDATORY
• This manual explains setup, diagnosis, maintenance, hardware and so
on of the YASNAC XRC system. Read this manual carefully and be sure
to understand its contents before handling the YASNAC XRC.
• General items related to safety are listed in the Setup Manual Section 1:
Safety of Setup Manual. To ensure correct and safe operation, carefully
read the Setup Manual before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• 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 due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
ii
RE-CTO-A208
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”PROHIBITED”.
WARNING
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this
MANDATORY heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
iii
RE-CTO-A208
WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or programming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
• Always set the Teach Lock before entering the robot work 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 operations
within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope
and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
iv
RE-CTO-A208
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair 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.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup
Manual before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pendant, and supply cables.
IIn this manual, the equipment is designated as follows.
Equipment
Manual Designation
YASNAC XRC Controller
XRC
YASNAC XRC Playback Panel
Playback Panel
YASNAC XRC Programming Pendant
Programming Pendant
v
RE-CTO-A208
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
The keys which have characters printed on them are
denoted with [ ].
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.
Playback Panel
Axis Keys
Number Keys
“Axis Keys” and “Number Keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
Buttons
Playback panel buttons are enclosed in brackets.
ex. [TEACH] on the playback panel
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed.
vi
RE-CTO-A208
1
YASNAC XRC Specification
1.1 Specification List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.2 Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.3 Programming Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
1.4 Equipment Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6
1.4.1 Arrangement of Units and Circuit Boards . . . . . . . . . . . . . . . . .1-6
„ Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6
1.4.2 Cooling System of the Controller Interior . . . . . . . . . . . . . . . .1-12
2
Description of Units and Circuit Boards
2.1 Power Supply Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 Brake Release Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.2.1 Operation Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.3 CPU Rack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.3.1 CPU Rack Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.3.2 Circuit Board in the CPU Rack . . . . . . . . . . . . . . . . . . . . . . . . .2-5
„ System Control Circuit Board (JANCD-XCP01) . . . . . . . . . .2-5
„ Control Power Supply Unit (CPS-150F) . . . . . . . . . . . . . . . .2-6
„ Wiring WAGO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
„ Wiring PHOENIX Connector . . . . . . . . . . . . . . . . . . . . . . . . .2-9
2.4 I/O Unit (JZRCR-XCO02B) . . . . . . . . . . . . . . . . . . . . . . . .2-10
2.4.1 Specific I/O Circuit Board 1 (JARCR-XCI01) and Specific I/O
Circuit Board 2 (JARCR-XCU01B) . . . . . . . . . . . . . . . . . . . . .2-11
„ Direct IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12
„ Connected Jumper Leads Before Shipment . . . . . . . . . . . .2-13
„ Deadman Switch Signal Output . . . . . . . . . . . . . . . . . . . . .2-14
„ Connection to I/O External Power Supply . . . . . . . . . . . . . .2-15
„ FORCE (Forced Reset) . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-16
„ FST (Full-speed Test) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-17
„ Hanger Switch (HSW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-18
„ 1st Safety Speed and 2nd Safety Speed . . . . . . . . . . . . . .2-19
„ Safety Plug Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . .2-22
2.4.2 General I/O Circuit Board (JARCR-XCI03). . . . . . . . . . . . . . .2-22
„ Connection wire with General I/O (CN10, 11, 12, 13) . . . . .2-23
„ Specific I/O Signal Related to Start and Stop . . . . . . . . . . .2-24
2.5 Power ON Unit (JZRCR-XSU02) . . . . . . . . . . . . . . . . . . .2-26
2.5.1 Power ON Circuit Board (JARCR-XCT01) . . . . . . . . . . . . . . .2-27
„ Connection of Shock Sensor . . . . . . . . . . . . . . . . . . . . . . . .2-27
„ Method of Connecting External Axis Overrun Signal . . . . .2-28
„ Servo ON Enable Input (ON_EN1 and 2) . . . . . . . . . . . . . .2-29
2.6 SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-30
2.6.1 SERVOPACK Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .2-30
2.6.2 Description of Each Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-39
vii
RE-CTO-A208
„ Servo Control Circuit board (JASP-WRCA01) . . . . . . . . . . 2-39
„ Servo Control Power Supply (JUSP-RCP01AAo) . . . . . . . 2-39
„ Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
„ Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
„ Speed Monitor Board (JANCD-XFC01) . . . . . . . . . . . . . . . 2-39
2.7 Playback Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
„ Contact Output for Emergency Stop Button . . . . . . . . . . . . 2-40
2.8 General I/O Signal Assignment . . . . . . . . . . . . . . . . . . . . 2-41
2.8.1 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
2.8.2 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
2.8.3 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-55
2.8.4 Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-62
2.8.5 JANCD-XEW01 Circuit Board. . . . . . . . . . . . . . . . . . . . . . . . . 2-71
„ Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-71
3
Inspections
3.1 Regular Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 XRC Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2.1 Checking if the Doors are Firmly Closed . . . . . . . . . . . . . . . . . 3-2
3.2.2 Checking for Gaps or Damage in the Sealed Construction
Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3 Cooling Fan Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.4 Emergency Stop Button Inspections . . . . . . . . . . . . . . . . 3-4
3.5 Deadman Switch Inspections . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.6 Battery Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.7 Power Supply Voltage Confirmation . . . . . . . . . . . . . . . . 3-5
3.8 Open Phase Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
4
Replacing Parts
4.1 Replacing XRC Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Replacing the Disconnecting Switch. . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 Replacing Parts of Power Supply Unit . . . . . . . . . . . . . . . . . . . 4-5
4.2 YASNAC XRC Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3 Supplied Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.4 Recommended Spare Parts . . . . . . . . . . . . . . . . . . . . . . . 4-14
viii
RE-CTO-A208
1 YASNAC XRC Specification
WARNING
• Before operating the manipulator, check that the SERVO ON lamp goes
out when the emergency stop buttons on the playback panel and programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of
an emergency. The emergency stop buttons are attached on upper-right of the playback
panel and right of the programming pendant.
• Always set the teach lock before starting teaching.
Failure to observe this caution may result in injury from inadvertent operation of the playback panel.
• Observe the following precautions when performing teaching operations
within the working envelope of the manipulator:
- Always view the manipulator from the front.
- Always follow the predetermined operating procedure.
- Always have an escape plan in mind in case the manipulator comes
toward you unexpectedly.
- Ensure that you have a place to retreat to in case of emergency.
Improper or unintentional manipulator operation can result in injury.
• Prior to performing the following operations, be sure that there is no one
within the working envelope of the manipulator, and be sure that you are
in a safe place yourself.
- Turning the power ON to the YASNAC XRC.
- Moving the manipulator with the programming pendant.
- Running check operation.
- Performing automatic operation.
Injury may result from collision with the manipulator to anyone entering the working envelope of the manipulator.
1-1
RE-CTO-A208
CAUTION
• Perform the following inspection procedures prior to peforming teaching
operations. If problems are found, correct them immediately, and be
sure that all other necessary processing has been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external wires.
• Always return the programming pendant to its specified position after
use.
If the programming pendant is inadvertently left on the manipulator, fixture, or on the floor,
the manipulator or a tool could collide with it during manipulator movement, possibly
causing injuries or equipment damage.
1-2
RE-CTO-A208
1.1 Specification List
1.1
Specification List
Controller
Configuration
Free-standing, enclosed type
Dimensions
Refer to following
Cooling System
Indirect cooling
Ambient Temperature
0°C to + 45°C (During operation)
-10°C to + 60°C (During transit and storage)
Relative Humidity
90%RH max. (non-condensing)
Power Supply
3-phase, 240/480/575 VAC(+10% to -15%) at 50/60Hz(±2
Hz) (Built-in transformer tap switchable)
Built-in transformer 240 V - 480 V - 575 V/208 V (
- œ)
Switch built-in transformer tap according to the supplied
voltage on customer side. (480 VAC is set before shipment.)
If the transformer is not used, the specification is three
phase AC200/220V(+10% ～ -15%) at 50/60Hz(±2 Hz)
Grounding
Grounding resistance : 100 Ω or less
Exclusive grounding
Digital I/O
Specific signal (hardware)
15 inputs and 2 outputs
General signals (standard, max.) 40 inputs and 40 outputs
Positioning System
By serial communication (absolute encoder)
Drive Unit
SERVOPACK for AC servomotors
Acceleration/
Deceleration
Software servo control
Programming
Capacity
5000 steps, 3000 instructions
Playback Panel*1
*1
Dimensions
190(W) × 120(H) × 50(D) mm
Buttons Provided
Mode change
Start / Hold, Emergency stop
An optional remote playback panel is available
Dimensions
750(W) × 1100(H) × 550(D) mm (Except for SV3X (Small capacity
type))
750(W) × 860(H) × 550(D) mm (SV3X (Small capacity type))
1-3
RE-CTO-A208
1.2 Function List
1.2
Function List
Programming
Pendant
Operation
Safety
Feature
Maintenance
Function
Coordinate System
Joint, Rectangular/Cylindrical, Tool, User Coordinates
Modification of
Teaching Points
Adding, Deleting, Correcting (Robot axes and external axes
can be independently corrected.)
Inching Operation
Possible
Locus Confirmation
Forward/Reverse step, Continuous feeding
Speed Adjustment
Fine adjustment possible during operating or pausing
Timer Setting
Possible every 0.01 s
Short-cut Function
Direct-open function, Screen reservation function
Interface
RS-232C × 1 port for FC 1/FC2
(At Programming Pendant)
Application
Arc welding, Spot welding, Handling, General, Others
Running Speed
Limit
User definable
Deadman Switch
3 position type. Servo power can be turned on at the mid
position only. (Located on programming pendant)
Collisionproof
Frames
S-axis frame (doughnut-sector), Cubic frame (user coordinate)
Self-Diagnosis
Classifies error and two types of alarms (major and minor)
and displays the data
User Alarm Display
Possible to display alarm messages for peripheral device
Machine Lock
Test-run of peripheral devices without robot motion
Door Interlock
A door can be opened only when a circuit breaker is off.
Operation Time
Display
Control power-on time, Servo power-on time, Playback time,
Operation time, Work time
Alarm Display
Alarm message and previous alarm records
I/O Diagnosis
Simulated enabled/disabled output possible
T.C.P. Calibration
Automatically calibrates parameters for end effectors using a
master jig
1-4
RE-CTO-A208
1.3 Programming Pendant
Programing
Functions
1.3
Programming
Interactive programming
Language
Robot language: INFORM II
Robot Motion Control
Joint coordinates, Linear/Circular interpolations, Tool coordinates
Speed Setting
Percentage for joint coordinates, 0.1mm/s units for interpolations, Angular velocity for T.C.P. fixed motion
Program Control
Instructions
Jumps, Calls, Timer, Robot stop, Execution of some instructions during robot motion
Operation Instructions
Preparing the operation instructions for each application
(Arc-ON, Arc-OFF, etc...)
Variable
Global variable, Local variable
Variable Type
Byte type, Integer type, Double precision type, Real number
type, Position type
I/O Instructions
Discrete I/O, Pattern I/O processing
Programming Pendant
Material
Reinforced thermoplastic enclosure with a detachable suspending strap
Dimensions
200(W) × 348(H) × 61.8(D) mm
Displayed
Units
40 characters 12 lines
Multilingual function (English, Japanese, Hankul)
Backlight
Others
3 position deadman switch, RS-232C × 1 port
1-5
RE-CTO-A208
1.4 Equipment Configuration
1.4
Equipment Configuration
The XRC is comprised of individual units and modules (circuit boards). Malfunctioning components can generally be easily repaired after a failure by replacing a unit or a module.
This section outlines the XRC equipment configuration.
1.4.1
Configuration
I/O unit
JZRCR-XCO02B
Power ON unit
JZNC-XSU02
CN32
JARCR-XCO02
CN07
XCP01
CN31
4 PPESPIN-
2 EXBRK1 EXBRK+
15 SAF_F2+
15 GND3/G
16 SAF_F2-
16 24V3
CN43
CN04
CN41
CN25
CN23
CN24
JZRCR-XSU02
14 24VIN
CN03
CN40
CN21
CN22
OFF
13 GND2/G
0 1 2 3 4
3 EXNCM+
9 DSWOUT+
12 RDY-
13 SAF_F1+
14 SAF_F1-
CN13
CN12
4 EXNCM-
S
7 PPESPIN+
8 PPESPIN-
11 RDY+
12 EXHOLD2-
6XT
CN02/PP
5 G3
6 PPESPOUT-
10 DSWOUT-
11 EXHOLD2+
CN11
CN10
6 EXTUDIN
1 24V3
CN26
6 G3
5 24V3
4 EXOT23 24V3
2 EXOT1-
5 PPESPOUT+
CN04/CARD
CN29
7 EXSVON2+
8 EXSVON2-
10 EXHOLD1-
CN42
7 ON_EN1+
CN02
QS1
8 ON_EN1-
CN06/SV
5 EXSVON1+
9 EXHOLD1+
9 ON_EN2+
1XT
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 EXESP2-
6 EXSVON1-
CN28
10 ON_EN2-
9 24V2
8 EX0VIN
CPS-150F
CPS-150F
1 EXESP1+
3 EXESP-2
CN27
10 G2
7 EX24VIN
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP1-
1X
SW
2FU
10A 250V
BAT
5X
1FU
10A 250V
Fuse holders
(QS2),(QS3)
USCC3I
Brake release control board Fuse : Refer to the
JZRCR-XFL02B
following table.
CN03/RS232C
4X
2FU
10A 250V
CN30
5X
CN44
4X
Brake operation panel
CPU unit
JZNC-XRK01B-1
A
1FU
10A 250V
Playback panel
ZY1C-SS3152
CN5
CN01/IO
Power supply unit
JZRCR-XPU06B
CN2
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-
2KM
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-
CN1
CN4
CN3
CN01
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS2 QS3
(EV1)
(EV2)
GRIP
No fuse breaker(QS1)
194R-NC030P3
Fuse : Refer to the
following table.
CNPB04
CNPB05
8830-032-170SD
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
10250-52A2JL
PWM
CNPG456
10220-6202JL
CN20
+5V
JUSPRCP01AAA
10250-52A2JL
FRC5-C14S52T-OL(D20)
CNE
CN40
CN30
FRC5-C14S52T-OL(D20)
PWM
1CN
CNPG123
178323-2
PWM
3-175475-6
CNPB01
CNPB02
CNPB03
8830-032-170SD
8830-032-170SD
8830-032-170SD
S
Transformer 1KVA
HB9480046
240-480-575V/208V
Class H
CNPB06
8830-032-170SD
CONV
2CN
CN50
„
Arrangement of Units and Circuit Boards
L
U
R
B
T
GRIP
A'
Sectional view A-A'
SERVOPACK
Refer to the follwing table.
Fuse
QS2
QS1
SV3X ERCR-SV3-RB07 CACR-SV3AAA
10A
3A
* : Time delay fuses of class CC are used for QS1, QS2, and QS3.
Type
YASNAC XRC
SERVOPACK
SV3X Configuration (With transformer built-in)
1-6
QS3
5A
RE-CTO-A208
1.4 Equipment Configuration
JARCR-XCO02B
CN32
CN07
CPS-150F
2 PPESPOUT3 PPESPIN+
4 PPESPIN-
7 ON_EN1+
6 EXTUDIN
5 24V3
5 G3
8 PPESPIN9 DSWOUT+
11 RDY+
12 RDY13 GND2/G
14 SAF_F1-
14 24VIN
15 SAF_F2+
15 GND3/G
16 SAF_F2-
16 24V3
2 EXBRK-
1 24V3
1 EXBRK+
6XT
CN02/PP
CN25
CN41
CN11
CN10
CN02
CN21
CN22
CN40
CN03
CN23
CN24
JZRCR-XSU02
CN13
CN12
CN04
CN26
3 EXNCM+
2 EXOT1-
0 1 2 3 4
4 EXNCM-
3 24V3
OFF
QS1
6 PPESPOUT7 PPESPIN+
10 DSWOUT-
12 EXHOLD213 SAF_F1+
CN42
4 EXOT2-
5 PPESPOUT+
CN04/CARD
CN43
8 ON_EN1-
7 EX24VIN
CN06/SV
CN29
6 EXSVON1-
8 EXSVON2-
10 EXHOLD111 EXHOLD2+
9 ON_EN2+
8 EX0VIN
6 G3
1XT
1 PPESPOUT+
1 EXESP1+
4 EXESP25 EXSVON1+
7 EXSVON2+
CN28
10 ON_EN2-
9 24V2
CPS-150F
XCP01
CN06 CN05
2 EXESP13 EXESP-2
9 EXHOLD1+
CN27
10 G2
SW
2FU
10A 250V
CN03/RS232C
5X
1FU
10A 250V
JZNC-XRK01
XCP01
CN31
4X
2FU
10A 250V
CN30
5X
CN44
4X
1X
Brake operation panel
BAT
A
1FU
10A 250V
Fuse holders
(QS3)
USCC3I
Fuse: Refer to the
Brake release control board
follwing table.
JZRCR-XFL02B
I/O unit
Playback Panel
JZRCR-XCO02B ZY1C-SS3152
CPU unit
JZNC-XRK01B-1
Power ON unit
JZNC-XSU02
CN5
CN01/IO
Power supply unit
JZRCR-XPU06B
CN2
2KM
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-
CN1
CN4
CN3
CN01
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS3
(EV1)
(EV2)
GRIP
No fuse breaker (QS1)
194R-NC030P3
Fuse : Refer to the following
table.
CNPB04
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
CONV
PWM
10250-52A2JL
CN20
+5V
CNPG456
10220-6202JL
2CN
FRC5-C14S52T-OL(D20)
CN30
10250-52A2JL
FRC5-C14S52T-OL(D20)
PWM
1CN
CNPG123
PWM
178323-2
CN50
JUSPRCP01AAA
CN40
CNE
3-175475-6
CNPB01
CNPB02
CNPB03
8830-032-170SD
8830-032-170SD
8830-032-170SD
S
L
U
R
B
T
GRIP
A'
Sectional view A-A'
SERVOPACK
Refer to the follwing table
* Fuse
QS1
QS2
SV3X ERCR-SV3-RB08 CACR-SV3AAA
10A
* : Time delay fuses of class CC are used for QS1, and QS3.
Type
YASNAC XRC
SERVOPACK
QS3
5A
SV3X Configuration (Without transformer)
I/O unit
JZRCR-XCO02B
Power ON unit
JZNC-XSU02
CN32
JARCR-XCO02
CN07
XCP01
CN31
4 PPESPIN-
1 EXBRK+
CN43
14 24VIN
15 GND3/G
16 SAF_F2-
16 24V3
CN04
CN41
CN25
JZRCR-XSU02
CN03
CN23
CN24
CN40
CN21
CN22
OFF
13 GND2/G
15 SAF_F2+
0 1 2 3 4
2 EXBRK-
9 DSWOUT+
12 RDY-
13 SAF_F1+
14 SAF_F1-
6XT
CN02/PP
3 EXNCM+
7 PPESPIN+
8 PPESPIN-
11 RDY+
12 EXHOLD2-
CN13
CN12
4 EXNCM-
6 PPESPOUT-
10 DSWOUT-
11 EXHOLD2+
CN11
CN10
5 G3
1 24V3
CN02
5 24V3
4 EXOT23 24V3
2 EXOT1-
5 PPESPOUT+
CN04/CARD
CN29
7 EXSVON2+
8 EXSVON2-
10 EXHOLD1-
CN42
6 EXTUDIN
CN26
QS1
7 ON_EN1+
CN06/SV
5 EXSVON1+
9 EXHOLD1+
8 ON_EN1-
1XT
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 EXESP2-
6 EXSVON1-
9 ON_EN2+
8 EX0VIN
7 EX24VIN
6 G3
CPS-150F
CPS-150F
1 EXESP1+
3 EXESP-2
CN28
10 ON_EN2-
9 24V2
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP1-
CN27
10 G2
SW
2FU
10A 250V
BAT
5X
1FU
10A 250V
1X
CN03/RS232C
4X
2FU
10A 250V
CN30
5X
CN44
4X
Fuse holders
(QS2)(QS3)
USCC3I
Brake release control board Fuse : Refer to the
JZRCR-XFL02B
Following table.
Brake operation panel
CPU unit
JZNC-XRK01B-1
A
1FU
10A 250V
Playback panel
ZY1C-SS3152
CN5
CN01/IO
Power supply unit
(with protective cover)
JZRCR-XPU06B
CN2
1KM
2KM
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
1KM
DATE
YASKAWA ELECTRIC CORPORATION
JAPAN
CN1
CN4
CN3
CN01
DATE
SER NO.
TYPE
CN20
2KM
QS2 QS3
(EV2)
(EV1)
GRIP
CNPB04
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
CONV
PWM
10250-52A2JL
CN20
+5V
CNPG456
10220-6202JL
2CN
10250-52A2JL
FRC5-C14S52T-OL(D20)
CN30
FRC5-C14S52T-OL(D20)
PWM
1CN
CNE
3-175475-6
CNPB01
CNPB02
CNPB03
8830-032-170SD
8830-032-170SD
8830-032-170SD
S
SERVOPACK
Refer to the
following table.
CNPG123
PWM
178323-2
CN50
JUSPRCP01AAA
CN40
Disconnecting switch
194R-NC030P3
Fuse : Refer to the
following table.
L
U
R
B
T
GRIP
A'
Transformer 4.5KVA
HB9480042
240-480-575V/208V
Class H
Sectional view A-A'
* Fuse
YASNAC XRC
SERVOPACK
QS1
QS2
SV3X ERCR-SV3-RB05 CACR-SV3AAA
3A
10A
UP6
ERCR-UP6-RB04 CACR-UP6AAC
5A
10A
SK16X ERCR-SK16-RB05 CACR-SK16AAC
10A
15A
UP20 ERCR-UP20-RB03 CACR-UP20AAA
10A
15A
* : Time delay fuses of class CC are used for QS1, QS2, and QS3.
Type
SV3X, UP6, SK16X, UP20 Configuration (With transformer built-in)
1-7
QS3
5A
10A
15A
15A
RE-CTO-A208
1.4 Equipment Configuration
JARCR-XCO02
CN32
CN07
XCP01
CN31
3 PPESPIN+
4 PPESPIN5 PPESPOUT+
7 PPESPIN+
8 PPESPIN9 DSWOUT+
CN43
6 EXTUDIN
12 RDY13 GND2/G
14 SAF_F1-
14 24VIN
15 SAF_F2+
15 GND3/G
1 EXBRK+
16 SAF_F2-
16 24V3
0 1 2 3 4
2 EXBRK-
1 24V3
CN42
3 EXNCM+
2 EXOT1-
CN13
CN12
CN04
6XT
CN02/PP
CN41
CN25
CN23
CN24
CN11
CN10
JZRCR-XSU02
CN03
CN40
CN02
CN21
CN22
OFF
11 RDY+
12 EXHOLD213 SAF_F1+
4 EXNCM-
3 24V3
CN26
QS1
10 DSWOUT-
10 EXHOLD111 EXHOLD2+
5 G3
CN04/CARD
CN29
6 PPESPOUT-
8 EXSVON29 EXHOLD1+
8 ON_EN17 ON_EN1+
4 EXOT2-
1XT
1 PPESPOUT+
2 PPESPOUT-
7 EXSVON2+
9 ON_EN2+
7 EX24VIN
5 24V3
CPS-150F
CPS-150F
1 EXESP1+
4 EXESP25 EXSVON1+
6 EXSVON1-
CN28
10 ON_EN2-
9 24V2
8 EX0VIN
6 G3
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP13 EXESP-2
CN27
10 G2
CN06/SV
2FU
10A 250V
SW
5X
1FU
10A 250V
CN03/RS232C
4X
2FU
10A 250V
CN30
5X
CN44
4X
1X
BAT
A
1FU
10A 250V
Fuse holders
(QS3)
USCC3I
Brake operation panel
Fuse : Refer to the
Brake release control board
following table.
JZRCR-XFL02B
I/O unit
JZRCR-XCO02B Playback Panel
ZY1C-SS3152
CPU unit
JZNC-XRK01B-1
Power ON unit
JZNC-XSU02
CN5
CN01/IO
Power supply unit
(with protective cover)
JZRCR-XPU06B
CN2
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
YASKAWA ELECTRIC CORPORATION
JAPAN
JAPAN
CN1
CN4
CN3
CN01
2KM
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS3
(EV2)
(EV1)
GRIP
Disconnecting switch
194R-NC030P3
Fuse : Refer to the
following table.
CNPB04
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
CONV
PWM
10250-52A2JL
CN20
+5V
CNPG456
10220-6202JL
2CN
FRC5-C14S52T-OL(D20)
CN30
10250-52A2JL
FRC5-C14S52T-OL(D20)
PWM
1CN
CNPG123
PWM
178323-2
CN50
JUSPRCP01AAA
CN40
CNE
3-175475-6
CNPB01
CNPB02
CNPB03
8830-032-170SD
8830-032-170SD
8830-032-170SD
S
SERVOPACK
Refer to following
table.
L
U
R
B
T
GRIP
A'
Sectional view A-A'
* Fuse
QS2
QS1
SV3X ERCR-SV3-RB06 CACR-SV3AAA
10A
UP6
10A
ERCR-UP6-RB05 CACR-UP6AAC
SK16X ERCR-SK16-RB06 CACR-SK16AAC
15A
UP20 ERCR-UP20-RB04 CACR-UP20AAA
15A
* : Time delay fuses of class CC are used for QS1, and QS3.
Type
YASNAC XRC
SERVOPACK
QS3
5A
10A
15A
15A
SV3X, UP6, SK16X, UP20 Configuration (Without transformer)
Playback Panel
ZY1C-SS3152
I/O unit
JZRCR-XCO02B
CPU unit
JZNC-XRK01B-1
Power ON unit
JZNC-XSU02
Power supply unit
(with protective cover)
JZRCR-XPU05B
CN32
A
CN07
XCP01
CN31
6 EXTUDIN
6 G3
5 24V3
3 PPESPIN+
4 PPESPIN-
5 G3
7 PPESPIN+
13 GND2/G
14 24VIN
15 SAF_F2+
15 GND3/G
16 SAF_F2-
16 24V3
CN04/CARD
12 RDY-
0 1 2 3 4
CN04
CN41
CN25
CN23
CN24
JZRCR-XSU02
CN03
CN02
CN40
6XT
CN02/PP
1 EXBRK+
CN13
CN12
2 EXBRK-
1 24V3
CN06/SV
9 DSWOUT+
11 RDY+
CN11
CN10
3 EXNCM+
2 EXOT1-
CN21
CN22
OFF
6 PPESPOUT-
8 PPESPIN-
10 DSWOUT-
14 SAF_F1-
CN42
3 24V3
CN26
QS1
5 PPESPOUT+
9 EXHOLD1+
13 SAF_F1+
4 EXNCM-
4 EXOT2-
1XT
1 PPESPOUT+
2 PPESPOUT-
7 EXSVON2+
8 EXSVON2-
10 EXHOLD111 EXHOLD2+
12 EXHOLD2-
SW
CN29
8 ON_EN17 ON_EN1+
CN43
9 ON_EN2+
7 EX24VIN
CPS-150F
CPS-150F
1 EXESP1+
4 EXESP25 EXSVON1+
6 EXSVON1-
CN28
10 ON_EN2-
9 24V2
8 EX0VIN
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP13 EXESP-2
CN27
10 G2
BAT
2FU
10A 250V
CN03/RS232C
5X
1FU
10A 250V
Fuse holders
(QS2)(QS3)
Brake release control board USCC3I
Fuse : Refer to the
JZRCR-XFL02B
following table.
CN5
CN01/IO
4X
2FU
10A 250V
CN30
5X
CN44
4X
1FU
10A 250V
1X
Brake operation panel
CN2
CN20
YASKAWA ELECTRIC CORPORATION
JAPAN
CN1
CN4
CN3
CN01
1KM
DATE
QS2 QS3
(EV3)
Disconnecting switch
194R-NC030P3
Fuse : Refer to the
folloeing table.
(EV1)
(EV2)
GRIP
CNPB04
8830-032-170SD
CNPB05
8830-032-170SD
CNPB06
8830-032-170SD
C249
CNPG456
CN10
DUSB-ARB8X-T11
102
10250-52A2JL
CN20
CN50
FRC5-C14S52T-OL(D20)
10250-52A2JL
FM31
MPC603EFE100L
CN30
S1
KDS16-522
CNTEST
U126
FL9
PQ30RV21
680
C99
680
680
20SAH68M
20V68
C93
680
C178
BL02RN2-R62
IMSA-9202B-1-03R-G
U90
PQ30RV21
C176
CNE
3-175475-6
L2
TSL1110-101K1R0
CNPB01
CNPB02
CNPB03
C166
C89
Converter
Refer to the
folloeing table.
CNPG123
SER NO.
TYPE
C2
105
FRC5-C14S52T-OL(D20)
2KM
CN40
1KM
YASKAWA ELECTRIC CORPORATION
JAPAN
10220-6202JL
DATE
SER NO.
TYPE
178323-2
2KM
8830-032-170SD
8830-032-170SD
8830-032-170SD
SERVOPACK
Refer to the
folloeing table.
A'
Transformer 8KVA
HB9480043
240-480-575V/208V
Class H
Sectional view A-A'
Type
YASNAC XRC
SERVOPACK
Converter
ERCR-UP50-RB03 CACR-UP50AAB JUSP-ACP25JAAY11
UP50
ERCR-UP20M-RB02 CACR-UP20MAAB
UP20M
ERCR-SK45-RB02 CACR-SK45AAB
SK45X
JUSP-ACP25JAA
SK16MX ERCR-SK16M-RB02 CACR-SK16MAAB
ERCR-SP70-RB03
SP70X
CACR-SP70AAB
* : Time delay fuses of class CC are used for QS1, QS2, and QS3.
QS1
15A
15A
15A
15A
15A
* Fuse
QS2
20A
20A
20A
20A
20A
SK45X, SK16MX, UP50, UP20M, SP70 Configuration (With transformer built-in)
1-8
QS3
20A
20A
20A
20A
20A
RE-CTO-A208
1.4 Equipment Configuration
Power supply unit
(with protective cover)
JZRCR-XPU05B
CN32
A
CN07
CPS-150F
1 EXESP1+
3 PPESPIN+
4 EXESP2-
4 PPESPIN-
5 EXSVON1+
5 PPESPOUT+
6 EXTUDIN
5 G3
4 EXNCM3 EXNCM+
2 EXBRK-
1 24V3
1 EXBRK+
14 24VIN
15 GND3/G
16 24V3
CN04
CN13
CN12
6XT
CN02/PP
CN41
CN25
CN03
CN23
CN24
JZRCR-XSU02
13 GND2/G
14 SAF_F1-
16 SAF_F2-
CN02
CN40
CN21
CN22
OFF
12 RDY-
13 SAF_F1+
CN26
4 EXOT23 24V3
2 EXOT1-
12 EXHOLD2-
15 SAF_F2+
CN06/SV
7 ON_EN1+
0 1 2 3 4
8 ON_EN1-
11 RDY+
CN42
9 ON_EN2+
8 EX0VIN
7 EX24VIN
10 DSWOUT-
11 EXHOLD2+
BAT
10 ON_EN2-
9 24V2
6 G3
5 24V3
CN43
10 G2
CN04/CARD
8 PPESPIN9 DSWOUT+
10 EXHOLD1-
SW
CN29
6 PPESPOUT7 PPESPIN+
8 EXSVON2-
CN28
CN11
CN10
QS1
1XT
1 PPESPOUT+
2 PPESPOUT-
3 EXESP-2
7 EXSVON2+
9 EXHOLD1+
1X
CPS-150F
XCP01
CN06 CN05
2 EXESP1-
6 EXSVON1-
CN27
CN03/RS232C
2FU
10A 250V
CN5
CN01/IO
5X
1FU
10A 250V
Brake operation panel
JZNC-XRK01
XCP01
CN31
4X
2FU
10A 250V
CN30
5X
CN44
4X
1FU
10A 250V
Fuse holders
(QS3)
USCC3I
Brake release control board Fuse : Refer to the
JZRCR-XFL02B
following table.
I/O unit
Playback Panel
JZRCR-XCO02B
ZY1C-SS3152
CPU unit
JZNC-XRK01B-1
Power ON unit
JZNC-XSU02
CN2
2KM
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
JAPAN
CN1
CN4
CN3
CN01
QS3
(EV3)
Disconnecting switch(QS1)
194R-NC030P3
Fuse : Refer to the
following table.
Converter
Refer to the
following table.
(EV1)
(EV2)
GRIP
CNPB04
CNPB05
8830-032-170SD
CNPB06
8830-032-170SD
8830-032-170SD
C249
10250-52A2JL
FRC5-C14S52T-OL(D20)
CN50
178323-2
CN20
10220-6202JL
CNPG456
CN10
DUSB-ARB8X-T11
102
CNPG123
1KM
YASKAWA ELECTRIC CORPORATION
CN20
DATE
10250-52A2JL
FM31
MPC603EFE100L
KDS16-522
CNTEST
CN30
S1
BL02RN2-R62
FL9
PQ30RV21
C93
680
C99
680
680
CNE
CN40
U126
PQ30RV21
680
C178
C2
105
FRC5-C14S52T-OL(D20)
IMSA-9202B-1-03R-G
U90
C176
3-175475-6
L2
TSL1110-101K1R0
CNPB01
CNPB02
CNPB03
C166
C89
SER NO.
TYPE
20SAH68M
20V68
2KM
8830-032-170SD
8830-032-170SD
8830-032-170SD
SERVOPACK
Refer to the
following table.
A'
Sectional view A-A'
Type
YASNAC XRC
Converter
SERVOPACK
ERCR-UP50-RB04 CACR-UP50AAB
JUSP-ACP25JAAY11
UP50
UP20M ERCR-UP20M-RB03 CACR-UP20MAAB
ERCR-SK45-RB03 CACR-SK45AAB
JUSP-ACP25JAA
SK45X
SK16MX ERCR-SK16M-RB03 CACR-SK16MAAB
ERCR-SP70-RB04 CACR-SP70AAB
SP70X
* : Time delay fuses of class CC are used for QS1, QS2, and QS3.
QS1
20A
20A
20A
20A
20A
* Fuse
QS2
QS3
20A
20A
20A
20A
20A
SK45X, SK16MX, UP50, UP20M, SP70 Configuration (Without transformer)
JARCR-XCO02
CN32
CN07
CPS-150F
2 PPESPOUT3 PPESPIN+
4 PPESPIN-
7 ON_EN1+
6 EXTUDIN
5 G3
4 EXNCM3 EXNCM+
2 EXBRK-
1 24V3
1 EXBRK+
8 PPESPIN9 DSWOUT+
11 EXHOLD2+
11 RDY+
12 EXHOLD2-
12 RDY-
13 SAF_F1+
13 GND2/G
14 SAF_F1-
14 24VIN
15 SAF_F2+
15 GND3/G
16 SAF_F2-
16 24V3
CN03
CN23
CN24
CN11
CN10
CN02
CN40
CN21
CN22
6XT
CN02/PP
CN25
CN41
CN13
CN12
CN04
CN26
5 24V3
4 EXOT23 24V3
2 EXOT1-
5 PPESPOUT+
6 PPESPOUT7 PPESPIN+
10 DSWOUT-
10 EXHOLD1-
0 1 2 3 4
8 ON_EN1-
CN04/CARD
5 EXSVON1+
CN29
9 ON_EN2+
8 EX0VIN
7 EX24VIN
CN43
10 ON_EN2-
9 24V2
6 G3
CN42
10 G2
CN06/SV
4 EXESP2-
8 EXSVON2-
CN28
JZRCR-XSU02
1XT
1 PPESPOUT+
1 EXESP1+
3 EXESP-2
OFF
QS1
CPS-150F
XCP01
CN06 CN05
2 EXESP1-
6 EXSVON17 EXSVON2+
9 EXHOLD1+
1X
CN27
SW
2FU
10A 250V
BAT
5X
1FU
10A 250V
JZNC-XRK01
XCP01
CN31
4X
2FU
10A 250V
CN30
5X
CN44
4X
CN03/RS232C
A
1FU
10A 250V
Fuse holders
(QS2)(QS3)
USCC3I
Brake operation panel
Fuse : Refer to the
following table.
Brake release control board
JZRCR-XFL02B
Playback Panel
ZY1C-SS3152
I/O unit
JZRCR-XCO02B
CPU unit
JZNC-XRK01B-1
Power ON unit
JZNC-XSU02
CN5
CN01/IO
Power supply unit
(with protective cover)
JZRCR-XPU05B
CN2
CN20
YASKAWA ELECTRIC CORPORATION
JAPAN
CN1
CN4
CN3
CN01
1KM
DATE
QS2 QS3
(EV3)
Disconnecting switch(QS1)
194R-NC030P3
Fuse : Refer to the
following table.
(EV1)
(EV2)
G R I
CNPB04
P
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
CN10
14
FRC5-C14S52T
-OL(D20)
CN60
2
A1
B1
B2
CNPB07
A1
A2
B1
B2
8830-032-170SD
B15
B16 CNPG456
F4053A
8830-032-170SD
CNPB09
CNPG123
1
2
26
27
C28 3-175475-6
680
10250-52A2JL
C27
CNE
680
CNPG789
UPL1C
681MPH
DF9203369-A0
10250-52A2JL
CNPB08
F4053A
TB3
10250-52A2JL
8830-032-170SD
TB2
A1 A2 B1 B2
UPL1C
681MPH
CN30
25
24
50
49
BL02RN2-R62
FL9
Converter
JUSP-ACP35JAA
KDS16-522
CNTEST
IMSA-9202B-1-03R-G
U126
PQ30RV21
1
REV.A
JASP-WRCF01
CN20
CN50
FRC5-C14S52T-OL(D20)
FM31
MPC603EFE100L
S1
U90
PQ30RV21
102
DUSB-ARB8X-T11
13
C249
TB4
F4053A
TB1 F4053A
U44
PQ30RV21
SER NO.
TYPE
10220-6202JL
2KM
178323-2
1KM
YASKAWA ELECTRIC CORPORATION
JAPAN
C2
105
FRC5-C14S52T-OL(D20)
DATE
SER NO.
TYPE
680
L2
TSL1110-101K1R0
CNPB01
CNPB02
CNPB03
C166
C89
C93
680
C99
680
20SAH68M
20V68
C176
680
C178
CN40
2KM
E11 E12 U11 U12 V11 V12 W11 W12
8830-032-170SD
8830-032-170SD
E21 E22 U21 U22
8830-032-170SD
E11 E12 U11 U12 V11 V12 W11 W12
E21 E22 U21 U22
SERVOPACK
Refer to the
following table.
A'
Transformer 8KVA
HB9480043
240-480-575V/208V
Class H
Sectional view A-A'
* Fuse
QS2
QS1
20A
30A
UP130
ERCR-UP130-RB04 CACR-UP130AAB
20A
30A
UP165
ERCR-UP165-RB04 CACR-UP130AAB
20A
30A
UP165-100 ERCR-UP165-RB06 CACR-UP130AABY18
20A
30A
UP200
ERCR-UP200-RB03 CACR-UP130AABY18
* : Time delay fuses of class CC are used for QS1, QS2, and QS3.
Type
YASNAC XRC
SERVOPACK
UP130, UP165, UP165-100, UP200 Configuration (With transformer built-in)
1-9
QS3
30A
30A
30A
30A
RE-CTO-A208
1.4 Equipment Configuration
Playback Panel
ZY1C-SS3152
I/O unit
JZRCR-XCO02B
CPU unit
JZNC-XRK01B-1
JARCR-XCO02
CN32
CN07
CPS-150F
1 EXESP1+
3 PPESPIN+
4 EXESP2-
4 PPESPIN-
5 EXSVON1+
5 PPESPOUT+
7 PPESPIN+
8 EXSVON2-
7 ON_EN1+
8 PPESPIN9 DSWOUT+
6 EXTUDIN
5 G3
4 EXNCM3 EXNCM+
2 EXBRK-
1 24V3
1 EXBRK+
11 RDY+
12 EXHOLD2-
12 RDY-
13 SAF_F1+
13 GND2/G
14 SAF_F1-
14 24VIN
15 SAF_F2+
15 GND3/G
16 SAF_F2-
16 24V3
6XT
CN13
CN12
CN02/PP
CN41
CN25
CN03
CN40
CN11
CN10
CN02
CN21
CN22
CN23
CN24
JZRCR-XSU02
11 EXHOLD2+
CN04
CN26
6 G3
5 24V3
4 EXOT23 24V3
2 EXOT1-
10 DSWOUT-
10 EXHOLD1-
0 1 2 3 4
8 ON_EN1-
CN42
9 ON_EN2+
8 EX0VIN
7 EX24VIN
CN43
CN28
10 ON_EN2-
9 24V2
CN04/CARD
CN29
6 PPESPOUT-
7 EXSVON2+
9 EXHOLD1+
OFF
1XT
1 PPESPOUT+
2 PPESPOUT-
3 EXESP-2
6 EXSVON1-
QS1
CPS-150F
XCP01
CN06 CN05
2 EXESP1-
CN27
10 G2
CN06/SV
2FU
10A 250V
SW
5X
1FU
10A 250V
JZNC-XRK01
XCP01
CN31
4X
2FU
10A 250V
CN30
5X
CN44
4X
1FU
10A 250V
1X
BAT
A
Fuse holders
(QS3)
USCC3I
Brake release control board Fuse : Refer to the
following table.
JZRCR-XFL02B
Brake operation panel
CN03/RS232C
Power ON unit
JZNC-XSU02
CN5
CN01/IO
Power supply unit
(with protective cover)
JZRCR-XPU05B
CN2
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-
NJ2096-
CN1
CN4
CN3
CN01
2KM
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS3
(EV3)
(EV1)
Disconnecting switch(QS1)
194R-NC030P3
Fuse : Refer to the
following table.
(EV2)
G R I
P
CNPB04
CNPB05
8830-032-170SD
CNPB06
8830-032-170SD
8830-032-170SD
CN10
14
FRC5-C14S52T
-OL(D20)
CN60
2
A1
B1
B2
8830-032-170SD
A1
A2
B1
B2
CNPB07
B15
B16 CNPG456
10250-52A2JL
F4053A
CNPB08
8830-032-170SD
F4053A
8830-032-170SD
CNPB09
CNPG123
10250-52A2JL
1
2
26
27
UPL1C
681MPH
C28 3-175475-6
680
10250-52A2JL
C27
CNE
680
680
L2
TSL1110-101K1R0
CNPB01
CNPB02
CNPB03
C166
C89
C93
680
C99
680
20SAH68M
20V68
Converter
JUSP-ACP35JAA
C176
680
C178
CN40
25
24
50
49
U44
PQ30RV21
BL02RN2-R62
C2
105
FRC5-C14S52T-OL(D20)
FL9
TB3
A1 A2 B1 B2
CNPG789
CN30
DF9203369-A0
KDS16-522
CNTEST
IMSA-9202B-1-03R-G
U126
PQ30RV21
UPL1C
681MPH
CN50
1
REV.A
JASP-WRCF01
CN20
10220-6202JL
TB2
178323-2
FRC5-C14S52T-OL(D20)
FM31
MPC603EFE100L
S1
U90
PQ30RV21
102
DUSB-ARB8X-T11
13
C249
TB4
F4053A
TB1 F4053A
8830-032-170SD
8830-032-170SD
E11 E12 U11 U12 V11 V12 W11 W12
8830-032-170SD
E21 E22 U21 U22
E11 E12 U11 U12 V11 V12 W11 W12
E21 E22 U21 U22
SERVOPACK
Refer to the
following table.
A'
Sectional view A-A'
Type
YASNAC XRC
SERVOPACK
QS1
30A
UP130
ERCR-UP130-RB05 CACR-UP130AAB
30A
UP165
ERCR-UP165-RB05 CACR-UP130AAB
30A
UP165-100 ERCR-UP165-RB07 CACR-UP130AABY18
30A
ERCR-UP200-RB04 CACR-UP130AABY18
UP200
* : Time delay fuses of class CC are used for QS1, and QS3.
* Fuse
QS2
QS3
30A
30A
30A
30A
UP130, UP165, UP165-100, UP200 Configuration (Without transformer)
Power supply unit
(with protective cover)
JZRCR-XPU10B
CN32
A
CN07
XCP01
CN31
4 PPESPIN-
7 ON_EN1+
6 EXTUDIN
5 G3
4 EXNCM3 EXNCM+
2 EXBRK-
1 24V3
1 EXBRK+
11 EXHOLD2+
12 EXHOLD213 SAF_F1+
14 24VIN
15 GND3/G
16 SAF_F2-
16 24V3
6XT
CN13
CN12
CN02/PP
CN25
CN41
CN11
CN10
CN02
CN40
CN03
CN23
CN24
JZRCR-XSU02
11 RDY+
12 RDY13 GND2/G
14 SAF_F115 SAF_F2+
CN04
CN26
4 EXOT23 24V3
2 EXOT1-
9 DSWOUT+
CN04/CARD
8 ON_EN1-
8 PPESPIN-
0 1 2 3 4
9 ON_EN2+
8 EX0VIN
7 EX24VIN
CN43
10 ON_EN2-
9 24V2
6 G3
5 24V3
6 PPESPOUT7 PPESPIN+
CN42
10 G2
5 PPESPOUT+
10 DSWOUT-
SW
CN29
8 EXSVON29 EXHOLD1+
10 EXHOLD1-
CN06/SV
5 EXSVON1+
7 EXSVON2+
CN28
CN21
CN22
OFF
1XT
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 EXESP2-
6 EXSVON1-
QS1
CPS-150F
CPS-150F
1 EXESP1+
3 EXESP-2
1X
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP1-
CN27
BAT
2FU
10A 250V
CN03/RS232C
5X
1FU
10A 250V
Brake operation panel
CN5
CN01/IO
4X
2FU
10A 250V
CN30
5X
CN44
4X
1FU
10A 250V
Fuse holders
(QS2)(QS3)
USCC3I
Brake release control board Fuse : Refer to the
following table.
JZRCR-XFL02B
I/O unit
Playback Panel
ZY1C-SS3152
JZRCR-XCO02B
CPU unit
JZNC-XRK01B-1
Power ON unit
JZNC-XSU02
CN2
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-
2KM
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
CN1
CN4
CN3
CN01
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS2 QS3
(EV3)
G R I
CNPB04
P
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
CN10
14
FRC5-C14S52T
-OL(D20)
CN60
2
A1
B1
B2
A1
A2
B1
B2
CNPB07
B15
B16 CNPG456
8830-032-170SD
10250-52A2JL
F4053A
CNPB08
F4053A
8830-032-170SD
CNPB09
CNPG123
1
2
26
27
UPL1C
681MPH
10250-52A2JL
C28 3-175475-6
680
CNPG789
DF9203369-A0
UPL1C
681MPH
C27
CNE
680
10250-52A2JL
8830-032-170SD
TB3
A1 A2 B1 B2
680
L2
TSL1110-101K1R0
CNPB01
CNPB02
CNPB03
C166
C89
C93
680
C99
680
20SAH68M
20V68
Converter
JUSP-ACP35JAA
C176
680
C178
CN40
25
24
50
49
U44
PQ30RV21
BL02RN2-R62
FL9
1
REV.A
JASP-WRCF01
CN20
10220-6202JL
CN50
CN30
KDS16-522
CNTEST
IMSA-9202B-1-03R-G
U126
PQ30RV21
102
F4053A
TB1 F4053A
TB2
178323-2
FRC5-C14S52T-OL(D20)
FM31
MPC603EFE100L
S1
U90
PQ30RV21
TB4
DUSB-ARB8X-T11
13
C249
C2
105
FRC5-C14S52T-OL(D20)
Disconnecting switch (QS1)
194R-NC030P3
Fuse : Refer to the
following switch
(EV2)
(EV1)
E11 E12 U11 U12 V11 V12 W11 W12
8830-032-170SD
8830-032-170SD
E21 E22 U21 U22
8830-032-170SD
E11 E12 U11 U12 V11 V12 W11 W12
E21 E22 U21 U22
SERVOPACK
Refer to the
following table.
A'
Transformer 12KVA
HB9480044
240-480-575V/208V
Class H
Sectional view A-A'
* Fuse
QS1
QS3
QS2
30A
40A
40A
UP130R
ERCR-UP130R-RB02 CACR-UP130AABY18
30A
40A
40A
UP130RL ERCR-UP130RL-RB02 CACR-UP130AABY21
CACR-SK300AAB
30A
40A
40A
SK300X
ERCR-SK300-RB02
CACR-SK300AAB
30A
40A
40A
SR200X
ERCR-SR200-RB02
CACR-SP100AAB
30A
40A
40A
SP100X
ERCR-SP100-RB02
* : Time delay fuses of class CC (30A or less) or class J (40A or more) are used for QS1, QS2, and QS3.
Type
YASNAC XRC
SERVOPACK
UP130R, UP130RL, SK300X, SR200X, SP100X Configuration (With transformer built-in)
1-10
RE-CTO-A208
1.4 Equipment Configuration
Fuse holders
Playback Panel
I/O unit
(QS3)
ZY1C-SS3152
JZRCR-XCO02B
USCC3I
Brake operation panel
Fuse : Refer to the
CPU unit
Brake release control board
following table.
JZNC-XRK01B-1
JZRCR-XFL02B
Power supply unit
(with protective cover) Power ON unit
JZNC-XSU02
JZRCR-XPU10B
CN32
A
CN07
XCP01
CN31
4 PPESPIN-
4 EXNCM3 EXNCM+
2 EXOT1-
2 EXBRK-
1 24V3
1 EXBRK+
CN43
9 DSWOUT+
12 RDY-
13 SAF_F1+
13 GND2/G
14 SAF_F1-
14 24VIN
15 SAF_F2+
15 GND3/G
16 SAF_F2-
16 24V3
CN04
CN13
CN12
6XT
CN02/PP
CN41
CN25
CN23
CN24
CN03
CN40
CN02
CN21
CN22
CN11
CN10
JZRCR-XSU02
8 PPESPIN-
11 RDY+
12 EXHOLD2-
0 1 2 3 4
5 G3
CN26
7 ON_EN1+
6 EXTUDIN
6 PPESPOUT7 PPESPIN+
10 DSWOUT-
11 EXHOLD2+
CN42
8 ON_EN1-
7 EX24VIN
6 G3
5 24V3
4 EXOT23 24V3
5 PPESPOUT+
CN04/CARD
8 EXSVON2-
10 EXHOLD1-
SW
CN29
7 EXSVON2+
9 ON_EN2+
CN06/SV
5 EXSVON1+
9 EXHOLD1+
OFF
1XT
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 EXESP2-
6 EXSVON1-
QS1
CPS-150F
CPS-150F
1 EXESP1+
3 EXESP-2
CN28
10 ON_EN2-
9 24V2
8 EX0VIN
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP1-
CN27
10 G2
BAT
2FU
10A 250V
CN03/RS232C
5X
1FU
10A 250V
CN5
CN01/IO
4X
2FU
10A 250V
CN30
5X
CN44
4X
1FU
10A 250V
1X
CN2
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-
2KM
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
CN1
CN4
CN3
CN01
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS3
(EV3)
(EV2)
G R I
CNPB04
P
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
CN10
14
FRC5-C14S52T
-OL(D20)
102
F4053A
TB1 F4053A
CNPB07
A1
A2
B1
B2
8830-032-170SD
10250-52A2JL
F4053A
CNPB08
8830-032-170SD
F4053A
8830-032-170SD
CNPB09
CNPG123
1
2
26
27
10250-52A2JL
10250-52A2JL
C28 3-175475-6
680
CNPG789
DF9203369-A0
C27
CNE
680
25
24
50
49
U44
PQ30RV21
BL02RN2-R62
FL9
C2
105
FRC5-C14S52T-OL(D20)
PQ30RV21
TB3
A1 A2 B1 B2
UPL1C
681MPH
CN30
KDS16-522
CNTEST
IMSA-9202B-1-03R-G
U126
PQ30RV21
UPL1C
681MPH
CN50
FRC5-C14S52T-OL(D20)
FM31
MPC603EFE100L
S1
U90
B15
B16 CNPG456
B1
B2
JASP-WRCF01
10220-6202JL
TB2
178323-2
CN20
A1
2
1
CN60
REV.A
TB4
DUSB-ARB8X-T11
13
C249
680
L2
TSL1110-101K1R0
CNPB01
CNPB02
CNPB03
C166
C89
C93
680
C99
680
20SAH68M
20V68
Converter
JUSP-ACP35JAA
C176
680
C178
CN40
Disconnect switch(QS1)
194R-NC030P3
Fuse : Refer to the
following table.
(EV1)
E11 E12 U11 U12 V11 V12 W11 W12
8830-032-170SD
8830-032-170SD
E21 E22 U21 U22
8830-032-170SD
E11 E12 U11 U12 V11 V12 W11 W12
E21 E22 U21 U22
SERVOPACK
Refer to the
following table.
A'
Sectional view A-A'
* Fuse
QS1
QS2
QS3
40A
40A
UP130R ERCR-UP130R-RB03 CACR-UP130AABY18
40A
40A
UP130RL ERCR-UP130RL-RB03 CACR-UP130AABY21
40A
40A
SK300X
ERCR-SK300-RB03
CACR-SK300AAB
40A
40A
SR200X
ERCR-SR200-RB03
CACR-SK300AAB
40A
40A
SP100X
ERCR-SP100-RB03
CACR-SP100AAB
* : Time delay fuses of class CC (30A or less) or class J (40A or more) are used for QS1, and QS3
Type
YASNAC XRC
SERVOPACK
UP130R, UP130RL, SK300X, SR200X, SP100X Configuration (Without transformer)
1-11
RE-CTO-A208
1.4 Equipment Configuration
1.4.2
Cooling System of the Controller Interior
1KM
Servo Top Fan
Backside Duct Fan
Air Inlet
Servopack
Air Outlet
Cooling System (SV3X (Small Capacity type))(Right side view)
S
Servo Top Fan
Air Inlet
Servopack
Backside Duct Fan
Air Output
Natural heat raditation
Natural heat raditation
Cooling System (Except for SV3X (Small Capacity type))(Right side view)
1-12
RE-CTO-A208
2 Description of Units and Circuit Boards
WARNING
• Before operating the manipulator, check that the SERVO ON lamp goes
out when the emergency stop buttons on the playback panel and programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of
an emergency.
• Always set the teach lock before starting teaching.
Failure to observe this caution may result in injury due to inadvertent operation on the
playback panel.
• Observe the following precautions when performing teaching operations
within the working envelope of the manipulator:
- Always view the manipulator from the front.
- Always follow the predetermined operating procedure.
- Always have an escape plan in mind in case the manipulator comes
toward you unexpectedly.
- Ensure that you have a place to retreat to in case of emergency.
Improper or unintentional manipulator operation can result in injury.
• When turning the power on to the YASNAC XRC, be sure that there is no
one within the worklng envelope of the manipulator, and be sure that
you are in a safe place yourself.
Injury may result from collision with the manipulator to anyone entering the working envelope of the manipulator. Always press the emergency stop button immediately if there are
problems.
2-1
RE-CTO-A208
2.1 Power Supply Unit
CAUTION
• Perform the following inspection procedures prior to performing teaching operations. If problems are found, correct 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.
• Always return the programming pendant to its specified position after
use.
If the programming pendant is inadvertently left on the manipulator or fixture, or on the
floor, the manipulator or a tool could collide with it during manipulator movement, possibly
causing injuries or equipment damage.
2.1
Power Supply Unit
The power supply unit consists of the contactors (1KM, 2KM) for servo power and the line filter
(1Z). It turns the contactor servo power on and off using the signal for servo power control
from the I/O power ON unit, and supplies power(3-phase AC200/220V) to the unit.
The power supply (single phase AC200/220V) is supplied to the control power supply unit ,
I/O power ON unit and servopack (servo control power supply) via the line filter.
Power Supply Unit Models
Model
Robot Type
JZRCR-XPU06B
SV3X, UP6, SK16X, UP20
JZRCR-XPU05B
UP50, UP20M, SK45X, SK16MX,
SP70, UP130, UP165, UP165-100,
UP200
JZRCR-XPU10B
UP130R, UP130RL, SK300X,
SR200X, SP100X
2-2
RE-CTO-A208
2.1 Power Supply Unit
(1Z)
Noise filter
Resister (RB)
RB
1Z
(5X)
Single 200 VAC Output connector
Conector output, etc.
(4X)
Contactor output
(1X)
Single-phase 200 VAC Output connector
4X
5X
1FU
10A 250V
2FU
10A 250V
(1F,2F)
Fuse
1X
(2KM)
Contactor
(1KM)
Contactor
2KM
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-1
Power Supply Unit Configuration (JZRCR-XPU05B, JZRCR-XPU06B, JZRCR-XPU10B)
2-3
RE-CTO-A208
2.2 Brake Release Unit
2.2
Brake Release Unit
A Switch to release the robot brake is provided on the door of the XRC for North America
(ANSI) spesification.
Brake Release Switch
Brake Release Operation Panel
Display LED
Axis Selection Switch
Door Surface
2.2.1
Operation Methods
1. Make sure that the XRC is in the status of Servo OFF (the lamp “SERVO ON READY”
on the P.PANEL is unlit).
2. Press the button “BRAKE RELEASE” of the brake release unit on the XRC door surface. The lamp “BRAKE RELEASE” is lit. (The lamp is unlit when the button “BRAKE
RELEASE” is released.)
3. With the button “BRAKE RELEASE” held pressed, press the button of axis for which
the brake is to be released. The brake for the corresponding axis is released as long
as the button is pressed.
CAUTION
• Watch on your feet and surroundings when releasing the brake.
When the brake is released, the robot may move by its own weight, which may cause a
injury and damage to the equipment.
• Release the axis brake one by one.
In the case that simultaneous release of brakes of multiple number of axes is necessary,
pay full attetion for an unexpected motion of robot. Otherwise, an injury or damage to the
equipment may be resulted.
2-4
RE-CTO-A208
2.3 CPU Rack
2.3
CPU Rack
2.3.1
CPU Rack Configuration
CPU rack consists of the control power supply unit, circuit board racks, and system control circuit boards.
XCP01
JZNC-XRK01
CPS-150F
(CN05)
200 VAC Input
(from Power Supply Unit)
XCP01
CPS-150F
(CN04)
PC Card
CN05
Battery
CN05/SV
(CN04)
Control Power Supply
ON/OFF Conection
(WAGO connector)
(See "Wiring WAGO Connector")
SW
BAT
0 1 2 3 4
CN04
CN03
CN03/RS232C
(CN03)
RS232C Connector
CN04/CARD
Battery Alarm
SOURCE
PWR ON
+5V
+24V
CN02
(CN03)
24 VDC Output
(to Programing Pendant)
CN02/PP
OHT
CN01/IO
CN01
Monitor Alarm Display
(CN01)
24 VDC, 5VDC
(to XCO)
System Control Board
JANCD-XCP01
Control Power Supply Unit
CPS-150F
CPU Rack Configuration (JZNC-XRK01B-†)
2.3.2
„
Circuit Board in the CPU Rack
System Control Circuit Board (JANCD-XCP01)
This board performs to control the entire system, display to the programming pendant, control
the operating keys, control operation, calculate interpolation, and interface the servo control
circuit board (with a serial communication board JANCD-XIF03). This board has the PC card
interface and Serial interface for RS-232C. The JANCD-XMM 01 board (option) can be
installed when CMOS memory is expanded.
2-5
RE-CTO-A208
2.3 CPU Rack
„
Control Power Supply Unit (CPS-150F)
This unit supplies the DC power (5VDC, 24VDC) to the I/O unit (JZRCR-XCO02B) , the power
ON unit (JZRCR-XSU02) and the programming pendant. It is also equipped with the input
function for turning the control power supply on and off.
Items
Input
Output Voltage
Indicator
Overheat Detector
Specifications
Rated Input Voltage:
200/220VAC
Voltage Fluctuation Range: +10% to -15% (170 to 242VAC)
Frequency:
50/60Hz ± 2Hz (48 to 62Hz)
+5VDC : 10A
+24VDC : 4.0A
DISPLAY
Color
Status
SOURCE
Green
Lights when AC power supply input
(Normally ON)
POWER
ON
Green
Lights when DC power supply input
(Normally ON)
+5V
Red
Lights when +5V supply overvoltage or
overcurrent (ON when abnormal)
+24V
Red
Lights when +24V supply overcurrent
(ON when abnormal)
OHT
Red
Lights when units interior overheats
(ON when abnormal)
It is detected when the temperature inside of the controller is about 65°C
2-6
RE-CTO-A208
2.3 CPU Rack
Items
Specifications
To turn on the XRC controller power, turn the main switch to the ON position then turning on the control power supply. If the controller is not
located at the workplace, the control power supply can be turned ON and
OFF by input from external device. It is operated by the external switch
connected with CN 04 of control power supply unit as shown in the following figures. (CN04 is shortaged when shipment)
Control Power Supply Unit
(CPS-150F)
Switch
Control Power
ON/OFF
CN04
-1
-2
CN4:231-102/026-000 (WAGO)
*1
Connection to Control Power Supply Unit
GO “Wiring WAGO Connector” for wiring of CN04 connector.
„
Wiring WAGO Connector
CN04 on the control power supply unit (CPS-150F) is equipped with a connector produced by
WAGO. The “wiring tool for WAGO connector” is necessary to wire with WAGO connector.
Two wiring tools are provided with the XRC as supplied parts.
The wiring procedure is described as follows:
2-7
RE-CTO-A208
2.3 CPU Rack
1. Insert the A part of the wiring tool into a attachment hole.
Wiring tool WAGO connector (Supplied part)
Attachment hole
A part
WAGO connector
Wire (Applicable size AWG28 to AWG12)
Wire (Bare length 8 to 9 mm)
2. Insert or pull out the wire while pushing the wiring tool downward (Direction of the
arrow).
Wiring tool for WAGO connector
Push
3. Remove the wiring tool from the connector. (Complete)
The wiring tool for WAGO connector should be kept for future use.
2-8
RE-CTO-A208
2.3 CPU Rack
„
Wiring PHOENIX Connector
CN05, 06, 40 and 44 on the I/O unit (JZRCR-XCO01) and CN27 and 28 of the power ON unit
(JZRCR-XSU02) are equipped with a connector produced by PHOENIX.
The “small size flat tipped screwdriver” is necessary to wire to PHOENIX connector.
The wiring procedure is described as follows:
1. Loosen the screw on A part of the connector by using “small size flat tipped screwdriver”.
A part
Screw (M2.5) for wire connection
PHOENIX connector (example with 10-pin type)
Small size flat tripped screwdriver
B part Connecting terminal
Wire (Applicable size AWG24 to AWG12)
Wire (Bare length: 10mm)
2. Insert a wire into the B part of connector, and tigten the A part screw by using a “small
size flat tipped screwdriver”. (Recommended tighitening torque: 0.8 Nm)
NOTE Make sure that the screw is securely tightened so that the wire will not come out.
Make sure that each connector is securely inserted into the unit.
2-9
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
2.4
I/O Unit (JZRCR-XCO02B)
The I/O unit consists of the specific I/O circuit board 1 (JARCR-XCI01), the specific I/O circuit
board 2 (JARCR-XCU01B) and the general I/O circuit board (JARCR-XCI03).
(CN05)
External Emergency Stop
External Servo ON, External Hold
Safeguard
Specific Output Connector (PHOENIX connector)
(Refer to "Wiring PHOENIX Connector.")
(CN06)
For fetch of emergency stop direct output
For fetch of deadman signal
Power Supply ON/OFF
Specific Output Connector (PHOENIX connector)
(Refer to "Wiring PHOENIX Connector".)
CN07
JZRCR-XCO02B
CN43
EXESP1+
PPESPOUT-
EXESP1-
PPESPIN+
EXESP2+
PPESPIN-
EXESP2-
PBESPOUT+
EXSVON1+
PBESPOUT-
EXSVON1-
PBESPIN+
EXSVON2+
PBESPIN-
EXSVON2-
DSWOUT+
EXHOLD1+
DSWOUT-
EXHOLD1-
RDY+
EXHOLD2+
RDY-
EXHOLD2-
0 24 V
SAF_F1+
+24V
EX0VIN
SAF_F1SAF_F2+
EX24VIN
SAF_F2-
16
16
CN13
CN12
CN04
CN05
1
EXESP1+
EXESP1EXESP2+
EXESP2EXSVON1+
EXSVON1EXSVON2+
EXSVON2EXHOLD1+
EXHOLD1EXHOLD2+
EXHOLD2SAF_F1+
SAF_F1SAF_F2+
SAF_F216
Expanded view
(CN04)
Specific I/O Connector for Playback Panel
CN11
CN10
(CN10, 11, 12, and 13)
General I/O Signal Connector
CN01
CN02
CN40
CN03
(CN41)
For connection to Power ON unit
(CN40)
Forced Reset, Full-speed Set,
Switch to Safe Speed, Hanger Switch
(PHOENIX connector)
(Refer to "Wiring PHOENIX connector".)
CN05
1
PPESPOUT+
CN42
(CN42)
Input Connector for Emergency Stop
from the playback panel
CN06
1
CN41
(CN43)
Deadman Switch and Input Connector
for Emergency Stop from programming pendant
CN44
(CN44)
Direct IN (PHOENIX connector)
(Refer to "Wiring PHOENIX Connector".)
CN06
1
PPESPOUT+
PPESPOUTPPESPIN+
PPESPINPBESPOUT+
PBESPOUTPBESPIN+
PBESPINDSWOUT+
DSWOUTRDY+
RDY024V
+24V
EX0VIN
EX24VIN
16
(CN01)
Power Supply Input
I/O Unit Configuration (JZRCR-XCO02B)
SUPPLEMENT
Refer to “Wiring PHOENIX Connector”.
2-10
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
2.4.1
Specific I/O Circuit Board 1 (JARCR-XCI01) and Specific I/O Circuit Board 2 (JARCR-XCU01B)
The specific I/O circuit board consists of the specific I/O circuit board 1 (JARCR-XCI01) and
the specific I/O circuit board 2 (JARCR-XCU01B) both of which have a control function. The
main functions are as follows.
• Safety circuit control (depulexing + cross-diagnosis) function
• Specific I/O for playback panel (IN / OUT = 8 points / 8 points)
• Direct input (3 points)
• Deadman Switch Control Circuit
CAUTION
• Before use, remove any jumper leads from the specific input signals.
The unit may malfunction resulting in injury or damage to equipment.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCI01)
+24VU
CN05
1 EXESP1+
2 EXESP13 EXESP2+
4 EXESP25 EXVON1+
6 EXVON17 EXVON2+
8 EXVON29 EXHOLD1+
10 EXHOLD111 EXHOLD2+
12 EXHOLD213 SAF-F1+
14 SAF-F115 SAF-F2+
16 SAF-F2-
External Emergency Stop 1
External Emergency Stop 2
External Servo ON 1
External Servo ON 2
External Hold 1
External Hold 2
Safety Plug 1
Safety Plug 2
024VU
JZRCR-XCO02B Specific Input Circuit Board Allocation and Connection Diagram
2-11
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Direct IN
The signals can be directly and externally connected.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCU01B)
+24V
DIN1
DIN2
DIN3
DIN4
+24VU
CN44
1 EXDIN1+
2 EXDIN13 EXDIN2+
4 EXDIN25 EXDIN3+
6 EXDIN37 EXDIN4+
8 EXDIN4-
Direct IN
Note: EXDIN4 is for future use.
024VU
JZRCR-XCO02B Specific I/O Circuit Board Allocation and Connection Diagram
2-12
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Connected Jumper Leads Before Shipment
CN06 of the I/O unit (JZRCR-XCO02B) is connected with jumper leads as shown in the figure
below before shipment. The short-circuit pins SW1, 8, and 9 on the specific input circuit board
(JARCR-XCI01) are set across 2 and 3 of SW 1, 1 and 2 of SW8 , and 1 and 2 of SW9.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCI01)
SW8
1
2
3
SW9
1
2
3
SW1
1
2
3
CN06
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 PPESPIN5 PBESPOUT+
6 PPESPOUT7 PBESPIN+
8 PBESPIN9 DSWOUT+
10 DSWOUT11 RDY+
12 RDY13 024V
14 +24V
15 EX0VIN
16 EX24VIN
JZRCR-XCO02B Specific I/O Circuit Board Allocation and Connection Diagram
2-13
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Deadman Switch Signal Output
A deadman switch signal is output from CN06-9 and -10.
YASNAC XRC
JZRCR-XCO02B
JARCR-XCI01
+24VU
024VU 024VU
CN06
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 PPESPIN5 PBESPOUT+
6 PPESPOUT7 PBESPIN+
8 PBESPIN9 DSWOUT+
10 DSWOUT11 RDY+
12 RDY13 024V
14 +24V
15 EX0VIN
16 EX24VIN
+24VU
Deadman Switch
Signal Output
PP
CN43
B1 DSW1+
2 DSW13
4 DSW2+
5 DSW2-
Deadman Switch
JARCR-XCU01 024VU
JZRCR-XCO02B Specific Input Circuit Board Allocation and Connection Diagram
2-14
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Connection to I/O External Power Supply
In the standard specification, the I/O power supply is installed internally. When an external
power supply is used, proceed as follows.
1. Remove the jumper lead between CN6-13 and -15, and between CN06-14 and -16 of I/
O unit (JZRCR-XCO02B).
2. Connect CN06-16 and -15 of the I/O unit (JZRCR-XCO02B) to +24 V and 0V of the
external power supply respectively.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCI01)
+24VU +24V
CN06
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 PPESPIN5 PBESPOUT+
6 PPESPOUT7 PBESPIN+
8 PBESPIN9 DSWOUT+
10 DSWOUT11 RDY+
12 RDY13 024V
14 +24V
15 EX0VIN
16 EX24VIN
Remove
External Power Supply
(prepared by customer side)
0V
024VU
+24VU
+24V
024VU 024V
JZRCR-XCO02B Specific Input Circuit Board Allocation and Connection Diagram
2-15
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
FORCE (Forced Reset)
The signals are input externally to FORCE1 (Forced Reset 1) (CN40-1 and -2) and FORCE2
(Forced Reset 2) (CN40-3 and -4). When both of FORCE1 and FORCE2 are turned ON, the
deadman switch is invalidated. When only one is input, an alarm occurs.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCU01B)
+24VU
CN40
024VU
+24VU
024VU
1 FORCE1+
2 FORCE13 FORCE2+
4 FORCE25 FST1+
6 FST17 FST2+
8 FST29 S-SP1+
10 S-SP111 S-SP2+
12 S-SP213 HSW1+(TEACH1+)
14 HSW1-(TEACH1-)
15 HSW2+(TEACH2+)
16 HSW2-(TEACH2-)
Turn ON simultaneously
Switch with key
*CAUTION
JZRCR-XCO02B Specific Input Circuit Board Allocation and Connection Diagram
CAUTION
Do not use the “FORCE” (Forced release) input.
It the “FORCE” input should be used for an unavoidable reason, be sure to use a switch
with a key. The systems manager is responsible for storage of the key.
When “FORCE” is input, all the deadman switches become invalid, so handle with
extreme care.
2-16
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
FST (Full-speed Test)
When both of FST1 (Full-speed Test 1) input (CN40-5 and -6) and FST2 (Full-speed Test 2)
input (CN40-7 and -8) are turned ON, the manipulator motion speed will be a PLAY-mode
speed when XRC is in play mode, and a TEACH-mode speed when XRC is in teach mode.
Note that 1st Safe Speed and 2nd Safe Speed can not be selected. When only one is input,
an alarm occurs.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCU01B)
CN40
+24VU
024VU
+24VU
024VU
1 FORCE1+
2 FORCE13 FORCE2+
4 FORCE25 FST1+
6 FST17 FST2+
8 FST29 S-SP1+
10 S-SP111 S-SP2+
12 S-SP213 HSW1+(TEACH1+)
14 HSW1-(TEACH1-)
15 HSW2+(TEACH2+)
16 HSW2-(TEACH2-)
Turn ON
simultaneously.
JZRCR-XCO02B Specific Input Circuit Board Allocation and Connection Diagram
2-17
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Hanger Switch (HSW)
Short-circuiting the S-SP1 (CN40-9 and -10) validates the hanger switch (HSW).
At this time, the deadman switch (DSW) is invalidated. (Before shipment, the S-SP1 is set
open, therefore, the deadman switch (DSW) is set valid while the hanger switch (HSW) is set
invalid).
For HSW, there are HSW1 (CN40-13 and -14) and HSW2 (CN40-15 and -16). Use two-contact type input switch so that both of HSW1 and HSW2 turn ON/OFF simultaneously. If only
one is input, an alarm occurs.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCU01B)
CN40
+24VU
024VU
+24VU
1 FORCE1+
2 FORCE13 FORCE2+
4 FORCE25 FST1+
6 FST17 FST2+
8 FST29 S-SP1+
10 S-SP111 S-SP2+
12 S-SP213 HSW1+(TEACH1+)
14 HSW1-(TEACH1-)
15 HSW2+(TEACH2+)
16 HSW2-(TEACH2-)
Hanger switch (HSW) input validated
when short-circuited
Turn ON simultaneously
024VU
JZRCR-XCO02B Specific Input Circuit Board Allocation and Connecition Diagram
2-18
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
1st Safety Speed and 2nd Safety Speed
When either the deadman switch (DSW) or the hanger switch (HSW) is turned ON, the speed
is limited to safety speeds. With the S-SP2 (CN40-11 and -12) open, the speed is limited to
1st Safety Speed, with the S-SP2 (CN40-11 and -12) short-circuited, the speed is limited to
2nd Safety Speed.
• 1st Safety Speed: limited to 16 % of the play maximum speed.
• 2nd Safety Speed: limited to 2 % of the play maximum speed.
YASNAC XRC
JZRCR-XCO02B
(JARCR-XCU01B)
CN40
+24VU
024VU
1 FORCE1+
2 FORCE13 FORCE2+
4 FORCE25 FST1+
6 FST17 FST2+
8 FST29 S-SP1+
10 S-SP111 S-SP2+
12 S-SP213 HSW1+(TEACH1+)
14 HSW1-(TEACH1-)
15 HSW2+(TEACH2+)
16 HSW2-(TEACH2-)
Open, 1st Safety Speed
Short-circuited, 2nd Safety Speed
JZRCR-XCO02B Specific Input Circuit Board Allocation and Connection Diagram
2-19
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
Specific Input List (XCO02B)
Terminal
Input Name / Function
EXESP1
External emergency stop
CN05 -1
-2
Use to connect the emergency stop switch of an external operation
device. The servo power turns OFF and job execution stops when
this signal is input. The servo power cannot be turned ON while this
signal is ON.
EXESP2
Factory
Setting
Disabled by
jumper lead
CN05 -3
-4
EXSVON1
Servo ON
CN05 -5
-6
Use to connect the servo ON switch of an external operation device.
The servo power turns ON when this signal is input.
Open
EXSVON2
CN05 -7
-8
EXHOLD1
External hold
CN05 -9
-10
Use to connect the HOLD switch of an external operation device. Job
execution stops when this signal is input. Starting and axis operations are disabled while this signal is ON.
EXHOLD2
Disabled by
jumper lead
CN05-11
-12
SAF-F1
Safety plug
CN05-13
-14
This signal turns OFF the servo power when the door of the safeguard is opened. Connect to the interlock signal from the safety plug
attached to the door. The servo power turns OFF when the interlock
signal is input. The servo power cannot be turned ON while this signal is ON. However, in the teach mode, this function is disabled.
SAF-F2
Disabled by
jumper lead
CN05-15
-16
DIN1
Direct-in 1
CN44 -1
-2
Used for the search function.
DIN2
Direct-in 2
CN44 -3
-4
Used for the search function.
DIN3
Direct-in 3
CN44 -5
-6
Used for the search function.
Open
Open
Open
2-20
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
Specific Input List (XCO02B)
Terminal
Input Name / Function
DIN4
Direct-in 4
CN44 -7
-8
Direct-in4 is for future use.
FORCE1
Forced reset input
CN40 -1
-2
Do not use the “FORCE” (Forced release) input.
If the “FORCE” input should be used for an unavoidable reason, be
sure to use a switch with a key. The systems manager is responsible
for storage of the key.
When “FORCE” is input, all the deadman switches become invalid,
so handle with extreme care.
FORCE2
CN40 -3
-4
Factory
Setting
Open
RDY
Optional board Ready signal
CN06-11
-12
Use to add safety circuit conditions.
FST1
Full-speed test
CN40 -5
-6
PLAY normal speed is selected in PLAY mode, and TEACH normal
speed is selected in TEACH mode.
Open
Disabled by
Jumper lead
Open
FST2
CN40 -7
-8
S-SP1
Switches Valid/Invalid of HSW/DSW.
CN40 -9
-10
When open, DSW valid
When short-circuited, HSW valid
S-SP2
Switches between 1st Safety Speed and 2nd Safety Speed.
CN40-11
-12
1st Safety Speed: the speed is limited to 16 % of PLAY maximum
speed.
2nd Safety Speed: the speed is limited to 2 % of PLAY maximum
speed.
When open, 1st Safety Speed is selected
Whe short-circuited, 2nd Safety Speed is selected.
HSW1
Hanger switch
CN40-13
-14
Validates the hanger switch with S-SP1 short-circuited.
When open, a normal speed
When short-circuited, a safety speed (according to the setting of SSP2)
HSW2
Open
Open
Open
CN40-15
-16
2-21
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Safety Plug Input Signal
The manipulator must be surrounded by a safeguard and a door protected by an interlock
function. The door must be opened by the technician to enter and the interlock function stops
the robot operation when the door is open. The safety plug input signal is connected to the
interlock signal from the gate.
Manipulator Working
Envelope
Safeguard
Servo ON Lamp
Abnormal Æ
Teach Æ
Operating Æ
R
Y
G
YASNAC
XRC
Controller
Door
Safety Plug
Signal Tower
R: Red
Y: Yellow
G: Green
Taked Plug
Emergency
Stop
Receptacle for Teaching
Safeguard
If the servo power is ON when the interlock signal is input, the servo power turns OFF. The
servo power cannot be turned ON while the interlock signal is input. However, the servo power
does not turn OFF when the door is opened only during the TEACH mode. In this case, the
servo power can be turned ON while the interlock signal is input.
2.4.2
General I/O Circuit Board (JARCR-XCI03)
The general I/O circuit board is controlled by the system control circuit board (JANCD-XCP
01) through the specific I/O circuit board (JARCR-XCI01).
I/O can be separated as specific I/O and general I/O allocated software as follows:
• Specific I/O : IN/OUT = 24 points / 24 points
• General I/O : IN/OUT= 16 points / 16 points (relay contact output)
The specific I/O is a signal in which the part is decided in advance. The specific I/O is used
when the external operation equipment, jig controller and centralized controller control the
manipulator and related equipment as a system. The assignment of the general input signal
depends on the applications as shown in " 2.8 General I/O Signal Assignment ". The main
example using specific I/O is shown as follows.
2-22
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Connection wire with General I/O (CN10, 11, 12, 13)
Please refer to the figure below when you manufacture the cable connecting with general I/O
connector (CN10,11,12,13). (The cable side connector and the I/O terminal are the options)
Connector A detailed (Cable side)
B20
B1
A20
A1
Connector Type: FCN-361J040-AU (Fujitsu)
(Soldering pin type)
Food Type: FCN-360C040-B (Fujitsu)
I/O Power-ON unit
(JZRCR-XCO02B)
Connector A
I/O Cable (form XIU01
to Peripheral Device)
CN13 CN12
CN11 CN10
I/O Cable (from XIU01 to
Terminal)
CN10,CN11,CN12,CN13,
Connector B detailed
Connector B
B1
B20
A1
A20
Connector Type: FCN-365P040AU (Fujitsu)
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
B7
A7
B8
A8
B9 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 B20
A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 A20
I/O Terminal Board (Terminal Size : M3)
Type: PX7DS-40V6-R (Yoshida Denki)
2-23
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
„
Specific I/O Signal Related to Start and Stop
The following signals are specific I/O signals related to start and stop.
• Servo On
(depending on application:JARCR-XCI03)
• External Servo On
(common to all application:JARCR-XCI01)
• External Start
(depending on application:JARCR-XCI03)
• Operating
(depending on application:JARCR-XCI03)
• External Hold
(common to all application:JARCR-XCI01)
• External Emergency Stop (common to all application:JARCR-XCI01)
<Timing Chart>
Manipulator
RUN
STOP
ON
While Servo ON OFF
Servo ON
ON
OFF
External Start
ON
OFF
T
Operating
External Hold
Ext. E-Stop
T
ON
OFF
ON
OFF
T
ON
OFF
Note: Set T=100msec or more
2-24
RE-CTO-A208
2.4 I/O Unit (JZRCR-XCO02B)
Example of Servo ON Sequence Circuit from External Device
Only the rising edge of the servo ON signal is valid. This signal turns ON the manipulator
servo power supply. The set and reset timings are shown in the following.
YASNAC XRC
Servo Power ON Confirmation
Servo ON PB
X4
Servo ON
Command
X1
X4
Servo ON
Command
X2
X1
I/O Unit
(JZRCR-XCO02B)
CN05 +24VU
Servo ON
Command
X1
Servo ON
Command
X2
-5
-6
-7
-8
X2
Servo Power ON
Servo Power ON Confirmation
X3
X4
024VU
+24VU
CN12
-A18
X3
PL
-A8
Servo ON Output
3011
Note: Number in ( ) means output signal number assigned to XCO02B.
PL: Pilot Lamp
Example of Start Sequence Circuit from External Device
Only the rising edge of the external start signal is valid. This signal starts the manipulator.
Reset this signal with the interlock configuration that determines if operation can start and with
the playback (RUNNING) signal confirming that the robot has actually started moving.
YASNAC XRC
Run PB
While
Servo ON
(3011)
Play mode
select
(3016)
Alarm/Error
Occuring
(3013)
Runnig
Confirmation Start
(Command)
X6
X5
Ex. Start
Command
X5
X5
Running
X7 (3010)
Ruunig
Confirmation
X6
PL
Note: Number in (
) means output signal number assigned to XCO02B.
2-25
I/O Unit
(JZRCR-XCO02B)
CN12
External Start
-B1
Input
(2011)
-B7
OVU
Running, etc.
+24VU
X7
Running Output
(3010), etc.
RE-CTO-A208
2.5 Power ON Unit (JZRCR-XSU02)
2.5
Power ON Unit (JZRCR-XSU02)
The power ON unit consists of the power ON circuit board (JARCR-XCT01) to control the
servo power ON sequence.
(CN32)
Brake Resistance AC Input
CN31
CN32
(CN31)
Brake Output Connector
CN30
CN27
10
(CN30)
FAN, AC Output
024V
CN29
ON_EN2+
EXOT2EXOT2+
EXOT1-
(CN23)
Interface to I/O Unit
(JZRCR-XCO02B)
(CN21)
Interface to Servo Control
Circuit Board (JASP-WRCA01)
EXNCMEXNCM+
(CN26)
Shock Sensor, Lamp
1
EXBRKEXBRK+
1
(CN25)
Interface to Speed Monitor Board
(JANCD-XFC01), Fan Alarm
(CN22, CN24)
Back-stage, Interface to Power ON Unit
CN20
CN20
+24VU 0VU
+24V
0V
+24VU 0VU
+24V
0V
(CN20)
Power Supply Input
Power ON Unit Configuration (JZRCR-XSU02)
2-26
ON_EN1+
024VU
CN26
EXOT1+
1
10
ON_EN2ON_EN2+
ON_EN1ON_EN1+
EXTUDIN
024VU
EXNCMEXNCM+
EXBRKEXBRK+
ON_EN1-
EXTUDIN
CN28
CN27
10
024V
+24V
EX0VIN
EX24VIN
024VU
+24VU
EXOT2EXOT2+
EXOT1EXOT1+
1
+24VU
(CN29)
Contactor Control
CN25
024VU
ON_EN2-
CN23
CN24
EX24VIN
(CN27, CN28)
Overrun, Switch to External Power Supply,
External Brake, External Direct IN,
Servo Area Input
CN21
CN22
EX0VIN
JZRCR-XSU02
+24V
CN28
10
RE-CTO-A208
2.5 Power ON Unit (JZRCR-XSU02)
2.5.1
Power ON Circuit Board (JARCR-XCT01)
The power ON circuit board is controlled by the servo control circuit board (JASP-WRCA01).
The main functions are as follows:
• Specific I/O circuit, for instance, servo power supply contactor I/O circuit and emergency
stop circuit
• Brake power supply circuit and its output
• Overrun(OT) shock sensor(SHOCK) and lamp light power supply output to robot
„
Connection of Shock Sensor
Remove “SHOCK-” and “+24VU” from XSU-CN26 (Dynamic Connector) , and connect the
shock sensor signal “SHOCK-” to the robot.
Shock Sensor Connection Terminal
Terminal
Type
Factory Setting
SHOCK-
PC-2005W
+24VU
PC-2005M
SHOCK-
PC-2005M
Use Shock Sensor
Power ON Unit
JZRCR-XSU02
Manipulator
24VU
XSU-CN26
CN26
D1
SHOCK +24VU
Shock Sensor
24VU
D3
C3
SHOCK
Shock Sensor
(Option)
A3
Overrun
Overrun
Connecting Cable
Shock Sensor Connection
SUPPLEMENT
When the shock sensor input signal is used, the stopping method of the robot can be
specified. The stopping methods are hold stop and servo power supply off. Selection of the
stopping method is set in the display of the programing pendant. Refer to Explanation *1 in
“3.6 Overrun / Shock Sensor Reliasing” of the YASNAC XRC Instructions for details.
2-27
RE-CTO-A208
2.5 Power ON Unit (JZRCR-XSU02)
„
Method of Connecting External Axis Overrun Signal
In a standard specification, the external axis overrun input is unused. (It is set invalid by a
jumper lead.)
Please connect the signal according to the following procedures when the overrun input for an
external axis is necessary, besides for the manipulator.
1. Remove jumper leads connected between CN27-1 and -2 , and CN27-3 and -4 of
power ON unit (JZRCR-XSU02).
2. Connect the overrun input of an external axis between CN27-1 and -2 , and CN27-3
and -4 of power ON unit (JZRCR-XSU02) as shown in the figure below. The input
switch for external axis overrun should be of 2-contact type so that both signals are
turned ON/OFF simultaneously.
CAUTION
• Remove a jumper when there is a jumper in the specific input signal to
be used.
The injury and damage may result because it dosn’t function even if the soecific signal is
input.
YASNAC XRC
Power ON Unit (JZRCR-XSU02)
+24VU
CN27
-1
External Axis
Overrun
EXOT1
-2
+24VU
Turn ON/OFF
simultaneously.
EXOT2
024VU
-3
-4
024VU
2-28
RE-CTO-A208
2.5 Power ON Unit (JZRCR-XSU02)
„
Servo ON Enable Input (ON_EN1 and 2)
This function divides the system into multiple servo areas and turns ON the servo power for
each area.
In the standard specification, this is short-circuited by a jumper lead.
1. Remove jumper leads between CN28-7 and -8, and between CN28-9 and -10 of the
power ON unit (JZRCR-XSU02).
2. Connect the switch 1 for servo area to the servo ON enable input (ON_EN1) across
CN28-7 and -8, the switch 2 to the servo ON enable input (ON_EN2) across CN28-9
and -10. Make a connection so that both of these switches turn ON/OFF simultaneously. When both of ON_EN1 and 2 are ON, the servo power supply turns ON.
When only one is ON, an alarm occurs.
JZRCR-XSU02
JZRCR-XSU02
+24VU
+24VU
CN28
CN28
-7
-7
-8
ON_EN1
Switch 1
-8
ON_EN1
024VU
+24VU
024VU
+24VU
Turn ON
simultaneously
-9
-10
-9
Switch 2
ON_EN2
-10
ON_EN2
024VU
024VU
Standard (Setting before shipment)
Servo ON for an area
Servo ON Enable Input (ON_EN1 and 2)
2-29
RE-CTO-A208
2.6 SERVOPACK
2.6
SERVOPACK
A SERVOPACK consists of a servo control circuit board (JASP-WRCA01), a servo control
power supply (JUSP-RCP01AA ), a converter and an amplifier (Refer to the following tables
“SERVOPACK Configuration”).
As for large capacity type, the converter and the servo power supply are separate.
2.6.1
SERVOPACK Configuration
SERVOPACK Configuration (Small Capacity Type)
SV3X
Component
UP6
Type
Capacity
Type
Capacity
CACR-SV3AAA
-
CACR-UP6AAC
-
JUSP-ACP05JAA
5A
JUSP-ACP05JAA
5A
S
JUSP-WS02AA
200W
JUSPWS05AAY17
500W
L
JUSP-WS02AA
200W
JUSPWS10AAY17
1kW
U
JUSP-WS01AA
100W
JUSPWS05AAY17
500W
R
JUSP-WSA5AA
50W
JUSP-WS01AA
100W
B
JUSP-WSA5AA
50W
JUSP-WS01AA
100W
T
JUSP-WSA5AA
50W
JUSP-WS01AA
100W
Servo control
curcuit board
JASP-WRCA01
-
JASP-WRCA01
-
Servo control
power supply
JUSP-RCP01AA†
-
JUSP-RCP01AA†
-
Speed monitor
board
JANCD-XFC01
-
JANCD-XFC01
-
SERVOPACK
Converter
Amplifier
2-30
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK Configuration (Small Capacity Type)
SK16X
Component
UP20
Type
Capacity
Type
Capacity
SERVOPACK
CACR-SK16AAC
-
CACR-UP20AAA
-
Converter
JUSP-ACP05JAA
5A
JUSP-ACP05JAA
5A
S
JUSPWS10AAY17
1kW
JUSP-WS10AA
1kW
L
JUSPWS10AAY17
1kW
JUSPWS20AAY22
2kW
U
JUSPWS10AAY17
1kW
JUSPWS10AAY17
1kW
R
JUSP-WS02AA
200W
JUSP-WS02AA
200W
B
JUSP-WS02AA
200W
JUSP-WS02AA
200W
T
JUSP-WS02AA
200W
JUSP-WS02AA
200W
Servo control
curcuit board
JASP-WRCA01
-
JASP-WRCA01
-
Servo control
power supply
JUSP-RCP01AA†
-
JUSP-RCP01AA†
-
Speed monitor
board
JANCD-XFC01
-
JANCD-XFC01
-
Amplifier
SERVOPACK Configuration (Medium Capacity Type)
SK45X
Component
SK16MX
Type
Capacity
Type
Capacity
CACR-SK45AAB
-
CACR-SK16MAAB
-
S
JUSP-WS30AA
3kW
JUSP-WS30AA
3kW
L
JUSP-WS20AA
2kW
JUSP-WS20AA
2kW
U
JUSP-WS20AA
2kW
JUSP-WS20AA
2kW
R
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
B
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
T
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
Servo control
curcuit board
JASP-WRCA01
-
JASP-WRCA01
-
Speed monitor
board
JANCD-XFC01
-
JANCD-XFC01
-
JUSP-ACP25JAA
25A
JUSP-ACP25JAA
25A
-
JUSP-RCP01AA†
-
SERVOPACK
Amplifier
Converter
Servo control
power supply
JUSPRCP01AA†
2-31
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK Configuration (Medium Capacity Type)
UP50
Component
Type
UP20M
Capacity
Type
Capacity
CACR-UP50AAB
-
CACR-UP20MAAB
-
S
JUSP-WS44AA
4.4kW
JUSP-WS44AA
4.4kW
L
JUSP-WS60AA
6kW
JUSP-WS60AA
6kW
U
JUSP-WS20AA
2kW
JUSP-WS20AA
2kW
R
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
B
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
T
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
Servo control
curcuit board
JASP-WRCA01
-
JASP-WRCA01
-
Speed monitor
board
JANCD-XFC01
-
JANCD-XFC01
-
JUSPACP25JAAY11
25A
JUSP-ACP25JAAY11
25A
-
JUSP-RCP01AA†
-
SERVOPACK
Amplifier
Converter
Servo control
power supply
JUSP-RCP01AA†
SERVOPACK Configuration (Medium Capacity Type)
SP70X
Component
Type
SERVOPACK
CACR-SP70AAB
Capacity
-
S
JUSP-WS20AA
2kW
L
JUSP-WS15AA
1.5kW
U
JUSP-WS44AA
4.4kW
R
JUSP-WS05AA
500W
B
-
-
T
-
-
Servo control
curcuit board
JASP-WRCA01
-
Speed monitor
board
JANCD-XFC01
-
JUSP-ACP25JAA
25A
Amplifier
Converter
Servo control
power supply
JUSPRCP01AA†
2-32
-
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK Configuration (Large Capacity Type)
UP130, UP165
UP130R, UP200
UP165-100
Type
Capacity
Type
Capacity
CACR-UP130AAB
-
CACR-UP130AABY18
-
S
JUSP-WS60AA
6kW
JUSP-WS60AAY18
6kW
L
JUSP-WS60AA
6kW
JUSP-WS60AAY18
6kW
U
JUSP-WS60AA
6kW
JUSP-WS60AA
6kW
R
JUSPWS20AAY13
2kW
JUSP-WS20AAY13
2kW
B
JUSPWS15AAY13
1.5kW
JUSP-WS15AAY13
1.5kW
T
JUSPWS15AAY13
1.5kW
JUSP-WS15AAY13
1.5kW
Servo control
curcuit board
JASP-WRCA01
-
JASP-WRCA01
-
Speed monitor
board
JANCD-XFC01
-
JANCD-XFC01
-
JUSP-ACP35JAA
35A
JUSP-ACP35JAA
35A
-
JUSP-RCP01AA†
-
Component
SERVOPACK
Amplifier
Converter
Servo control
power supply
JUSPRCP01AA†
SERVOPACK Configuration (Large Capacity Type)
UP130RL
Component
Type
Capacity
CACR-UP130AABY21
-
S
JUSP-WS60AAY18
6kW
L
JUSP-WS60AAY18
6kW
U
JUSP-WS60AAY18
6kW
R
JUSP-WS20AAY13
2kW
B
JUSP-WS15AAY13
1.5kW
T
JUSP-WS15AAY13
1.5kW
SERVOPACK
Amplifier
Servo control
curcuit board
JASP-WRCA01
-
Speed monitor
board
JANCD-XFC01
-
JUSP-ACP35JAA
35A
JUSP-RCP01AA†
-
Converter
Servo control
power supply
2-33
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK Configuration (Large Capacity Type)
SK300X, SR200X
Component
SERVOPACK
SP100X
Type
Capacity
Type
Capacity
CACR-SK300AAB
-
CACR-SP100AAB
-
S
JUSPWS60AAY18
6kW
JUSP-WS60AAY18
6kW
L
JUSPWS60AAY18
6kW
JUSP-WS60AAY18
6kW
U
JUSPWS60AAY18
6kW
JUSP-WS60AAY18
6kW
R
JUSPWS30AAY18
3kW
-
-
B
JUSPWS30AAY18
3kW
-
-
T
JUSPWS30AAY18
3kW
Servo control
curcuit board
JASP-WRCA01
-
JASP-WRCA01
-
Speed monitor
board
JANCD-XFC01
-
JANCD-XFC01
-
JUSP-ACP35JAA
35A
JUSP-ACP35JAA
35A
-
JUSP-RCP01AA†
-
Amplifier
Converter
Servo control
power supply
JUSPRCP01AA†
2-34
JUSP-WS20AAY19
2kW
RE-CTO-A208
2.6 SERVOPACK
Grip (top)
Converter
Amplifier (6 pcs)
Servo Control Power Supply
Servo Control Board
G R I
P
6AMP
+5 V Display LED
CNS
2CN
+5V
Speed Monitor Board
JUSPRCP01AAB
-OL(D20)
1CN
1CN 2CN 3CN
1GS
1CV
4CN 5CN 6CN
1AMP
G R I
P
Grip (bottom)
SV3X, UP6, SK16X SERVOPACK Configuration
Grip (top)
Converter
Amplifier (6 pcs)
Servo Control Power Supply
Servo Control Board
G R I P
8830-032-170SD
CNPB04
8830-032-170SD
CNPB05
8830-032-170SD
CNPB06
C249
CNPG456
CN20
CNPG123
CN40
FRC5-C14S52T-OL(D20)
CN50
CN30
1CN
Speed Monitor Board
178323-2
JUSPRCP01AAA
FRC5-C14S52T-OL(D20)
+5V
10220-6202JL
2CN
CNS
CN10
+5V Display LED
CNE
CNPB01
8830-032-170SD
3-175475-6
CNPB02
8830-032-170SD
CN1
CN2
CNPB03
8830-032-170SD
CN3
CN4
CN5
CN6
G R I P
Grip (bottom)
UP20 SERVOPACK Configuration
2-35
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK
Speed Monitor Board
Grip (top)
Converter
Servo Control Power Supply
Servo Control Board
CNPG456
2CN
+5V Display LED
P
CNS
G R I
Amplifier (6 pcs)
+5V
CNPG123
JUSPRCP01AAB
1CN
CN1
CN2
CN3
GRIP
CN4
CN5
CN6
Grip (bottom)
SK45X, SK16MX SERVOPACK Configuration
SERVOPACK
Speed Monitor Board
Grip (top)
Converter
Amplifier (6 pcs)
Servo Control Board
CNS
Servo Control Power Supply
2CN
+5V Display LED
+5V
JUSPRCP01AAB
1CN
Grip (bottom)
UP50, UP20M SERVOPACK Configuration
2-36
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK
Speed Monitor Board
Servo Control Power Supply
Servo Control Board
P
CNPG456
CNS
G R I
2CN
+5V Display LED
Amplifier (4pcs)
Grip (top)
Converter
+5V
JUSPRCP01AAB
CNPG123
YASKAWA
1CN
CN2
CN1
CN3
GRIP
CN4
Grip (bottom)
SP70X SERVOPACK Configuration
SERVOPACK
Converter
Speed Monitor Board
Amplifier (6 pcs)
Grip (top)
Servo Control Power Supply
G R I
Servo Control Board
CNS
+5V Display LED
P
2CN
+5V
JUSPRCP01AAB
CNE
1CN
4CN
G R I
E11 E12 U11 U12 V11 V12 W11 W12
E21 E22 U21 U22
5CN
6CN
P
V21 V22 W21 W22 E31 E32 U31 U32 V31 V32 W31 W32
1GS
Grip (bottom)
UP130, UP165, UP200, UP130R, UP130RL, UP165-100, SK300, SR200X SERVOPACK Configuration
2-37
RE-CTO-A208
2.6 SERVOPACK
Converter
SERVOPACK
Speed Monitor Board
Amplifier (4pcs)
Servo Control Power Supply
Grip (top)
G R I
Servo Control Board
CNS
+5V Display LED
P
2CN
+5V
JUSPRCP01AAB
CNE
1CN
6CN
G R I
E11 E12 U11 U12 V11 V12 W11 W12
E21 E22 U21 U22
P
V21 V22 W21 W22 E31 E32 U31 U32 V31 V32 W31 W32
1GS
Grip (bottom)
SP100X SERVOPACK Configuration
2-38
RE-CTO-A208
2.6 SERVOPACK
2.6.2
„
Description of Each Unit
Servo Control Circuit board (JASP-WRCA01)
This is a circuit board which controls the servo motors of six axes of the manipulator. This
board controls the converter, amplifiers and the power ON unit (JZRCR-XSU02). The power
source is supplied by a servo control power supply.
„
Servo Control Power Supply (JUSP-RCP01AA†)
This unit generates DC power (+5V, +7V, ±15V) for servo control. AC input (Single
phase:200/220VAC) is supplied by power supply unit.
Items
AC input
Output
Indicator
„
Specification
Rated Input Voltage
200 to 220VAC
Voltage Fluctuation Range
+10% to -15% (AC170V to 242V)
Frequency
50/60Hz (48Hz to 62Hz)
+ 5V
5A
+ 7V
2.5A
±15V
1.3A(+15V), 0.6A(-15V)
+5V
This lights when +5V power supply is
output. (Color : Green)
Converter
This exchanges the power source (3-phase : 200/220VAC) supplied by the power supply unit
for DC power source and supplies the power to amplifiers for each axis.
„
Amplifier
This exchanges the DC power source supplied by a converter for a 3-phase motor power
source and outputs to each servo motor.
„
Speed Monitor Board (JANCD-XFC01)
This monitors the robot motion speed and outputs a speed error signal to the servo control
board (JASP-WRCA01) if the speed exceeds the set value.
2-39
RE-CTO-A208
2.7 Playback Panel
2.7
Playback Panel
The playback panel is equipped with the buttons used to play back the manipulator.
ALARM
SERVO ON READY
SERVO ON
READY
MODE
PLAY
Lights when an
alarm occurs.
EMERGENCY STOP
TEACH
Turns ON the servo
power.
EMERGENCY
STOP Button
PLAY and TEACH
Sets controller to Play
or Teach mode.
EDIT LOCK
ALARM
(OFF)
(ON)
HOLD
REMOTE
START Button
START
Starts playback.
EDIT LOCK
HOLD Button
Enables and disables
editing. (Option)
REMOTE Button
Switches to remote
mode.
„
Stops playback and
holds at the present
step in the job.
Contact Output for Emergency Stop Button
The contact output for the emergency stop button is on terminal block 2XT (Screw size: M3.5)
at the bottom of the panel.
This emergency stop output is always valid, regardless of whether the main power supply of
the XRC is ON or OFF. (Status output signal: NC contact)
Emergency
stop button
2XT
PBESP3+
PBESP3PBESP4+
PBESP4-
2-40
EXT
PBESP3+
PBESP3PBESP4+
PBESP4-
RE-CTO-A208
2.8 General I/O Signal Assignment
2.8
General I/O Signal Assignment
2.8.1
Arc Welding
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN12 Connector
Logical Connec t or
NumberNum ber
JARCR-XCI03
Each Point
24VDC
8mA max.
Name
External Start
IN
B1
2011 A1
-
IN
A1
A1
2012 B2
2013 A2
Call Master Job
IN
B2
B2
Alarm/Error Reset
IN
Select Remote Mode
IN
A2
B3
A2
2014 B3
2015 A3
Select Play Mode
A3
B4
A3
A4
B5
Select Teach Mode
2017 A4
IN192
IN
A4
2020 B5
2021 A5
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
B5
IN
A5
2022 B6
Work Prohibited
IN
B6
A5
B6
2023 A6
Work Response
IN
A6
A6
B7
A7
B7
A7
024VU
024VU
Running
OUT
B8
B8
3011 A8
Servo is ON
OUT
3012 B9
Top of Master Job
OUT
A8
B9
A8
B9
OUT
A9
A9
OUT
B10
A10
B10
B11
B11
A11
OUT
3020 B12 In Cube 1
OUT
3021 A12 In Cube 2
3022 B13 Operation Origin Point OUT
Intermediate Start OK
3023 A13 (continuousing Sequence) OUT
-16
+24VU
024 VU
B4
3010 B8
3017 A11 Teach Mode Selected OUT
-15
B3
2016 B4
3015 A10 Remote Mode Selected OUT
OUT
3016 B11 Play Mode Selected
CN06 Internal
Power Supply
-14
+24 V
024 V
-13
(24V,1A)
B1
IN
IN
3013 A9 Alarm/Error Occurred
3014 B10 Battery Alarm
JARCR-XCI01
Terminal
Number
Signal
2010 B1
B7
A7
Each Point
24VDC
50mA max.
+24 VE
024 VE
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A11
B12
A12
A10
B12
A12
B13
A13
B13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024VU
A16 024VU
B16
A16
B16
B17 024VU
A17 024VU
B17
A17
B17
A17
B18 +24VU
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
A13
A16
A19
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN12 Connector) I/O Allocation and Connection Diagram
2-41
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN13 Connector
Logical Connector
NumberNumber
Each Point
24VDC
8mA max.
-
IN
B1
2025 A1
-
IN
A1
A1
IN
B2
B2
IN
A2
B3
B3
JARCR-XCI03
2031 A3
-
A3
-
IN
IN
A3
2032 B4
B4
B4
A4
IN
A4
-
IN
B5
-
A5
B5
A5
B6
B6
A6
A6
B7
A7
B7
A7
B8
B8
A8
B9
A8
A9
A9
2036 B6
-
IN
IN
2037 A6
-
IN
B7
A7
024 VU
024 VU
3024 B8 Gas Shortage (Monitor) OUT
3025 A8 Wire Shortage (Monitor) OUT
3026 B9
Wire Sticking (Monitor) OUT
3027 A9 Arc Shortage (Monitor) OUT
3030 B10 OUT
+24VU
-15
024 VU
B9
OUT
B10
A10
B10
3031 A10 3032 B11 3033 A11 -
OUT
B11
B11
OUT
3034 B12 -
OUT
B12
3035 A12 3036 B13 3037 A13 -
A11
B12
A12
OUT
OUT
OUT
B13
A13
A10
A11
A12
B13
A13
B14
B14
B14
A14
A14
B15
B15
A14
B15
A15
A15
A15
B16 024 VU
A16 024 VU
B16
A16
A16
B17 024VU
B17
A17
B17
B18
A18
B18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
A17 024VU
B18 +24VU
-16
A2
IN
2034 B5
2035 A5
+24 V
024 V
(24V,1A)
B1
-
2033 A4
CN06 Internal
Power Supply
-14
+24 VE
024 VE
2024 B1
2030 B3
JARCR-XCI01
Terminal
Number
Signal
2026 B2 Weaving Prohibited
2027 A2 Sensing Prohibited
Each Point
24VDC
50mA max.
-13
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A18 +24VU
B16
A17
A18
A19
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN13 Connector) I/O Allocation and Connection Diagram
2-42
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN10 Connector
Logical Connec t or
Number Num ber
JARCR-XCI03
Each Point
24VDC
8mA max.
+24 VE
024 VE
IN
B1
2041 A1
IN02
IN
A1
A1
2042 B2
2043 A2
IN03
IN
B2
IN04
IN
2044 B3
IN05
IN
A2
B3
B2
A2
2045 A3
IN06
A3
A3
2046 B4
IN07
IN
IN
B4
B4
2047 A4
IN08
IN
A4
A4
B5
B5
B5
A5
A5
A5
B6
A6
B6
B6
A6
A6
024VU
B7
024VU
A7
B7
A7
B8
B8
OUT01+
OUT
OUT02-
OUT
A8
B9
RLY
3041 B9
A9
A8
B9
OUT02+
OUT
A9
A9
RLY
3042 B10 OUT03A10 OUT03+
OUT
OUT
B10
A10
B10
A10
RLY
3043 B11 OUT04A11 OUT04+
OUT
B11
B11
OUT
3044 B12 OUT05A12 OUT05+
OUT
A11
B12
A12
B12
3045 B13 OUT06A13 OUT06+
OUT
OUT
B13
A13
3046 B14 OUT07-
OUT
B14
A14 OUT07+
3047 B15 OUT08A15 OUT08+
OUT
A14
A14
OUT
B15
B15
OUT
A15
A15
B16
A16
B16
B17
A17
B17
A17
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B19
A19
B19
B20 FG
B20
B20
A20
A20
A20
OUT
B18 +24VU
-16
+24VU
-15
024 VU
B3
OUT01- General Output OUT
A16 024VU
B17 024VU
A17 024VU
+24 V
024 V
(24V,1A)
B1
A8
B16 024VU
CN06 Internal
Power Supply
-14
-13
IN01 General Input
3040 B8
JARCR-XCI01
Terminal
Number
Signal
2040 B1
B7
A7
Each Point
24VDC
500mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A11
RLY
A12
B13
RLY
A13
RLY
B14
RLY
RLY
A16
A19
*
means internal relay
RLY means
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN10 Connector) I/O Allocation and Connection Diagram
2-43
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN11 Connector
Logical Connector
Number Number
JARCR-XCI03
Each Point
24VDC
8mA max.
JARCR-XCI01
CN06 Internal
Power Supply
-14
-13
+24 VE
024 VE
+24 V
024 V
(24V,1A)
IN09
IN
B1
2051 A1
IN10
IN
A1
B1
A1
2052 B2
2053 A2
IN11
IN
B2
B2
IN12
IN
2054 B3
IN13
IN
A2
B3
B3
2055 A3
IN14
IN
IN
A3
A3
IN15
B4
B4
2057 A4
IN16
IN
A4
A4
B5
A5
B5
B5
A5
A5
B6
B6
B6
A6
A6
A6
B7
A7
B7
A7
024VU
024VU
3050 B8
OUT09-
OUT
B8
B8
A8
OUT09+
OUT
OUT10-
OUT
A8
B9
RLY
3051 B9
A8
B9
A9
RLY
OUT10+
OUT
A9
A9
3052 B10 OUT11A10 OUT11+
OUT
B10
OUT
B10
A10
3053 B11 OUT12A11 OUT12+
OUT
B11
B11
OUT
3054 B12 OUT13A12 OUT13+
OUT
A11
B12
A12
B12
A12
RLY
3055 B13 OUT14-
OUT
A13 OUT14+
3056 B14 OUT15-
OUT
OUT
B13
A13
B13
A13
RLY
B14
B14
A14 OUT15+
3057 B15 OUT16-
OUT
A14
A14
OUT
B15
B15
A15 OUT16+
OUT
OUT
+24VU
024VU
A10
RLY
A11
A15
A15
B16 024VU
A16 024VU
B16
A16
B16
B17 024VU
B17
A17
B17
A17
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B19
A19
B19
B20 FG
B20
B20
A20
A20
A20
B18 +24VU
-16
A2
2056 B4
A17 024VU
-15
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
RLY
RLY
RLY
A16
A19
*
RLY
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN11 Connector) I/O Allocation and Connection Diagram
2-44
means internal relay
means
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Input List XCO02B (Arc Welding)
Logical
Number
Input Name / Function
2010
EXTERNAL START
Functions the same as the [START]
button in the playback panel . Only
the rising edge of the signal is valid. It
starts robot operation (playback). This
signal is invalid if external start is prohibited from the playback condition
display.
2012
CALL MASTER JOB
Only the rising edge of the signal is
valid. It calls up the top of the robot
program, that is the top of the master
job *1. This signal is invalid during
playback, during teach-lock and when
play master or call is prohibited (set
from the playback operation condition display).
2013
2014
2015
Logical
Number
Input Name / Function
2020
INTERFERENCE 1 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 1*2 area while this signal is
ON, the manipulator goes to wait status (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
ALARM/ERROR RESET
After an alarm or error has occurred
and the cause been corrected, this
signal resets the alarm or error.
SELECT REMOTE MODE
Functions the same as [REMOTE] on
the playback panel. Valid only while
the signal is ON. It selects the
REMOTE mode.
SELECT PLAY MODE
Functions the same as [MODE] on
the playback panel. Only the rising
edge of the signal is valid. It selects
the PLAY mode. If designated simultaneously with other modes, the
TEACH mode takes priority. This signal is invalid if external mode selection is prohibited from the operation
condition display.
2-45
2021
INTERFERENCE 2 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 2*2 area while this signal is
ON, the manipulator goes to wait status (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
2022
WORK PROHIBITED (Arc Generation Prohibited)
Arc generation is prohibited while this
signal is ON. Arc generation starts
when this signal turns OFF inside the
arc-generation area. Use this signal
to confirm teaching.
2023
WORK RESPONSE (Pseudo Arc ON
Response)
This signal is used as a pseudo signal
in cases that “Arc Generation Confirmation” signal is not equiped on a
welding power supply. Wire this signal ON normally (short to OV).
2026
WEAVING PROHIBITED
Weaving is prohibited while this signal is ON. Use this signal to check
taught steps and movements without
performing the weaving operation.
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Input List XCO02B (Arc Welding)
Logical
Number
Input Name / Function
2016
SELECT TEACH MODE
The TEACH mode is selected if this
signal turns ON during PLAY mode.
Switching to other modes is disabled
while this signal is ON. If this signal
turns ON while the SELECT PLAY
MODE signal is ON, this signal takes
priority and the TEACH mode is
selected.
*1
*2
Logical
Number
2027
Input Name / Function
SENSlNG PROHIBITED
Arc sensing is prohibited while this
signal is ON. Use this signal to check
taught steps and movements if an arc
sensor is mounted.
A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the
master job.
See “ 3.7 Interfarence Area “of the YASNAC XRC Instructions.
Specific Output List XCO02B (Arc Welding)
Logical
Number
3010
3011
3012
Logical
Number
Output Name / Function
RUNNING
This signal signifies that the job is running. (Signifies that the job is running,
system status is waiting reserved start,
or test run is running.) This signal status
is the same status as [START] in the
playback panel.
SERVO IS ON
This signal signifies that the servo power
is turned ON, internal processing such
as current position creation is complete,
and the system is able to receive the
START command. This signal turns OFF
when the servo power supply turns OFF.
It can be used for XRC status diagnosis
for an external start.
TOP OF MASTER JOB
This signal signifies that the execution
position is the top of the master job. This
signal can be used to confirm that the
master job has been called.*2
3021
3022
3023
2-46
Output Name / Function
IN CUBE 2
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 2). Use this signal to prevent interference with other manipulators
and jigs.
OPERATION ORIGIN POINT (IN CUBE
24)*1
This signal turns ON when the current
tool center point lies inside a the operation origin area. Use this signal to evaluate whether the robot is in the start
position.
INTERMEDIATE START OK (Sequence
Continues)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the
cursor or when editing operation is carried out after HOLD is applied during
operation. Therefore, this signal can be
used as a restart interlock after a HOLD
is applied. However, it also turns ON in
the TEACH mode and TEACH MODE
SELECTED signal must be referred
together.
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Output List XCO02B (Arc Welding)
Logical
Number
Logical
Number
Output Name / Function
ALARM/ERROR OCCURRED
This signal signifies that an alarm or an
3013 error occurred. If a major error occurs,
this signal remains ON until the main
power is turned OFF.
BATTERY ALARM
This signal turns ON to notify that the
battery requires replacing when the voltage drops from the battery for backup
3014 memory of the encoder. Major problems
may result if memory data is lost
because of an expired battery. It is recommended to avoid these problems by
using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE
SELECTED
This signal notifies the current mode set3015 to
ting. These signals are synchronized
3017
with the lamps [REMOTE] and [MODE]
in the playback panel. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current
tool center point lies inside a pre-defined
3020
space (Cube 1). Use this signal to prevent interference with other manipulators
and jigs.
*1
*2
3024
Output Name / Function
GAS SHORTAGE (MONITOR)
This signal stays ON while the gas shortage signal from the welding power supply is ON.
WIRE SHORTAGE (MONITOR)
This signal status ON while the wire
shortage signal from the welding power
supply is ON.
3025
3026
2027
The operation origin cube and Cube 24 are same.
This signal is not output during operation.
2-47
WIRE STICKING (MONITOR)
The sticking check is conducted automatically when the arc turns off. If wire
sticking is detected, this signal remains
ON until the stick is released.
ARC SHORTAGE (MONITOR)
This signal stays ON while the arc shortage signal from the welding power supply is ON.
RE-CTO-A208
2.8 General I/O Signal Assignment
2.8.2
Handling
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN12 Connector
Logical Connector
NumberNumber
JARCR-XCI03
Each Point
24VDC
8mA max.
IN
B1
2011 A1
-
IN
A1
A1
2012 B2
2013 A2
Call Master Job
IN
B2
B2
Alarm/Error Reset
IN
2014 B3
Select Remote Mode
IN
A2
B3
B3
IN
IN
A3
B4
2017 A4
IN192
IN
A4
2020 B5
2021 A5
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
B5
B5
IN
A5
A5
2022 B6
-
IN
B6
B6
2023 A6
-
IN
A6
A6
B7
A7
B7
024VU
024VU
-15
024 VU
B4
A4
A7
3010 B8
Running
OUT
B8
B8
3011 A8
Servo is ON
OUT
3012 B9
Top of Master Job
OUT
A8
B9
A8
B9
OUT
A9
A9
OUT
B10
A10
B10
B11
B11
A11
OUT
OUT
3021 A12 In Cube 2
3022 B13 Operation Origin Point OUT
Intermediate Start OK
3023 A13 (continuousing Sequence) OUT
+24VU
A3
Select Play Mode
Select Teach Mode
3020 B12 In Cube 1
-16
A2
2015 A3
3017 A11 Teach Mode Selected OUT
+24 V
024 V
(24V,1A)
B1
2016 B4
3015 A10 Remote Mode Selected OUT
OUT
3016 B11 Play Mode Selected
CN06 Internal
Power Supply
-14
Terminal
Number
Signal
External Start
3013 A9 Alarm/Error Occurred
3014 B10 Battery Alarm
JARCR-XCI01
+24 VE
024 VE
Name
2010 B1
B7
A7
Each Point
24VDC
50mA max.
-13
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A11
B12
A12
A10
B12
A12
B13
A13
B13
A13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024VU
A16 024VU
B16
A16
B16
B17 024VU
A17 024VU
B17
A17
B17
A17
B18 +24VU
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
A16
A19
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN12 Connector) I/O Allocation and Connection Diagram
2-48
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN13 Connector
Logical Connec t or
NumberNum ber
Each Point
24VDC
8mA max.
JARCR-XCI03
JARCR-XCI01
CN06 Internal
Power Supply
-14
-13
+24 VE
024 VE
+24 V
024 V
(24V,1A)
-
IN
B1
2025 A1
-
IN
A1
A1
Shock Sensor (NC)
- Hold
IN
B2
B2
Low Air Pressure
IN
2030 B3
IN01 General Input
IN
A2
B3
A2
B3
+24VU
-15
024 VU
B1
2031 A3
IN02
IN03
IN
IN
A3
B4
A3
2032 B4
2033 A4
IN04
IN
A4
A4
2034 B5
2035 A5
IN05
IN
B5
B5
IN06
A5
A5
B6
B6
A6
A6
B7
A7
B7
A7
2036 B6
IN07
IN
IN
2037 A6
IN08
IN
B7
A7
024 VU
B4
3024 B8
024 VU
-
OUT
B8
B8
3025 A8
-
OUT
A8
3026 B9
-
OUT
A8
B9
B9
3027 A9
3030 B10 OUT01 General Output
OUT
A9
A9
OUT
3031 A10 OUT02
OUT
B10
A10
A10
B10
3032 B11 OUT03
OUT
B11
B11
3033 A11 OUT04
OUT
A11
3034 B12 OUT05
3035 A12 OUT06
3036 B13 OUT07
3037 A13 OUT08
OUT
A11
B12
A12
B12
B13
A13
B13
A13
OUT
OUT
OUT
A12
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024 VU
A16 024 VU
B16
A16
B16
A16
B17 024VU
B17
A17
B17
A17
B18
A18
B18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
A20
A20
A17 024VU
B18 +24VU
-16
Terminal
Number
Signal
2024 B1
2026 B2
2027 A2
Each Point
24VDC
50mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A18 +24VU
B20
A18
A19
B20
A20
* Remove Jumper-pin between CN06-14 and -16, -13 and -15
when a external power supply is used.
JARCR-XCI03 (CN13 Connector) I/O Allocation and Connection Diagram
2-49
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN10 Connector
Logical Connector
Number Number
JARCR-XCI03
Each Point
24VDC
8mA max.
+24 VE
024 VE
IN
B1
Sensor Input 2
IN
A1
A1
2042 B2
2043 A2
Sensor Input 3
IN
B2
B2
Sensor Input 4
IN
Sensor Input 5
IN
A2
B3
A2
2044 B3
2045 A3
Sensor Input 6
A3
A3
2046 B4
2047 A4
Sensor Input 7
IN
IN
B4
B4
Sensor Input 8
IN
A4
A4
B5
B5
B5
A5
A5
A5
B6
A6
B6
B6
A6
A6
024VU
B7
B7
024VU
A7
A7
B8
B8
A8
OUT
Hand Valve 1-2Hand Valve 1-2+
OUT
A8
B9
RLY
3041 B9
A9
A8
B9
OUT
A9
A9
RLY
3042 B10 Hand Valve 2-1A10 Hand Valve 2-1+
OUT
B10
OUT
B10
A10
3043 B11 Hand Valve 2-2A11 Hand Valve 2-2+
OUT
B11
B11
OUT
OUT
A11
B12
A12
A11
3044 B12 Hand Valve 3-1A12 Hand Valve 3-1+
A12
RLY
3045 B13 Hand Valve 3-2A13 Hand Valve 3-2+
OUT
OUT
B13
A13
B13
A13
RLY
3046 B14 Hand Valve 4-1A14 Hand Valve 4-1+
OUT
B14
B14
OUT
A14
A14
3047 B15 Hand Valve 4-2A15 Hand Valve 4-2+
OUT
B15
B15
OUT
A15
A15
B16
A16
B16
A16
B17
A17
B17
A17
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B19
A19
B19
B20 FG
B20
B20
A20
A20
A20
B18 +24VU
-16
+24VU
-15
024 VU
B3
OUT
A16 024VU
B17 024VU
A17 024VU
+24 V
024 V
(24V,1A)
B1
Hand Valve 1-1Hand Valve 1-1+
B16 024VU
CN06 Internal
Power Supply
-14
-13
Sensor Input 1
2041 A1
3040 B8
JARCR-XCI01
Terminal
Number
Signal
2040 B1
B7
A7
Each Point
24VDC
500mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
OUT
A10
RLY
RLY
B12
A19
RLY
RLY
*
RLY
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN10 Connector) I/O Allocation and Connection Diagram
2-50
means internal relay
means
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN11 Connector
Logical Connec t or
Number Num ber
JARCR-XCI03
Each Point
24VDC
8mA max.
CN06 Internal
Power Supply
-14
-13
+24 VE
024 VE
IN09 General Input
IN
B1
B1
2051 A1
IN10
IN
A1
A1
2052 B2
2053 A2
IN11
IN
B2
IN12
IN
B2
A2
2054 B3
IN13
IN
A2
B3
2055 A3
IN14
A3
2056 B4
IN15
IN
IN
B4
A3
B4
2057 A4
IN16
IN
A4
A4
+24 V
024 V
(24V,1A)
B5
B5
A5
A5
B6
B6
B6
A6
A6
A6
B7
A7
B7
A7
024VU
024VU
OUT09- General Output OUT
B8
B8
A8
OUT09+
OUT
OUT10-
OUT
A8
B9
RLY
3051 B9
A8
B9
A9
RLY
OUT10+
OUT
A9
A9
3052 B10 OUT11A10 OUT11+
OUT
B10
OUT
B10
A10
3053 B11 OUT12A11 OUT12+
OUT
B11
B11
OUT
3054 B12 OUT13A12 OUT13+
OUT
A11
B12
A12
B12
A12
RLY
3055 B13 OUT14-
OUT
A13 OUT14+
3056 B14 OUT15-
OUT
OUT
B13
A13
B13
A13
RLY
B14
B14
A14 OUT15+
3057 B15 OUT16-
OUT
A14
A14
OUT
B15
B15
A15 OUT16+
OUT
OUT
-15
024VU
RLY
RLY
A11
A15
A15
B16
A16
B16
B17 024VU
B17
A17
B17
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B19
A19
A19
B20 FG
B20
B20
A20
A20
A20
B18 +24VU
+24VU
A10
B16 024VU
A16 024VU
A17 024VU
-16
B3
B5
A5
3050 B8
JARCR-XCI01
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
RLY
RLY
A16
A17
B19
*
RLY
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN11 Connector) I/O Allocation and Connection Diagram
2-51
means internal relay
means
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Output List XCO02B (Handling)
Logical
Number
2010
2012
2013
2014
2015
2016
Logical
Number
Output Name / Function
Output Name / Function
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the
*2
2020 cube 1 area while this signal is ON, the
manipulator goes to wait status (with
servo power ON). During wait status, the
manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROCALL MASTER JOB
HIBITED
Only the rising edge of the signal is valid.
If the manipulator attempts to enter the
It calls up the top of the robot program,
*2
that is the top of the master job *1. This
2021 cube 2 area while this signal is ON, the
signal is invalid during playback, during
manipulator goes to wait status (with
teach-lock and when play master or call
servo power ON). During wait status, the
is prohibited (set from the playback
manipulator operation restarts if this sigoperation condition display).
nal turns OFF.
SHOCK SENSOR
ALARM/ERROR RESET
This is normally ON (NC) signal input.
After an alarm or error has occurred and
When it turns OFF, an XRC displays
the cause been corrected, this signal
message "HAND SHOCK SENSOR
resets the alarm or error.
OPERATING" and a HOLD is applied.
2026 The releasing in TEACH mode is done
on the handling application diagnostic
display. Set hand shock sensor function
“NOT USE” on the handling applications
diagnostic display if this siganl is not be
used.
LOW AIR PRESSURE
SELECT REMOTE MODE
This signal is normally OFF (NO). When
Functions the same as [REMOTE] on
the playback panel. Valid only while the
2027 it turns ON, XRC displays user alarm in
signal is ON. It selects the REMOTE
the PLAY mode or displays user message in the TEACH mode.
mode.
SENSOR INPUT 1 - 8
SELECT PLAY MODE
Inputs 1 to 8 are monitored with the
Functions the same as [MODE] on the
HSEN handling specific instructions.
playback panel. Only the rising edge of
Sensor inputs 1 to 8 correspond to
the signal is valid. It selects the PLAY
2040 to
HSEN 1 to 8.
mode. If designated simultaneously with
2047
other modes, the TEACH mode takes
priority. This signal is invalid if external
mode selection is prohibited from the
operation condition display.
SELECT TEACH MODE
The TEACH mode is selected if this signal turns ON during PLAY mode. Switching to other modes is disabled while this
signal is ON. If this signal turns ON while
the SELECT PLAY MODE signal is ON,
this signal takes priority and the TEACH
mode is selected.
EXTERNAL START
Functions the same as the [START] button in the playback panel . Only the rising edge of the signal is valid. It starts
robot operation (playback). This signal is
invalid if external start is prohibited from
the playback condition display.
2-52
RE-CTO-A208
2.8 General I/O Signal Assignment
*1
*2
A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the
master job.
See “ 3.7 Interference Area “ of the YASNAC XRC Instructions.
Specific Output List XCO02B (Handling)
Logical
Number
3010
3011
Logical
Number
Output Name / Function
RUNNING
This signal signifies that the job is running. (Signifies that the job is running,
system status is waiting reserved start,
or test run is running.) This signal status
is the same status as [START] in the
playback panel.
SERVO IS ON
This signal signifies that the servo power
is turned ON, internal processing such
as current position creation is complete,
and the system is able to receive the
START command. This signal turns OFF
when the servo power supply turns OFF.
It can be used for XRC status diagnosis
for an external start.
TOP MASTER JOB
This signal signifies that the execution
position is the top of the master job. This
signal can be used to confirm that the
master job has been called.*2
3012
3013
3014
ALARM/ERROR OCCURRING
This signal signifies that an alarm or an
error occurred. If a major error occurs,
this signal remains ON until the main
power is turned OFF.
BATTERY ALARM
This signal turns ON to notify that the
battery requires replacing when the voltage drops from the battery for backup
memory of the encoder. Major problems
may result if memory data is lost
because of an expired battery. It is recommended to avoid these problems by
using this signal as a warning signal.
3021
3022
Output Name / Function
IN CUBE 2
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 2). Use this signal to prevent interference with other manipulators
and jigs.
OPERATION ORIGIN POINT (IN CUBE
24)*1
This signal turns ON when the current
tool center point lies inside a the operation origin area. Use this signal to evaluate whether the robot is in the start
position.
INTERMEDIATE START OK (Sequence
continues)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the
cursor or when editing operation is car3023 ried out after HOLD is applied during
operation. Therefore, this signal can be
used as a restart interlock after a HOLD
is applied. However, it also turns ON in
the TEACH mode and TEACH MODE
SELECTED signal must be referred
together.
HAND VALVE 1-4
These outputs are controlled by the
3040 to
HAND handling specific instructions.
3047
Hand valves 1 to 4 correspond to HAND
1 to 4.
2-53
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Output List XCO02B (Handling)
Logical
Number
Logical
Number
Output Name / Function
REMOTE/PLAY/TEACH MODE
SELECTED
This signal notifies the current mode set3015 to
ting. These signals are synchronized
3017
with the lamps [REMOTE] and [MODE]
in the playback panel. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current
tool center point lies inside a pre-defined
3020
space (Cube 1). Use this signal to prevent interference with other manipulators
and jigs.
*1
*2
The operation origin cube and Cube 24 are same.
This signal is not output during operation.
2-54
Output Name / Function
RE-CTO-A208
2.8 General I/O Signal Assignment
2.8.3
General Application
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN12 Connector
Logical Connec t or
NumberNum ber
JARCR-XCI03
Each Point
24VDC
8mA max.
External Start
IN
B1
-
IN
A1
A1
2012 B2
2013 A2
Call Master Job
IN
B2
B2
Alarm/Error Reset
IN
2014 B3
Select Remote Mode
IN
A2
B3
A2
B3
Select Play Mode
Select Teach Mode
IN
IN
A3
B4
B4
2017 A4
IN192
IN
A4
A4
2020 B5
2021 A5
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
B5
B5
IN
A5
A5
2022 B6
Work Prohibited
IN
B6
B6
2023 A6
-
IN
A6
A6
B7
A7
B7
A7
024VU
024VU
3010 B8
Running
OUT
B8
B8
3011 A8
Servo is ON
OUT
3012 B9
Top of Master Job
OUT
A8
B9
A8
B9
OUT
A9
A9
OUT
B10
A10
B10
B11
B11
A11
B12
A12
A11
A12
B13
A13
B13
A13
B14
B14
B14
A14
A14
A14
B15
B15
A15
A15
B15
A15
B16 024VU
A16 024VU
B16
A16
B16
A16
B17 024VU
A17 024VU
B17
A17
A17
B18 +24VU
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
A19
B20
B20
A20
A20
A20
OUT
3020 B12 In Cube 1
OUT
3021 A12 In Cube 2
3022 B13 Operation Origin Point OUT
Intermediate Start OK
3023 A13 (continuousing Sequence) OUT
-16
+24VU
-15
024 VU
A3
2015 A3
3017 A11 Teach Mode Selected OUT
+24 V
024 V
(24V,1A)
B1
2016 B4
3015 A10 Remote Mode Selected OUT
OUT
3016 B11 Play Mode Selected
CN06 Internal
Power Supply
-14
Terminal
Number
Signal
2011 A1
3013 A9 Alarm/Error Occurred
3014 B10 Battery Alarm
JARCR-XCI01
+24 VE
024 VE
Name
2010 B1
B7
A7
Each Point
24VDC
50mA max.
-13
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A10
B12
B17
B19
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN12 Connector) I/O Allocation and Connection Diagram
2-55
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN13 Connector
Logical Connector
NumberNumber
Each Point
24VDC
8mA max.
2024 B1
JARCR-XCI03
2025 A1
+24 VE
024 VE
B1
IN
A1
A1
-
IN
B2
B2
A2
B3
B3
+24 V
024 V
(24V,1A)
-
IN
-
IN
IN
IN
A3
B4
A3
B4
+24VU
-15
024 VU
A2
2031 A3
-
2032 B4
-
2033 A4
-
IN
A4
A4
2034 B5
2035 A5
-
IN
B5
B5
IN
IN
A5
A5
2036 B6
-
B6
B6
2037 A6
-
IN
A6
A6
B7
A7
B7
A7
024 VU
024 VU
3024 B8
In Cube 3
OUT
B8
B8
3025 A8
In Cube 4
OUT
A8
Work Command
3027 A9
3030 B10 -
OUT
A8
B9
OUT
A9
A9
OUT
OUT
B10
A10
B10
3031 A10 3032 B11 -
OUT
B11
B11
-
OUT
3034 B12 3035 A12 -
OUT
A11
B12
A12
B12
3036 B13 3037 A13 -
OUT
B13
A13
B13
A13
OUT
OUT
B9
A10
A11
A12
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024 VU
A16 024 VU
B16
A16
B16
B17 024VU
B17
A17
B17
A17
B18
A18
B18
A17 024VU
B18 +24VU
-16
B1
2030 B3
3033 A11
CN06 Internal
Power Supply
-14
-13
IN
3026 B9
JARCR-XCI01
Terminal
Number
Signal
Interference3 Entrance
Prohibited
Interference4 Entrance
Prohibited
2026 B2
2027 A2
B7
A7
Each Point
24VDC
50mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A18 +24VU
A16
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
A19
B20
B20
A20
A20
A20
B19
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN13 Connector) I/O Allocation and Connection Diagram
2-56
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN10 Connector
Logical Connec t or
Number Num ber
JARCR-XCI03
Each Point
24VDC
8mA max.
+24 VE
024 VE
IN
B1
2041 A1
IN02
IN
A1
A1
2042 B2
2043 A2
IN03
IN
B2
B2
IN04
IN
2044 B3
IN05
IN
A2
B3
A2
B3
2045 A3
IN06
IN
IN
A3
A3
IN07
B4
2047 A4
IN08
IN
A4
B4
A4
B5
B5
B5
A5
A5
A5
B6
A6
B6
B6
A6
A6
024VU
B7
024VU
A7
B7
A7
OUT01- General Output OUT
B8
B8
A8
OUT01+
OUT
OUT02-
OUT
A8
B9
RLY
3041 B9
A9
A8
B9
OUT02+
OUT
A9
A9
RLY
3042 B10 OUT03A10 OUT03+
OUT
OUT
B10
A10
B10
A10
RLY
3043 B11 OUT04A11 OUT04+
OUT
B11
B11
OUT
3044 B12 OUT05A12 OUT05+
OUT
A11
B12
A12
B12
3045 B13 OUT06A13 OUT06+
OUT
3046 B14 OUT07A14 OUT07+
3047 B15 OUT08A15 OUT08+
OUT
A15
A15
B16
A16
B16
B17
A17
B17
A17
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B19
A19
B19
B20 FG
B20
B20
A20
A20
A20
OUT
A16 024VU
B17 024VU
A17 024VU
+24 V
024 V
(24V,1A)
B18 +24VU
-16
+24VU
-15
024 VU
B1
2046 B4
B16 024VU
CN06 Internal
Power Supply
-14
-13
IN01 General Input
3040 B8
JARCR-XCI01
Terminal
Number
Signal
2040 B1
B7
A7
Each Point
24VDC
500mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A11
RLY
RLY
A12
B13
OUT
B13
A13
OUT
B14
B14
OUT
A14
A14
OUT
B15
B15
RLY
A13
RLY
RLY
A16
A19
*
RLY
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN10 Connector) I/O Allocation and Connection Diagram
2-57
means internal relay
means
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN11 Connector
Logical Connector
Number Number
JARCR-XCI03
Each Point
24VDC
8mA max.
JARCR-XCI01
CN06 Internal
Power Supply
-14
-13
+24 VE
024 VE
+24 V
024 V
(24V,1A)
IN09
IN
B1
2051 A1
IN10
IN
A1
A1
2052 B2
2053 A2
IN11
IN
B2
B2
IN12
IN
2054 B3
IN13
IN
A2
B3
B3
-15
024VU
A2
2055 A3
IN14
IN
IN
A3
A3
IN15
B4
B4
2057 A4
IN16
IN
A4
A4
B5
B5
B5
A5
A5
B6
A6
B6
A5
B6
A6
A6
B7
A7
B7
A7
024VU
024VU
3050 B8
OUT09-
OUT
B8
B8
A8
OUT09+
OUT
OUT10-
OUT
A8
B9
RLY
3051 B9
A8
B9
A9
RLY
OUT10+
OUT
A9
A9
3052 B10 OUT11A10 OUT11+
OUT
B10
OUT
B10
A10
3053 B11 OUT12A11 OUT12+
OUT
B11
OUT
3054 B12 OUT13-
OUT
A11
B12
A12
B12
A12
RLY
B13
A13
B13
A13
RLY
B14
B14
A10
B11
RLY
A11
RLY
A12 OUT13+
OUT
3055 B13 OUT14-
OUT
A13 OUT14+
3056 B14 OUT15-
OUT
OUT
A14 OUT15+
3057 B15 OUT16-
OUT
A14
A14
OUT
B15
B15
A15 OUT16+
OUT
A15
A15
B16 024VU
A16 024VU
B16
A16
B16
B17 024VU
B17
A17
RLY
RLY
A16
B17
A17
B18
A18 +24VU
B18
A18
B19 +24VU
A19 +24VU
B19
A19
B19
B20 FG
B20
B20
A20
A20
A20
B18 +24VU
+24VU
B1
2056 B4
A17 024VU
-16
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A18
A19
*
RLY
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN11 Connector) I/O Allocation and Connection Diagram
2-58
means internal relay
means
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Input List XCO02B (General Application)
Logical
Number
Input Name / Function
2010
EXTERNAL START
Functions the same as the [START]
button in the playback panel . Only
the rising edge of the signal is valid. It
starts robot operation (playback). This
signal is invalid if external start is prohibited from the playback condition
display.
2012
CALL MASTER JOB
Only the rising edge of the signal is
valid. It calls up the top of the robot
program, that is the top of the master
job *1. This signal is invalid during
playback, during teach-lock and when
play master or call is prohibited (set
from the playback operation condition display).
2013
2014
2015
Logical
Number
Input Name / Function
2020
INTERFERENCE 1 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 1*2 area while this signal is
ON, the manipulator goes to wait status (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
ALARM/ERROR RESET
After an alarm or error has occurred
and the cause been corrected, this
signal resets the alarm or error.
SELECT REMOTE MODE
Functions the same as [REMOTE] on
the playback panel. Valid only while
the signal is ON. It selects the
REMOTE mode.
SELECT PLAY MODE
Functions the same as [MODE] on
the playback panel. Only the rising
edge of the signal is valid. It selects
the PLAY mode. If designated simultaneously with other modes, the
TEACH mode takes priority. This signal is invalid if external mode selection is prohibited from the operation
condition display.
2-59
2021
INTERFERENCE 2 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 2*2 area while this signal is
ON, the manipulator goes to wait status (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
2022
WORK PROHIBITED (Tool ON Prohibited)
Even if TOOLON instruction is executed, XRC doesn’t output to external
while this signal is ON.
2024
INTERFERENCE 3 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 3*2 area while this signal is
ON, the manipulator goes to wait status (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
2025
INTERFERENCE 4 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 4*2 area while this signal is
ON, the manipulator goes to wait status (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Input List XCO02B (General Application)
Logical
Number
Input Name / Function
2016
SELECT TEACH MODE
The TEACH mode is selected if this
signal turns ON during PLAY mode.
Switching to other modes is disabled
while this signal is ON. If this signal
turns ON while the SELECT PLAY
MODE signal is ON, this signal takes
priority and the TEACH mode is
selected.
*1
*2
Logical
Number
Input Name / Function
A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the
master job.
See “ 3.7 Interfarence Area “ of the YASNAC XRC Instructions.
Specific Output List XCO02B (General Application)
Logical
Number
3010
3011
3012
Logical
Number
Output Name / Function
RUNNING
This signal signifies that the job is running. (Signifies that the job is running,
system status is waiting reserved start,
or test run is running.) This signal status
is the same status as [START] in the
playback panel.
SERVO IS ON
This signal signifies that the servo power
is turned ON, internal processing such
as current position creation is complete,
and the system is able to receive the
START command. This signal turns OFF
when the servo power supply turns OFF.
It can be used for XRC status diagnosis
for an external start.
TOP MASTER JOB
This signal signifies that the execution
position is the top of the master job. This
signal can be used to confirm that the
master job has been called.*2
3021
3022
3023
2-60
Output Name / Function
IN CUBE 2
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 2). Use this signal to prevent interference with other manipulators
and jigs.
OPERATION ORIGIN POINT (IN CUBE
24)*1
This signal turns ON when the current
tool center point lies inside a the operation origin area. Use this signal to evaluate whether the robot is in the start
position.
INTERMEDIATE START OK (Sequence
continues)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the
cursor or when editing operation is carried out after HOLD is applied during
operation. Therefore, this signal can be
used as a restart interlock after a HOLD
is applied. However, it also turns ON in
the TEACH mode and TEACH MODE
SELECTED signal must be referred
together.
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Output List XCO02B (General Application)
Logical
Number
3013
Logical
Number
Output Name / Function
ALARM/ERROR OCCURRING
This signal signifies that an alarm or an
error occurred. If a major error occurs,
this signal remains ON until the main
power is turned OFF.
BATTERY ALARM
This signal turns ON to notify that the
battery requires replacing when the voltage drops from the battery for backup
3014 memory of the encoder. Major problems
may result if memory data is lost
because of an expired battery. It is recommended to avoid these problems by
using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE
SELECTED
This signal notifies the current mode setting. These signals are synchronized
with the lamps [REMOTE] and [MODE]
3015 to
in the playback panel. The signal corre3017
sponding to the selected mode turns ON.
3020
*1
*2
3024
3025
3026
IN CUBE 1
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 1). Use this signal to prevent interference with other manipulators
and jigs.
The operation origin cube and Cube 24 are same.
This signal is not output during operation.
2-61
Output Name / Function
IN CUBE 3
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 3). Use this signal to prevent interference with other manipulators
and jigs.
IN CUBE 4
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 4). Use this signal to prevent interference with other manipulators
and jigs.
WORK COMMAND
This signal provides the command for
the general tool to operate. TOOL ON
instruction execution or the [TOOL ON]
key in the programming pendant turns
this signal ON and TOOL OFF instruction execution or the [TOOL OFF] key in
the programming pendant turns it OFF.
However, it remains OFF while the
WORK PROHIBITED signal (2022) is
input or while the robot is stopped.
RE-CTO-A208
2.8 General I/O Signal Assignment
2.8.4
Spot Welding
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN12 Connector
Logical Connector
NumberNumber
JARCR-XCI03
Each Point
24VDC
8mA max.
External Start
IN
B1
-
IN
A1
A1
2012 B2
2013 A2
Call Master Job
IN
B2
B2
Alarm/Error Reset
IN
2014 B3
Select Remote Mode
IN
A2
B3
B3
Select Play Mode
Select Teach Mode
IN
IN
A3
B4
A3
B4
2017 A4
IN192 (Fan Alarm)
IN
A4
A4
2020 B5
2021 A5
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
B5
B5
IN
A5
A5
2022 B6
Welding ON/OFF
IN
B6
B6
2023 A6
Welding Pause
IN
A6
A6
B7
A7
B7
A7
024VU
024VU
3010 B8
Running
OUT
B8
B8
3011 A8
Servo is ON
OUT
3012 B9
Top of Master Job
OUT
A8
B9
A8
B9
OUT
A9
A9
OUT
B10
A10
B10
B11
B11
A11
B12
A12
A11
B12
B13
A13
B13
A13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024VU
A16 024VU
B16
A16
B16
B17 024VU
A17 024VU
B17
A17
B17
B18 +24VU
A18 +24VU
B18
A18
B18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
OUT
3020 B12 In Cube 1
OUT
3021 A12 In Cube 2
3022 B13 Operation Origin Point OUT
Intermediate Start OK
3023 A13 (continuousing Sequence) OUT
-16
+24VU
-15
024 VU
A2
2015 A3
3017 A11 Teach Mode Selected OUT
+24 V
024 V
(24V,1A)
B1
2016 B4
3015 A10 Remote Mode Selected OUT
OUT
3016 B11 Play Mode Selected
CN06 Internal
Power Supply
-14
Terminal
Number
Signal
2011 A1
3013 A9 Alarm/Error Occurred
3014 B10 Battery Alarm
JARCR-XCI01
+24 VE
024 VE
Name
2010 B1
B7
A7
Each Point
24VDC
50mA max.
-13
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A10
A12
A16
A17
A18
A19
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN12 Connector) I/O Allocation and Connection Diagram
2-62
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN13 Connector
Logical Connec t or
NumberNum ber
Each Point
24VDC
8mA max.
JARCR-XCI03
+24 VE
024 VE
B1
B1
IN
A1
2026 B2
2027 A2
-
IN
B2
A1
B2
-
IN
2030 B3
IN1
IN
A2
B3
A2
B3
IN
IN
A3
B4
A3
B4
A4
2031 A3
IN2
2032 B4
IN3
2033 A4
IN4
IN
A4
2034 B5
2035 A5
IN5
IN
B5
B5
IN
IN
A5
A5
2036 B6
IN6
IN7
B6
B6
2037 A6
IN8
IN
A6
A6
B7
A7
B7
A7
024 VU
024 VU
3024 B8
In Cube 3
OUT
B8
B8
3025 A8
In Cube 4
OUT
A8
3026 B9
OUT
A8
B9
3027 A9
3030 B10 OUT01 General Output
3031 A10 OUT02
OUT
A9
A9
OUT
OUT
B10
A10
A10
3032 B11 OUT03
OUT
B11
3033 A11 OUT04
3034 B12 OUT05
OUT
A11
B12
A12
OUT
3035 A12 OUT06
3036 B13 OUT07
3037 A13 OUT08
CN06 Internal
Power Supply
-14
-13
IN
2025 A1
B7
A7
JARCR-XCI01
+24 V
024 V
(24V,1A)
OUT
OUT
+24VU
-15
024 VU
B9
B10
B11
A11
B12
A12
B13
A13
B13
A13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024 VU
A16 024 VU
B16
A16
B16
A16
B17 024VU
B17
A17
B17
B18
A18
B18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
A20
A20
B20
A20
OUT
A17 024VU
B18 +24VU
-16
Terminal
Number
Signal
Interference3 Entrance
Prohibited
Interference4 Entrance
Prohibited
2024 B1
Each Point
24VDC
50mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
A18 +24VU
A17
A18
A19
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN13 Connector) I/O Allocation and Connection Diagram
2-63
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
CN10 Connector
Logical Connector
Number Number
IN
B1
IN
A1
A1
*** IN
Low Air Pressure (IN12) *** IN
B2
B2
2044 B3
Weld Completion (IN13)
IN
A2
B3
A2
B3
2045 A3
Weld Error (IN14)
IN
IN
A3
A3
B4
B4
IN
A4
A4
B5
A5
B5
B5
A5
A5
B6
A6
B6
B6
A6
A6
B7
A7
B7
A7
OUT
B8
B8
*** OUT
OUT
A8
B9
A8
B9
RLY
RLY
2040 B1
Each Point
24VDC
8mA max.
2041 A1
JARCR-XCI03
2042 B2
2043 A2
2046 B4
2047 A4
B7
A7
**
**
Gun Short Open
Detection (IN15) **
Tip Replacement
Completion (IN16) **
024VU
024VU
3040 B8
A8
3041 B9
A9
Weld ON/OFF (OUT09)
Weld Error Reset (OUT10) ** OUT
A9
A9
OUT
B10
A10
Weld Condition 1 (OUT11) ** OUT
B10
A10
3043 B11
A11
OUT
B11
B11
Weld Condition 2 (OUT12)** OUT
OUT
A11
B12
A12
A11
3044 B12
A12 Weld Condition 3 (OUT13)** OUT
OUT
A13 Weld Condition 4 (OUT14) ** OUT
3046 B14
OUT
Gun Pressure
-13
+24 VE
024 VE
-16
+24VU
024 VU
B14
OUT
A15
A15
B16
A16
B16
A16
B17
A17
B17
A17
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B19
A19
B19
B20 FG
B20
A20
A20
B20
A20
B18 +24VU
RLY
RLY
A13
A14
A16 024VU
B17 024VU
A17 024VU
-15
B14
B15
B16 024VU
+24 V
024 V
(24V,1A)
B13
B15
Tip Replacement
RLY
A12
B13
A13
A14
A15 Request (OUT16) **
RLY
B12
OUT
3047 B15
CN06 Internal
Power Supply
-14
A10
OUT
A14 Instruction (OUT15) **
JARCR-XCI01
B1
3042 B10
3045 B13
Each Point
24VDC
500mA max.
Terminal
Number
Signal
Timer Cooling Water
***
Error (IN09)
Gun Cooling Water
***
Error (IN10)
Transthermo Error (IN11)
A19
RLY
RLY
*
RLY
means internal relay
means
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
** This assignment can be changed at the I/O assignment display. Refer to Specific Input List XCO02B and Specific Output List XCO02B for detail.
*** This assignment can be changed at the pseudo input display. Refer to Specific Input List XCO02B and Specific Output List XCO02B for detail.
JARCR-XCI03 (CN10 Connector) I/O Allocation and Connection Diagram
2-64
RE-CTO-A208
2.8 General I/O Signal Assignment
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN11 Connector
Logical Connec t or
Number Num ber
JARCR-XCI03
Each Point
24VDC
8mA max.
JARCR-XCI01
CN06 Internal
Power Supply
-14
-13
+24 VE
024 VE
+24 V
024 V
(24V,1A)
IN17
IN
B1
2051 A1
IN18
IN
A1
A1
2052 B2
2053 A2
IN19
IN
B2
B2
IN20
IN
2054 B3
IN21
IN
A2
B3
A2
B3
2055 A3
IN22
IN
IN
A3
A3
IN23
B4
B4
2057 A4
IN24
IN
A4
A4
B5
A5
B5
B5
A5
A5
B6
B6
B6
A6
A6
A6
B7
A7
B7
A7
024VU
024VU
3050 B8
OUT17-
OUT
B8
B8
A8
OUT17+
OUT
OUT18-
OUT
A8
B9
RLY
3051 B9
A8
B9
A9
RLY
OUT18+
OUT
A9
A9
3052 B10 OUT19A10 OUT19+
OUT
B10
OUT
B10
A10
3053 B11 OUT20A11 OUT20+
OUT
B11
B11
OUT
3054 B12 OUT21A12 OUT21+
OUT
A11
B12
A12
B12
3055 B13 OUT22-
OUT
A13 OUT22+
3056 B14 OUT23-
OUT
OUT
A14 OUT23+
3057 B15 OUT24A15 OUT24+
OUT
OUT
+24VU
024VU
A10
RLY
RLY
A11
RLY
A12
B13
A13
B13
B14
B14
OUT
A14
A14
OUT
B15
B15
RLY
A13
A15
A15
B16 024VU
A16 024VU
B16
A16
B16
B17 024VU
B17
A17
B17
A17
A18 +24VU
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B19
A19
B19
B20 FG
B20
B20
A20
A20
A20
B18 +24VU
-16
B1
2056 B4
A17 024VU
-15
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
Connector Terminal Converter
(Optional)
Model:PX7DS-40V6-R
RLY
RLY
A16
A19
*
RLY
* Remove Jumper-pin between CN06-14 and -16, CN06-13 and -15
when a external power supply is used.
JARCR-XCI03 (CN11 Connector) I/O Allocation and Connection Diagram
2-65
means internal relay
means
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Input List XCO02B (Spot Welding)
Logical
Number
2010
2012
Input Name / Function
Logical
Number
Input Name / Function
2022
WELDING ON/OFF (From
sequencer)
This signal inputs the welding ON/
OFF selector switch status from the
sequencer in the interlock unit. The
WELD ON/OFF signal is output to
the welder according to this signal
and the manipulator status. Welding
is not wxecuted when this signal is
input (ON).
2023
WELDING PAUSE (From
sequencer)
This signal is used to move the
manipulator to the origin point when
an error occurs in the welder or the
gun.
The robot neglects the spot welding
instruction and operates playback
motion.
2024
INTERFERENCE 3 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 3*2 area while this signal is
ON, the manipulator goes to wait
status (with servo power ON). During wait status, the manipulator
operation restarts if this signal turns
OFF.
2025
INTERFERENCE 4 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 4*2 area while this signal is
ON, the manipulator goes to wait
status (with servo power ON). During wait status, the manipulator
operation restarts if this signal turns
OFF.
EXTERNAL START
Functions the same as the [START]
button in the playback panel . Only
the rising edge of the signal is valid.
It starts robot operation (playback).
This signal is invalid if external start
is prohibited from the playback
condition display.
CALL MASTER JOB
Only the rising edge of the signal is
valid. It calls up the top of the robot
program, that is the top of the master job *1. This signal is invalid during playback, during teach-lock and
when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred
and the cause been corrected, this
signal resets the alarm or error.
2013
2014
2015
SELECT REMOTE MODE
Functions the same as [REMOTE]
on the playback panel. Valid only
while the signal is ON. It selects the
REMOTE mode.
SELECT PLAY MODE
Functions the same as [MODE] on
the playback panel. Only the rising
edge of the signal is valid. It selects
the PLAY mode. If designated
simultaneously with other modes,
the TEACH mode takes priority.
This signal is invalid if external
mode selection is prohibited from
the operation condition display.
2-66
2040
*4
TIMER COOLING WATER ERROR
This signal monitors the status of
timer cooling water. The manipulator displays alarm and stops when
this signal is input. The servo power
remains ON.
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Input List XCO02B (Spot Welding)
Logical
Number
Input Name / Function
Logical
Number
2016
SELECT TEACH MODE
The TEACH mode is selected if this
signal turns ON during PLAY mode.
Switching to other modes is disabled while this signal is ON. If this
signal turns ON while the SELECT
PLAY MODE signal is ON, this signal takes priority and the TEACH
mode is selected.
2020
INTERFERENCE 1 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 1*2 area while this signal is
ON, the manipulator goes to wait
status (with servo power ON). During wait status, the manipulator
operation restarts if this signal turns
OFF.
2021
INTERFERENCE 2 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 2*2 area while this signal is
ON, the manipulator goes to wait
status (with servo power ON). During wait status, the manipulator
operation restarts if this signal turns
OFF.
2-67
2041
*4
2042
*4
2043
*4
Input Name / Function
GUN COOLING WATER ERROR
This signal monitors the status of
gun cooling water. The manipulator
displays alarm and stops when this
signal is input. The servo power
supply remains ON.
TRANSTHERMO ERROR
Error signal is sent from the transfomer in the gun to the robot. This
signal is ON normally (NC) and an
alarm occurs when the signal is
OFF. The servo power supply
remains ON.
LOW AIR PRESSURE
When air pressure is reduced and
this input is turned ON, an alarm
occurs. The servo power supply
remains ON.
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Input List XCO02B (Spot Welding)
Logical
Number
Input Name / Function
2044
*3
WELD COMPLETION
This signal indicates that the welder
completed welding without error.
This signal is used as a confirmation signal for welding instruction
execution and manual spot welding.
After this signal is input, the welding
sequence is completed and the
next step is executed when confirmation limit switch is not provided.
2045
*3
WELDING ERROR
This signal indicates an abnormal
welding result or welder’s error.
Alarm occurs and the manipulator
stops if this signal is input during
welding.
*3
*3
*1
*2
*3
*4
Logical
Number
2046
*3
Input Name / Function
GUN SHORT OPEN DETECTION
This signal is connected with a single gun open verification limit switch
or a double stroke gun short open
verifrcation limit switch to verify the
gun open.
GUN PRESSURE DETECTION
This siganl indicates that a gun is in
pressing status.
*3
STICK DETECTION
This signal indicates an abnormal
welding result or welder’s error.
Alarm occurs and the manipulator
stops if this signal is input during
welding.
2047
*3
TIP REPLACE COMPLETION
When this signal is input after tip
replacement, the TIP REPLACE
REQUEST signal turns OFF, and
the stored number of welding is
cleared.
GUN FULL OPEN DETECTION
This signal indicates that the stroke
of the double stroke gun is full
open.
A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the
master job.
See “ 3.7 Interference Area “ of the YASNAC XRC Instructions.
This signal can be allocated to any general input signal at the I/O allocation display in
operation condition.
This signal can be set as “USE” or “NOT USE” by pseudo input signal ”822x”. If “NOT
USE” is selected, this signal can be used as general input signal.
Pseudo Input
Signal 822x
7 6 5 4 3 2 1 0
0 0 0 1 1 1 1 1
Timer Cooling Water Error Validating
Gun Cooling Water Error Validating
Transthermo Error Validating
Low Air Pressure Validating
Weld ON/OFF Validating
2-68
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Output List XCO02B (Spot Welding)
Logical
Number
3010
3011
3012
Logical
Number
Output Name / Function
RUNNING
This signal signifies that the job is running. (Signifies that the job is running,
system status is waiting reserved start,
or test run is running.) This signal status
is the same status as [START] in the
playback panel.
SERVO IS ON
This signal signifies that the servo power
is turned ON, internal processing such
as current position creation is complete,
and the system is able to receive the
START command. This signal turns OFF
when the servo power supply turns OFF.
It can be used for XRC status diagnosis
for an external start.
TOP MASTER JOB
This signal signifies that the execution
position is the top of the master job. This
signal can be used to confirm that the
master job has been called.*2
3023
3024
3025
Output Name / Function
INTERMEDIATE START OK (Sequence
continues)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the
cursor or when editing operation is carried out after HOLD is applied during
operation. Therefore, this signal can be
used as a restart interlock after a HOLD
is applied. However, it also turns ON in
the TEACH mode and TEACH MODE
SELECTED signal must be referred
togather.
IN CUBE 3
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 3). Use this signal to prevent interference with other manipulators
and jigs.
IN CUBE 4
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 4). Use this signal to prevent interference with other manipulators
and jigs.
WELD ON/OFF
Outputs a signal input from the interlock
panel, etc.considering the robot status.
ALARM/ERROR OCCURRING
This signal signifies that an alarm or an
3040
3013 error occurred. If a major error occurs,
*4
this signal remains ON until the main
power is turned OFF.
WELD ERROR RESET
BATTERY ALARM
This signal commands the reset error
This signal turns ON to notify that the
status of the welder. This is operated
battery requires replacing when the voltwith the programing pendant operation.
age drops from the battery for backup
3041
3014 memory of the encoder. Major problems
*3
may result if memory data is lost
because of an expired battery. It is recommended to avoid these problems by
using this signal as a warning signal.
WELD CONDITION (Level signals)
REMOTE/PLAY/TEACH MODE
1(1), 2(2), 4(3) , 8(4), 16(5), 32(6), 64(7),
SELECTED
128(8)
This signal notifies the current mode set3042 to Sets the welding conditions for the
ting. These signals are synchronized
3015 to
3045 welder.
with the lamps [REMOTE] and [MODE]
3017
The output format can be selected as
*3
in the playback panel. The signal correbinary or discrete (bit number). It can
sponding to the selected mode turns ON.
handle up to 255 conditions. Most-significant bit is the parity bit (when specified).
2-69
RE-CTO-A208
2.8 General I/O Signal Assignment
Specific Output List XCO02B (Spot Welding)
Logical
Number
3020
3021
3022
3047
*3
*1
*2
*3
*4
Logical
Number
Output Name / Function
IN CUBE 1
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 1). Use this signal to prevent interference with other manipulators
and jigs.
IN CUBE 2
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 2). Use this signal to prevent interference with other manipulators
and jigs.
OPERATION ORIGIN POINT (IN CUBE
24)*1
This signal turns ON when the current
tool center point lies inside a the operation origin area. Use this signal to evaluate whether the robot is in the start
position.
TIP REPLACEMENT REQUEST
This is output when the number of
strokes reaches the set value for tip
replacement.
*3
*3
Output Name / Function
WELDING COMMAND
This signal outputs execution command
signal to the welder. This signal is not
necessary for a welder which is executed using the WELDING CONDITION
signal.
STROKE CHANGE1
SINGLE SOLENOID
DOUBLE SOLENOID
This is a signal, when a double stroke
gun is used, to change the open stroke
of the welding gun.
GUN PRESSURE INSTRUCTION
This outputs a gun pressure instruction.
3046
*3
The operation origin cube and Cube 24 are same.
This signal is not output during operation.
This signal can be allocated to any general output signal at the I/O allocation display in
operation condition.
This signal can be select “USE” or “NOT USE” by pseudo input signal ”822x”. If “NOT
USE” is selected, this signal can be used as general input signal.
Pseudo Input
Signal 822x
7 6 5 4 3 2 1 0
0 0 0 1 1 1 1 1
Timer Cooling Water Error Validating
Gun Cooling Water Error Validating
Transthermo Error Validating
Low Air Pressure Validating
Weld ON/OFF Validating
2-70
RE-CTO-A208
2.8 General I/O Signal Assignment
2.8.5
„
JANCD-XEW01 Circuit Board
Arc Welding Application
There are two types of XEW01 circuit board as follows;
XEW01-01 : Analog Outputs x 3 ports + Status Signal Input of a Welder
XEW01-02 : Analog Outputs x 3 ports only
YASNAC-XRC
MR Connector
Logical Conn e cto r
NumberNumb e r
JANCD-XEW01-1
Each Point
24VDC
5mA max.
Name
D/A ±14V
24VDC
5mA max.
24VDC
0.5A max.
Signal
CN03-1
2300 CN03-2 +GASOF (Gas Shortage)
IN
CN03-3 -GASOF (Gas Shortage)
IN
1
2
3
IN
4
2301 CN03-4 +WIRCUT (Wire Shortage)
CN03-5 -WIRCUT (Wire Shortage)
IN
5
2303 CN03-6 +ARCACT (Arc Generation Confirm)IN
6
CN03-7 -ARCACT (Arc Generation Confirm) IN
7
CN03-8
8
CN03-9 CH3 (For extension)
CN03-10 CH3-G (For extension)
OUT
9
OUT
10
CN03-11
D/A ±14V
D/A ±14V
24VDC
0.5A max.
S
T
P
11
12
CN03-12
2302 CN03-13 +ARCOFF (Arc Shortage)
CN03-14 -ARCOFF (Arc Shortage)
IN
IN
14
3301 CN03-15 ARCON (Arc ON) A
CN03-16 ARCON (Arc ON) B
OUT
15
K
OUT
16
L
3302 CN03-17 WIRINCH (Wire Inching) A
OUT
17
F
CN03-18 WIRINCH (Wire Inching) B
OUT
18
G
3303 CN03-19 WIRINCH (Wire Retract) A
OUT
19
H
CN03-20 WIRINCH (Wire Retract) B
OUT
20
J
3304 CN03-21 OUT1A (For extension)
OUT
CN03-22 OUT1B (For extension)
CN03-23
OUT
21
22
13
R
23
CN03-24
Detector
MS Connector
24
CN03-25
2304 CN03-26 STICK (Wire Sticking)
IN
26
M
CN03-27 *STICK (Wire Sticking)
IN
27
N
25
CN03-28
28
CN03-29 +24VU
CN03-30 024VU
29
CN03-31 CH1
30
E
(Voltage Command) OUT
31
A
OUT
32
B
(Current Command) OUT
33
C
OUT
34
D
CN03-32 CH1-G
CN03-33 CH2
CN03-34 CH2 -G
3305 CN02-2 Search Command A (Optional) OUT
CN02-4 Search Command B (Optional) OUT
WAGO Connector
(231-105/026-A0)
MRP-34M01 Insulator
MRP-M112 Contacts
RP-34 Casing
2-71
MS3106 A, 20-29P
MS3106 A, 20-29S
Welder
RE-CTO-A208
3.1 Regular Inspections
3 Inspections
3.1
Regular Inspections
CAUTION
• Do not touch the cooling fan or other equipment while the power is
turned ON.
Failure to observe this caution may result in electric shock or injury.
Carry out the following inspections.
Inspection Equipment
Inspection Item
Inspection
Frequency
Comments
Check that the doors are
completely closed.
Daily
Check for gaps or damage to the sealed construction.
Monthly
Fan on the upper part
of door
and backside duct fan
Check operation
As required
While power ON
Emergency stop
button
Check operation
As required
While servo ON
Deadman switch
Check operation
As required
On teach mode
Confirm battery alarm or
message is displayed or
not
As required
Battery
XRC Controller
3-1
RE-CTO-A208
3.2 XRC Inspections
3.2
3.2.1
XRC Inspections
Checking if the Doors are Firmly Closed
• The YASNAC XRC has a fully sealed construction, designed to keep external air containing oil mist out of the XRC.
Be sure to keep the XRC doors fully closed at all times, even when the controller is not
operating.
• Open or close the two locks in each door with the minus driver when opening or closing
the doors for maintenance after the main power is turned off. (CW:Open, CCW:Close)
Make sure push the door closed and turn the door lock with the driver. When the door is
closed, turn the door lock until the door clicks.
Door Lock
YASNAC XRC
WARNING
SERVO ON
READY
MODE
PLAY
TEACH
BRAKE RELEASE
WARNING
S
L
U
R
B
T
ALARM
EDIT LOCK
(OFF)
(ON)
REMOTE
HOLD
START
High Voltage
Do not open the door
with power ON
ON
O
F
F
Main Switch
Handle
X+
S+
XS-
RR+
Y-
Y+
Z-
Z+
L-
U-
B-
L+
z
U+
T-
7
8
9
4
5
6
1
2
3
0
.
-
y
B+
z
T+
Door Lock
NJ1530
TYPE
ERCR-
POWER SUPPLY
200/220V
50/60Hz
3PHASE
KVA
SERIAL NO.
DATE
P/N
MADE IN JAPAN
NJ2063-1
YASNAC XRC Front View
3.2.2
Checking for Gaps or Damage in the Sealed Construction Section
• Open the door and check that the seal around the door is undamaged.
• Check that the inside of the XRC is not excessively dirty. If it is dirty, determine the cause,
take measures to correct the problem and immediately clean up the dirt.
• Fully close each door lock and check that no excessive gaps exist around the edge of the
door.
3-2
RE-CTO-A208
3.3 Cooling Fan Inspections
3.3
Cooling Fan Inspections
Inspect the cooling fans as required. A defective fan can cause the XRC to malfunction
because of excessive high temperatures inside.
The in-panel fan on the upper part of door and backside duct fan normally operate while the
power is turned ON. Check if the fans are operating correctly by visual inspection and by
feeling air moving into the air inlet and from the outlet.
Servo Top Fan
Air Inlet
SERVOPACK
Backside Duct Fan
Air Outlet
Cooling System (SV3X (Small Capacity Type))(Right side view)
Servo Top Fan
Air Inlet
SERVOPACK
Backside Duct Fan
Air Outlet
Natural Heat
Radiation
Natural Heat
Radiation
Cooling System (Except for SV3X (Small Capacity Type))(Right side view)
3-3
RE-CTO-A208
3.4 Emergency Stop Button Inspections
3.4
Emergency Stop Button Inspections
The emergency stop buttons are located on both the playback panel and the programming
pendant. Confirm the servo power is off by pressing the emergency stop button on the
playback panel after the servo ON button, before the robot is operated.
3.5
Deadman Switch Inspections
The programing pendant is equipped with a three-position deadman switch. Perform the
following operation to confirm the deadman switch operates.
1. Press [TEACH] on the playback panel to switch to teach mode. The [TEACH] lamp
lights.
TEACH
2. Press [SERVO ON READY] on the playback panel. The [SERVO ON READY] lamp
blinks.
SERVO ON
READY
3. Press [TEACH LOCK] on the programming pendant. The [TEACH LOCK] LED blinks.
TEACH
LOCK
4. When the deadman switch is grasped lightly, the servo power is turned ON.
When the deadman switch is grasped firmly or released, the servo power is turned
OFF.
If the [SERVO ON READY] lamp does not light in previous operation (2), check the follow-
NOTE ing:
• The emergency stop button on the playback panel is pressed.
• The emergency stop button on the programming pendant is pressed.
• The emergency stop signal is input from external.
If the servo is not turned on in a previous operation 4, check the following:
• The overrun LS is operating.
• If a major alarm is occurring.
3-4
RE-CTO-A208
3.6 Battery Inspections
3.6
Battery Inspections
The XRC has a battery that backs up the important program files for user data in the CMOS
memory.
A battery alarm indicates when a battery has expired and must be replaced. The programming
pendant display and the message "Memory battery weak" appears at the bottom of the
display.
The way to replace the battery is described in “9.1.1 Replacing Parts of the CPU Rack” of the
YASNAC XRC Instructions.
3.7
Power Supply Voltage Confirmation
Check the voltage of 1 (R), 3 (S), 5 (T) terminal of the disconnecting switch (QS1) with an
electric tester.
Power Supply Voltage Confirmation
Terminals
Correct Value
Correlate voltage
Between 1 and 3 (R and S),
3 and 5 (S and T), 1 and 5
(R and T)
575/480/240 V (+10%, -15%)
Voltage between earth
(S phase ground)
Between 1 and E (R and E),
5 and E (T and E)
575/480/240 V (+10%, -15%)
Between 3 and E (S and E)
About 0V
3(S)
5(T)
2(U) 4(V)
6(W)
1(R)
E
OFF
Measuring Items
E
Disconnecting Switch (QS1)
3-5
RE-CTO-A208
3.8 Open Phase Check
3.8
Open Phase Check
Open Phase Check List
Check Item
Contents
Lead Cable Check
Confirm if the lead cable for the power supply is wired as shown
in the following. If the wiring is wrong or broken, repair it.
Input Power Supply
Check
Check the open phase voltage of input power supply with an
electric tester.
(Normal value: 575/480/240 VAC (+10%, -15%))
The voltage differs depending on the built-in transformer tap
selection.
Disconnecting Switch
(QS1) Check
Turn on the control power supply and check the open phase voltage of “U,V,W” of the disconnecting switch (QS1) with an electric
tester. If abnormal, replace the disconnecting switch (QS1).
575/480/240 VAC Input
S
R
1
3
T
5
Disconnecting Switch
QS1
2
U
4
V
6
W
Transfomer (575-480-240V/208V)
T1
U
V
W
Fuse Holder
QS2
1KM
Power Supply Unit
Converter
2KM
Fuse Holder
QS3
L1
3-6
L2
L3
RE-CTO-A208
4.1 Replacing XRC Parts
4
Replacing Parts
4.1
Replacing XRC Parts
WARNING
• Turn OFF the power supply before opening the XRC doors.
Failure to observe this warning may result in electric shock.
• After turning OFF the power supply, wait at least 5 minutes before
replacing a servopack (including converter) or control power supply
unit. Do not touch any terminals during this period.
Failure to observe this warning may result in electric shock.
CAUTION
• To prevent anyone inadvertently turning ON the power supply during
maintenance, put up a warning sign such as "DO NOT TURN ON THE
POWER" at the primary power supply (knife switch, wiring circuit
breaker, etc.) and at the YASNAC XRC and related controllers and use
accepted lockout/tagout procedures.
Failure to observe this caution may result in electric shock or injury.
• Do not touch the regeneration resistors. They are very hot.
Failure to observe this caution may result in burn injuries.
• After maintenance is completed, carefully check that no tools are left
inside the YASNAC XRC and that the doors are securely closed.
Failure to observe this caution may result in electric shock or injury.
4-1
RE-CTO-A208
4.1 Replacing XRC Parts
4.1.1
Replacing the Disconnecting Switch
The disconnecting switch (QS1) is equiped with the following fuses.
Parts No.
FU1,
FU2,
FU3
*1
Fuse Name
Power Supply Fuse
Specification
600 VAC *1
TIME DELAY/CLASS CC (30A or less)
TIME DELAY/CLASS J (40A or more)
The type of fuse differs depencing on the robot model. Refer to the table “Power Supply Fuse List”.
FU2
FU3
OFF
FU1
Direction for mounting fuse
ATDR
Disconnecting Switch Configuration
If a fuse appears to be blown, remove each fuse shown above and check the continuity with
an electric tester.
If the fuse is blown, replace it with the same type of fuse (supplied).
NOTE Determine and correct the cause of the blown fuse. If the problem is uncorrected, the fuse
may blow again.
4-2
RE-CTO-A208
4.1 Replacing XRC Parts
Fuse holders
The fuse holders (QS2,QS3) are equiped with the following fuses.
Fuse holders
Parts No.
Fuse Name
QS2
FU4,FU5,FU6
Power Supply
Fuse
600VAC *1
TIME DELAY/CLASS CC (30A or
less)
TIME DELAY/CLASS J (40A or
more)
QS3
FU7,FU8,FU9
Power Supply
Fuse
600VAC *1
TIME DELAY/CLASS CC (30A or
less)
TIME DELAY/CLASS J (40A or
more)
*1
Specification
The type of fuse differs depencing on the robot model. Refer to the table “Power Supply Fuse List”.
Fuse Holders Configuration
If a fuse appears to be blown, remove each fuse shown above and check the continuity with
an electric tester.
If the fuse is blown, replace it with the same type of fuse (supplied).
NOTE Determine and correct the cause of the blown fuse. If the problem is uncorrected, the fuse
may blow again.
4-3
RE-CTO-A208
4.1 Replacing XRC Parts
Power Supply Fuse List
Fuse Type
Robot Model
SV3X
UP6
SK16X, UP20
SK45X, SK16MX, UP50, UP20M,
SP70X
UP130, UP165, UP165-100, UP200
UP130R, UP130RL, SK300X,
SP100X, SR200X
QS1
QS2
QS3
With built-in
transformer
3A
10A
5A
Without transformer
10A
-
5A
With built-in
transformer
5A
10A
10A
Without transformer
10A
-
10A
With built-in
transformer
10A
15A
15A
Without transformer
15A
-
15A
With built-in
transformer
15A
20A
20A
Without transformer
20A
-
20A
With built-in
transformer
20A
30A
30A
Without transformer
30A
-
30A
With built-in
transformer
30A
40A
40A
Without transformer
40A
-
40A
Time delay fuses of class CC (30A or less) or class J (40A or more) are used for QS1, QS2, and
QS3.
4-4
RE-CTO-A208
4.1 Replacing XRC Parts
4.1.2
Replacing Parts of Power Supply Unit
The power supply unit (JZRCR-XPU05B, 06B, and 10B) is equipped with the following fuses.
Parts No.
1F, 2F
Fuse Name
Specification
Control Power Supply Fuse
250V, 10A, Time Lag Fuse
(Std: 326010, 250V, 10A (LITTEL))
4X
5X
1FU
10A 250V
2FU
10A 250V
(1F,2F)
Fuse
250V 10A
326010 (LITTEL)
1X
2KM
1KM
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-1
Fuse Lcations in Power Supply Unit
Power Supply Unit Type
Type
Applicable Robot Model
JZRCR-XPU06B
SV3X, UP6, SK16X, UP20
JZRCR-XPU05B
UP50, UP20M, SK45X, SK16MX, SP70X,
UP130, UP165, UP165-100, UP200
JZRCR-XPU10B
UP130R, UP130RL, SK300X, SR200X, SP100X
If a fuse appears to be blown, remove each fuse shown above and check the continuity with
an electric tester.If the fuse is blown, replace it with the same type of fuse (supplied).
NOTE Determine and correct the cause of the blown fuse. If the problem is uncorrected, the fuse
may blow again.
4-5
RE-CTO-A208
4.2 YASNAC XRC Parts List
4.2
YASNAC XRC Parts List
YASNAC XRC Parts List
No.
Name
Model
1
SERVOPACK
*1
2
CPU rack
JZNC-XRK01B-†
3
4
6 Axis type
Backboard
JANCD-XBB01
System control circuit board
JANCD-XCP01
High speed serial interface
circuit board
JANCD-XIF03
Control power supply
CPS-150F
I/O unit
JZRCR-XCO02B
Specific I/O circuit board 1
JARCR-XCI01
Specific I/O circuit board 2
JARCR-XCU01B
General I/O circuit board
JARCR-XCI03
Power ON unit
JZRCR-XSU02
Power ON circuit board
JARCR-XCT01
5
Break release control board
JARCR-XFL02B
6
Transformer
*4
7
Power supply unit
*2
8
Playback pannel
ZY1C-SS3152
9
Servo ascending fan
3610PS-22T-B30-B00
10
Backside duct fun
11
Power ON circuit board fuse
Comment
4715PS-22T-B30-B00
Small capacity only
5915PS-22T-B30-B00
Large capacity only
218005, 5A, 250V
Time lag fuse
2183.15, 3.15A, 250V
Time lag fuse
GP40, 4.0A, 250V
Alarm fuse
12
Power ON circuit board relay
LY2 24 VDC
13
Battery
ER6VC3N 3.6V
14
Power supply fuse
*3
Time deray / class cc
4-6
RE-CTO-A208
4.2 YASNAC XRC Parts List
*1
*2
*3
*4
The type of the SERVOPACK depends on the robot model. For details, see the Tables.
“ SERVOPACK List (Small Capacity)” and “SERVOPACKz List (Large Capacity)”.
The type of the power supply unit depends on the robot model. For details, see the
Table “Power Supply Unit List”.
The type of the fuse depends on the robot model. For details, refer to the table “ Fuse
List “.
The type of transformer depends on the robot model. For details, see the table “Transformer List.”
SERVOPACK List (Small Capacity)
SV3X
UP6
SK16X
UP20
Type
Type
Type
Type
CACR-SV3AAA
CACR-UP6AAC
CACR-SK16AAC
CACR-UP20AAA
S JUSP-WS02AA
JUSPWS05AAY17
JUSPWS10AAY17
JUSP-WS10AA
L JUSP-WS02AA
JUSPWS10AAY17
JUSPWS10AAY17
JUSPWS20AAY22
U JUSP-WS01AA
JUSPWS05AAY17
JUSPWS10AAY17
JUSPWS10AAY17
R JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
JUSP-WS02AA
B JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
JUSP-WS02AA
T JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
JUSP-WS02AA
Servo control circuit
board
JASP-WRCA01
JASP-WRCA01
JASP-WRCA01
JASP-WRCA01
Converter
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
Control
power
supply
JUSPRCP01AAC
JUSPRCP01AAC
JUSPRCP01AAC
JUSPRCP01AAC
Component
Servopack
Amplifier
4-7
RE-CTO-A208
4.2 YASNAC XRC Parts List
SERVOPACK List (Medium Capacity)
SK16MX
SK45X
UP50
Type
Type
Type
CACRSK16MAAB
CACR-SK45AAB
CACR-UP50AAB
S JUSP-WS30AA
JUSP-WS30AA
JUSP-WS44AA
L JUSP-WS20AA
JUSP-WS20AA
JUSP-WS60AA
U JUSP-WS20AA
JUSP-WS20AA
JUSP-WS20AA
R JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
B JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
T JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
JASP-WRCA01
JASP-WRCA01
JASP-WRCA01
JUSP-ACP25JAA
JUSP-ACP25JAA
JUSPACP25JAAY11
JUSPRCP01AAC
JUSPRCP01AAC
JUSPRCP01AAC
Component
SERVOPACK
Amplifier
Servo contorol circuit
board
Converter
Control
power supply
SERVOPACK List (Medium Capacity)
Component
SERVOPACK
Amplifier
SP70X
Type
Type
CACRUP20MAAB
CACR-SP70AAB
S JUSP-WS44AA
JUSP-WS20AA
L JUSP-WS60AA
JUSP-WS15AA
U JUSP-WS20AA
JUSP-WS44AA
R JUSP-WS02AA
JUSP-WS05AA
B JUSP-WS02AA
-
T JUSP-WS02AA
-
Servo control
circuit board
Converter
UP20M
JASP-WRCA01
JASP-WACA01
JUSPACP25JAAY11
JUSP-ACP25JAA
Control power JUSP-RCP01AAC JUSP-RCP01AAC
supply
4-8
RE-CTO-A208
4.2 YASNAC XRC Parts List
SERVOPACK List (Large Capacity)
UP130, UP165
UP130R, UP200
UP165-100
UP130RL
Type
Type
Type
component
SERVOPACK
Amplifier
CACR-UP130AAB
CACRUP130AABY18
CACRUP130AABY21
S
JUSP-WS60AA
JUSPWS60AAY18
JUSPWS60AAY18
L
JUSP-WS60AA
JUSPWS60AAY18
JUSPWS60AAY18
U
JUSP-WS60AA
JUSP-WS60AA
JUSPWS60AAY18
R
JUSPWS20AAY13
JUSPWS20AAY13
JUSPWS20AAY13
B
JUSPWS15AAY13
JUSPWS15AAY13
JUSPWS15AAY13
T
JUSPWS15AAY13
JUSPWS15AAY13
JUSPWS15AAY13
JASP-WRCA01
JASP-WRCA01
JAS-WRCA01
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-RCP01AAC
JUSP-RCP01AAC
JUSP-RCP01AAC
Servo control
circuit board
Converter
Control power
supply
4-9
RE-CTO-A208
4.2 YASNAC XRC Parts List
SERVOPACK List (Large Capacity)
SK300X, SR200X
SP100X
Type
Type
CACR-SK300AAB
CACR-SP100AAB
S
JUSPWS60AAY18
JUSPWS60AAY18
L
JUSPWS60AAY18
JUSPWS60AAY18
U
JUSPWS60AAY18
JUSPWS60AAY18
R
JUSPWS30AAY18
-
B
JUSPWS30AAY18
-
T
JUSPWS30AAY18
JUSPWS20AAY19
JASP-WRCA01
JASP-WRCA01
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-RCP01AAC
JUSP-RCP01AAC
Component
SERVOPACK
Amplifier
Servo control circuit
board
Converter
Control
power supply
Power Supply Unit Type
Type
Robot Type
JZRCR-XPU06B
SV3X, UP6, SK16X, UP20
JZRCR-XPU05B
SK45X, SK16MX, UP50, UP20M,
SP70X, UP130, UP165, UP165-100,
UP200
JZRCR-XPU10B
UP130R, SK300X, SP100X, UP130RL,
SR200X
4-10
RE-CTO-A208
4.2 YASNAC XRC Parts List
Transformer Type
Robot Type
Transformer Type
SV3X
HB9480046
1.0KVA 575-480-240V/208V
UP6, SK16X, UP20
HB9480042
4.5KVA 575-480-240V/208V
SK45X, SK16MX, UP50,
UP20M, SP70X, UP130,
UP165, UP165-100, UP200
HB9480043
8.0KVA 575-480-240V/208V
UP130R, UP130RL, SK300X,
SP100X, SR200X
HB9480044
12.0KVA 575-480-240V/208V
Power Supply Fuse List
Fuse Type
Robot Type
SV3X
UP6
SK16X, UP20
SK45X, SK16MX, UP50, UP20M,
SP70X
UP130, UP165, UP165-100, UP200
UP130R, UP130RL, SK300X,
SP100X, SR200X
QS1
QS2
QS3
With transformer built-in
3A
10A
5A
Without transformer
10A
-
5A
With transformer built-in
5A
10A
10A
Without transformer
10A
-
10A
With transformer built-in
10A
15A
15A
Without transformer
15A
-
15A
With transformer built-in
15A
20A
20A
Without transformer
20A
-
20A
With transformer built-in
20A
30A
30A
Without transformer
30A
-
30A
With transformer built-in
30A
40A
40A
Without transformer
40A
-
40A
Time delay fuses of class CC (30A or less) or class J (40A or more) are used for QS1, QS2, and
QS3.
4-11
RE-CTO-A208
4.3 Supplied Parts List
4.3
Supplied Parts List
The supplied parts of YASNAC XRC is as follows.
Parts No.1 to 5 are used for fuse for replacement and No.6 is used as a tool for connecting the
I/O.
No
Parts Name
Dimensions
Class CC
(30 or less)
1
2
3
4
5
Time Delay
Fuse
Power Supply
Fuse
2
Class J
(40 or more)
3.15A
Glass-Tube
fuse
*1
*1
2
218005
5A 250V
(LITTEL)
JARCR-XSU02
FU3, 4, 7, 8
2
2183.15
3.15A
250V
(LITTEL)
JARCR-XSU02
FU1, 2, 9, 10
2
326010
10A
250V
(LITTEL)
JZRCRXPU05B, 06B,
10B
1F,2F
2
GP40
4.0A
250V
(Daito
Tsushin)
JANCD-XSU02
FU5, 6
30
10A
Ceramic fuse
30
32
20.5
2
WAGO
Connector wiring
tool
*1
Application
2
30
11.5
6
Model
Disconnecting
switch
Fuse holders
5A
Glass-Tube
fuse
4.0A
Alarm fuse
Pcs
231-131
(WAGO)
CPS-150F
CN04
The type of the fuse depends on the robot type. See the table “Power Supply Fuse”.
4-12
RE-CTO-A208
4.3 Supplied Parts List
Power Supply Fuse List
Fuse Type
Robot Model
SV3X
UP6
SK16X, UP20
SK45X, SK16MX, UP50, UP20M,
SP70X
UP130, UP165, UP165-100, UP200
UP130R, UP130RL, SK300X,
SP100X, SR200X
QS1
QS2
QS3
With built-in
transformer
3A
10A
5A
Without transformer
10A
-
5A
With built-in
transformer
5A
10A
10A
Without transformer
10A
-
10A
With built-in
transformer
10A
15A
15A
Without transformer
15A
-
15A
With built-in
transformer
15A
20A
20A
Without transformer
20A
-
20A
With built-in
transformer
20A
30A
30A
Without transformer
30A
-
30A
With built-in
transformer
30A
40A
40A
Without transformer
40A
-
40A
Time delay fuses of class CC (30A or less) or class J (40A or more) are used for QS1, QS2, and
QS3.
4-13
RE-CTO-A208
4.4 Recommended Spare Parts
4.4
Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the XRC. The spare parts list for the XRC is shown below. Product performance can not be
guaranteed when using spare parts from any company other than Yaskawa. To buy the spare
parts which are ranked B or C, inform the manufacturing number (or order number ) of XRC to
Yaskawa representative. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of frequent operation
• Rank C: Drive unit
NOTE For replacing parts in Rank B or Rank C, contact your Yaskawa representative.
4-14
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SV3X
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
JZNC-XZU02
4715PS-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR3 3A
6
7
8
9
A
A
A
A
Power Supply Fuse
Power Supply Fuse
Control Power Fuse
24VDC Fuse
10
A
11
A
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
12
13
14
15
A
B
B
B
16
17
18
Manufa
cturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
GOULD
3
3
ATDR 5 5A
GOULD
ATDR 10 10A
GOULD
218005 5A 250V LITTEL
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
3
3
10
10
3
3
2
2
2
2
10
2
3
1
1
1
3
1
1
1
B
B
B
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP05JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS02AA
Yaskawa
Amplifier
JUSP-WS01AA
Yaskawa
Amplifier
JUSP-WS05AA
Yaskawa
1
1
1
2
1
3
19
B
Control Power Supply Unit CPS-150F
1
1
20
21
22
23
24
25
26
27
28
29
30
B
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
Servopack
CPU Unit
I/O Unit
Power Supply Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JARCR-XCI01
Yaskawa
JARCR-XCI03
Yaskawa
JARCR-XCU01B Yaskawa
JARCR-XCT01
Yaskawa
CACR-SV3AAA
Yaskawa
JZNC-XRK01B-1 Yaskawa
JZNC-XIU02B
Yaskawa
JZRCR-XPU06B Yaskawa
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
For S, L axes
For U axis
For R, B, T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.30 “ Programming
Pendant” is ordered.
4-15
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP6
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
JZNC-XZU02
4715PS-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR5 5A
6
7
8
A
A
A
Power Supply Fuse
Control Power Fuse
DC24V Fuse
9
A
10
A
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
11
12
13
14
A
B
B
B
15
B
16
B
17
Manufa
cturer
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
GOULD
3
3
ATDR10 10A
GOULD
218005 5A 250V LITTEL
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
3
10
10
6
2
2
2
2
10
2
3
1
1
1
3
1
1
1
1
2
For S,U axes
1
1
For L axis
B
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP05JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSPYaskawa
WS05AAY17
Amplifier
JUSPYaskawa
WS10AAY17
Amplifier
JUSP-WS01AA
Yaskawa
1
3
18
B
Control Power Supply Unit CPS-150F
1
1
For R,B,T
axes
For CPU Unit
19
20
21
22
23
24
25
26
27
28
29
30
B
B
B
B
B
B
C
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
SERVOPACK
CPU Unit
I/O Power On Unit
/O Power On Unit
Power Supply Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JARCR-XCI01
Yaskawa
JARCR-XCI03
Yaskawa
JARCR-XCU01B Yaskawa
JARCR-XCT01
Yaskawa
CACR-UP6AAC Yaskawa
JZNC-XRK01B-1 Yaskawa
JZNC-XCO02B
Yaskawa
JZRCR-XSU02
Yaskawa
JZRCR-XPU06B Yaskawa
JZNC-XPP02B
Yaskawa
Not used when
transformer not
provided
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.30 “ Programming
Pendant” is ordered.
4-16
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SK16X
No Rank
Name
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
GOULD
3
3
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
2
2
2
10
2
3
1
1
1
3
1
1
1
1
3
1
3
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
B
16
B
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP05JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSPYaskawa
WS10AAY17
Amplifier
JUSP-WS02AA
Yaskawa
17
B
Control Power Supply Unit CPS-150F
1
1
18
19
20
21
22
23
24
25
26
27
28
29
B
B
B
B
B
B
C
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
SERVOPACK
CPU Unit
I/O Unit
I/O Power On Unit
Power Supply Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
JZNC-XZU02
4715PS-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR10 10A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
ATDR15 15A
218005 5A 250V
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JARCR-XCI01
Yaskawa
JARCR-XCI03
Yaskawa
JARCR-XCU01B Yaskawa
JARCR-XCT01
Yaskawa
CACR-SK16AAC Yaskawa
JZNC-XRK01B-1 Yaskawa
JZRCR-XCO02B Yaskawa
JZNC-XSU02
Yaskawa
JZRCR-XPU06B Yaskawa
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
For S,L,U
axes
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.29 “ Programming
Pendant” is ordered.
4-17
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP20
No Rank
Name
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
GOULD
3
3
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
2
2
2
10
2
3
1
1
1
3
1
1
1
1
1
1
1
For S axis
For L axis
1
1
For U axis
1
3
For R, B, T
axes
For CPU Unit
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
Servo Top Fan
5
A
Power Supply Fuse
JZNC-XZU02
4715PS-22TB30-B00
3610PS-22TB30-B00
ATDR10 10A
6
7
A
A
8
A
Power Supply Fuse
Control Power Supply
Fuse
24VDC Fuse
9
A
10
A
11
12
13
14
A
B
B
B
15
16
B
B
17
B
18
B
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP05JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS10AA
Yaskawa
Amplifier
JUSPYaskawa
WS20AAY22
Amplifier
JUSPYaskawa
WS10AAY17
Amplifier
JUSP-WS02AA
Yaskawa
19
B
Control Power Supply Unit CPS-150F
1
1
20
21
22
23
24
25
26
27
28
29
30
31
B
B
B
B
B
B
C
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
SERVOPACK
CPU Unit
I/O Unit
I/O Power On Unit
Power Supply Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
ATDR15 15A
218005 5A 250V
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JARCR-XCI01
Yaskawa
JARCR-XCI03
Yaskawa
JARCR-XCU01B Yaskawa
JARCR-XCT01
Yaskawa
CACR-UP20AAA Yaskawa
JZNC-XRK01B-1 Yaskawa
JZRCR-XCO02B Yaskawa
JZNC-XSU02
Yaskawa
JZRCR-XPU06B Yaskawa
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.31 “ Programming
Pendant” is ordered.
4-18
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SK16MX
No Rank
Name
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
2
2
2
10
2
3
1
1
1
1
1
1
3
1
1
1
1
2
3
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
15
16
17
A
B
B
B
B
B
B
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP25JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
Servopack Control Board JASP-WRCA01
Yaskawa
Amplifier
JUSP-WS30AA
Yaskawa
Amplifier
JUSP-WS20AA
Yaskawa
Amplifier
JUSP-WS02AA
Yaskawa
18
B
Control Power Supply Unit CPS-150F
19
20
21
22
23
24
25
B
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
SERVOPACK
26
27
28
29
30
C
C
C
C
C
CPU Unit
I/O Unit
I/O Power On Unit
Power Supply Unit
Programming Pendant
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR15 15A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
ATDR20 20A
218005 5A 250V
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
JANCD-XCP01
JANCD-XIF03
JARCR-XCI01
JARCR-XCI03
JARCR-XCU01B
JARCR-XCT01
CACRSK16MAAB
JZNC-XRK01B-1
JZRCR-XCO02B
JZNC-XSU02
JZRCR-XPU05B
JZNC-XPP02B
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
Remark
Not used when
transformer not
provided
For Servo
For S axis
For L,U axes
For R, B, T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.30 “ Programming
Pendant” is ordered.
4-19
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SK45X
No Rank
Name
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
2
2
2
Daito Communication
Apparatus
LY2 DC24V
Omron
JUSP-ACP25JAA Yaskawa
JUSP-RCP01AAC SANRITZ
JASP-WRCA01
Yaskawa
JUSP-WS30AA
Yaskawa
JUSP-WS20AA
Yaskawa
JUSP-WS10AA
Yaskawa
10
2
3
1
1
1
1
1
1
3
1
1
1
1
2
3
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
11
12
13
14
15
16
17
A
B
B
B
B
B
B
Control Relay
Converter
Control Power Unit
Servopack Control Board
Amplifier
Amplifier
Amplifier
18
B
Control Power Supply Unit CPS-150F
1
1
19
20
21
22
23
24
25
26
27
28
29
30
B
B
B
B
B
B
C
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power ON Board
SERVOPACK
CPU Unit
I/O Unit
I/O Power On Unit
Power Supply Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR15 15A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
ATDR20 20A
218005 5A 250V
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JARCR-XCI01
Yaskawa
JARCR-XCI03
Yaskawa
JARCR-XCU01B Yaskawa
JARCR-XCT01
Yaskawa
CACR-SK45AAB Yaskawa
JZNC-XRK01B-1 Yaskawa
JZRCR-XCO02B Yaskawa
JZRCR-XSU02
Yaskawa
JZRCR-XPU05B Yaskawa
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
For S axis
For L,U axes
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.30 “ Programming
Pendant” is ordered.
4-20
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP20M
No Rank
Name
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
2
2
2
10
2
3
1
3
1
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
11
12
A
B
Control Relay
Converter
13
14
B
B
15
16
17
18
JZNC-XZU02
5915PS-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR15 15A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
ATDR20 20A
218005 5A 250V
Daito Communication
Apparatus
Omron
Yaskawa
Remark
Not used when
transformer not
provided
1
1
1
1
For Servo
B
B
B
B
LY2 DC24V
JUSPACP25JAAY11
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS44AA
Yaskawa
Amplifier
JUSP-WS60AA
Yaskawa
Amplifier
JUSP-WS20AA
Yaskawa
Amplifier
JUSP-WS02AA
Yaskawa
1
1
1
1
1
1
1
3
19
B
Control Power Supply Unit CPS-150F
For S axis
For L axis
For Uaxis
For R, B, T
axes
For CPU Unit
20
21
22
23
24
25
26
B
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
SERVOPACK
27
28
29
30
31
C
C
C
C
C
CPU Unit
I/O Unit
I/O Power On Unit
Power Supply Unit
Programming Pendant
JANCD-XCP01
JANCD-XIF03
JARCR-XCI01
JARCR-XCI03
JARCR-XCU01B
JARCR-XCT01
CACRUP20MAAB
JZNC-XRK01B-1
JZRCR-XCO02B
JZNC-XSU02
JZRCR-XPU05B
JZNC-XPP02B
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.31 “ Programming
Pendant” is ordered.
4-21
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP50
No Rank
Name
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
2
2
2
10
2
3
1
3
1
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
11
12
A
B
Control Relay
Converter
13
14
B
B
15
16
17
18
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR15 15A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
ATDR20 20A
218005 5A 250V
Daito Communication
Apparatus
Omron
Yaskawa
Remark
Not used when
transformer not
provided
1
1
1
1
For Servo
B
B
B
B
LY2 DC24V
JUSPACP25JAAY11
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS44AA
Yaskawa
Amplifier
JUSP-WS60AA
Yaskawa
Amplifier
JUSP-WS20AA
Yaskawa
Amplifier
JUSP-WS10AA
Yaskawa
1
1
1
1
1
1
2
3
19
B
Control Power Supply Unit CPS-150F
1
1
For S axis
For L axis
For Uaxis
For R, B, T
axes
For CPU Unit
20
21
22
23
24
25
26
27
28
29
30
31
B
B
B
B
B
B
C
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
SERVOPACK
CPU Unit
I/O Unit
I/O Power On Unit
Power Supply Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JARCR-XCI01
Yaskawa
JARCR-XCI03
Yaskawa
JARCR-XCU01B Yaskawa
JARCR-XCT01
Yaskawa
CACR-UP50AAB Yaskawa
JZNC-XRK01B-1 Yaskawa
JZRCR-XCO02B Yaskawa
JZNC-XSU02
Yaskawa
JZRCR-XPU05B Yaskawa
JZNC-XPP02B
Yaskawa
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.31 “ Programming
Pendant” is ordered.
4-22
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SP70X
No Rank
Name
1
A
Battery
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
16
17
18
19
B
B
B
B
B
20
21
22
23
24
25
26
27
28
29
30
31
B
B
B
B
B
B
C
C
C
C
C
C
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
2
2
2
10
2
3
1
1
1
3
1
1
1
1
1
1
1
1
1
2
1
3
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Type
ER6VC3N 3.6V
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR15 15A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
ATDR20 20A
218005 5A 250V
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP25JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS20AA
Yaskawa
Amplifier
JUSP-WS15AA
Yaskawa
Amplifier
JUSP-WS44AA
Yaskawa
Amplifier
JUSP-WS05AA
Yaskawa
Control Power Supply Unit CPS-150F
Fuji Electric
Hi-Tech
System Control Board
JANCD-XCP01
Yaskawa
Communication Board
JANCD-XIF03
Yaskawa
Specific I/O Board 1
JARCR-XCI01
Yaskawa
Genenal I/O Board
JARCR-XCI03
Yaskawa
Specific I/O Board 2
JARCR-XCU01B Yaskawa
Power On Board
JARCR-XCT01
Yaskawa
SERVOPACK
CACR-SP70AAB Yaskawa
CPU Unit
JZNC-XRK01B-1 Yaskawa
I/O Unit
JZRCR-XCO02B Yaskawa
I/O Power On Unit
JZNC-XSU02
Yaskawa
Power Supply Unit
JZRCR-XPU05B Yaskawa
Programming Pendant
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
For S axis
For L axis
For U axis
For R axis
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.31 “ Programming
Pendant” is ordered.
4-23
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP130, UP165
No Rank
Name
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
ATDR30 30A
218005 5A 250V
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
2
LITTEL
2
2
10
2
3
1
1
1
3
1
1
1
1
3
Yaskawa
1
1
For S, L, U
axes
For R axis
Yaskawa
1
2
For B, T axes
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
B
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP35JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS60AA
Yaskawa
16
B
Amplifier
17
B
18
B
JUSPWS20AAY13
Amplifier
JUSPWS15AAY13
Control Power Supply Unit CPS-150F
19
20
21
22
23
24
25
B
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board 1
Genenal I/O Board
Specific I/O Board 2
Power On Board
SERVOPACK
26
27
28
29
30
C
C
C
C
C
CPU Unit
I/O Unit
I/O Power On Unit
Power Supply Unit
Programming Pendant
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR20 20A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
JANCD-XCP01
JANCD-XIF03
JARCR-XCI01
JARCR-XCI03
JARCR-XCU01B
JANCD-XCT01
CACRUP130AAB
JZNC-XRK01B-1 Yaskawa
JZRCR-XCO02B Yaskawa
JZNC-XSU02
Yaskawa
JZRCR-XPU05B Yaskawa
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.30 “ Programming
Pendant” is ordered.
4-24
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP200
No Rank
Name
1
A
Battery
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
16
B
B
17
B
18
B
19
B
20
21
22
23
24
25
26
B
B
B
B
B
B
C
27
28
29
30
31
C
C
C
C
C
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
ATDR30 30A
218005 5A 250V
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
2
LITTEL
2
2
10
2
3
1
1
1
3
1
1
1
1
1
1
2
For U axis
For S, L axes
1
1
For R axis
1
2
For B, T axes
1
1
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Type
ER6VC3N 3.6V
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR20 20A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP35JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS60AA
Yaskawa
Amplifier
JUSPYaskawa
WS60AAY18
Amplifier
JUSPYaskawa
WS20AAY13
Amplifier
JUSPYaskawa
WS15AAY13
Control Power Supply Unit CPS-150F
Fuji Electric
Hi-Tech
System Control Board
JANCD-XCP01
Yaskawa
Communication Board
JANCD-XIF03
Yaskawa
Specific I/O Board 1
JARCR-XCI01
Yaskawa
Genenal I/O Board
JARCR-XCI03
Yaskawa
Specific I/O Board 2
JARCR-XCU01B Yaskawa
Power On Board
JARCR-XCT01
Yaskawa
SERVOPACK
CACRYaskawa
UP130AABY18
CPU Unit
JZNC-XRK01B-1 Yaskawa
I/O Unit
JZRCR-XCO02B Yaskawa
I/O Power On Unit
JZNC-XSU02
Yaskawa
Power Supply Unit
JZRCR-XPU05B Yaskawa
Programming Pendant
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.31 “ Programming
Pendant” is ordered.
4-25
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP130R
No Rank
Name
1
A
Battery
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
16
B
B
17
B
18
B
19
B
20
21
22
23
24
25
26
B
B
B
B
B
B
C
27
28
29
30
31
C
C
C
C
C
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
LPJ-40SP 40A
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
2
LITTEL
2
2
10
2
3
1
1
1
3
1
1
1
1
1
1
2
For U axis
For S, L axes
1
1
For R axis
1
2
For B, T axes
1
1
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Type
ER6VC3N 3.6V
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR30 30A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP35JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSP-WS60AA
Yaskawa
Amplifier
JUSPYaskawa
WS60AAY18
Amplifier
JUSPYaskawa
WS20AAY13
Amplifier
JUSPYaskawa
WS15AAY13
Control Power Supply Unit CPS-150F
Fuji Electric
Hi-Tech
System Control Board
JANCD-XCP01
Yaskawa
Communication Board
JANCD-XIF03
Yaskawa
Specific I/O Board 1
JARCR-XCI01
Yaskawa
Genenal I/O Board
JARCR-XCI03
Yaskawa
Specific I/O Board 2
JARCR-XCU01B Yaskawa
Power On Board
JARCR-XCT01
Yaskawa
SERVOPACK
CACRYaskawa
UP130AABY18
CPU Unit
JZNC-XRK01B-1 Yaskawa
I/O Unit
JZRCR-XCO02B Yaskawa
I/O Power On Unit
JZNC-XSU02
Yaskawa
Power Supply Unit
JZRCR-XPU10B Yaskawa
Programming Pendant
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.31 “ Programming
Pendant” is ordered.
4-26
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP130RL
No Rank
Name
1
A
Battery
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
B
16
B
17
B
18
B
19
20
21
22
23
24
25
B
B
B
B
B
B
C
26
27
28
29
30
C
C
C
C
C
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
LPJ-40SP 40A
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
2
LITTEL
2
2
10
2
3
1
1
1
3
1
1
1
1
2
1
1
For S, U, L
axes
For R axis
1
2
For B, T axes
1
1
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Type
ER6VC3N 3.6V
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR30 30A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP35JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSPYaskawa
WS60AAY18
Amplifier
JUSPYaskawa
WS20AAY13
Amplifier
JUSPYaskawa
WS15AAY13
Control Power Supply Unit CPS-150F
Fuji Electric
Hi-Tech
System Control Board
JANCD-XCP01
Yaskawa
Communication Board
JANCD-XIF03
Yaskawa
Specific I/O Board 1
JARCR-XCI01
Yaskawa
Genenal I/O Board
JARCR-XCI03
Yaskawa
Specific I/O Board 2
JARCR-XCU01B Yaskawa
Power On Board
JARCR-XCT01
Yaskawa
SERVOPACK
CACRYaskawa
UP130AABY21
CPU Unit
JZNC-XRK01B-1 Yaskawa
I/O Unit
JZRCR-XCO02B Yaskawa
I/O Power On Unit
JZNC-XSU02
Yaskawa
Power Supply Unit
JZRCR-XPU10B Yaskawa
Programming Pendant
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.30 “ Programming
Pendant” is ordered.
4-27
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SR200X, SK300X
No Rank
Name
1
A
Battery
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
B
16
B
17
B
18
19
20
21
22
23
24
25
26
27
28
29
B
B
B
B
B
B
C
C
C
C
C
C
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
LPJ-40SP
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
2
LITTEL
2
2
10
2
3
1
1
1
3
1
1
1
1
3
1
3
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Type
ER6VC3N 3.6V
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR30 30A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP35JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSPYaskawa
WS60AAY18
Amplifier
JUSPYaskawa
WS30AAY13
Control Power Supply Unit CPS-150F
Fuji Electric
Hi-Tech
System Control Board
JANCD-XCP01
Yaskawa
Communication Board
JANCD-XIF03
Yaskawa
Specific I/O Board 1
JARCR-XCI01
Yaskawa
Genenal I/O Board
JARCR-XCI03
Yaskawa
Specific I/O Board 2
JARCR-XCU01B Yaskawa
Power On Board
JARCR-XCT01
Yaskawa
SERVOPACK
CACR-SK300AAB Yaskawa
CPU Unit
JZNC-XRK01B-1 Yaskawa
I/O Unit
JZRCR-XCO02B Yaskawa
I/O Power On Unit
JZNC-XSU02
Yaskawa
Power Supply Unit
JZRCR-XPU10B Yaskawa
Programming Pendant
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
For S, L, U
axes
For R, B, T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.29 “ Programming
Pendant” is ordered.
4-28
RE-CTO-A208
4.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SP100X
No Rank
Name
1
A
Battery
2
3
A
A
Rack fan
Backside Duct Fan
4
A
5
A
6
7
A
A
8
A
9
A
10
A
11
12
13
14
A
B
B
B
15
B
16
B
17
B
18
19
20
21
22
23
24
25
26
27
28
29
B
B
B
B
B
B
C
C
C
C
C
C
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
GOULD
3
3
LPJ-40SP
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
2
LITTEL
2
2
10
2
3
1
1
1
3
1
1
1
1
3
1
1
For S, L, U
axes
For T axis
1
1
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Type
ER6VC3N 3.6V
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR30 30A
Power Supply Fuse
Control Power Supply
Fuse
DC24V Fuse
Control Power Supply
Fuse in Power Supply Unit
Brake Fuse
GP40 4.0A 250V
Daito Communication
Apparatus
Control Relay
LY2 DC24V
Omron
Converter
JUSP-ACP35JAA Yaskawa
Control Power Supply Unit JUSP-RCP01AAC SANRITZ
SERVOPACK Control
JASP-WRCA01
Yaskawa
Board
Amplifier
JUSPYaskawa
WS60AAY18
Amplifier
JUSPYaskawa
WS30AAY13
Control Power Supply Unit CPS-150F
Fuji Electric
Hi-Tech
System Control Board
JANCD-XCP01
Yaskawa
Communication Board
JANCD-XIF03
Yaskawa
Specific I/O Board 1
JARCR-XCI01
Yaskawa
Genenal I/O Board
JARCR-XCI03
Yaskawa
Specific I/O Board 2
JARCR-XCU01B Yaskawa
Power On Board
JARCR-XCT01
Yaskawa
SERVOPACK
CACR-SP100AAB Yaskawa
CPU Unit
JZNC-XRK01B-1 Yaskawa
I/O Unit
JZRCR-XCO02B Yaskawa
I/O Power On Unit
JZNC-XSU02
Yaskawa
Power Supply Unit
JZRCR-XPU10B Yaskawa
Programming Pendant
JZNC-XPP02B
Yaskawa
Remark
Not used when
transformer not
provided
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.29 “ Programming
Pendant” is ordered.
4-29
YASNAC XRC
INSTRUCTIONS
SUPPLEMENTARY FOR NORTH AMERICAN (ANSI/RIA) STANDARD
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone
81-93-645-7745
Fax
81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone
1-937-847-6200
Fax
1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
2280 Argentia Road, Mississauga, Ontario, L5N 6H8, Canada
Phone
1-905-813-5900
Fax
1-905-813-5911
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South Waukegan, IL 60085, U.S.A.
Phone
1-847-887-7000
Fax
1-847-887-7370
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany
Phone
49-6196-569-300
Fax
49-6196-888-301
MOTOMAN ROBOTICS EUROPE AB
Box 504 S38525 Torsas, Sweden
Phone
46-486-48800
Fax
46-486-41410
MOTOMAN ROBOTEC GmbH
Kammerfeldstr.1,D-85391 Allershausen, Germany
Phone
49-8166-90100
Fax
49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
KFPA Bldg #1201, 35-4 Yeoido-dong, Youngdungpo-Ku, Seoul 150-010, Korea
Phone
82-2-784-7844
Fax
82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone
65-6282-3003
Fax
65-6289-3003
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. MALAYSIA REPRESENTATIVE OFFICE
B615, 6th Floor, East Wing, Wisma Tractors, No.7, Jalan SS 16/1, Subang Jaya, 47500 Petaling Jaya, Selangor D.E. Malaysia
Phone
60-3-5031-5311
Fax
60-3-5031-5312
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
4F No Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China
Phone
86-21-5866-3470
Fax
86-21-5866-3869
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. RD., Sec. 3, Taipei, Taiwan
Phone
886-2-2502-5003
Fax
886-2-2505-1280
YASKAWA ELECTRIC (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone
852-2803-2385
Fax
852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone
86-10-6532-1850
Fax
86-10-6532-1851
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083, China
Phone
86-10-6234-5003
Fax
86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone
86-10-6788-0541
Fax
86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.RE-CTO-A208 1
01-03
C Printed in Japan July 2002
YASKAWA
YASNAC XRC
INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMANINSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANUAL NO. RE-CTO-A203 4
RE-CTO-A203
MANDATORY
• This manual explains setup, diagnosis, maintenance, hardware and so
on of the YASNAC XRC system. Read this manual carefully and be sure
to understand its contents before handling the YASNAC XRC.
• General items related to safety are listed in the Setup Manual Section 1:
Safety of Setup Manual. To ensure correct and safe operation, carefully
read the Setup Manual before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• 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 due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
ii
RE-CTO-A203
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”,or ”PROHIBITED”.
WARNING
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe
practices.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
iii
RE-CTO-A203
WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or programming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
• Always set the Teach Lock before entering the robot work 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 operations
within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope
and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
iv
RE-CTO-A203
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair 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.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the setup
manual before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pendant, and supply cables.
The MOTOMAN manipulator is the YASKAWA industrial robot product.
In this manual, the equipment is designated as follows.
Equipment
Manual Designation
YASNAC XRC Controller
XRC
YASNAC XRC Playback Panel
Playback Panel
YASNAC XRC Programming Pendant
Programming Pendant
v
RE-CTO-A203
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
The keys which have characters printed on them are
denoted with [ ].
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.
Playback Panel
Axis Keys
Number Keys
“Axis Keys” and “Number Keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
Buttons
Playback panel buttons are enclosed in brackets.
ex. [TEACH] on the playback panel
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed.
vi
RE-CTO-A203
Setup • Diagnosis xv
1
Outline of Setting and Diagnosis
2
Security System
2.1 Protection Through Security Mode Settings . . . . . .2-1
2.1.1 Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
Modification of Security Mode . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.1.2 User ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
Changing a User ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
3
System Setup
3.1 Home Position Calibration . . . . . . . . . . . . . . . . . . . .3-1
3.1.1 Home Position Calibration . . . . . . . . . . . . . . . 3-2
3.1.2 Calibrating Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
Registering All Axes at On Time . . . . . . . . . . . . . . . . . . . . . .3-3
Registering Individual Axes . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
Changing the Absolute Data . . . . . . . . . . . . . . . . . . . . . . . . .3-5
Clearing Absolute Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.1.3 Home Position of the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
3.2 Specified Point. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
3.2.1 Purpose of Position Check Operation . . . . . . . . . . . . . . . . . . .3-10
3.2.2 Specified Point Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11
3.2.3 Procedure After an Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-12
3.3 Setting the Controller Clock . . . . . . . . . . . . . . . . . .3-13
3.4 Setting Play Speed . . . . . . . . . . . . . . . . . . . . . . . .3-14
3.5 All Limits Releasing . . . . . . . . . . . . . . . . . . . . . . . .3-16
3.6 Overrun / Shock Sensor Releasing . . . . . . . . . . . .3-18
3.7 Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . .3-19
3.7.1 Interference Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19
3.7.2 Cubic Interference Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20
Cubic Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20
Setting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20
Setting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-21
3.7.3 Axis Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-26
Axis Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-26
Setting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-26
3.7.4 Clearing Interference Area Data . . . . . . . . . . . . . . . . . . . . . . .3-29
3.8 Operation Origin Point Setting . . . . . . . . . . . . . . . .3-30
vii
RE-CTO-A203
3.8.1 What is the Operation Origin Point? . . . . . . . . . . . . . . . . . . . . 3-30
3.8.2 Setting Operation Origin Point . . . . . . . . . . . . . . . . . . . . . . . . 3-30
Operation Origin Point Display . . . . . . . . . . . . . . . . . . . . . . 3-30
Registering/Changing the Operation Origin Point. . . . . . . . 3-30
Returning to the Operation Origin Point . . . . . . . . . . . . . . . 3-31
Output of the Operation Origin Point Signal . . . . . . . . . . . . 3-31
3.9 Tool Data Setting . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3.9.1 Registering Tool Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
Number of Tool Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
Registering Coordinate Data . . . . . . . . . . . . . . . . . . . . . . . 3-32
Registering Tool Pose . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
Setting the Tool Load Information. . . . . . . . . . . . . . . . . . . . 3-35
3.9.2 Tool Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Tool Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Clearing Calibration Data . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
Checking the Tool Center Point . . . . . . . . . . . . . . . . . . . . . 3-40
3.9.3 Automatic Measurement of the Tool Load and the Center of Gravity
3-41
What is the Automatic Measurement of the Tool Load and the
Center of Gravity? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
Measurement of the Tool Load and the Center of Gravity . 3-41
3.10 User Coordinates Setting . . . . . . . . . . . . . . . . . . 3-45
3.10.1 User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
Definition of User Coordinates . . . . . . . . . . . . . . . . . . . . . . 3-45
User Coordinates File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3.10.2 User Coordinates Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46
Selecting User Coordinates File . . . . . . . . . . . . . . . . . . . . . 3-46
Teaching User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . 3-47
Clearing User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
3.11 ARM Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
3.11.1 ARM Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
3.11.2 ARM CONTROL Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
Robot Setup Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
3.11.3 Tool Load Information Setting . . . . . . . . . . . . . . . . . . . . . . . 3-53
Tool Load Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
How to Calculate Tool Load Information. . . . . . . . . . . . . . . 3-54
Tool load Information registering . . . . . . . . . . . . . . . . . . . . 3-61
3.12 Shock Detection Function. . . . . . . . . . . . . . . . . . 3-64
3.12.1 Shock Detection Function . . . . . . . . . . . . . . . . . . . . . . . . . . 3-64
3.12.2 Shock Detection Function Setting . . . . . . . . . . . . . . . . . . . . 3-64
Shock Detection Level Setting . . . . . . . . . . . . . . . . . . . . . . 3-64
Tool load Information Setting . . . . . . . . . . . . . . . . . . . . . . . 3-67
Instruction of Shock Detection Function . . . . . . . . . . . . . . . 3-68
Reset Shock detected. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-73
3.12.3 Alarm List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-74
3.13 Instruction Level Setting . . . . . . . . . . . . . . . . . . . 3-75
viii
RE-CTO-A203
3.13.1 Setting Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-75
Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-75
Learning Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-76
3.13.2 Setting Instruction Set Level Operation. . . . . . . . . . . . . . . . .3-76
3.14 Number Key Customize Function . . . . . . . . . . . .3-77
3.14.1 What is the Number Key Customize Function? . . . . . . . . . .3-77
3.14.2 Allocatable Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-77
Key Allocation (EACH) . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-78
Key Allocation (SIM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-78
3.14.3 Allocating an Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-79
Allocation Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-79
Instruction Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-80
Job Call Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-81
Display Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-82
Alternate Output Allocation . . . . . . . . . . . . . . . . . . . . . . . . .3-83
Momentary Output Allocation . . . . . . . . . . . . . . . . . . . . . . .3-83
Pulse Output Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-84
Group (4-bit/8-bit) Output Allocation . . . . . . . . . . . . . . . . . .3-85
Analog Output Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . .3-85
Analog Incremental Output Allocation . . . . . . . . . . . . . . . . .3-86
3.14.4 Allocation of I/O Control Instructions. . . . . . . . . . . . . . . . . . .3-86
3.14.5 Execution of Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-88
Executing the Instruction/Output Control Allocation . . . . . .3-88
Executing the Job Call Allocation . . . . . . . . . . . . . . . . . . . .3-88
Executing the Display Allocation . . . . . . . . . . . . . . . . . . . . .3-88
Executing the I/O Control Allocation . . . . . . . . . . . . . . . . . .3-88
3.15 Changing the Output Status . . . . . . . . . . . . . . . .3-89
3.16 Temporary Release of Soft Limits . . . . . . . . . . . .3-91
3.17 Changing the Parameter Setting . . . . . . . . . . . . .3-92
3.18 File Initialize. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-95
3.18.1 Initialize Job File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-95
3.18.2 Initialize Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-96
3.18.3 Initialize Parameter File. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-97
3.18.4 Initializing I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-98
3.18.5 Initializing System Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-99
4
Modification of System Configuration
4.1 Addition of I/O Modules . . . . . . . . . . . . . . . . . . . . . .4-1
4.2 Addition of Base and Station Axis . . . . . . . . . . . . . .4-3
4.2.1 Base Axis Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
4.2.2 Station Axis Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-13
5
System Diagnosis
ix
RE-CTO-A203
5.1 System Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Robot Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.3 Input/Output Status . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.3.1 Universal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Universal Input Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Universal Input Detailed Display. . . . . . . . . . . . . . . . . . . . . . 5-2
5.3.2 Universal Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Universal Output Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Universal Output Detailed Display . . . . . . . . . . . . . . . . . . . . 5-3
Modify the Output Status . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3.3 Specific Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Specific Input Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Specific Input Detailed Display . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3.4 Specific Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Specific Output Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Specific Output Detailed Display . . . . . . . . . . . . . . . . . . . . . 5-6
5.3.5 RIN INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
RIN INPUT Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.3.6 Modify the Signal Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.3.7 Search the Signal Number . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.3.8 Relay Number Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.4 System Monitoring Time . . . . . . . . . . . . . . . . . . . . 5-15
5.4.1 System Monitoring Time Display . . . . . . . . . . . . . . . . . . . . . . 5-15
5.4.2 Individual Display of the System Monitoring Time . . . . . . . . . 5-16
5.4.3 Clearing the System Monitoring Time. . . . . . . . . . . . . . . . . . . 5-17
5.5 Alarm History . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.5.1 Alarm History Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.5.2 Clearing the Alarm History . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.6 I/O Message History . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.6.1 I/O Message History Display . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.6.2 Clearing the I/O Message History . . . . . . . . . . . . . . . . . . . . . . 5-20
5.7 Position Data When Power is Turned ON/OFF. . . 5-21
5.7.1 Power ON/OFF Position Display . . . . . . . . . . . . . . . . . . . . . . 5-21
5.8 Current Position Display . . . . . . . . . . . . . . . . . . . . 5-22
5.8.1 Current Position Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.9 Servo Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.9.1 Servo Monitor Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
Changing the Monitor Items . . . . . . . . . . . . . . . . . . . . . . . . 5-23
Clearing Maximum Torque Data. . . . . . . . . . . . . . . . . . . . . 5-25
x
RE-CTO-A203
Hardware 26
6
YASNAC XRC Specification
6.1 Specification List . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.2 Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
6.3 Programming Pendant. . . . . . . . . . . . . . . . . . . . . . .6-6
6.4 Equipment Configuration . . . . . . . . . . . . . . . . . . . . .6-7
6.4.1 Arrangement of Units and Circuit Boards . . . . . . . . . . . . . . . . .6-7
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-7
Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-15
6.4.2 Cooling System of the Controller Interior. . . . . . . . . . . . . . . . .6-15
7
Description of Units and Circuit Boards
7.1 Power Supply Unit . . . . . . . . . . . . . . . . . . . . . . . . . .7-2
7.2 CPU Rack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4
7.2.1 CPU Rack Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4
7.2.2 Circuit Board in the CPU Rack . . . . . . . . . . . . . . . . . . . . . . . . .7-4
System Control Circuit Board (JANCD-XCP01o) . . . . . . . . .7-4
Control Power Supply Unit (CPS-150F) . . . . . . . . . . . . . . . .7-4
WAGO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
7.3 I/O Contactor Unit (JZNC-XIU01o) . . . . . . . . . . . . .7-7
7.3.1 Specific Input Circuit Board (JANCD-XIO01o) . . . . . . . . . . . . .7-8
Safety Plug Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . .7-10
7.3.2 General I/O Circuit Board (JANCD-XIO02) . . . . . . . . . . . . . .7-11
Connection wire with General I/O (CN10, 11, 12, 13) . . . . .7-12
Specific I/O Signal Related to Start and Stop . . . . . . . . . . .7-13
7.3.3 Power-on Circuit Board (JANCD-XTU01®) . . . . . . . . . . . . . . .7-14
Connection of Shock Sensor . . . . . . . . . . . . . . . . . . . . . . . .7-14
Connection of External Power Supply for I/O . . . . . . . . . . .7-15
Method of connecting external axis overrun signal . . . . . . .7-17
7.4 Playback Panel . . . . . . . . . . . . . . . . . . . . . . . . . . .7-18
7.5 Contact Output of Emergency Stop Button . . . . . .7-19
7.6 Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-20
7.6.1 Servopack Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-20
7.6.2 Description of Each Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-29
Servo Control Circuit board (JASP-WRCA01). . . . . . . . . . .7-29
Servo Control Power Supply (JUSP-RCP01®®®) . . . . . . .7-29
Converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-29
Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-29
7.7 General I/O Signal Assignment . . . . . . . . . . . . . . .7-30
xi
RE-CTO-A203
7.7.1 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
7.7.2 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36
7.7.3 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-42
7.7.4 Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48
7.7.5 JANCD-XEW02 Circuit Board (Standard). . . . . . . . . . . . . . . . 7-56
For Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-56
7.7.6 JANCD-XEW01 Circuit Board (Option). . . . . . . . . . . . . . . . . . 7-57
Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-57
xii
RE-CTO-A203
Maintenance 59
8
Inspections
8.1 Regular Inspections . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.2 XRC Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
8.2.1 Checking if the Doors are Firmly Closed . . . . . . . . . . . . . . . . . .8-2
8.2.2 Checking for Gaps or Damage in the Sealed Construction Section
8-2
8.3 Cooling Fan Inspections . . . . . . . . . . . . . . . . . . . . .8-3
8.4 Emergency Stop Button Inspections . . . . . . . . . . . .8-6
8.5 Deadman Switch Inspections . . . . . . . . . . . . . . . . .8-6
8.6 Battery Inspections . . . . . . . . . . . . . . . . . . . . . . . . .8-7
8.7 Power Supply Voltage Confirmation . . . . . . . . . . . .8-7
8.8 Open Phase Check . . . . . . . . . . . . . . . . . . . . . . . . .8-8
9
Replacing Parts
9.1 Replacing XRC Parts . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1.1 Replacing Parts of the CPU Rack . . . . . . . . . . . . . . . . . . . . . . .9-2
Replacing the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2
Replacing the JANCD-XCP01o Circuit Board . . . . . . . . . . . .9-3
Replacing the Control Power Unit (CPS-150F) . . . . . 9-4
9.1.2 Replacing the Servopack . . . . . . . . . . . . . . . 9-5
9.1.3 Replacing the parts of I/O Power-on Unit . . . . . . . . . . . . . . . . .9-8
Checking and Replacing Fuses. . . . . . . . . . . . . . . . . . . . . . .9-8
9.2 YASNAC XRC Parts List . . . . . . . . . . . . . . . . . . . .9-10
9.3 Supplied Parts List. . . . . . . . . . . . . . . . . . . . . . . . .9-15
9.4 Recommended Spare Parts . . . . . . . . . . . . . . . . .9-15
xiii
RE-CTO-A203
Alarm • Error 32
10
Alarm
10.1 Outline of Alarm . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.2 Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2.1 Displaying/Releasing Alarm . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2.2 Special Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.3 Alarm Message List . . . . . . . . . . . . . . . . . . . . . . 10-5
10.4 I/O Alarm Message List . . . . . . . . . . . . . . . . . . 10-57
Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . 10-57
Handling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-58
Spot Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . 10-59
General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-60
11
Error
11.1 Error Message List . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.1.1 System and General Operation . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.2 Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
11.1.3 Job Defined Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
11.1.4 External Memory Equipment . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.1.5 Concurrent I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-16
11.1.6 Maintenance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-17
xiv
RE-MTO-A203
Setup • Diagnosis
-xv
RE-MTO-A203
1 Outline of Setting and Diagnosis
WARNING
• Various settings control system compatibility and manipulator performance characteristics. Exercise caution when changing settings that
can result in improper manipulator operation. Personal injury and/or
equipment damage may result if incorrect settings are applied by the
user.
• Observe the following precautions to safeguard system settings:
- Maintain supervisory control of user functions.
- Retain floppy disk backups of control settings each time settings are
changed.
The XRC controller for the Motoman industrial robot provides a full range of advanced and
practical functions. It can meet the industry demands for more flexible and more sophisticated
robotics systems. The following must be performed to create a more powerful system.
• Home Position Calibration
• Second Home Position
• IO Status Display
• Time Setting
Making these settings optimizes the system to perform to its maximum potential in the chosen
application.
NOTE These functions can be operated in the teach mode.
1-1
RE-CTO-A203
2.1 Protection Through Security Mode Settings
2 Security System
2.1
Protection Through Security Mode Settings
The XRC modes setting are protected by a security system. The system allows operation and
modification of settings according to operator clearance. Be sure operators have the correct
level of training for each level to which they are granted access.
2.1.1
Security Mode
There are three security modes. Editing mode and managememt mode require a user ID. The
user ID consists of numbers and letters, and contains no less than 4 and no more than 8 characters. (Significant numbers and signs: ”0 to 9”, “-”, “.”.
Security Mode Descriptions
Security Mode
Explanation
Operation Mode
This mode allows basic operation of the robot (stopping,
starting, etc.) for people operating the robot work on the line.
Editing Mode
This mode allows the operator to teach and edit jobs and
robot settings.
Managememt
Mode
This mode allows those authorized to set up and maintain
robot system: parameters, system time and modifying user
IDs.
2-1
RE-CTO-A203
2.1 Protection Through Security Mode Settings
Menu & Security Mode
Top Menu
JOB
Sub Menu
DISPLAY
EDIT
JOB
Operation
Edit
SELECT JOB
Operation
Operation
Edit
Edit
MASTER JOB
Operation
Edit
JOB CAPACITY
Operation
-
RESERVED START (JOB)
Edit
Edit
RESERVATION STATUS
Operation
-
BYTE
Operation
Edit
INTEGER
Operation
Edit
DOUBLE
Operation
Edit
REAL
Operation
Edit
POSITION (ROBOT)
Operation
Edit
POSITION (BASE)
Operation
Edit
POSITION (ST)
Operation
Edit
EXTERNAL INPUT
Operation
-
EXTERNAL OUTPUT
Operation
-
UNIVERSAL INPUT
Operation
-
UNIVERSAL OUTPUT
Operation
-
SPECIFIC INPUT
Edit
-
SPECIFIC OUTPUT
Edit
-
RIN
Edit
-
REGISTER
Edit
-
AUXILIARY RELAY
Edit
-
CONTROL INPUT
Edit
-
PSEUDO INPUT SIGNAL
Edit
Management
NETWORK INPUT
Edit
-
ANALOG OUTPUT
Edit
-
SV POWER STATUS
Edit
-
LADDER PROGRAM
Management
Management
I/O ALARM
Management
Management
I/O MESSAGE
Management
Management
CREATE NEW JOB
VARIABLE
IN/OUT
Allowed Security Mode
2-2
RE-CTO-A203
2.1 Protection Through Security Mode Settings
Menu & Security Mode
Top Menu
ROBOT
Sub Menu
DISPLAY
EDIT
CURRENT POSITION
Operation
-
COMMAND POSITION
Operation
-
SERVO MONITOR
Management
-
OPE ORIGIN POS
Operation
Edit
SECOND HOME POS
Operation
Edit
Management
Management
Operation
-
Edit
Edit
Management
Management
SHOCK SENS LEVEL
Operation
Management
USER COORDINATE
Edit
Edit
HOME POSITION
Management
Management
MANIPULATOR TYPE
Management
-
ROBOT CALIBRATION
Edit
Edit
ANALOG MONITOR
Management
Management
OVERRUN&S-SENSOR
Edit
Edit
LIMIT RELEASE
Edit
Management
ARM CONTROL
Management
Management
SHIFT VALUE
Operation
-
MONITORING TIME
Operation
Management
ALARM HISTORY
Operation
Management
I/O MSG HISTORY
Operation
Management
VERSION
Operation
-
LOAD
Edit
-
SAVE
Operation
-
VERIFY
Operation
-
DELETE
Operation
-
FORMAT
Operation
Operation
DEVICE
Operation
Operation
FOLDER
Operation
Management
DROP AMOUNT
POWER ON/OFF POS
TOOL
INTERFERENCE
SYSTEM INFO
FD/PC CARD
Allowed Security Mode
2-3
RE-CTO-A203
2.1 Protection Through Security Mode Settings
Menu & Security Mode
Top Menu
Sub Menu
Allowed Security Mode
DISPLAY
EDIT
S1CxG
Management
Management
S2C
Management
Management
S3C
Management
Management
S4C
Management
Management
A1P
Management
Management
A2P
Management
Management
A3P
Management
Management
RS
Management
Management
S1E
Management
Management
S2E
Management
Management
S3E
Management
Management
S4E
Management
Management
TEACHING COND
Edit
Edit
OPERATE COND
Management
Management
DATE/TIME
Management
Management
GRP COMBINATION
Management
Management
SET WORD
Edit
Edit
RESERVE JOB NAME
Edit
Edit
USER ID
Edit
Edit
SET SPEED
Management
Management
KEY ALLOCATION
Management
Management
RESERVED START (CONNECT)
Management
Management
ARC START CONDITION
Operation
Edit
ARC END CONDITION
Operation
Edit
ARC AUXILIARY CONDITION
Operation
Edit
WELDER CONDITION
Operation
Edit
ARC WELD DIAGNOSIS
Operation
Edit
WEAVING
Operation
Edit
HANDLING
HANDLING DIAGNOSIS
Operation
Edit
SPOT WELDING
WELD DIAGNOSIS
Operation
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
WELDER CONDITION
Management
Management
WELD DIAGNOSIS
Operation
Edit
GUN PRESSURE
Edit
Edit
PRESSURE
Edit
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
PARAMETER
SETUP
ARC WELDING
SPOT WELDING
(MOTOR GUN)
2-4
RE-CTO-A203
2.1 Protection Through Security Mode Settings
Menu & Security Mode
Top Menu
GENERAL
Allowed Security Mode
Sub Menu
DISPLAY
EDIT
GUN CONDITION AUX
Management
Management
WELDER CONDITION
Management
Management
GENERAL DIAGNOSIS
Operation
Edit
Modification of Security Mode
Operation
Select {SECURITY} under the top menu*1
user ID
Press [ENTER]
Select the desired mode*2
Input the
*3
Explanation
*1
The current security mode is displayed in menu title of the top menu.
CYCLE
SECURITY
R1
EDITING MODE
L
C
S
ARC WELDING VARIABLE
JOB
OUT
IN
IN/OUT
ROBOT
!Turn on servo power
*2
SYSTEM INFO
When the selected security mode is a higher level than the current settings, a user ID
must be input.
.
CYCLE SECURITY
OPERATION
MODE
EDITING
MODE
EDITING MODE
MANAGEMENT MODE
R1
L
C
S
ARC WELDING VARIABLE
JOB
OUT
IN
IN/OUT
ROBOT
!Turn on servo power
SUPPLE
-MENT
SYSTEM INFO
At the factory, the following below user ID number is preset.
• Editing Mode:[00000000]
• Managememt Mode:[99999999]
*3
The input user ID is compared with the user ID of the selected security mode. When the
correct user ID is entered, the operation mode is changed.
2-5
RE-CTO-A203
2.1 Protection Through Security Mode Settings
2.1.2
User ID
User ID is requested when Editing Mode or Managememt Mode is operated.
User ID must be between 4 characters and 8, and they must be numbers and symbols
(“0~9”,“-” and “.”).
Changing a User ID
In order to change the user ID, the XRC must be in Editing Mode or Managememt Mode.
Higher security modes can make changes to lower security modes.
Operation
Select {SETUP} under the top menu
Select {USER ID}*1
Input current ID and press [Enter]*3
Select the desired ID*2
Input new ID and press [Enter]*4
Explanation
*1
User ID registration display is shown.
DATA
EDIT
USER ID
EDITING MODE
∗∗∗∗∗∗∗∗
DISPLAY
R1
UTILITY
L
C
S
MANAGEMENT MODE
∗∗∗∗∗∗∗∗
!Turn on servo power
*2
The character input line is displayed, and the message "Input current ID no. (4 to 8 digits)" is displayed.
DATA
EDIT
USER ID
EDITING MODE
∗∗∗∗∗∗∗∗
DISPLAY
R1
MANAGEMENT MODE
∗∗∗∗∗∗∗∗
>
!Input current ID no.(4 to 8 digits)
2-6
UTILITY
L
C
S
RE-CTO-A203
2.1 Protection Through Security Mode Settings
*3
When the correct user ID is entered, a new ID is requested to be input. "Input new ID
no.(4 to 8 digits)" is displayed.
DATA
EDIT
USER ID
EDITING MODE
∗∗∗∗∗∗∗∗
DISPLAY
R1
MANAGEMENT MODE
∗∗∗∗∗∗∗∗
>
!Input new ID no.(4 to 8 digits)
*4
User ID is changed.
2-7
UTILITY
L
C
S
RE-CTO-A203
3.1 Home Position Calibration
3 System Setup
3.1
Home Position Calibration
WARNING
• Before operating the manipulator, check that the SERVO ON lamp goes
out when the emergency stop buttons on the playback panel and programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of
an emergency.
• Always set the teach lock before starting to teach.
Failure to observe this warning may result in injury when operating the playback panel.
• Observe the following precautions when performing teaching operations
within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Prior to performing the following operations, be sure that no one is in
the working envelope of the manipulator, and be sure that you are in a
safe place when:
- Turning the power on to the XRC.
- Moving the manipulator with the programming pendant.
- Running check operations.
- Performing automatic operations.
Injury may result from contact with the manipulator if persons enter the working envelope
of the manipulator.
• Always press the emergency stop button immediately if there are problems.
Emergency stop buttons are located at the upper right corner of the
XRC playback panel and on the upper right of the programming pendant.
3-1
RE-CTO-A203
3.1 Home Position Calibration
CAUTION
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and be
sure that all other necessary tasks have been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external wires.
- Always return the programming pendant to its hook on the XRC cabinet after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the
floor, the manipulator or a tool could collide with it during manipulator movement, possibly
causing injury or equipment damage.
3.1.1
Home Position Calibration
Teaching and playback are not possible before home position calibration is complete.
NOTE In a system with two or more manipulators, the home position of all the manipulators must
be calibrated before starting teaching or playback.
Home position calibration is an operation in which the home position and encoder zero position coincide. Although this operation is performed prior to shipment at the factory, the following cases require this operation to be performed again.
• Change in the combination of the manipulator and XRC
• Replacement of the motor or encoder
• Clearing stored memory (by replacement of XCP01 board, weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the mark for the home position
on each axis so that the manipulator can take its posture for the home position. There are two
operations for home position calibration:
• All the axes can be moved at the same time
• Axes can be moved individually
If the absolute data of the home position is already known, set the absolute data again after
completing home position registration.
3-2
RE-CTO-A203
3.1 Home Position Calibration
Home Position
SUPPLE
-MENT
The home position is the pulse value "0" for each axis. The relative values between the
home position and the geometry position are set to parameters. The relative values are
specified as an angle in units of 1/1000°, and vary for different manipulator types. See "
3.1.3 Home Position of the Robot ".
3.1.2
Calibrating Operation
Registering All Axes at On Time
Operation
Select {HOME POSITION}*1
Select {ROBOT} under the top menu
*2
Select the desired control group
PLAY} under the menu
the menu*3
Select {SELECT ALL AXES}*4
Select “YES”*5
Explanation
*1
The home position calibration display is shown.
DATA
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
DISPLAY
R1
UTILITY
L
C
S
ABSOLUTE DATA
*
*
*
*
*
*
!
*2
The pull down menu appears.
DATA
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
UTILITY
DISPLAY
L
C S
ROBOT1
R1
STATION1
ABSOLUTE DATA
*
*
*
*
*
*
!
3-3
Select {DIS-
Select {EDIT} under
RE-CTO-A203
3.1 Home Position Calibration
*3
The pull down menu appears.
DATA
EDIT
SELECT
ALL AXIS
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
DISPLAY
R1
UTILITY
L
C
S
ABSOLUTE DATA
*
*
*
*
*
*
!
*4
The confirmation dialog is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
HOME POSITIONING
R1
SELECT
ABSOLUTE DATA
R1:S
*
L
*
Create home position?
U
*
R
*
B
*
YES
NO
T
*
!
*5
Displayed position data of all axes are registered as home position.
When “NO” is selected, the registration will be canceled.
Registering Individual Axes
Operation
Select {ROBOT} under the top menu
Select the desired control group*1
PLAY} under the menu
registered
*2
Select {HOME POSITION}
Select {DIS-
Select the axis to be
*3
Select “YES”
Explanation
*1
In the same way shown in Explanation *1,*2 in ”Registering all axes at once”, the home
calibration display and select control group are shown.
DATA
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
DISPLAY
R1
UTILITY
L
C
ABSOLUTE DATA
-278
30154
*
-217
*
*
!
3-4
S
RE-CTO-A203
3.1 Home Position Calibration
*2
The confirmation dialog is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
HOME POSITIONING
R1
SELECT
ABSOLUTE DATA
R1:S
-278
L
30154
Create home position?
U
*
R
-217
B
*
YES
NO
T
*
!
*3
Displayed position data of axis are registered as home position.
When “NO” is selected, the registration will be canceled.
Changing the Absolute Data
To change the absolute data of the axis when home position calibration is completed, perform
the following:
Operation
Select {ROBOT} under the top menu
Select the desired control group*1
PLAY}
tered
Select {HOME POSITION}
*2
Select {DIS-
Select the absolute data to be regisPress [ENTER]*3
Enter the absolute data using the number keys
Explanation
*1
By the same way shown in Explanation *1,*2 in ”Registering all axes at once”, the
home calibration display and select control group are shown.
*2
The number input buffer line is shown.
DATA
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
DISPLAY
R1
C
ABSOLUTE DATA
-278
30154
-29912
-217
7745
15881
>3000
!
*3
UTILITY
L
Absolute data are modified.
3-5
S
RE-CTO-A203
3.1 Home Position Calibration
Clearing Absolute Data
Operation
Select {HOME POSITION}*1
Select {ROBOT} under the top menu
{DATA} under the menu
Select {CLEAR ALL DATA}
Select
*2
Explanation
*1
In the same way shown in Explanation *1,*2 in ”Registering all axes at once”, the home
calibration display and select control group are shown.
*2
The all absolute data are cleared.
DATA
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
DISPLAY
R1
UTILITY
L
C
ABSOLUTE DATA
*
*
*
*
*
*
!
3-6
S
RE-CTO-A203
3.1 Home Position Calibration
3.1.3
Home Position of the Robot
In case of UP6, the home position are as follows.
U-axis angle against horizontal
line on the ground(-0°)
B-axis center line angle against
U-axis center line(-90°)
L-axis angle against vertical
line to the ground(-0°)
NOTE Other manipulator models have different positions. Always consult the documentation for
the correct manipulator model.
3-7
RE-CTO-A203
3.2 Specified Point
3.2
Specified Point
WARNING
• Be aware of safety hazards when performing the position confirmation of the specified point.
Abnormality of the PG system may be a cause for alarm. The manipulator may
operate in an unexpected manner, and there is a risk of damage to equipment or
injury to personnel.
• Before operating the manipulator, check that the SERVO ON lamp
goes out when the emergency stop buttons on the playback panel
and programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in
case of an emergency.
• Always set the teach lock before starting to teach.
Failure to observe this warning may result in injury when operating the playback
panel.
• Observe the following precautions when performing teaching operations within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Prior to performing the following operations, be sure that no one is
in the working envelope of the manipulator, and be sure that you
are in a safe place when:
- Turning the power on to the XRC.
- Moving the manipulator with the programming pendant.
- Running check operations.
- Performing automatic operations.
Injury may result from contact with the manipulator if persons enter the working
envelope of the manipulator.
• Always press the emergency stop button immediately if there are
problems.
Emergency stop buttons are located at the upper right corner of the XRC playback
panel and at the upper right of the programming pendant.
3-8
RE-CTO-A203
3.2 Specified Point
CAUTION
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and
be sure that all other necessary tasks have been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external
wires.
- Always return the programming pendant to its hook on the XRC
cabinet after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on
the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
3-9
RE-CTO-A203
3.2 Specified Point
3.2.1
Purpose of Position Check Operation
If the absolute number of rotation detected at power on does not match the data stored in the
absolute encoder the last time the power was turned off, an alarm is issued when the controller power is turned on.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power was turned OFF.
If there is an error with the PG system, the manipulator may stall when playback is started. If
the absolute data allowable range error alarm has occurred, playback and test runs will not
function and the position must be checked.
After absolute data allowable range alarm occurs
Reset alarm
Turn ON servo power
Procedure After Alarm Occurs
Position checking
Compare second home
position pulses with
current position pulses
NG
Alarm occurs again
OK
Correct defective axis
• Replace PG system
• Home position calibration
Playback possible
Position Check
If the absolute data allowable range alarm occurs, move to the specified point using the axis
keys and check the position. Playback, test runs, and other operation will not function.
3-10
RE-CTO-A203
3.2 Specified Point
Pulse Difference Check
The pulse number at the specified point is compared with that at the current position. If the
difference is within the allowable range, playback is enabled. If not, the error alarm occurs
again.
• The allowable range is the number of pulses per rotation of the motor (PPR data).
• The initial value of the specified point is the home position (where all axes are at pulse 0).
The specified point can be changed. For details, refer to " 3.2 Specified Point ".
Alarm Occurence
If the error alarm occurs again, there may be an error in the PG system. Check the system.
After adjusting the erroneous axis, calibrate the home position of the axis, then check the
position again.
NOTE
• Home position calibration of all the axes at the same time enables playback operations
without having to check the position.
• Sometimes in a system with a manipulator that has no brake, it is possible to enable
playback without position checking after the absolute data allowable range error alarm
occurs. However, as a rule, always check the position.
Under the above special conditions, the manipulator moves as follows:
After starting, the manipulator moves at low speed (1/10 of the maximum speed) to the
step indicated by the cursor. If it is stopped and restarted during this motion, the low
speed setting is retained until the step at cursor is reached. Regardless of cycle setting,
the manipulator stops after the cursor step is reached. Starting the manipulator again
then moves it at the programmed speed and cycle of the job.
3.2.2
Specified Point Setting
Apart from the normal home position of the manipulator, the specified point can be set up as a
check point for absolute data. Use the following steps to set the specified point.
If two or more manipulators or stations are controlled by one control panel, the specified point
must be set for each manipulator or station.
Operation
Select {ROBOT} under the top menu
the page key
*2
Select {SECOND HOME POS}*1
Press the axis keys*3
3-11
Press
Press [MODIFY] and [ENTER]*4
RE-CTO-A203
3.2 Specified Point
Explanation
*1
The specified point display is shown.
The message “Available to move to any modify specified point” is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
SPECIFIED POINT
R1
SPECIFIED CURRENT DIFFERENCE
R1:S
0
0
0
L
0
0
0
U
0
0
0
R
0
0
0
B
0
0
0
T
0
0
0
!Available to move to any modify specified point
*2
The group axes by which the specified point is set is selected when there are two or
more group axes.
*3
Move the manipulator to the new specified point.
*4
The specified point is modified.
3.2.3
Procedure After an Alarm
WARNING
• Be aware of safety hazards when performing the position confirmation of the specified point.
Abnormality of the PG system may be cause for alarm. The manipulator may operate in an unexpected manner, and there is a risk of damage to equipment or injury.
If the absolute data allowable range alarm occurs, perform the followings
• Reset the alarm
• Turn Servo power on
and confirm the specified point. After the confirmation, if the PG is found to be the cause of the
alarm, perform the necessary operation, such as replacing the PG, etc.
The robot position data when turning power off and on are shown in “Power ON/OFF Position
Display”.
NOTE Refer to " 5.7 Position Data When Power is Turned ON/OFF " for details on the
“Power ON/OFF Position Display”.
3-12
RE-CTO-A203
3.3 Setting the Controller Clock
Operation
Select {ROBOT} under the top menu
the page key
*2
Select {SECOND HOME POS}*1
Press
Select {DATA} under the menu
Select
Press [FWD]*3
{CONFIRM POSITION}*4
Explanation
*1
The specified point display is shown.
*2
The group axes by which the specified point is set is selected when there are two or
more group axes.
*3
Move the manipulator to the new specified point.The robot moving speed is set as
selected manual operation speed.
*4
The message “Home position checked” is shown.
Pulse data of specified point and current pulse data are compared. If the compared
error is in allowed band, playback operation can be done.
If the error is beyond the allowed band, the alarm occurs again.
3.3
Setting the Controller Clock
The clock inside of the XRC controller can be set.
Operation
Select {DATE/TIME}*1
Select {SETUP} under the top menu
“CLOCK”*2
Input the new date or time*3
Press [ENTER]*4
Explanation
*1
The date and time set display is shown.
DATA
EDIT
DATE/CLOCK SET
DISPLAY
R1
DATE
1998 . 10 . 20
CLOCK
10 : 20
!
*2
The input buffer line is displayed.
3-13
UTILITY
L
C
S
Select “DATE” or
RE-CTO-A203
3.4 Setting Play Speed
*3
For instance, to make the date May 1, 1998, input [1998.5.1]. To set the time at exactly
ten o’clock, enter [10.00].
> 1998.5.1
*4
Date and time are modifed.
DATA
EDIT
DATE/CLOCK SET
DISPLAY
R1
DATE
1998 . 05 . 01
CLOCK
10 : 20
UTILITY
L
C
S
!
3.4
Setting Play Speed
Operation
Select {SET SPEED}*1
Select {SETUP} under the top menu
*2
Select “JOINT” or “LNR/CIR”*3
the speed value
Press the page key
Select desired speed value*4
Input
*5
Press [ENTER]
Explanation
*1
The play speed display is shown.
DATA
EDIT
DISPLAY
L
SPEED SET
R1
JOINT
R1:1
0.78 %
2
1.56 %
3
3.12 %
4
6.25 %
5 12.50 %
6 25.00 %
7 50.00 %
8 100.00 %
UTILITY
C
S
!
*2
When two or more manipulators and stations exist in the system, the control group is
changed by the page key
.
3-14
RE-CTO-A203
3.4 Setting Play Speed
*3
The type of speed alternately changes from “JOINT” to “LNR/CIR”.
DATA
SPEED SET
LNR/CIR
EDIT
DISPLAY
R1
R1:1
2
3
4
5
6
7
8
UTILITY
L
C
S
66 cm/min
138 cm/min
276 cm/min
558 cm/min
1122 cm/min
2250 cm/min
4500 cm/min
9000 cm/min
!
*4
The input buffer line is displayed.
*5
The speed value is modified.
DATA
EDIT
DISPLAY
UTILITY
L
C S
SPEED SET
R1
JOINT
R1:1
0.78 %
2
1.56 %
3
3.12 %
4 40.00 %
5 12.50 %
6 25.00 %
7 50.00 %
8 100.00 %
!
3-15
RE-CTO-A203
3.5 All Limits Releasing
3.5
All Limits Releasing
CAUTION
• To operate the manipulator with all limits released, pay extra attention
to the operating environment around you.
When all limits are released, the manipulator or equipment may be damaged.
The following limits can be released by the operation explained in the following.
Limit Type
Contents
Mechanical Limit
Limit for checking manipulator’s working envelope
L-U Interference
Limit for checking L- and U-axes interference area
Software Limit
Every axis soft limit for checking manipulator’s
working envelope
Cube Interference
Limit for checking cube interference area set by
user
NOTE If the security mode is not at managememt mode, all limits releasing is not allowed. Refer
to " 2 Security System " for details about security modes.
Operation
Select {ROBOT} under the top menu
LIMITS RELEASE”
Select {LIMIT RELEASE}*1
*2
3-16
Select “ALL
RE-CTO-A203
3.5 All Limits Releasing
Explanation
*1
The limit release display ia shown.
DATA
EDIT
LIMIT RELEASE
SOFT LIMIT RELEASE
ALL LIMITS RELEASE
DISPLAY
R1
UTILITY
L
C
S
INVALID
INVALID
!
*2
“VALID” and “INVALID” are displayed alternately every time [SELECT] is pressed.
When all limits release is changed to “VALID”, the message “All limits have been
released” is displayed. When the setting changes to “INVALID”, the message “All limits
release has been canceled” is displayed for three seconds.
DATA
EDIT
LIMIT RELEASE
SOFT LIMIT RELEASE
ALL LIMITS RELEASE
DISPLAY
!All limits have been released
3-17
R1
UTILITY
L
C
S
INVALID
VALID
RE-CTO-A203
3.6 Overrun / Shock Sensor Releasing
3.6
Overrun / Shock Sensor Releasing
CAUTION
• To operate the manipulator with overrun released or with shock sensor
released, pay extra attention to the operating environment around you.
If the manipulator stops by overrun detection or shock sensor detection, release the overrun
or shock sensor by the following procedure and move the manipulator using the axis keys.
Operation
Select {OVERRUN & S-SENSOR}*1
Select {ROBOT} under the top menu
Select “RELEASE”*2
Select “ALM RST”*3
Explanation
*1
The overrun & shock sensor release display is shown.
The stopping condition when the shock sensor is detected can be selected “EMERGENCY STOP” or “HOLD” at the “SHOCK SENSOR STOP COMMAND”. “E-STOP”
and “HOLD” are displayed alternately every time [SELECT] is pressed.
DATA
EDIT
DISPLAY
OVERRUN&SHOCK SENSOR
R1
UTILITY
L
C
A
SHOCK SENSOR STOP COMMAND :E-STOP
OCCUR GRP
OVERRUN
S-SENSOR
ROBOT1
RELEASE
!
3-18
ALM RST
RE-CTO-A203
3.7 Interference Area
*2
“ " is displayed at the control group which detects overrun or shock sensor. If
“RELEASE” is selected, overrun or shock sensor is released and “CANCEL” is displayed.
DATA
EDIT
DISPLAY
OVERRUN&SHOCK SENSOR
R1
UTILITY
L
C
A
SHOCK SENSOR STOP COMMAND :E-STOP
OCCUR GRP
OVERRUN
S-SENSOR
ROBOT1
CANCEL
ALM RST
!
*3
NOTE
Alarm is reset and manipulator can be moved using the axis keys.
• During overrun or shock sensor releasing, the manipulator can be moved using the axis
keys with low speed or inching motion only.
• After overrun or shock sensor releasing, if “CANCEL” is selected or the display is changed
to the other one, overrun or shock sensor releasing is canceled.
• The axis operation can be performed only in the joint coordinate system.
3.7
3.7.1
Interference Area
Interference Area
The interference area is a function that prevents interference between multiple manipulators
or the manipulator and peripheral devices. The area can be set up to 24 area. There are two
types of interference areas, as follows:
• Cubic Interference Area
• Axis Interference Area
The XRC judges whether the tool center point of the manipulator is inside or outside this area,
and outputs this status as a signal.
If the tool center point of the manipulator is inside the area, the interference 1 inside signal or
interference 2 inside signal come on and the manipulator automatically decelerates to a stop.
The manipulator stands by until these signals are turned off, whereupon it automatically
restarts.
3-19
RE-CTO-A203
3.7 Interference Area
3.7.2
Cubic Interference Area
Cubic Interference Area
This area is a rectangular parallelepiped which is parallel to the base coordinate system, robot
coordinate system, or user coordinate system. The XRC judges whether the current position
of the manipulator’s tool center point is inside or outside this area, and outputs this information
as a signal. The cubic interference areas can be set, parallel to the base coordinate system or
user coordinate system.
Robot coordinates
Z-axis
Cubic
interference
area
Cubic
interference
area
User Coordinates
Z-axis
Cubic
interference
area
X-axis
Y-axis
Y-axis
X-axis
Setting Method
There are three ways to set cubic interference areas, as described in the following:
Number Input of Cube Coordinates
Enter the maximum and minimum values for the cube coodinates.
Z-axis
Maximum
value
Cubic
interference
area
X-axis
Minimum
value
Y-axis
Teaching Corner
Move the manipulator at the maximum and minimum value positions of the cube corner using
the axis keys.
3-20
RE-CTO-A203
3.7 Interference Area
Z-axis
Maximum
value
X-axis
Minimum
value
Y-axis
Number Input of the Side of Cube and Teaching Center
After entering the lengths of the three faces of the cube (axial length) using the number keys,
move the manipulator to the center point of the cube using the axis keys.
X
Y
Z
Center
point
Z-axis
X-axis
Y-axis
Setting Operation
Operation
Select {ROBOT} under the top menu
desired cube number*2
Select {INTERFERENCE}*1
Select “METHOD”*3
Select “REF COORDINATES” *5
Select “CONTROL GROUP”*4
Select “CHECK MEASURE”*6
Explanation
*1
The cubic interference area display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
:AXIS INTERFERENCE
CONTROL GROUP :**
CHECK MEASURE
:COMMAND POSITION
< MAX >
< MIN >
!
3-21
Select the
RE-CTO-A203
3.7 Interference Area
*2
Select the desired cube number using the page key
or by number input.
The method for number input is as follows: Move cursor to “INTERFERENCE SIG” and
press [ENTER] to display the number input line. Input desired signal number and press
[ENTER].
*3
”AXIS INTERFERENCE” and “CUBIC INTERFERENCE” are displayed alternately
every time [SELECT] is pressed. If “CUBIC INTERFERENCE” is selected, the display
is changed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: CUBIC INTERFERENCE
CONTROL GROUP :**
CHECK MEASURE
: COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX >
< MIN >
!
*4
The selection dialog is displayed. Select desired control group.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
:CUBIC INTERFERENCE
R1:ROBOT1
CONTROLR1:ROBOT1
GROUP :**
R2:ROBOT2
CHECK MEASURE :COMMAND POSITION
REF COORDINATE :BASE
TEACHING METHOD :MAX/MIN
< MAX >
< MIN >
!
*5
The selection dialog is displayed. Select desired coordinate.
If the user coordinates are selected, the number input line is displayed. Input the user
coordinate number and press [ENTER].
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG: 1
METHOD
:CUBIC INTERFERENCE
BASE
CONTROLBASE
GROUP :**
ROBOT
CHECK MEASURE :COMMAND POSITION
USER
REF COORDINATE :BASE
TEACHING METHOD :MAX/MIN
< MAX >
< MIN >
X
0.000
0.000
Y
0.000
0.000
!
3-22
RE-CTO-A203
3.7 Interference Area
*6
Each time [SELECT] is pressed, “COMMAND POSITION” and “FEEDBACK POSITION” alternate.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
:
CONTROL GROUP :**
REF COORDINATE :BASE
TEACHING METHOD :MAX/MIN
CHECK MEASURE :COMMAND POSITION
< MAX >
< MIN >
!
To stop the manipulator movement using the interference signal (use the cube interference
NOTE signal for mutual interference between robots), set CHECK MEASURE to “COMMAND
POSITION”.
When set to the “FEEDBACK POSITION”, the manipulator decelerates to a stop after
entering the interference area.
When informing an external unit of the actual manipulator position, use the “FEEDBACK
POSITION” setting so the timing of the output signal is more accurate.
Number Input of Cube Coordinates
Operation
Select “METHOD”*1
Input number for “MAX” and “MIN” data and press [Enter]*2
Explanation
*1
Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate.
Select “MAX/MIN” .
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX >
< MIN >
X
0.000
0.000
Y
0.000
0.000
!
*2
The cubic interference area is set.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX >
< MIN >
X
100.000
0.000
Y
50.000
0.000
!
3-23
RE-CTO-A203
3.7 Interference Area
Teaching Corner
Operation
Select “METHOD”*1
“<MIN>”*3
Press [MODIFY]*2
Move the cursor to “<MAX>” or
Move the manipulator using the axis keys*4
Press [ENTER]*5
Explanation
*1
Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate.
Select “MAX/MIN”.
*2
The message “Teach max./min. position” is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX >
< MIN >
X
0.000
0.000
Y
0.000
0.000
!Teach max./min. position
*3
Move cursor to “<MAX>” for changing maximum value and move cursor to “<MIN>” for
changing minimum value. The cursor moves to only either “<MIN>” or “<MAX>” at this
time. The cursor moves freely when this operation is canceled by pressing [CANCEL].
*4
Move the manipulator to the maximum or minimum position of the cube using the axis
keys.
*5
The cubic interference area is registered.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX >
< MIN >
X
100.000
0.000
Y
50.000
0.000
!
3-24
RE-CTO-A203
3.7 Interference Area
Number Input of the Side of Cube and Teaching Center
Operation
Select “METHOD”*1
Input data for length of the cube and press [ENTER]*2
Press [MODIFY]*3
Move the manipulator using the axis keys*4
Press [Enter]*5
Explanation
*1
Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate.
Select “CENTER POS”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : CENTER POS
< MAX > < MIN > <LENGTH>
X
0.000
0.000
0.000
Y
0.000
0.000
0.000
!
*2
The length is set.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : CENTER POS
< MAX > < MIN > <LENGTH>
X
0.000
0.000
0.000
Y
0.000
0.000
50.000
!
*3
The message “Move to center point and teach” is displayed.
The cursor moves to only either “<MIN>” or “<MAX>” at this time. The cursor moves
freely when this operation is canceled by pressing [CANCEL].
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
:CUBIC INTERFERENCE
CONTROL GROUP :R1
CHECK MEASURE
:COMMAND POSITION
REF COORDINATE :BASE
TEACHING METHOD :CENTER POS
< MAX > < MIN > <LENGTH>
X
0.000
0.000
0.000
Y
0.000
0.000
50.000
!Move to center point and teach
*4
Move the manipulator to the center point of the cube using the axis keys.
*5
The current position is registered as the center point of the cube.
3-25
RE-CTO-A203
3.7 Interference Area
3.7.3
Axis Interference Area
Axis Interference Area
The axis interference area is a function that judges the current position of the each axis and
outputs a signal. Once the maximum and minimum values have been set at the plus and
minus sides of the axis to define the operating range, a signal indicating whether the current
position of the axis is inside or outside this range is output. (ON: inside, OFF: outside)
Max value
+ side
Min value
- side
ON
OFF
Axis Interference Signal for Station Axis
Setting Operation
Number Input of Axis Data
Operation
Select {ROBOT} under the top menu
Select {INTERFERENCE}*1
desired interference signal number*2
Select “METHOD”*3
GROUP”
*4
*5
Select “CHECK MEASURE”
Explanation
The cubic interference area display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
:AXIS INTERFERENCE
CONTROL GROUP :**
CHECK MEASURE
:COMMAND POSITION
< MAX >
< MIN >
!
3-26
Select “CONTROL
Input data for desired axis and press
[Enter]*6
*1
Select the
RE-CTO-A203
3.7 Interference Area
*2
Select the desired interference signal number using the page key
or by number
input.
The method for number input is as follows: Move cursor to “INTERFERENCE SIG” and
press [ENTER] to display the number input line. Input desired signal number and press
[ENTER].
*3
”AXIS INTERFERENCE” and “CUBIC INTERFERENCE” are displayed alternately
every time [SELECT] is pressed. Select “AXIS INTERFERENCE”.
*4
The selection dialog is displayed. Select desired control group.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG: 1
METHOD
:AXIS INTERFERENCE
R1:ROBOT1
CONTROL GROUP
:**
R1:ROBOT1
CHECK MEASURE
:COMMAND POSITION
R2:ROBOT2
< MAX >
< MIN >
!
*5
Each time [SELECT] is pressed, “COMMAND POSITION” and “FEEDBACK POSITION” alternate.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: AXIS INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: FEEDBACK POSITION
< MAX >
< MIN >
S
0
0
L
0
0
U
0
0
R
0
0
!
*6
The interference area is set.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: AXIS INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: FEEDBACK POSITION
< MAX >
< MIN >
S
300
0
L
0
0
U
0
0
R
0
0
!
3-27
RE-CTO-A203
3.7 Interference Area
Setting Axis Data by Moving Manipulator Using the Axis Key
Operation
Select {ROBOT} under the top menu
Select {INTERFERENCE}
Select the
Select “CONTROL
desired interference signal number
Select “METHOD”
GROUP”*1
Move the manipulator using the axis keys*3
Press [MODIFY]*2
Press [ENTER]*4
Explanation
*1
Operate in the same way as shown in Explanation *1~*4 in ”Number Input of Axis
Data”.
*2
Move cursor to “<MAX>” for changing maximum value and move cursor to “<MIN>” for
changing minimum value. The cursor moves to only either “<MIN>” or “<MAX>” at this
time. The cursor moves freely when this operation is canceled by pressing [CANCEL].
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: AXIS INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE
: COMMAND POSITION
< MAX >
< MIN >
S
0
0
L
0
0
U
0
0
R
0
0
!
*3
Move the manipulator to the desired position using the axis keys.
*4
The axis interference area is registered.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
:AXIS INTERFERENCE
CONTROL GROUP :R1
CHECK MEASURE
:COMMAND POSITION
< MAX >
< MIN >
S
510
0
L
1004
0
U
213
0
R
10
0
!
3-28
RE-CTO-A203
3.7 Interference Area
3.7.4
Clearing Interference Area Data
Operation
Select interference signal for clearing*1
{CLEAR DATA}*2
Select {DATA} under the menu
Select
Select “YES”*3
Explanation
*1
Select the desired signal number for clearing using the page key
or by number
input.
The method for number input is as follows: Move cursor to the signal number and press
[ENTER] to display the number input line. Input desired signal number and press
[ENTER].
*2
The confirmation dialog is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG: 1
METHOD
:AXIS INTERFERENCE
CONTROL GROUP :R1
CHECK MEASURE Initialize?
:FEEDBACK POSITION
< MAX
>
< NO
MIN >
YES
S
510
0
L
1004
0
U
213
0
R
10
0
!
*3
All the data of the signal are cleared.
DATA
EDIT
DISPLAY
UTILITY
L
C S
INTERFERENCE AREA
R1
INTERFERENCE SIG : 1
METHOD
: AXIS INTERFERENCE
CONTROL GROUP : **
CHECK MEASURE
: COMMAND POSITION
< MAX >
< MIN >
!
3-29
RE-CTO-A203
3.8 Operation Origin Point Setting
3.8
Operation Origin Point Setting
3.8.1
What is the Operation Origin Point?
The Operation Origin Point is a reference point for manipulator operations. It prevents interference with peripheral devices by ensuring that the manipulator is always within a set range as
a precondition for operations such as starting the line. The manipulator can be moved to the
set operation origin point by operation from the programming pendant, or by signal input from
an external device. When the manipulator is in the vicinity of the operation origin point, the
operation origin point signal turns ON.
3.8.2
Setting Operation Origin Point
Operation Origin Point Display
Operation
Select {ROBOT} under the top menu
page key
Select {OPE ORIGIN POS}*1
Press the
*2
Explanation
*1
Operation origin point display is shown. For spot application or handling application.
DATA
DISPLAY
UTILITY
EDIT
L
C S
OPERATION ORIGIN
R1
[APPL 1]
HOME POS
CUR POS
S
0
2240
L
0
32
U
0
342
R
0
-21
B
0
0
T
0
-3239
!
*2
When two or more manipulators exist in the system, the control group is changed using
the page key
Registering/Changing the Operation Origin Point
Operation
Press the axis keys in the operation origin point display*1
[ENTER]*2
Explanation
*1
Move the manipulator to the new operation origin point.
3-30
Press [MODIFY] and
RE-CTO-A203
3.8 Operation Origin Point Setting
*2
New operation origin point is set.
When the operation origin point is changed, the operation origin cube is automatically set
NOTE as cube 24 to 21 in the base coordinate system.
• The cube 24 is for ROBOT1
• The cube 23 is for ROBOT2
• The cube 22 is for ROBOT3
• The cube 21 is for ROBOT4
The operation origin cube is a cube like the one shown in the figure below; the length of its
sides is determined by a parameter setting made by the user (units: µm). By changing this
parameter setting, the size of the cube can be changed.
S3C412 : The operation origin cube length of its sides( µm)
P
a
a
a
Specify whether “COMMAND POSITION” or “FEEDBACK POSITION” is to be set to the
operation origin cube signal’s CHECK MEASURE in the interference area settings. “COMMAND POSITION” is the default setting.
Returning to the Operation Origin Point
In the teach mode
Operation
Press [FWD] in the operation origin point display*1
Explanation
*1
The manipulator moves to the new operation origin point. During movement, the message “Manipulator is moving to operation origin point” is shown. The moving speed is
the selected manual operation speed.
In the play mode
When the operation origin point return signal is input (detected at leading edge), the tool center point of the manipulator is moved to the operation origin point using the same operation as
the teach mode. However, the speed for this is set in the parameters.
Output of the Operation Origin Point Signal
This signal is output any time the current position of the tool center point of the manipulator is
checked and found to be within the operation origin cube.
3-31
RE-CTO-A203
3.9 Tool Data Setting
3.9
Tool Data Setting
3.9.1
Registering Tool Files
Number of Tool Files
There are 24 tool files numbered 0 to 23. Each file is called as a tool file.
TOOL FILE 0
TOOL FILE 23
Registering Coordinate Data
When the number input operation is used for registering the tool file, input the control point of
the tool on the flange coordinates.
XF
Tool
YF
Control point
ZF
Operation
Select {ROBOT} under the top menu
number*2
Select {TOOL}*1
Select the desired coordinate axis to modify*3
Select the desired tool
Input the tool data
*4
Press [ENTER]
Explanation
*1
SUPPLE
-MENT
The tool list display is shown. When the tool extension function is valid, the list is
shown. When the tool extension function is invalid, the coordinate display is shown.
Tool File Extension Function
Normally, one robot uses one kind of tool file. The tool file extension function can change
many tool files to be used by one robot. Use the following parameter to set this function.
S2C261: TOOL NO. SWITCHING (1: enabled, 0: disabled)
For more details, refer to “Concurrent I/O Parameter”.
3-32
RE-CTO-A203
3.9 Tool Data Setting
DATA
EDIT
DISPLAY
L
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
UTILITY
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
UTILITY
W
0.000 kg
Xg
0.000 mm
DISPLAY
R1
Rx
Ry
Rz
L
C
C
S
S
0.00 deg.
0.00 deg.
0.00 deg.
!
*2
When the tool list display is shown, move the cursor and press [SELECT]. The coordinate display of the selected tool is shown. If the tool coordinate display is shown, press
the page key
to select the desired tool.
To switch the tool list display and the tool coordinate display, press {DISPLAY}
{LIST} or {DISPLAY}
{COORDINATE DATA}.
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
DISPLAY
L
LISTR1
Rx
Ry
Rz
!
*3
The number input line is displayed.
*4
The tool data is registered.
3-33
UTILITY
C
0.00 deg.
0.00 deg.
0.00 deg.
S
RE-CTO-A203
3.9 Tool Data Setting
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
Y
0.000 mm
Z
260.000 mm
W
Xg
DISPLAY
R1
Rx
Ry
Rz
UTILITY
L
C
S
0.00 deg.
0.00 deg.
0.00 deg.
0.000 kg
0.000 mm
!
<SettingExample>
260 mm
Control
Point
260 mm
Control
Point
ZF
Control
Point
ZF
Tool C
Case of Tool A, B
0.000 mm
0.000 mm
260.000 mm
145 mm
Tool B
Tool A
X
Y
Z
260 mm
Rx
Ry
Rz
Case of Tool C
0.00 deg.
0.00 deg.
0.00 deg.
X
Y
Z
0.000 mm
145.000 mm
260.000 mm
Rx
Ry
Rz
0.00 deg.
0.00 deg.
0.00 deg.
Registering Tool Pose
The tool pose data is angle data which shows the relation between the flange coordinates
and the tool coordinates. The angle when the flange coordinates are rotated to meet to the
tool coordinates becomes an input value. Clockwise toward the arrow is the positive direction.
Register in the order of Rz
Ry
Rx.
The following, register Rz=180, Ry=90, Rx=0
Flange
XF
coordinates
YF
ZF
XT
Tool
coordinates
ZT
3-34
YT
RE-CTO-A203
3.9 Tool Data Setting
Operation
Select {ROBOT} under the top menu
number*1
Select {TOOL}
Select the desired coordinate axis to modify*2
*3
Select the desired tool
Input the tool pose
*4
data
Press [ENTER]
Explanation
*1
In the same way shown in Explanation *1,*2 in ”Registering coordinate data”, the
desired tool coordinate display is shown.
*2
First, select Rz.
*3
Input rotation angle around ZF of the flange coordinates.
XF
YF
YF
ZF
X F
*4
X
Y
Z
0.000 mm
0.000 mm
0.000 mm
Rx
0.00 deg.
Ry
0.00 deg.
Rz 180.00 deg.
Rz = 180
The rotation angle of Rz is registered.
In the same way, register the angle of Ry,Rx.
Ry must be the input rotation angle around YF flange coordinates.
X F
ZF
Y F (Y F )
Z F
X
Y
Z
0.000 mm
0.000 mm
0.000 mm
Rx
0.00 deg.
Ry
90.00 deg.
Rz 180.00 deg.
Ry = 90
Rx must be the input rotation angle around XF of flange coordinates.
X F
YF
Z F
X
Y
Z
0.000 mm
0.000 mm
0.000 mm
Rx
0.00 deg.
Ry 90.00 deg.
Rz 180.00 deg.
Rx = 0
NOTE If tool data is registered in the tool file by tool calibration, the old data will be deleted.
Setting the Tool Load Information
The tool load information includes weight, a center of gravity position, and moment of inertia at
the center of gravity of the tool installed at the flange.
3-35
RE-CTO-A203
3.9 Tool Data Setting
For more details on the tool load information, refer to 3.11.3 “Tool Load Information Setting.”
SUPPLE
-MENT
3.9.2
Tool Calibration
Tool Calibration
To ensure that the manipulator can perform interpolation operations such as linear and circular interpolation correctly, accurate dimensional information on tools such as torches, tools,
and guns must be registered and the position of the tool center point must be defined. Tool
calibration is a function that enables this dimensional information to be registered easily and
accurately. When this function is used, the tool center point is automatically calculated and
registered in the tool file. What is registered in tool calibration is the coordinates of the tool
center point in the flange coordinates.
XF
Flange
coordinates
ZF
YF
<Flange coordinates>
XF: Vertically upward direction when the current
position on the T-axis of the manipulator is "0"
YF: Y-axis complementing XF and ZF
ZF: Direction perpendicular to the flange face
XT
YT
Tool
coordinates
ZT
Teaching
In order to perform tool calibration, five different poses (TC1 to 5) must be taught with the tool
center point as the reference point. The tool dimensions are automatically calculated on the
basis of these five points.
Control
point
Each pose must be arbitrary. Accuracy may decrease when pose setting is rotated in a constant direction.
3-36
RE-CTO-A203
3.9 Tool Data Setting
SUPPLE
-MENT
SUPPLE
-MENT
There are 24 tool files numbered 0 to 23. In a basic system with one manipulator and one
tool, the tool file for tool No.0 is used. If there is more than one tool, for example when
using a multihand, use the tool numbers in the order 0, 1, 2, .... etc.
Tool pose data is not registered in tool calibration. For details on how to register pose data,
refer to the preceding clause " Registering Tool Pose ".
Operation
Select {ROBOT} under the top menu
number*1
Select {TOOL}
Select {CALIBRATION}*2
Select {UTILITY} under the menu
Select the robot*2
Select “POSITION”*4
Select the desired tool
Move the manipulator using the axis key
Press [MODIFY] and [ENTER]*5
Press [MODIFY]
Select “COMPLETE”*6
Explanation
*1
In the same way shown in Explanation *1,*2 in " Registering Coordinate Data ", the
desired tool coordinate display is shown.
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
W
Xg
DISPLAY
R1
Rx
Ry
Rz
UTILITY
L
C
S
0.00 deg.
0.00 deg.
0.00 deg.
0.000 kg
0.000 mm
!
*2
The tool calibration setting display is shown.
DATA
EDIT
TOOL CALIBRATION
TOOL NO. :
00
**:S
*
L
*
U
*
R
*
B
*
T
*
DISPLAY
R1
UTILITY
L
C
S
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
TC1
COMPLETE
CANCEL
!
*3
Select the robot to calibrate. (When the robot has already been selected or there is only
one of robot, this operation should not be performed.) Select “**” in the tool calibration
setting display and select the robot in the displayed selection dialog.
3-37
RE-CTO-A203
3.9 Tool Data Setting
DATA
EDIT
TOOL CALIBRATION
TOOL NO. :
00
**:S
*
L
*
R1:ROBOT1
U
*
R2:ROBOT2
R
*
B
*
T
*
DISPLAY
R1
UTILITY
L
C
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
S
TC1
CANCEL
COMPLETE
!
*4
The selection dialog is displayed. Select the teaching point for calibration.
DATA
EDIT
TOOL CALIBRATION
TOOL NO. :
00
R1:S
*
L
*
TC1
U
*
TC2
R
*
TC3
B
*
TC4
T
*
DISPLAY
R1
UTILITY
L
C
S
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
TC1
COMPLETE
CANCEL
!
*5
Taught position is registered.
Repeat *4~*5 operation to teach TC1 to TC5.
indicates that teaching is completed and indicates that it is not completed.
DATA
EDIT
TOOL CALIBRATION
TOOL NO. :
00
R1:S
0
L
10
U
1000
R
53
B
200
T
8
DISPLAY
R1
UTILITY
L
C
S
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
TC4
COMPLETE
CANCEL
!
To check the taught positions, call up the required display among TC1 to TC5 and
press [FWD]. The manipulator moves to the set position.
If there is a difference between the current position of the manipulator and the displayed position data, “TC “ next to “POSITION” in the display flashes.
*6
Calibration data is registered in the tool file. Once calibration is completed, the tool
coordinate display is shown.
3-38
RE-CTO-A203
3.9 Tool Data Setting
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
Y
0.000 mm
Z
300.000 mm
W
0.000 kg
Xg
0.000 mm
DISPLAY
Rx
Ry
Rz
UTILITY
L
R1
C
S
0.00 deg.
0.00 deg.
0.00 deg.
!
Clearing Calibration Data
Before the calibration of a new tool, clear the robot information and calibration data.
Operation
Select {DATA} under the menu
Select {CLEAR DATA}*1
Select “YES”*2
Explanation
*1
The confirmation dialog is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
TOOL CALIBRATION
R1
TOOL NO. :
00
POSITION : TC5
R1:S
0
<STATUS>
L
10
TC1
Clear
data?
U
*
TC2
R
*
TC3
NO
YES*
B
TC4
T
*
TC5
COMPLETE
CANCEL
DISPLAY
UTILITY
!
*2
All data is cleared.
DATA
EDIT
TOOL CALIBRATION
TOOL NO. :
00
**:S
*
L
*
U
*
R
*
B
*
T
*
R1
L
C
S
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
TC1
COMPLETE
CANCEL
!
Only tool coordinate data are calculated using tool calibraton. If tool pose data is required,
NOTE input the data number in the tool coordinate display.
Refer to " Registering Tool Pose " for the operation.
3-39
RE-CTO-A203
3.9 Tool Data Setting
Checking the Tool Center Point
After registering the tool file, check if the tool center point is correctly registered by performing
a TCP fixed operation like the one shown below, in any coordinate system other than the joint
coordinates.
Control
point
Operation
Press [COORD]*1
the axis key
Select desired tool number*2
Move the R, B, or T axes using
*3
Explanation
*1
Select any coordinate type except “
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
JOINT” by pressing [COORD].
DISPLAY
R1
Rx
L
UTILITY
C
S
0.00 deg.
*2
Show the tool coordinate display of the desired tool by pressing the page key
selecting it in the tool list.
*3
By pressing the axis keys for the R, B, and T axes, change the manipulator pose without changing the tool center point position.
If this operation shows a large tool center point error, adjust the tool data.
Control point
error
SUPPLE
-MENT
For details on TCP fixed operation, see the Operator's Manual (Application)
3-40
or
RE-CTO-A203
3.9 Tool Data Setting
3.9.3
Automatic Measurement of the Tool Load and the
Center of Gravity
What is the Automatic Measurement of the Tool Load and the Center of Gravity?
With this function, the user can register the load of tool and the position of the tools center of
gravity.
The tool load and the position of it’s center of gravity are measured and registered in a tool
file.
This function is available for the models listed below. Contact your Yaskawa representa-
NOTE tive for information on other models.
Applicable models: MOTOMAN UP6, SK16X, SK45X, and UP130
This function can be used where the manipulator is installed level on the ground.
For the conditions required for manipulator installation, refer to 3.11 “ARM Control”.
Measurement of the Tool Load and the Center of Gravity
To measure the tool load and the center of gravity, move the manipulator to it’s home position
(horizontal to the U-, B- and R-axes) and operate the U-, B- and R-axes.
U-axis
U+
R-axis
B-axis
B+
L-axis
U-
B- T-
T+
T-axis
Home Position
(Horizontal to the U-,
B- and R-axes)
S-axis
Zero-degree Installation on the Ground
NOTE To measure the tool load or the center of gravity, remove the cables or wires connected to
the tool. Otherwise, the measurements may not be correct.
3-41
RE-CTO-A203
3.9 Tool Data Setting
Operation
Select {TOOL}*1
Select {ROBOT} under the top menu
number*2
Select {W.GRAV.POS MEASURE}*3
Select {UTILITY} under the menu
*4
Press the page key
Select the desired tool
Press [NEXT]*5
Press [NEXT] again*6
Select
“REGISTER”*7
Explanation
*1
SUPPLE
-MENT
The tool list display is shown. The tool list is called up only when the file extension
function is valid. If the file extension function is invalid, the tool coordinates is shown.
Tool File Extension Function
Use the following parameter to set the Tool File Extension Function.
S2C261: TOOL NO. SWITCHING
“0”: Tool switching prohibited.
“1”: Can change 24 kinds of tools numbering from 0 to 23.
DATA
EDIT
DISPLAY
L
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
UTILITY
DATA
EDIT
TOOL
TOOL NO. : 00
NAME
:TORCH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
UTILITY
W
0.000 kg
Xg
0.000 mm
DISPLAY
R1
Rx
Ry
Rz
!
3-42
L
C
C
0.00 deg.
0.00 deg.
0.00 deg.
S
S
RE-CTO-A203
3.9 Tool Data Setting
*2
Move the cursor to the desired number in the tool list and press [SELECT]. The tool
coordinates of the selected number is shown. In the tool coordinates, change the
desired number by pressing the page key
. To alternate between the tool list and
the tool coordinates, select {DISPLAY} and {LIST}, or {DISPLAY} and {COORDINATE
VALUE} under the menu.
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
W
0.000 kg
Xg
0.000 mm
DISPLAY
L
LISTR1
Rx
Ry
Rz
UTILITY
C
S
0.00 deg.
0.00 deg.
0.00 deg.
!
*3
The display for the automatic measurement of the tool load and the center of gravity is
shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
W.GRAV.POS MEASURE
R1
TOOL
:00
R1:W
*.*** kg
< STATUS >
HOME
Xg
*.*** mm
U
Yg
*.*** mm
B
Zg
*.*** mm
T(1)
T(2)
REGISTER
CANCEL
!
*4
In a system with several manipulators, use the page key
be controlled.
*5
Press [NEXT] once, and the manipulator moves to the home position (horizontal to the
U-, B- and R-axes).
*6
Press [NEXT] again, and measurement starts. Keep the button pressed until measurement is completed. The manipulator moves in the order listed below. Once measurement is completed, “ “ changes to “ “.
to change the group to
Measurement of the U-axis: U-axis home position + 4.5 degrees
-4.5 degrees
Measurement of the B-axis: B-axis home position + 4.5 degrees
-4.5 degrees
First measurement of the T-axis: T-axis home position + 4.5 degrees
-4.5 degrees
Second measurement of the T-axis: T-axis home position +60 degrees
+ 4.5
degrees
-4.5 degrees
3-43
RE-CTO-A203
3.9 Tool Data Setting
• The speed during measurement automatically changes to “Medium”.
NOTE • During measurement, “HOME” or “U” blinks on the screen.
• During measurement, the [NEXT] button has to be kept pressed. If the button is released
during measurement or if it is released before “ “ changes into “ “, measurement is
interrupted and the following message appears.
“Stopped measurement”
Measurement starts again from the first home position.
When all measurements are completed or when all the “ “ marks have changed into
“ “, the measurements are displayed on the screen.
DATA
EDIT
DISPLAY
UTILITY
L
C S
W.GRAV.POS MEASURE
R1
TOOL
:00
R1:W
4.513 kg
< STATUS >
HOME
Xg
10.112 mm
U
Yg
10.435 mm
B
Zg
55.123 mm
T(1)
T(2)
REGISTER
CANCEL
!
*7
The measurements are registered in the tool file, and the tool coordinates are shown.
Select “CANCEL” to call up the tool coordinates without registering the measurements
in the tool file.
3-44
RE-CTO-A203
3.10 User Coordinates Setting
3.10 User Coordinates Setting
3.10.1
User Coordinates
Definition of User Coordinates
User coordinates are defined by three points that have been taught to the manipulator through
axis operations. These three defining points are ORG, XX, and XY, as shown in the diagram
below. These three points of positional data are registered in a user coordinate file.
Z-axis
X-axis
XX
XY
Y-axis
ORG
User coordinate definition point
ORG: Home position
XX: Point on the X-axis
XY: Point on the Y-axis
ORG is the home position, and XX is a point on the X-axis. XY is a point on the Y-axis side of
the user coordinates that has been taught, and the directions of Y- and Z-axes are determined
by point XY.
NOTE It is important that the two points ORG and XX be taught accurately.
User Coordinates File
Up to 24 kinds of user coordinates can be registered. Each coordinate has a user coordinate
No. and is called a user coordinate file.
User coordinate file 1
User coordinate file 2
User coordinate file 3
User coordinate file 4
User coordinate file 24
3-45
RE-CTO-A203
3.10 User Coordinates Setting
3.10.2
User Coordinates Setting
Selecting User Coordinates File
Operation
Select {ROBOT} under the top menu
desired user coodinate number
Select {USER COORDINATE}*1
Select
*2
Explanation
*1
The user coordinate list display is shown.
DATA
EDIT
USER COORDINATE
NO.
SET
00
01
02
03
04
05
06
07
!
DISPLAY
R1
NAME
[WORK1
[WORK2
[
[
[
[
[
[
UTILITY
L
C
S
]
]
]
]
]
]
]
]
indicates that the user coordinates is completed to set and indicates that it is not
completed.
To check the position of the user coodinates select {DISPLAY}
{COORDINATE
DATA}. The user coordinate display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
USER COORDINATE
R1
USER COORD NO.:01
NAME
:WORK2
X
50.000 mm
Rx
0.00 deg.
Y
0.000 mm
Ry
0.00 deg.
Z
30.000 mm
Rz
0.00 deg.
!
*2
Select the desired user coordinate number for setting in the user coordinate list display.
The user coordinate teaching display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
USER COORDINATE
R1
USER COORD NO.: 03
TOOL
:00
**:S
*
SET POS. :ORG
L
*
<STATUS>
U
*
:ORG
R
*
:XX
B
*
:XY
T
*
COMPLETE CANCEL
!
3-46
RE-CTO-A203
3.10 User Coordinates Setting
Teaching User Coordinates
Operation
Select the robot*1
Select “SET POS”*2
*3
Press [MODIFY] and [ENTER]
Move the manipulator using the axis key
Select “COMPLETE”*4
Explanation
*1
Select the robot for teaching user coordinates. (When the robot has already been
selected or there is only one robot, this operation should not be performed.) Select “**”
in the user coordinates setting display and select the robot in the displayed selection
dialog. The robot is registered.
DATA
EDIT
DISPLAY
UTILITY
L
C S
USER COORDINATE
R1
USER COORD NO.: 03
TOOL
:00
**:S
*
SET POS. :ORG
L
*
<STATUS>
R1:ROBOT1*
U
:ORG
S1:STATION1
R
*
:XX
B
*
:XY
T
*
COMPLETE CANCEL
!
*2
The selection dialog is displayed. Select the teaching point.
DATA
EDIT
DISPLAY
UTILITY
L
C S
USER COORDINATE
R1
USER COORD NO.: 03
TOOL
:00
R1:S
*
SET POS. :ORG
ORG
L
*
<STATUS>
ORG
U
*
:ORG
XX
R
*
:XX
XY
B
*
:XY
T
*
COMPLETE CANCEL
!
*3
Taught position is registered.
Repeat *2~*3 operation to teach ORG, XX and XY.
indicates that teaching is completed and indicates that it is not completed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
USER COORDINATE
R1
USER COORD NO.: 03
TOOL
:00
R1:S
0
SET POS. :XY
L
10 <STATUS>
U
1000
:ORG
R
53
:XX
B
200
:XY
T
8
COMPLETE CANCEL
!
3-47
RE-CTO-A203
3.10 User Coordinates Setting
To check the taught positions, call up the required display among ORG to XY and press
[FWD]. The manipulator moves to the set position.
If there is a difference between the current position of the manipulator and the displayed position data, “ORG”, “XX”,or “XY” flashes.
*4
User coordinates are registered in the file. Once the user coordinate setting is completed, the user coordinate list display is shown.
DATA
EDIT
USER COORDINATE
NO.
SET
00
01
02
03
04
05
06
07
!
DISPLAY
R1
NAME
[WORK1
[WORK2
[
[WORK3
[
[
[
[
UTILITY
L
C
S
]
]
]
]
]
]
]
]
Clearing User Coordinates
Operation
Select {DATA} under the menu
Select {CLEAR DATA}*1
Explanation
*1
The confirmation dialog is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
USER COORDINATE
R1
USER COORD NO.: 03
TOOL
:00
R1:S
0
SET POS. :XY
L
10
<STATUS>
Clear data? :ORG
U
1000
R
53
:XX
NO
B
200
:XY
YES
T
8
COMPLETE CANCEL
!
*2
All data is cleared.
DATA
EDIT
DISPLAY
UTILITY
L
C S
USER COORDINATE
R1
USER COORD NO.: 03
TOOL
:00
R1:S
*
SET POS. :ORG
L
*
<STATUS>
U
*
:ORG
R
*
:XX
B
*
:XY
T
*
COMPLETE CANCEL
!
3-48
Select “YES”*2
RE-CTO-A203
3.11 ARM Control
3.11 ARM Control
3.11.1
ARM Control
In XRC, the operation performance of the robot which satisfies various demands on the production site such as the improvement of the path accuracy and the cycle time shortening is
achieved by adopting the ARM(Advanced Robot Motion) control which Yaskawa Electric Co.,
Ltd. originally developed.
The moment of inertia and the gravity moment etc. of each axis are calculated in the ARM
control, and XRC controls robot motion according to it. It is necessary to set the Robot setup
condition and the tool load information to request these accurately.
The robot setup condition is robot installation angle relative to ground and the weight and a
center of gravity position of the load installed at each part of robot, etc.
The tool load information is weight, a center of gravity position, and moment of inertia at the
center of gravity, of the tool installed at the flange.
It is necessary to set these information correctly to do a better operation control by the ARM
control.
3.11.2
ARM CONTROL Display
In ARM CONTROL display, the robot setup condition etc. are set.
CAUTION
• Set the robot setup condition exactly.
Set the robot setup condition very noting of mistake the unit, the value or the positive and
negative of number.
An appropriate operation control cannot be done, decrease the speed reducer longevity,
or occur the alarm when these are not correctly set.
• Confirm the operation path of robot of each job when you change setting.
Set the robot setup condition when you basically set up the robot.
Confirm the operation path of robot of each job afterwards when you change the setting
unavoidably.
Injury or damage to machinery may result by collision between tool and jig because the
operation path might be changed slightly when the setting about the ARM control is
changed.
3-49
RE-CTO-A203
3.11 ARM Control
Robot Setup Condition
It is necessary to set the following robot setup condition to execute the ARM control appropriately.
• Robot installation angle
• S-head payload
• U-arm payload
Robot installation angle
The angle of the manipulator installed relative to ground is set in ANGLE REL. TO GROUND
to calculate the gravity moment which loads to each axis of the manipulator.
The robot installation angle sets how much X axis of the robot coordinates has inclined with
the earth around Y axis of the robot coordinates. The direction of + in the U axis operation
from the home position posture of the manipulator becomes direction of + of the robot installation angle. Therefore, the robot installation angle for a vertical downward wall mount specification becomes -90 degrees.
Z
X
Robot
installation
Angle
+
Y
-
<Example>
0 degrees
-90 degrees
+90 degrees
180 degrees
Because the gravity moment which loads to each axis can't be calculated correctly when this
value is not correctly set, it can not be possible to control the manipulator appropriately. Set
the value correctly. Especially, note the direction “+” or “-”.
Only rotation angle around Y axis of the robot coordinates can be set in the robot installa-
NOTE tion angle.
Contact YASKAWA representative when robots is installed to incline Y axis of the robot
coordinates relative to ground.
3-50
RE-CTO-A203
3.11 ARM Control
S-head payload
Set the mass and the center of gravity position roughly when the equipment such as transformer is installed at the S-head.
It is not necessary to set these value when there is no installed load at the S-head.
WEIGHT (Unit:kg)
The weight of the installed load is set.
Set a little large value though it does not care by a rough value. (Rase to a unit in each 0.5 to
1kg)
X (From S-Axis), Y (From S-Axis) (unit: mm)
The center of gravity position of the installed load is set by the distance in the direction of X
and the direction of Y from S axis center here. It does not care by a rough value.
The direction of X and Y applies to the robot coordinates. The value is set by a negative number when the position is in “-” direction.
-X
S axis center
-Y
+Y
(X position, Y position)
+X
Load at S-head (Top View)
U-arm payload
Set the weight and the center of gravity position roughly when the equipment such as the wire
supplying motors is installed on U arm.
A standard value is set when shipping from the factory.
Set the weight in “0” if there is no installing equipment on U arm.
WEIGHT (Unit:kg)
The weight of the installing load is set here.
Set a little large value though it does not care by a rough value. (Rase to a unit in each 0.5 to
1kg)
X (From U-Axis), HEIGHT (From U-Axis) (unit: mm)
The center of gravity position of the load installed is set here. It does not care by a rough
value.
X (From U-Axis) is horizontal distance from U axis rotation center to the center of gravity position of the load. Set negative number when there is mass side in the back from U axis rotation
center.
3-51
RE-CTO-A203
3.11 ARM Control
HEIGHT (From U-Axis) is height of the vertical direction from U axis rotation center to the center of gravity position of the load.
X (From U-Axis)
(-)
(+)
U axis
rotation
center
Center of Gravity
Position
EIGHT
From U-Axis)
Load on U arm : Center of gravity position (Side View )
Setting
NOTE ARM CONTROL display is shown only when the security mode is set as management
mode.
Operation
Select {ROBOT} under the top menu
key
*2
Select the desired item
Select {ARM CONTROL}*1
Press the page
Input the value and press [ENTER]
3-52
RE-CTO-A203
3.11 ARM Control
Explanation
*1
ARM CONTROL display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
ARM CONTROL
R1
CONTROL GROUP:ROBOT1
<ROBOT SETUP CONDITION>
ANGLE REL. TO GROUND
: 0.000 deg.
S-HEAD PAYLOAD
WEIGHT
: 0.000 kg
X(FROM S-AXIS)
: 0.000 mm
Y(FROM S-AXIS)
: 0.000 mm
U-ARM PAYLOAD
WEIGHT
: 20.000 kg
!
*2
Select the desired group axis when there are two or more group axes.
3.11.3
Tool Load Information Setting
CAUTION
• Set the tool load information correctly.
The speed reducer longevity might decrease or the alarm might occur when the tool load
information is not set correctly.
• Confirm the operation path of robot of each job which uses the tool file
after the tool load information is changed.
Set the tool load information basically before teaching the job after the tool is installed.
Confirm the operation path of each job which uses the tool file when the tool load information is changed after teaching, unavoidably.
Injury or damage to machinery may result by collision between tool and jig because the
operation path might be changed slightly when the tool load information is changed.
3-53
RE-CTO-A203
3.11 ARM Control
Tool Load Information
Tool load information includes weight, a center of gravity position, and moment of inertia at
the center of gravity of the tool installed at the flange. These are registered in the tool file.
Inertia Moment around Center of Gravity
Ix, Iy, Iz
XF'
XF
Ix
YF'
Iy
YF
ZF'
Iz
Weight:W
ZF
Center of Gravity Position
( Xg, Yg, Zg )
* Flange Coodinates
XF: It is a direction right above when T axis
is 0 pulse position and the flange surface
of the manipulator turned to the front.
YF: Y axis led by XF,ZF
ZF: Perpendicular direction from flange surface
How to Calculate Tool Load Information
Weight : W (Unit:kg)
The total weight of the installing tool is set.
Set a little large value though it does not care by a rough value. Rase to a unit in each 0.5 to
1kg for small or middle robot and rase to a unit in each 1 to 5kg for large robot.
Center of gravity : xg, yg, zg (Unit : mm)
The center of gravity position of the installed tool is set as the position in the flange coordinates.
It does not care by setting a rough value because it is usually difficult to get a strict center of
gravity position. Presume and set a center of gravity position roughly from outline of the tool.
Set the value when the center of gravity position of the installed tool is clear from specifications etc.
moment of inertia at the center of gravity: lx, ly, lz (Unit : kg.m2)
It is an moment of inertia of the tool at the center of gravity position.
The value is calculated around the each axis of the coordinates which is in parallel to the
flange coordinates and which origine position is the center of gravity position of the tool.
Set a little large value though it does not care by a rough value.
This setting is used to calculate the moment of inertia which loads to each axis of the manipulator. However, the moment of inertia at the center of gravity need not usually set because
this data is small enough to the moment of inertia calculated from weight and the center of
gravity position.
Only when the moment of inertia of the tool is large (The size of the tool is, as a standard, in
3-54
RE-CTO-A203
3.11 ARM Control
case of about twice or more the distance from the flange to the center of gravity position), this
setting is needed.
The size of the tool is not too big.
Setting the inertia m om ent at center of
gravity is not necessary.
The size of the tool is big enough.
Setting the inertia m om ent at center of
gravity is necessary.
Rough value of the moment of inertia at the center of gravity can be calculated by followings
methods.
- Method to approximate the entire tool in hexahedron or cylinder.
- Method to calculate from each weight and center of gravity position of plural mass.
Refer to the following setting examples for details.
3-55
RE-CTO-A203
3.11 ARM Control
<Example1>
In the example of sealing gun of the figure below, it is assumed that there is center of gravity
in the position where inclined to head from the center a little , and sets the center of gravity
position on the flange coordinates.
There is no problem even if the moment of inertia at the center of gravity is not set because
the size of the gun is not too large.
YF
XF
70
C enter of G ravity P osition
= (100, 0, 70)
Total W eight
A pprox. 6.3 [kg]
7.00 [kg]
100
ZF
<Setting>
7.000 kg
•W :
• Xg : 100.000 mm
0.000 mm
• Yg :
• Zg : 70.000 mm
0.000 kg.m2
• Ix :
0.000 kg.m2
• Iy :
0.000 kg.m2
• Iz :
3-56
RE-CTO-A203
3.11 ARM Control
• The own moment of inertia calculation for hexahedron and cylinder
SUPPLE
-MENT
The own moment of inertia of hexahedron and cylinder can be calculated by the next
expression when the center of gravity is at the center.
Refer the expression when the calculation of the moment of inertia at the center of gravity.
Z
Z
Ly
r
Lx
Iz
Iz
Iy
Lz
Ix
Y
Y
H
Iy
Ix
X
X
Ix =
Iy =
Iz =
Weight:W
Ly2 + Lz2
12
Lx2 + Lz2
12
Lx2 + Ly2
12
Weight: W
*W
3 r 2 + H2
Ix = Iy =
Iz =
*W
12
r2
2
*W
* Unit of Weight : [kg]
*W
* Unit of Length
: [m]
* Unit of Ix, Iy, Iz : [kg.m2]
3-57
*W
RE-CTO-A203
3.11 ARM Control
<Example 2>
It is necessary to set the moment of inertia at the center of gravity when the entire size of the
tool and workpiece is large enough compareing with the distance from the flange to the center
of gravity position.
Calculate the moment of inertia at the center of gravity roughly from the expression (Refer to
the above-mentioned supplemen:"The own moment of inertia calculation for hexahedron and
cylinder"), by approximating the entire tool in the shape of the hexahedron or the cylinder.
If the weight of held workpiece is greatly different like in the handling usage etc, it is more
effective to set tool load information on each workpiece and to switch the tool on each step
according to the held workpiece. Set the tool load information in the state to hold the heaviest
workpiece when the tool is not switched.
YF
0
250
50
ZF
Weight of Workpiece :
Approx. 40kg
400
XF
Weight of Hand :
Approx. 55kg
1000
Weight :
W = 55 + 40 = 95
= approx. 100[kg]
Center of gravity : Position at flange right under 250mm almost
(Xg, Yg, Zg) = (0,0,250)
Moment of inertia at the center of gravity :
The hexahedron of 0.500 x 0.400 x 1.000[m] which encloses the entire
hand + workpiece is assumed.
By the expression to calculate the own moment of inertia of hexahedron,
Ix = ( Ly2 + Lz2 / 12) * W
= ( (0.4002 + 1.0002) / 12 ) * 100 = 9.667 = approx. 10.000
Iy = ( Lx2 + Lz2 / 12) * W = ( (0.5002 + 0.4002) / 12 ) * 100 = 3.417 = approx. 3.500
Iz = ( Lx2 + Ly2 / 12) * W = ( (0.5002 + 1.0002) / 12 ) * 100 = 10.417 = approx. 10.500
<Setting>
• W : 100.000 kg
• Xg :
0.000 mm
• Yg :
0.000 mm
• Zg : 250.000 mm
• Ix : 10.000 kg.m2
• Iy :
3.500 kg.m2
• Iz : 10.500 kg.m2
3-58
RE-CTO-A203
3.11 ARM Control
• How to calculate "Center of gravity position" and "moment of inertia at center of gravity"
SUPPLE
-MENT
for plural mass
The center of gravity position and the moment of inertia at the center of gravity of the entire
tool can be calculated by the weight and the center of gravity position of each mass when
the tool can be thought that the tool consists of two or more big mass like the twin gun system etc.
1. Divide the tool into some parts as the weight and the center of gravity position can be roughly presumed. It is not necessary to divide in detail. The
tool is approximated in construction of rough parts.
2. Calculate the weight and the center of gravity position of the each parts on
flange coordinates. It does not care by a rough value. Calculate the own
moments of inertia of the big parts. (If parts are small, it is not necessary to
calculate the own moments of inertia. Refer to above-mentioned supplement : "The own moment of inertia calculation for hexahedron and cylinder"
for how to calculate the own moment of inertia.)
wi
: Weight of the i-th parts [kg]
(xi, yi, zi)
: Center of gravity of the i-th parts (On flange coordinates)[mm]
Icxi, Icyi, Iczi : Own moments of inertia of the i-th parts [kg*m2]
3. The center of gravity position of the entire tool is calculated by the next
expression.
xg = {w1 * x1 + w2 * x2 + .... + wi * xi} / (w1 + w2 + .... + wi)
yg = {w1 * y1 + w2 * y2 + .... + wi * yi} / (w1 + w2 + .... + wi)
zg = {w1 * z1 + w2 * z2 + .... + wi * zi} / (w1 + w2 + .... + wi)
4. The moment of inertia at the center of gravity position of the entire tool is
calculated by the next expression.
Ix =
+
+
Iy =
+
+
Iz =
+
+
{ w1 * ((y1 - yg)2 + (z1 - zg)2) * 10-6 + Icx1}
{ w2 * ((y2 - yg)2 + (z2 - zg)2) * 10-6 + Icx2}
.....................
{ wi * ((yi - yg)2 + (zi - zg)2) * 10-6 + Icxi}
{ w1 * ((x1 - xg)2 + (z1 - zg)2) * 10-6 + Icy1}
{ w2 * ((x2 - xg)2 + (z2 - zg)2) * 10-6 + Icy2}
.....................
{ wi * ((xi - xg)2 + (zi - zg)2) * 10-6 + Icyi}
{ w1 * ((x1 - xg)2 + (y1 - yg)2) * 10-6 + Icz1}
{ w2 * ((x2 - xg)2 + (y2 - yg)2) * 10-6 + Icz2}
.....................
{ wi * ((xi - xg)2 + (yi - yg)2) * 10-6 + Iczi}
3-59
RE-CTO-A203
3.11 ARM Control
<Example 3>
When there is two or more big mass like the twin gun system like the figure below,
1. Set the center of gravity position when the center of gravity position of the entire tool is
roughly understood, and set the moment of inertia at the center of gravity calculated
by approximating the entire tool in the shape of hexahedron or cylinder. (It is enough in
this setting usually)
2. Or, when weight in each mass and the center of gravity position are understood, the
center of gravity position and the moment of inertia at the center of gravity of the entire
tool can be calculated. (Refer to above-mentioned supplement: "How to calculate
"Center of gravity position" and "moment of inertia at the center of gravity" for plural
mass")
How by the method of 2 to calculate the value is shown here.
Center of Flange
YF
100
YF
50
40
X F
(Top View)
150
70
Gun 1
Gun 1
ZF
Gun 2
(Gun 1)
Weight: w1 = 3 kg
Center of Gravity:
x1 = 100 mm
y1 = 50 mm
z1 = 40 mm
Weight :
XF
Gun 2
(Gun 2)
Weight: w2 = 6 kg
Center of Gravity:
x2 = 100 mm
y2 = -150 mm
z2 = 70 mm
W = w1 + w2
= 3 + 6 = 9 = approx. 10[kg]
Center of gravity Xg = (w1 * x1 + w2 * x2) / (w1 + w2)
= (3 * 100 + 6 * 100) / (3+6) = 100.0 [mm]
Yg = (3 * 50 + 6 * (-150)) / (3+6) = -83.333 [mm]
Zg = (3 * 40 + 6 * 70) / (3+6)
= 60.0 [mm]
The moment of inertia at the center of gravity position :
Ix = { w1 * ((y1 - Yg)2 + (z1 - Zg)2) * 10-6 + Icx1}
+ { w2 * ((y2 - Yg)2 + (z2 - Zg)2) * 10-6 + Icx2}
= 3 * ((50 - (-83))2 + (40 - 60)2) * 10-6
+ 6 * (((-150) - (-83))2 + (70 - 60)2) * 10-6
= 0.082 = approx. 0.100
Iy = 3 * ((100 - 100)2 + (40 - 60)2) * 10-6
+ 6 * ((100 - 100)2 + (70 - 60)2) * 10-6
= 0.002 = approx. 0.010
Iz = 3 * ((100 - 100)2 + (50 - (-83))2) * 10-6
+ 6 * ((100 - 100)2 + ((-150) - (-83))2) * 10-6
= 0.080 = approx. 0.100
3-60
RE-CTO-A203
3.11 ARM Control
* Here, the own moment of inertia (Icxi,Icyi,Iczi) of the gun is disregarded, because each gun
are smaller enough than the entire tool.
<Setting>
• W : 10.000 kg
• Xg : 100.000 mm
• Yg : -83.333 mm
• Zg : 60.000 mm
• Ix : 0.100 kg.m2
• Iy : 0.010 kg.m2
• Iz : 0.100 kg.m2
Tool load Information registering
Tool load Information is registered in the tool file.
Operation
Select {ROBOT} under the top menu
number
*2
Select {TOOL}*1
Select the desired tool
Select the desired item to register and input the value*3
Press
[ENTER]*4
Explanation
*1
The tool list display is shown. Only when the file expansion function is valid, the tool list
display is shown. When the file expansion function is invalid, the tool coordinates display is shown.
DATA
EDIT
DISPLAY
L
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
UTILITY
DATA
EDIT
TOOL
TOOL NO. : 00
NAME:TOACH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
UTILITY
W
Xg
DISPLAY
R1
Rx
Ry
Rz
0.000 kg
0.000 mm
!
3-61
C
L
0.00 deg.
0.00 deg.
0.00 deg.
C
S
S
RE-CTO-A203
3.11 ARM Control
*2
Move the cursor to the number of the desired tool, and press [SELECT] in the tool list
display. The tool coordinates display of the selected number is shown. Select the
in the tool coordinates display.
desired number with page key
Select { DISPLAY }
{ LIST } or { DISPLAY }
{COORDINATE DATA } under the
menu in order to switch between the tool list display and the tool coordinates display.
DATA
EDIT
TOOL
TOOL NO. : 00
NAME:TOACH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
W
Xg
UTILITY
DISPLAY
LIST
Rx
Ry
Rz
0.00 deg.
0.00 deg.
0.00 deg.
0.000 kg
0.000 mm
!
*3
The display can be scrolled by the cursor. The menu enters the state of a numeric
input if the cursor is on the desired item to register and the [SELECT] is pressed.
Weight
DATA
EDIT
TOOL
TOOL NO. : 00
W
0.000 kg
Center of
Gravity
Position
Xg
Yg
Zg
0.000 mm
0.000 mm
0.000 mm
Inertia Moment at
Center of Gravity
Ix
Iy
0.000 kg.m2
0.000 kg.m2
DISPLAY
R1
UTILITY
L
C
S
!
*4
The input value is registered. The servo power is automatically turned off when editing
the value during the servo power turned on, and the message "Servo off by changing
data " is displayed for three seconds.
3-62
RE-CTO-A203
3.11 ARM Control
• When the data setting is not done
NOTE It is considered that data is not set correctly in tool load information in the following cases.
• When the weight (W) is "0".
• When the center of gravity position (Xg, Yg, Zg) are all “0”.
In these cases, the robot is controlled by using the standard parameter value (Differ in
each robot model) which were set when shipping.
Standard Value.....Weight
: W = Payload
Center of gravity position :
(Xg, Yg, Zg) = (0, 0, Allowed value of B axis for rated
payload)
In this case, when an actual tool load is not too heavy, the manipulator can’t be performed
enough.
Moreover, when the tool which an actual tool center of gravity position greatly offsets in X
direction or Y direction is installed the generated moment by the tool cannot be compensated.
• Switch of the tool file
In case that two or more tool files are used, Information on an effective tool file is referred
for tool load information used by the ARM control at that time in according to switch tool
file.
Set the same value of tool load information in each tool file when the tool file is switched to
change only tool center point (when neither the weight nor the center of gravity position of
the entire tool installed in the flange is changed).
Moreover, set tool load information to the corresponding tool file respectively when total
weight and the center of gravity position etc. of the tool is changed (when the system which
exchange the tool by automatic tool changer).
3-63
RE-CTO-A203
3.12 Shock Detection Function
3.12 Shock Detection Function
3.12.1
Shock Detection Function
The shock detection function is a function to decrease damage because of the collision by
instantaneously detecting the shock and stopping the manipulator without any external sensor
when the tool or the manipulator collide with peripherals.
When the shock is detected either in teach mode and in play mode, the manipulator is
stopped instantaneously.
WARNING
This function cannot do away with the damage to peripherals completely. Moreover, this
function does not guarantee safety to the person. Prepare the safety measures such as
the safety fence etc. Refer to "MOTOMAN Setup Manual" for the safety measures in
detail.
Injury or damage to machinery may result by collision with the manipulator.
NOTE This function is equipped with the undermentioned model.
Applicated model: Motoman UP6, SK16X, UP20, SK45X, UP50, UP130
3.12.2
Shock Detection Function Setting
The shock detection function is set not to mis-detect the shock even if operating by the ratings
load with the maximum speed when shipping from the factory. If tool load information is set
correctly, the detection sensitivity can be improved. Moreover, it is possible to set the lower
sensitivity of detection only for a specific section where the contact work etc. The sensitivity of
detection is set by setting the detection level.
Shock Detection Level Setting
The shock detection level is set in the shock detection level file.
The shock detection set file are nine condition files as following figure.
Condition number 1 to 7 are used when the detection level is changed in a specific section in
play mode.
Condition number 8 is a file used as standard in play mode. This function is operated by the
detection level set in this file when playback operation.
Condition number 9 is a file for teach mode. The shock is detected by the detection level set in
this file when the robot is operated in teach mode.
3-64
RE-CTO-A203
3.12 Shock Detection Function
The detection level is changed by the SHCKSET instruction. After this instruction is executed, the shock will be detected by the detection level of the specified file when the condition
number is specified at SHCKSET instruction. The detection level is returned to standard level
when the SHCKRST instruction is executed.
Files for specific
section in play mode
Standard file
for play mode
Shock Detection
Level File
Condition number 1
File for teach mode
Condition number 7
Condition number 8
Condition number 9
SUPPLE
-MENT
The detection level of condition number 8 which is a standard file in play mode is adopted
in play mode excluding the range between SHCKSET and SHCKRST in the job.
Method of Shock Detection Level File Setting
Operation
Select {ROBOT} under the top menu
the desired condition number
Select {SHOCK SENS LEVEL}*1
Select the desired item and set it
Explanation
*1
The shock detection level display is shown.
DATA
UTILITY
EDIT
DISPLAY
L
C S
SHOCK DETECTION LVL
R1
DETECTION MODE: PLAY
COND. NO.
: 8 (STANDARD)
FUNC. MAX.DISTURBANCE DETECTION LVL
R1
R2
S1
S2
S3
VALID
VALID
VALID
VALID
VALID
80
80
80
80
80
100
100
100
100
100
!
Detection Mode
The shock detection mode is indicated.
Condition Number (1 to 9)
1 to 7 : For changing detection level in play mode
8
: For standard detection level in play mode
9
: For detection level in teach mode
3-65
Select
RE-CTO-A203
3.12 Shock Detection Function
Do either of the following operations to display the desired condition number.
When the desired condition number is input with a numeric key and the [ENTER] is
pressed after the cursor is moved on the condition number and [SELECT] is pressed,
the file of the selected condition number is displayed.
When page key
is pressed the condition number file is changed.
Function Select
VALID/INVALID of the shock detection function is specified here. The shock detection function is specified by each manipulator or each station axes which has this
function.
The cursor is moved to the robot or the station axis which is desired to change the
function "VALID" or "INVALID" and [SELECT] is pressed. "VALID" and "INVALID" is
changed alternately whenever [SELECT] is pressed. The change of "VALID" or
"INVALID" is effective for all the condition number files.
Max. Disturbance Force
The maximum disturbance force to the manipulator when the manipulator is moved
in paly back operation or axis operation is shown here.
Refer to this value when the detection level in (5) is input.
The maximum disturbance force can be cleared by setting in menu {DATA}
{CLEAR MAX VALUE }.
Detection Lebel (Level range : 1 to 500)
The shock detection level is specified here. Bigger value than the maximum disturbance force should be set.
The value (The detection level:100) not mis-detected the shock even if robot is operated at the maximum speed is set when shipping from the factory.
To change "Detection level", move the cursor to the robot or the station axis which is
desired to change to appear the numeric input status and press [SELECT] moreover
input the value by a numeric key and press [ENTER]. Set the level to small value to
raise the detection sensitivity or set the level to large value to lower sensitivity.
Set the level 20% or more greatly than the maximum disturbance force for the mis-detec-
NOTE tion prevention when the manipulator works.
An instaneously stopping the manipulator by the mis-detection may become a factor to
damage the speed reducer or the tool.
<Example>
When the maximum disturbance force is 80, set the detection level 96 or more.
NOTE "Detection level” can be changed only when the security mode is set as managememt
mode.
3-66
RE-CTO-A203
3.12 Shock Detection Function
Tool load Information Setting
To be the more accurate shock detection, the tool load information is set in the tool file.
SUPPLE
-MENT
Refer to " 3.11.3 Tool Load Information Setting " for details concerning the tool load information setting.
Method of the Tool load Information Setting
Operation
Select {TOOL}*1
Select {ROBOT} under the top menu
number*2
Select the desired tool
Select the desired item and set it
Explanation
*1
Tool list display is shown. Only when the file expansion function is valid, the tool list
display is shown. When the file expansion function is invalid, the tool coordinates display is shown.
DATA
EDIT
DISPLAY
L
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
UTILITY
DATA
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
UTILITY
W
0.000 kg
Xg
0.000 mm
DISPLAY
R1
Rx
Ry
Rz
L
C
C
S
S
0.00 deg.
0.00 deg.
0.00 deg.
!
*2
Move the cursor to the number of the desired tool and press [ENTER] in the tool list display. The tool coordinates display of the selected number is shown. Select the desired
in the tool coordinates display.
number with page key
Select { DISPLAY }
{ LIST } or { DISPLAY }
{COORDINATE DATA } under the
menu in order to switch between the tool list display and the tool coordinates display.
The tool coordinates display is scrolled by the cursor.
3-67
RE-CTO-A203
3.12 Shock Detection Function
DATA
EDIT
TOOL
TOOL NO. : 00
W
0.000 kg
Xg
Yg
Zg
0.000 mm
0.000 mm
0.000 mm
Ix
Iy
0.000 kg.m2
0.000 kg.m2
DISPLAY
R1
UTILITY
L
C
S
!
Weight
This is total weight of the installed tool.
Input weight by a numeric key and press [ENTER] after the numeric input status is
appeared by moving the cursole and pressing [SELECT].
Center of Gravity Position
This is center of gravity position of the installed tool. The value are specified by the
coordinates value on each axis of the flange coordinates. Input the center of gravity
position by a numeric key and press [ENTER] after the numeric input status is
appeared by moving the cursole and pressing [SELECT].
Moment of inertia at the Center of Gravity
This is Moment of inertia of the tool at the Center of Gravity in (2). The value are
specified around each axis of the coordinates which is in parallel to the flange coordinates and which origine point is the center of gravity position.
Input the moment of inertia by a numeric key and press [ENTER] after the numeric
input status is appeared by moving the cursole and pressing [SELECT].
Instruction of Shock Detection Function
SHCKSET instruction
The SHCKSET instruction changes the shock detection level to the value set in the shock
detection level file during play back operation.
The additional items of the SHCKSET instruction are as follows.
SHCKSET R1 SSL#(1)
Robot / Station Setting
The robot or the station axis which is desired to change the shock detection level is specified. If nothing is specified, the detection level of the control group of the job to which this
instruction is registered is changed.
However, if the job is coordinated job, the detection level of the slave axis group is
changed.
3-68
RE-CTO-A203
3.12 Shock Detection Function
Shock Detection Level File (1 to 7)
The shock detection level file number is specified here. The detection level value when
playback operation is set in the file. The detection level is changed by the condition of the
file set here.
SHCKRST instruction
The shock detection level changed by the SHCKSET instruction is reset and returned to the
detection level of the standard (value set in condition number 8) by the SHCKRST instruction.
The additional item of the SHCKRST instruction is as follows.
SHCKRST R1
Robot / Station Setting
The robot or the station axis which is desired to reset the shock detection level is specified
here. If nothing is specified, the detection level of the control group of the job to which this
instruction is registered is changed.
However, if the job is coordinated job, the detection level of the slave axis group is
changed.
Instruction Registration
The instruction is registered when the cursor is in the address area in the job content display
in teach mode.
Operation
Select {JOB} under the top menu
area
Address Area
Select {JOB}
Move the cursole in the address
JOB
EDIT
DISPLAY
UTILITY
L
C S
JOB CONTENT
R1
J:TEST S:003 R1 TOOL:00
0000 NOP
0001 'THIS JOB IS TEST JOB
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
0006 DOUT OT#(1) ON
=>MOVJ VJ=100.00
!Turn on servo power
3-69
Instruction Area
RE-CTO-A203
3.12 Shock Detection Function
SHCKSET
Operation
Move the cursole to the line just before the location where SHCKSET instruction is desired
to register
Press [INFORM LIST]*1
Select SHCKSET instruction*2
the value of additianal item and numerical data*3
Change
Press [ADD] and [ENTER]*4
Explanation
*1
The inform list dialog is shown.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
*2
..
SHCKSET
SHCKRST
SHCKSET instruction is displayed in the input buffer line.
=> SHCKSET SSL#(1)
*3
< When register as it is >
Operate *4 procedure when the instruction the input buffer line as it is should be registered.
< When add or change the additional item >
• When the shock detection level file is changed, move the cursor to the shock detection level file number, and increase or decrese the file number by pressing about
[SHIFT] and the cursor key simultaneously.
=> SHCKSET SSL#(2)
When the value is input with the numerical key, press [SELECT] to display the input
buffer line.
=>SHCKSET SSL#(1)
>Shock_sens_file_no.=
And press [ENTER] to change the number in the input buffer line.
3-70
RE-CTO-A203
3.12 Shock Detection Function
• When robot/station specification is added, move the cursor to the instruction in the
input buffer line and press [SELECT] to show the detail edit display.
JOB
EDIT
DISPLAY
L
DETAIL EDIT
R1
SHCKSET
ROBOT/STATION UNUSED
S-DETECT. FILE SSL#( ) 1
UTILITY
C
S
=> SHCKSET SSL#(1)
!
Move the cursor to "UNUSED" of "ROBOT/STATION", and press [SELECT]. The
selection dialog is shown. Move the cursor to added robot or station and press
[SELECT].
JOB
EDIT
DISPLAY
L
DETAIL EDIT
R1
SHCKSET
ROBOT/STATION UNUSED
S-DETECT. FILE R1:ROBOT1
SSL#(%) 1
R1:ROBOT1
S1:STATION1
UNUSED
UTILITY
C
S
=> SHCKSET SSL#(1)
!
When the addition of robot/station ends, press [ENTER]. The detail edit display shuts
and the job content display is shown.
*4
The instruction displayed in the input buffer line is registered.
SHCKRST
Operation
Move the cursole to the line just before the location where SHCKRST instruction is desired
to register
Press [INFORM LIST]*1
the value of additianal item
*3
Select SHCKRST instruction*2
*4
Press [ADD] and [ENTER]
Explanation
*1
The inform list dialog is shown.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
..
SHCKSET
SHCKRST
3-71
Change
RE-CTO-A203
3.12 Shock Detection Function
*2
SHCKRST instruction is displayed in the input buffer line.
=> SHCKRST
*3
< When register as it is >
Operate *4 procedure when the instruction the input buffer line as it is should be registered.
< When add or change the additional item >
When robot/station specification is added, move the cursor to the instruction in the
input buffer line and press [SELECT] to show the detail edit display.
JOB
EDIT
DISPLAY
L
DETAIL EDIT
R1
SHCKRST
ROBOT/STATION UNUSED
UTILITY
C
S
=> SHCKRST
!
Move the cursor to "UNUSED" of "ROBOT/STATION", and press [SELECT]. The
selection dialog is shown. Move the cursor to added robot or station and press
[SELECT].
JOB
EDIT
DISPLAY
L
DETAIL EDIT
R1
SHCKRST
ROBOT/STATION UNUSED
R1:ROBOT1
R1:ROBOT1
S1:STATION1
UNUSED
UTILITY
C
S
=> SHCKRST
!
When the addition of the robot/the station ends, press [ENTER]. The detail edit display shuts and the job content display is shown.
*4
The instruction displayed in the input buffer line is registered.
3-72
RE-CTO-A203
3.12 Shock Detection Function
Reset Shock detected
When the tool and the manipulator are collided with peripherals and it is detected by the shock
detection function, the manipulator is stopped in the instantaneously with alarm output. At
this time, the shock detection alarm is displayed.
DATA
EDIT
DISPLAY
L
ALARM
R1
ALARM
4315
COLLISION DETECT
ROBOT1[SLURBT]
OCCUR TIMES : 1
UTILITY
C
A
RESET
!
The shock detection alarm in teach mode and play mode can be reset by the following operation.
Operation
Press [SELECT]*1
Operation after resetting the detection status*2
Explanation
*1
The alarm is reset when "RESET" is selected on the alarm display, and the shock
detection status is released.
*2
In teach mode, the JOG operation of the manipulator becomes possible again after
resetting. In play mode, confirm the damage after moving the manipulator to the safety
position once with teach mode though the playback operation is possible after resetting.
When manipulator was stopped instantaneously while having contact with the object and
NOTE the detection alarm is tried to reset on the alarm display, the situation in which the alarm
cannot be reset might be occured because the collision might be detected again after
resetting.
In this case, set the collision detection function "INVALID" with the shock detection level
file or enlarge the detection level in teach mode and move the manipulator to safety position.
3-73
RE-CTO-A203
3.12 Shock Detection Function
3.12.3
Alarm List
Alarm
Number
Message
4315
COLLISION DETECT
Robot/Station
[Axis Data]
Cause
Remedy
• Remove the object after
• A collision from interferrence
resetting the alarm or move
between robot and peripheral
the robot to the safety posidevice etc. was detected.
tion.
• The collision was mis-detected
by the normal movement of the • When the alarm cannot be
reset because the robot
robot, because the detection
comes in contact with the
level was small.
object, invalidate this function in the collision detection level set file or enlarge
the detection level and
move the robot to the
safety position.
• Enlarge the detection level
so as not to mis-detect the
collision detection by the
normal movement of the
robot. Moreover, set accurate information of the
weight of the tool.
3-74
RE-CTO-A203
3.13 Instruction Level Setting
3.13 Instruction Level Setting
3.13.1
Setting Contents
Instruction Set
There are three instruction sets that can be used when registering the instructions for the
robot language (INFORM II) : the subset instruction set, the standard instruction set, and the
expanded instruction set.
Subset Instruction Set
The instructions displayed in the instruction list are limited to just those that are most frequently used, reducing the number of instructions that can be registered. Since few instructions are displayed, selection and input are simple.
Standard Instruction Set / Expanded Instruction Set
All the INFORM II instructions can be used. The number of additional items to be used in each
instruction differ in the standard instruction set and expansion instruction set.
In the standard instruction set, the following functions cannot be used. However, operation
becomes easier because the number of data items decreases when registering an instruction.
• Use of local variables and arrangement variables
• Use of variables for additional items (Example: MOVJ = 1000)
When instructions are executed, for example during playback, all the instructions can be executed regardless of the instruction set used.
Expanded instruction set
Standard instruction set
Subset instruction set
Frequency used
instructions
All instructions
Use of local variables and arrangement variables
Use of variables for additional items
Job calls with arguments
3-75
RE-CTO-A203
3.13 Instruction Level Setting
Learning Function
When an instruction is entered from the instruction list, the additional items that were entered
last time are also displayed. This function can simplify instruction input.
To register the same additional items as those in the former operation, register them without
changing.
Register an
instruction
The instruction and
the additional items
that were entered
last time are
displayed
3.13.2
An instructions are registered
0003 WAIT IN#(1)=ON
0004 END
The next time an attempt is
made to register the same
instruction as in 1, the same
additional items as were registered last time are also displayed in the input buffer
line.
=> WAIT IN#(1)=ON
!
Setting Instruction Set Level Operation
Operation
Select {TEACHIG COND}*1
Select {SETUP} under the top menu
GUAGE LEVEL”*2
Select desired language level*3
Explanation
*1
The teaching condition display is shown.
DATA
EDIT
DISPLAY
TEACHING CONDITION
R1
RECT/CYLINDRICAL
LANGUAGE LEVEL
MOVE INSTRUCTION SET
STEP ONLY CHANGING
!
3-76
UTILITY
L
C
S
RECT
SUBSET
LINE
PROHIBIT
Select “LAN-
RE-CTO-A203
3.14 Number Key Customize Function
*2
The selection dialog is displayed.
DATA
EDIT
DISPLAY
TEACHING CONDITION
R1
RECT/CYLINDRICAL
LANGUAGE LEVEL
MOVE INSTRUCTION
SET
SUBSET
STEP ONLY
CHANGING
STANDARD
EXPANDED
UTILITY
L
C
S
RECT
SUBSET
LINE
PROHIBIT
!
*3
Language level is set.
DATA
EDIT
DISPLAY
TEACHING CONDITION
R1
RECT/CYLINDRICAL
LANGUAGE LEVEL
MOVE INSTRUCTION SET
STEP ONLY CHANGING
UTILITY
L
C
S
RECT
STANDARD
LINE
PROHIBIT
!
3.14 Number Key Customize Function
3.14.1
What is the Number Key Customize Function?
With this function, the user can change the function of an application that has been allocated
to the number keys of the programming pendant.
Since any frequently used operation can be allocated to a number keys on the programming
pendant, decreasing the number of key operations reduces the teaching time.
NOTE The Number Key Customize Function is only valid when the security mode is set to the
managememt mode.
3.14.2
Allocatable Functions
There are two allocation methods as follows:
• Key Allocation (EACH)
• Key Allocation (SIM)
3-77
RE-CTO-A203
3.14 Number Key Customize Function
Key Allocation (EACH)
With key allocation (EACH), the manipulator operates according to the allocated function
when the number key is pressed. The following shows the functions that can be allocated.
Function
Description
Manufacturer
allocation
Allocated by Yaskawa. Allocating another function invalidates the function allocated by the manufacturer.
Instruction allocation
Allocates any instructions assigned by the user.
Job call allocation
Allocates job call instructions (CALL instructions). The jobs to be called
are only those registered in the reserved job names. (Specify it by the
registration No.)
Display allocation
Allocates any displays assigned by the user. It functions the same as
the reserved display call function.
Key Allocation (SIM)
With key allocation (SIM), the manipulator operates according to the allocated function when
the [INTERLOCK] and the number key are pressed at the same time. The following shows
the functions that can be allocated.
Function
Description
Alternate output
allocation
Turns ON/OFF the specified general output signal when [INTERLOCK]
and the allocated number key are pressed at the same time.
Momentary output
allocation
Turns ON the specified general output signal when [INTERLOCK] and
the allocated number key are pressed at the same time.
Pulse output
allocation
Turns ON the specified output signal only for the specified period when
[INTERLOCK] and the allocated number key are pressed at the same
time.
Group output
allocation (4-bit/8bit)
Sends the specified output to the specified general group output signals
when [INTERLOCK] and the allocated number key are pressed at the
same time.
Analog output
allocation
Sends the specified voltage to the specified output port when [INTERLOCK] and the allocated number key are pressed at the same time.
Analog incremental
output allocation
Sends the voltage increased by the specified value to the specified output port when [INTERLOCK] and the allocated number key are pressed
at the same time.
SUPPLE
-MENT
In a system for multiple applications, a number key can be allocated for each application.
3-78
RE-CTO-A203
3.14 Number Key Customize Function
3.14.3
Allocating an Operation
Allocation Display
Operation
Select {SETUP} under the menu
PLAY}*2
Select {KEY ALLOCATION}*1
Select {DIS-
Select {ALLOCATE SIM. KEY}*3
Explanation
*1
The key allocation (EACH) display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- MAKER
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
*2
The pull-down menu is displayed. To call up the key allocation (SIM) display, select
{ALLOCATE SIM. KEY}.
DATA
EDIT
DISPLAY
UTILITY
L
C KEY
S
ALLOCATE
EACH
KEY ALLOCATION(EACH)
R1
ALLOCATE EACH
KEY
APPLI.NO.:1
ALLOCATE SIM. KEY
KEY FUNCTION ALLOCATION CONTENT
- MAKER
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
*3
The key allocation (SIM) display is shown.
In a system multiple applications, press the page key
to change the display to the
allocation display for each application.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- MAKER
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
3-79
RE-CTO-A203
3.14 Number Key Customize Function
Instruction Allocation
Use this function in the key allocation (EACH) display.
Operation
Move the cursor to “FUNCTION” of the key to be allocated
Press [SELECT]*1
Select “INSTRUCTION”*2
Explanation
*1
The selection dialog box is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- MAKER
MAKER
. MAKER MAKER
INSTRUCTION
0 MAKER
JOB CALL
1 MAKER DISPLAY
2 MAKER
3 MAKER
4 MAKER
!
*2
The instruction is displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- INSTRUCTION DOUT
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
To change the instruction, move the cursor to the instruction and press [SELECT].
Then the instruction group list dialog box is displayed. Select the group containing the
instruction to be changed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- INSTRUCTION DOUT
IN/OUT
. MAKER
CONTROL
0 MAKER
DEVICE
MOTION
1 MAKER
ARITH
2 MAKER
SHIFT
3 MAKER
OTHER
4 MAKER
!
3-80
RE-CTO-A203
3.14 Number Key Customize Function
When the instruction list dialog box is displayed, select the instruction to be changed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- INSTRUCTION WAIT
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
Job Call Allocation
Use this function in the key allocation (EACH) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Press [SELECT]*1
Select “JOB CALL”*2
Explanation
*1
The selection dialog box is displayed.
*2
The reserved job registration No. is displayed in the “ALLOCATION CONTENT”
(reserved job registration No.: 1 to 10).
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- INSTRUCTION DOUT
. JOB CALL
1
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
To change the reserved job registration No., move the cursor to the No. and press
[SELECT]. Numeric values can now be entered. Input the number to be changed, and
press [ENTER].
3-81
RE-CTO-A203
3.14 Number Key Customize Function
Display Allocation
Use this function is used in the key allocation (EACH) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Select “DISPLAY”
[SELECT]*2
Press [SELECT]*1
Move the cursor to “ALLOCATION CONTENT”
Press
Input the name of the reserved display and press [ENTER]*3
display for allocation
Open the
Press [INTERLOCK] and the allocated key at the same time*4
Explanation
*1
The selection dialog box is displayed.
*2
The character input status is entered.
*3
The reserved name input to the “ALLOCATION CONTENT” is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- INSTRUCTION DOUT
. JOB CALL
1
0 DISPLAY
WORK POSITION DISP
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
*4
A message “Reserved display registered” is displayed, and the display is registered.
NOTE The display allocation functions the same as the reserved display call function. Only one
display can be allocated to a key.
3-82
RE-CTO-A203
3.14 Number Key Customize Function
Alternate Output Allocation
Use this function is used in the key allocation (SIM) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Press [SELECT]*1
Select “ALTERNATE OUTPUT”*2
Explanation
*1
The selection dialog box is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
MAKER
- MAKER MAKER
. MAKER ALTERNATE OUTPUT
0 MAKER MOMENTARY OUTPUT
PULSE OUTPUT
1 MAKER
4 BIT OUTPUT
2 MAKER
3 MAKER
4 MAKER
!
*2
The output No. is displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- ALTERNATE NO. : 1
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
To change the output No., move the cursor to the No. and press [SELECT]. Numeric
values can now be entered. Input the number to be changed, and press [ENTER].
Momentary Output Allocation
Use this function in the key allocation (SIM) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Select “MOMENTARY OUTPUT”*2
3-83
Press [SELECT]*1
RE-CTO-A203
3.14 Number Key Customize Function
Explanation
*1
The selection dialog box is displayed.
*2
The output No. is displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- ALTERNATE
NO. : 1
. MOMENTARY NO. : 1
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
To change the output No., move the cursor to the No. and press [SELECT]. Numeric
values can now be entered. Input the number to be changed, and press [ENTER].
Pulse Output Allocation
Use this function in the key allocation (SIM) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Press [SELECT]*1
Select “PULSE OUTPUT”*2
Explanation
*1
The selection dialog box is displayed.
*2
The output No. and output time are displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- ALTERNATE
NO. : 1
. MOMENTARY NO. : 1
0 PULSE
NO. : 1 TIME: 0.01 SEC
1 MAKER
2 MAKER
3 MAKER
4 MAKER
!
To change the output No. or output time, move the cursor to the No. or time and press
[SELECT]. Numeric values can now be entered. Input the number or time to be
changed, and press [ENTER].
3-84
RE-CTO-A203
3.14 Number Key Customize Function
Group (4-bit/8-bit) Output Allocation
Use this function in the key allocation (SIM) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Press [SELECT]*1
Select “4 BIT OUTPUT” or “8 BIT OUTPUT”*2
Explanation
*1
The selection dialog box is displayed.
*2
The output No. and output value are displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- ALTERNATE
NO. : 1
. MOMENTARY NO. : 1
0 PULSE
NO. : 1 TIME: 0.01 SEC
1 4BIT OUTPUT NO. : 1 OUT : 0
2 MAKER
3 MAKER
4 MAKER
!
To change the output No. or output value, move the cursor to the No. or value and
press [SELECT]. Numeric values can now be entered. Input the number or value to be
changed, and press [ENTER].
Analog Output Allocation
Use this function in the key allocation (SIM) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Press [SELECT]*1
Select “ANALOG OUTPUT”*2
Explanation
*1
The selection dialog box is displayed.
*2
The output port number and the output voltage value are displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- ALTERNATE
NO. : 1
. MOMENTARY NO. : 1
0 PULSE
NO. : 1 TIME: 0.01 SEC
1 4BIT OUTPUT NO. : 1 OUT : 0
2 ANALOG OUT NO. : 1 OUT : 0.00
3 MAKER
4 MAKER
!
3-85
RE-CTO-A203
3.14 Number Key Customize Function
To change the output port No. or output voltage value, move the cursor to the No. or
voltage value and press [SELECT]. Numeric values can now be entered. Input the
number or voltage value to be changed, and press [ENTER].
Analog Incremental Output Allocation
Use this function in the key allocation (SIM) display.
Operation
Move the cursor to the “FUNCTION” of the key to be allocated
Press [SELECT]*1
Select “ANALOG INC OUTPUT”*2
Explanation
*1
The selection dialog box is displayed.
*2
The output port No. and incremental value are displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(SIM)
R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- ALTERNATE
NO. : 1
. MOMENTARY NO. : 1
0 PULSE
NO. : 1 TIME: 0.01 SEC
1 4BIT OUTPUT NO. : 1 OUT : 0
2 ANALOG OUT NO. : 1 OUT : 0.00
3 ANALOG INC NO. : 1 INC : 1.00
4 MAKER
!
To change the output port No. or incremental value, move the cursor to the No. or incremental value and press [SELECT]. Numeric values can now be entered. Input the
number or incremental value to be changed, and press [ENTER].
3.14.4
Allocation of I/O Control Instructions
With key allocation (SIM), output control instructions can be allocated to the number keys that
have been allocated one of the following I/O controls key allocation (EACH).
Function
Alternate output allocation
Output Control Instruction To Be Allocated
DOUT OT# (No.) ON
Momentary output allocation
Pulse output allocation
PULSE OT# (No.) T = output time
Group output allocation (4-bit)
DOUT OGH (No.) output value
Group output allocation (8-bit)
DOUT OG# (No.) output value
Analog output allocation
AOUT AO# (No.) output voltage value
3-86
RE-CTO-A203
3.14 Number Key Customize Function
Operation
Move the cursor to the “FUNCTION” of the key that has been allocated with I/O control with
key allocation (SIM)
Press [SELECT]*1
Select “OUTPUT CONTROL INST”*2
Explanation
*1
The selection dialog box is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
MAKER
- INSTRUCTION
DOUT
MAKER
. JOB CALLINSTRUCTION
1
0 DISPLAY JOB CALL
WORK POSITION DISP
1 MAKER OUTPUT CONTROL INST
DISPLAY
2 MAKER
3 MAKER
4 MAKER
!
*2
The instruction corresponding to the I/O control allocated by key allocation (SIM) is displayed in the “ALLOCATION CONTENT”.
DATA
EDIT
DISPLAY
UTILITY
L
C S
KEY ALLOCATION(EACH) R1
APPLI.NO.:1
KEY FUNCTION ALLOCATION CONTENT
- INSTRUCTION DOUT
. JOB CALL
1
0 DISPLAY
WORK POSITION DISP
1 INSTRUCTION DOUT OGH#(1) 0
2 MAKER
3 MAKER
4 MAKER
!
The allocated instruction changes automatically when “ALLOCATION CONTENT” is
changed by key allocation (SIM).
Even if the I/O control allocation is changed to the default setting allocated by the manufacturer, the settings for key allocation (EACH) remain the same.
3-87
RE-CTO-A203
3.14 Number Key Customize Function
3.14.5
Execution of Allocation
Executing the Instruction/Output Control Allocation
Operation
Press the key allocated for instruction allocation or output control allocation*1
Press
*2
[INSERT] and [ENTER]
Explanation
*1
The allocated instruction is displayed in the input buffer line.
=> WAIT IN#(1) =ON
*2
The instruction displayed in the input buffer line is registered.
Executing the Job Call Allocation
Operation
Press the key allocated for the job call allocation*1
Press [INSERT] and [ENTER]*2
Explanation
*1
The CALL instruction is displayed in the input buffer line.
=> CALL JOB: ARCON
*2
The CALL instruction displayed in the input buffer line is registered.
Executing the Display Allocation
Operation
Press the key allocated for the display allocation*1
Explanation
*1
The allocated display is shown. At the same time, the reserved display key
lights up. Press the allocated key again to turn off the reserved display key
return to the previous display.
and
Executing the I/O Control Allocation
Operation
Press [INTERLOCK] and the key allocated for I/O control allocation at the same time*1
Explanation
*1
Allocated functions are executed.
3-88
RE-CTO-A203
3.15 Changing the Output Status
3.15 Changing the Output Status
The status of external output signals can be changed from the programming pendant by using
either of the following two methods.
• On the universal output status display (see " 5.3.2 Universal Output ")
• On the relay on display
The method that uses the relay on display, which is described here, simplifies the operation
for changing the status of signals that are used frequently.
NOTE A maximum of 16 output signals can be displayed on the relay on display and they must be
set in advance with parameter settings S2C213 to S2C228.
Operation
Select {IN/OUT} under the top menu
*2
signal for changing
Select {RELAY ON}*1
Press [INTER LOCK]+[SELECT]
*3
Explanation
*1
The relay on display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
RELAY ON
R1
OUTPUT NO. STATUS
NAME
OUT#010
[HAND1
]
OUT#008
[
]
OUT#014
[
]
OUT#009
[
]
!
*2
Select the status (
or
) of the desired signal to change.
3-89
Select the desired
RE-CTO-A203
3.15 Changing the Output Status
*3
The status is changed. ( : status ON,
: status OFF)
DATA
EDIT
DISPLAY
UTILITY
L
C S
RELAY ON
R1
OUTPUT NO. STATUS
NAME
OUT#010
[HAND1
]
OUT#008
[
]
OUT#014
[
]
OUT#009
[
]
!
SUPPLE
-MENT
It is also possible to turn the relevant external output signal on only for the duration that
[INTER LOCK]+[SELECT] are pressed. This selection is made in advance by setting the
parameters S2C229 ~ 244 to “1”.
3-90
RE-CTO-A203
3.16 Temporary Release of Soft Limits
3.16 Temporary Release of Soft Limits
The switches that are set to detect the working envelope of the manipulator are called limit
switches. The operating range is monitored by the software in order to stop motion before
these limit switches are reached. These software limits are called "soft limits." The operating
range of the manipulator is controlled by the following two soft limits.
• Maximum working range for each axis
• Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system. When it is detected that the manipulator (tool center point) has reached a soft limit, the manipulator automatically stops.
When the manipulator is stopped at a soft limit, temporarily release the soft limit by following
the procedure below, then move the manipulator away from that which exceeded the soft limit.
Operation
Select {ROBOT} under the top menu
Select {LIMIT RELEASE}*1
LIMIT RELEASE”*2
Explanation
*1
The limit release display is shown.
DATA
EDIT
LIMIT RELEASE
SOFT LIMIT RELEASE
ALL LIMITS RELEASE
DISPLAY
!
3-91
R1
UTILITY
L
C
S
INVALID
INVALID
Select “SOFT
RE-CTO-A203
3.17 Changing the Parameter Setting
*2
Each time [SELECT] is pressed, “VALID” and “INVALID” alternate. When “SOFT LIMIT
RELEASE” is set to “VALID,” the message “Soft limits have been released” is displayed.
DATA
EDIT
LIMIT RELEASE
SOFT LIMIT RELEASE
ALL LIMITS RELEASE
DISPLAY
UTILITY
L
R1
C
S
VALID
INVALID
!Softlimits have been released
When “SOFT LIMIT RELEASE” is set to “INVALID,” the message “Soft limits have been
released" is displayed for three seconds.
NOTE The teaching data cannot be entered while releasing software limit.
3.17 Changing the Parameter Setting
The parameter settings can be changed only by the operator who has the correct user ID
number for the management mode.
Operation
Select the parameter type *1
Select {PARAMETER} under the top menu
*2
the cursor to the parameter number whose setting is to be changed
Explanation
*1
The parameter display is shown. Select the desired parameter.
DATA
PARAMETER
パ
ラ
メ
ー
タ
EDIT
R1
S2C000
S2C001
S2C002
S2C003
S2C004
S2C005
S2C006
S2C007
UTILITY
DISPLAY
L
1
2
4
8
16
32
64
89
!
3-92
C
S
0000_0000
0000_0000
1000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
Binary Data
Decimal Data
Move
RE-CTO-A203
3.17 Changing the Parameter Setting
When the desired parameter number is not in the present display, move the cursor to a
parameter number and press [SELECT]. Enter the desired parameter number with the
number keys and press [ENTER]. The cursor moves to the selected parameter number.
The cursor moves
to the selected
parameter number.
DATA
EDIT
PARAMETER
S2C055
S2C056
S2C057
S2C058
DISPLAY
R1
128
256
512
875
UTILITY
L
C
S
1000_0000
0000_1000
1100_0000
0000_0000
Set the parameters in the following manner.
Operation
Select a parameter setting *1
Enter the value *2
Press [ENTER]
Explanation
*1
Move the cursor to the parameter number in the parameter display, and press
[SELECT].
- To enter a decimal setting, select the decimal figure.
- To enter a binary setting, select the binary figure.
DATA
EDIT
PARAMETER
S2C055
S2C056
S2C057
S2C058
S2C059
S2C060
S2C061
S2C062
S2C063
!
*2
UTILITY
DISPLAY
R1
L
C
S
128 1000_0000
256 0000_1000
512 0000_0000
0 0000_0000
0 0000_0000
0 0000_0000
0 0000_0000
0 0000_0000
0 0000_0000
If a decimal figure is selected, enter a decimal value with the number keys.
S2C056
> 256
0 0000_0000_0000_0000
If a binary figure is selected, move the cursor to the numbers in the input buffer line,
and press [SELECT]. Each time [SELECT] is pressed, “0” and “1” alternate in the display. “0” or “1” can also be entered with the number keys.
S2C056
0 0000_0000_0000_0000
> 0000_0000_1100_0000
3-93
RE-CTO-A203
3.17 Changing the Parameter Setting
*3
The new setting appears in the position where the cursor is located.
DATA
EDIT
PARAMETER
S2C055
S2C056
S2C057
S2C058
S2C059
S2C060
S2C061
S2C062
S2C063
!
UTILITY
DISPLAY
192
256
512
0
0
0
0
0
0
3-94
R1
L
C
1000_0000
0000_1000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
S
RE-CTO-A203
3.18 File Initialize
3.18 File Initialize
NOTE The teaching data cannot be entered while releasing software limit.
3.18.1
Initialize Job File
Operation
Turn the power supply ON while pressing [TOP MENU] simultaneously
security mode to managememt mode
Select {FILE} under the top menu
{INITIALIZE}*1
Select “YES”*3
Select “JOB”*2
Change the
Select
Explanation
*1
Initializing objects are shown.
INITIALIZE
Item marked by
selected.
JOB
FILE/GENERAL DATA
PARAMETER
I/O DATA
SYSTEM DATA
!Maintenance Mode
*2
The confirmation dialog is displayed.
INITIALIZE
JOB
FILE/GENERAL DATA
Initialize?
PARAMETER
I/O DATA
SYSTEM DATA
NO
YES
!Maintenance Mode
*3
Job data is initialized.
3-95
can not be
RE-CTO-A203
3.18 File Initialize
3.18.2
Initialize Data File
Operation
Turn the power supply ON while pressing [TOP MENU] simultaneously
security mode to managememt mode
{INITIALIZE}
Press[ENTER]*3
Change the
Select {FILE} under the top menu
Select {FILE/GENERAL DATA}*1
Select
Select data file for initializing*2
Select “YES”*4
Explanation
*1
Data files are shown.
INITIALIZE
TOOL DATA
TOOL
.CND
WEAVING DATA
WEAV
.CND
USER COODINATE DATA
UFRAME
.CND
VARIABLE DATA
VAR
.DAT
ARC START COND DATA
ARCSRT
.CND
ARC END COND DATA
ARCEND
.CND
ARC AUXILIARY COND DATA
ARCSUP
.DAT
WELDER CONDITION DATA
WELDER
.DAT
!Maintenance Mode
*2
The selected data file is marked with “ “.
INITIALIZE
TOOL DATA
TOOL
.CND
WEAVING DATA
WEAV
.CND
USER COODINATE DATA
UFRAME
.CND
VARIABLE DATA
VAR
.DAT
ARC START COND DATA
ARCSRT
.CND
ARC END COND DATA
ARCEND
.CND
ARC AUXILIARY COND DATA
ARCSUP
.DAT
WELDER CONDITION DATA
WELDER
.DAT
!Maintenance Mode
*3
The confirmation dialog is displayed.
INITIALIZE
TOOL DATA
WEAVING DATA
Initialize?
.CND
.CND
USER COODINATE DATA
UFRAME
.CND
VARIABLE DATA
VAR
.DAT
ARCSRT
.CND
YES
ARC START COND DATA
NO
ARC END COND DATA
ARCEND
.CND
ARC AUXILIARY COND DATA
ARCSUP
.DAT
WELDER CONDITION DATA
WELDER
.DAT
!Maintenance Mode
*4
TOOL
WEAV
Selected data file is initialized.
3-96
File/Data marked by
can not be selected.
RE-CTO-A203
3.18 File Initialize
3.18.3
Initialize Parameter File
Operation
Turn the power supply ON while pressing [TOP MENU] simultaneously
security mode to management mode
{INITIALIZE}
Press [ENTER]*3
Change the
Select {FILE} under the top menu
Select {PARAMETER}*1
Select
Select parameter for initializing*2
Select “YES”*4
Explanation
*1
Parameters are shown.
INITIALIZE
ROBOT MATCH PRMTR
SYS DEF PRMTR
COORD ORG PRMTR
SYS MATCH PRMTR
CIO PRMTR
FCTN DEF PRMTR
APPLI PRMTR
TRANSMISSION(UNIV)
!Maintenance Mode
*2
RC
SD
RO
SC
CIO
FD
AP
RS
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
RC
SD
RO
SC
CIO
FD
AP
RS
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
RC
SD
RO
SC
CIO
FD
AP
RS
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
The selected parameter is marked with “ “.
INITIALIZE
ROBOT MATCH PRMTR
SYS DEF PRMTR
COORD ORG PRMTR
SYS MATCH PRMTR
CIO PRMTR
FCTN DEF PRMTR
APPLI PRMTR
TRANSMISSION(UNIV)
!Maintenance Mode
*3
The confirmation dialog is displayed
.
INITIALIZE
ROBOT MATCH PRMTR
SYS DEF PRMTR
Initialize?
COORD ORG PRMTR
SYS MATCH PRMTR
CIO PRMTR
NO
YES
FCTN DEF PRMTR
APPLI PRMTR
TRANSMISSION(UNIV)
!Maintenance Mode
*4
Selected parameter is initialized.
3-97
Parameter marked by
can not be selected.
RE-CTO-A203
3.18 File Initialize
3.18.4
Initializing I/O Data
Operation
Turn the power supply ON while pressing [TOP MENU] simultaneously
security mode to management mode
{INITIALIZE}
[ENTER]*3
Select {FILE} under the top menu
Select {I/O DATA}*1
Select data for initializing*2
Change the
Select
Press
*4
Select “YES”
Explanation
*1
The I/O data is shown.
INITIALIZE
C IO PRGM
IO NAME DATA
SIMULATED IN DATA
CIOPRG .LST
IONAME .LST
PSEUDOIN.DAT
!Maintenance Mode
*2
The selected data is marked with “ “.
INITIALIZE
C IO PRGM
IO NAME DATA
SIMULATED IN DATA
CIOPRG .LST
IONAME .LST
PSEUDOIN.DAT
!Maintenance Mode
*3
The confirmation dialog box is displayed.
INITIALIZE
C IO PRGM
IO NAME DATAInitialize?
SIMULATED IN DATA
NO
YES
!Maintenance Mode
*4
CIOPRG .LST
IONAME .LST
PSEUDOIN.DAT
The selected data is initialized.
3-98
Parameters marked by
can not be selected.
RE-CTO-A203
3.18 File Initialize
3.18.5
Initializing System Data
Operation
Turn the power supply ON while pressing [TOP MENU] simultaneously
security mode to management mode
{INITIALIZE}
Select {FILE} under the top menu
Select {SYSTEM DATA}*1
Press [ENTER]*3
Change the
Select
Select the parameter to be initialized*2
Select “YES”*4
Explanation
*1
The system data is shown.
INITIALIZE
USER WORD
SV MONITOR SIGNAL
VARIABLE NAME
SECOND HOME POSITION
HOME POS CALIB DATA
UWORD .DAT
SVMON
.DAT
VARNAME .DAT
HOME2
.DAT
ABSO
.DAT
OPERATION ORG POS DATA
OPEORG
.DAT
!Maintenance Mode
*2
The selected data is marked with “ “.
INITIALIZE
USER WORD
SV MONITOR SIGNAL
VARIABLE NAME
SECOND HOME POSITION
HOME POS CALIB DATA
UWORD .DAT
SVMON
.DAT
VARNAME .DAT
HOME2
.DAT
ABSO
.DAT
OPERATION ORG POS DATA
OPEORG
.DAT
!Maintenance Mode
*3
The confirmation dialog box is displayed.
INITIALIZE
USER WORD
UWORD .DAT
SV MONITOR SIGNAL
SVMON
.DAT
Initialize?
VARIABLE NAME
VARNAME .DAT
SECOND HOME POSITION
HOME2
.DAT
HOME POS CALIB
.DAT
YES DATA NO ABSO
OPERATION ORG POS DATA
!Maintenance Mode
*4
The selected data is initialized.
3-99
OPEORG
.DAT
Parameter marked by
can not be selected.
RE-CTO-A203
4.1 Addition of I/O Modules
4 Modification of System Configuration
4.1
Addition of I/O Modules
For addition of I/O modules,turn the power supply off.
SUPPLE
-MENT
The additional operation must be done in the management mode.
In operation mode or editing mode, only confirmation of status setting is possible.
Operation
Turn the power supply ON while pressing [TOP MENU] simultaneously
*1
*2
TEM} under the top menu
Select {SETUP}
Confirm the status of mounted I/O module*4
Select {SYS-
Select {IO MODULE}*3
Press [ENTER]*5
Press [ENTER]*6
Select “YES”*7
Explanation
*1
System display is shown.
SETUP
VERSION
!Maintenance Mode
*2
The setup display is shown.
SETUP
Item marked by
can not be set.
LANGUAGE
CONTROL GROUP
APPLICATION
IO MODULE
OPTION BOARD
CMOS MEMORY
DATE CLOCK
!Maintenance Mode
4-1
RE-CTO-A203
4.1 Addition of I/O Modules
*3
The current status of the mounted I/O module is displayed.
IO MODULE
ST# DI DO AI AO BOARD
01 008 008 002 002
02 016 016 - 03 - - - - NONE
04 - - - - NONE
05 - - - - NONE
06 - - - - NONE
07 - - - - NONE
08 - - - - NONE
!Maintenance Mode
*4
Confirm that each station (ST#) displays the I/O module’s actual mounting status.
The following information is displayed for each station.
ST#
Station number of I/O module
DI
Number of contact input points (*1)
DO
Number of contact output points (*1)
AI
Number of analog input points (*1)
AO
Number of analog output points (*1)
BOARD
Board type (*2)
*1 A hyphen, -, indicates that the corresponding I/O section is not mounted.
*2 If the system cannot recognize the board type, a row of stars (****) are
displayed.
No problem will occur as long as the values displayed in DI, DO, AI, and AO
are correct.
*5
Confirm the statuses of the mounted I/O modules for the other stations.
NOTE If the slot display is different, check the status again. If the status is correct, the I/O module
may be defective. Contact your Yaskawa representative.
IO M O DU LE
S T# D I D O A I A O B O A RD
08 - - - - NO NE
09 - - - - NO NE
10 - - - - NO NE
11 - - - - NO NE
12 - - - - NO NE
13 - - - - NO NE
14 - - - - NO NE
15 040 040 - - XIO 01(M O DE :16byte)
! M aintenance M ode
4-2
RE-CTO-A203
4.2 Addition of Base and Station Axis
*6
The confirmation dialog box is shown.
For the XIO01 circuit board, the communication mode is displayed in parentheses.
In the following example, the communication mode is set to 16 bytes.
IO MODULE
ST# DI DO AI AO BOARD
08 - - - - NONE
09 - - - - NONE Modify?
10 - - - - NONE
11 - - - - NONE
NO
YES
12 - - - - NONE
13 - - - - NONE
14 - - - - NONE
15 040 040 - - XIO01(MODE:16byte)
!Maintenance Mode
*7
4.2
The system parameters are then set automatically according to the current mounted
hardware status. The procedure for the addition of the I/O module is complete.
Addition of Base and Station Axis
For addition of base and station axis, mount all hardware correctly and then execute maintenance mode.
SUPPLE
-MENT
The additional operation must be done in the management mode.
In operation mode or editing mode, only confirmation of status setting is possible.
Operation
Turn the power supply ON while pressing [TOP MENU] simultaneously
TEM} under the top menu*1
Select {SETUP}*2
(Display moves to the control group display.)
Explanation
*1
The system display is shown.
SETUP
VERSION
!Maintenance Mode
4-3
Select {SYS-
Select {CONTROL GROUP}*3
RE-CTO-A203
4.2 Addition of Base and Station Axis
*2
The setup display is shown.
SETUP
Item marked by
can not be set.
LANGUAGE
CONTROL GROUP
APPLICATION
IO MODULE
OPTION BOARD
CMOS MEMORY
DATE CLOCK
!Maintenance Mode
*3
The display moves to the control group display shown in the followings pages.
The following items must be set for base and station axes.
-TYPE
Select one in the type list.
In case of base axis (B1,B2,B3)
Select one of RECT-X, -Y, -Z, -XY, -XZ, -YZ or -XYZ.
In case of station axis (S1,S2,S3,S4,S5,S6)
Select one of TURN-1, -2.
In case of other type, select one of UNIV-1, -2, -3, -4, -5, -6
-CONNECTION
In the connection display, specify the SERVOPACK which is connected with each axis
group and the contactor which is used for the SERVOPACK.
-AXIS TYPE
Select one in the axis type list.
In case of TURN-* type
No need to select (The axis type is set as TURN type.)
In case of RECT-* type
Select BALL-SCREW type or RACK & PINION type.
In case of UNIV-* type
Select BALL-SCREW type, RACK & PINION type or TURN type.
-MECHANICAL SPECIFICATION
If axis type is ball-screw type, set the following items.
MOTION RANGE (+)
[mm]
MOTION RANGE (-)
[mm]
REDUCTION RATIO (numerator)
REDUCTION RATIO (denominator)
BALL-SCREW PITCH
[mm/r]
If axis type is rack & pinion type, set the following items.
4-4
RE-CTO-A203
4.2 Addition of Base and Station Axis
MOTION RANGE (+)
[mm]
MOTION RANGE (-)
[mm]
REDUCTION RATIO (numerator)
REDUCTION RATIO (denominator)
PINION DIAMETER
[mm]
If axis type is turn type, set the following items.
MOTION RANGE (+)
[deg]
MOTION RANGE (-)
[deg]
REDUCTION RATIO (numerator)
REDUCTION RATIO (denominator)
OFFSET (1st and 2nd axis)
[mm]
-MOTOR SPECIFICATION
Set the following items.
MOTOR
SERVO AMP
CONVERTER
ROTATION DIRECTION
[NORMAL/REVERSE]
MAX. RPM
[rpm]
ACCELERATION SPEED
[sec]
INERTIA RATIO
* Select MOTOR, AMPLIFIER and CONVERTER from each type’s list.
4.2.1
Base Axis Setting
First, select control group type
Operation
Confirm the type of control group in control group display*1
Select type of control
group for changing*2
group display
Press [ENTER] in control
Select one in the machine list*3
Explanation
*1
The control group display is shown.
CONTROL GROUP
R1
B1
R2
S1
:UP6-A0*
:RECT-XYZ
:NONE
:NONE
!Maintenance Mode
4-5
RE-CTO-A203
4.2 Addition of Base and Station Axis
*2
Machine type selection display is shown.
MACHINE LIST
NONE
RECT-Y
RECT-XY
RECT-YZ
RECT-X
RECT-Z
RECT-XZ
RECT-XYZ
RECT-X :TRAVEL X-AXIS BASE
RECT-Y :TRAVEL Y-AXIS BASE
RECT-Z :TRAVEL Z-AXIS BASE
RECT-XY :TRAVEL XY-AXIS BASE
RECT-XZ :TRAVEL XZ-AXIS BASE
RECT-YZ :TRAVEL YZ-AXIS BASE
RECT-XYZ:TRAVEL XYZ-AXIS
BASE
(See following pages)
!Maintenance Mode
*3
After the type selection, the display returns to control group display.
*4
The display moves to the connection display.
Direction of Base Axis
RECT-X
RECT-Z
RECT-Y
CARTESIAN
X-AXIS
Base axis advancing direction coincides
with robot coordinate X-Axis.
Base axis advancing direction coincides
with robot coordinate Y-Axis.
CARTESIAN
X-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate X-Axis and Y-Axis,
respecitively.
Base axis advancing direction
coincides with robot coordinate
Z-Axis.
RECT-XZ
RECT-YZ
RECT-XY
CARTESIAN
Y-AXIS
CARTESIAN
Z-AXIS
CARTESIAN
Y-AXIS
CARTESIAN
Y-AXIS
CARTESIAN
Z-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate Y-Axis and
Z-Axis, respectively.
4-6
CARTESIAN
Z-AXIS
CARTESIAN
X-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate X-Axis and
Z-Axis,respectively.
RE-CTO-A203
4.2 Addition of Base and Station Axis
Direction of Base Axis
RECT-XYZ
CARTESIAN
Z-AXIS
CARTESIAN CARTESIAN
X-AXIS
Y-AXIS
Base 1st, 2nd, and 3rd axes advancing
directions coincide with robot coordinate
X-Axis, Y-Axis, and Z-Axis, respectively.
In the connection display, the SERVOPACK which is connected with each control group, and
the contactor which is used for the SERVOPACK, are specified.
Operation
Confirm type of each control group in the connection display*1
of desired control group*2
display
Select desired item
Select connection item
Press [ENTER] in the connection
*3
Explanation
*1
The connection status of each control group is shown.
CONNECTION
SV CONTACT
R1 :#1
1
B1 :#1
2
CN< 1 2 3 4 5 6 7 8 9 >
[123456- - -]
[- - -- - -123]
Control group which is set as
"NONE" in the control group
display is not shown.
!Maintenance Mode
Note: # is the SERVOPACK number. This number is set by the rotary switch on the
WRCA01 board.
4-7
RE-CTO-A203
4.2 Addition of Base and Station Axis
*2
The items which can be set are shown.
When the item is selected the display returns to the connection display.
CONNECTION
SV CONTACT
R1 :#1
1
B1 :#1
2
#1
#1
#2
#3
#4
#5
#6
CN< 1 2 3 4 5 6 7 8 9 >
[123456- - -]
[- - - - - -123]
!Maintenance Mode
It is possible to change freely the connection between each axis of each control group
and each connector (CN) of a SERVOPACK. The number in [ ] means axis number,
and it indicates the connector number to which each axis connects.
The example above meaning is as follows,
R1(Robot)
1st axis
1CN (SERVOPACK #1, 1st contactor is used)
2nd axis
2CN (SERVOPACK #1, 1st contactor is used)
3rd axis
3CN (SERVOPACK #1, 1st contactor is used)
4th axis
4CN (SERVOPACK #1, 1st contactor is used)
5th axis
5CN (SERVOPACK #1, 1st contactor is used)
6th axis
6CN (SERVOPACK #1, 1st contactor is used)
B1(Base)
1st axis
2nd axis
3rd axis
*3
7CN (SERVOPACK #1, 2nd contactor is used)
8CN (SERVOPACK #1, 2nd contactor is used)
9CN (SERVOPACK #1, 2nd contactor is used)
The setting in the connection display is completed and the display moves to the axes
form display.
4-8
RE-CTO-A203
4.2 Addition of Base and Station Axis
In the axes configuration display, the axis type and motor type are specified.
Operation
Confirm axis type of each axis in the axes configuration display*1
axis*2
Select desired axis type
Select desired
Press [ENTER] in the axes configuration display*3
Explanation
*1
The axis type of each axis is shown.
AXES CONFIG
B1 : RECT-XYZ
AXIS AXIS TYPE
1
: BALL-SCREW
2
: BALL-SCREW
3
: BALL-SCREW
!Maintenance Mode
*2
The axis type which can be set is shown.
AXES CONFIG
B1 : RECT-XYZ
AXIS AXIS TYPE
BALL-SCREW
1
: BALL-SCREW
RACK&PINION
2
: BALL-SCREW
3
: BALL-SCREW
!Maintenance Mode
The traveling axis of ball-screw type should be selected as “ BALL-SCREW ”, the one
of rack & pinion type should be selected as “ RACK & PINION ”. Then the display
returns to the axes configuration display.
*3
The setting in the axes configuration display is completed and the display moves to the
mechanical specification display.
4-9
RE-CTO-A203
4.2 Addition of Base and Station Axis
In the mechanical specification display, mechanical data are specified.
Operation
Confirm specification of each axis in the mechanical specification display*1
desired item
Input the value
Select
Press [ENTER]*2
Explanation
*1
The mechanical specification is shown.
The mechanical specification display (In case of BALL-SCREW type)
MECHANICAL SPEC
B1
:RECT-XYZ
AXIS TYPE:BALL-SCREW
MOTION RANGE (+)
MOTION RANGE (-)
REDUCTION RATIO(NUMER)
REDUCTION RATIO(DENOM)
BALL-SCREW PITCH
AXIS:1
0.000 mm
0.000 mm
1.000
2.000
10.000 mm/r
Group, Type, Axis Number and
Axis Type are displayed.
The cursor is reversed.
!Maintenance Mode
MOTION RANGE
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: mm)
REDUCTION RATIO :Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/2, the numerator should be set
as 1.0 and the denominator should be set as 2.0.
BALL-SCREW PITCH :Input the traveling length when the ball-screw rotates once.
(Unit: mm/r)
The mechanical specification display (In case of RACK & PINION type)
MECHANICAL SPEC
B1
:RECT-XYZ
AXIS TYPE:RACK&PINION
MOTION RANGE (+)
MOTION RANGE (-)
REDUCTION RATIO(NUMER)
REDUCTION RATIO(DENOM)
PINION DIAMETER
AXIS:2
0.000 mm
0.000 mm
1.000
120.000
100.000 mm
Group, Type, Axis Number and
Axis Type are displayed.
The cursor is reversed.
!Maintenance Mode
MOTION RANGE
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: mm)
REDUCTION RATIO :Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/120, the numerator should be set
as 1.0 and the denominator should be set as 120.0.
PINION DIAMETER :Input the diameter of a pinion. (Unit: mm)
4-10
RE-CTO-A203
4.2 Addition of Base and Station Axis
*2
After this setting, the display moves to the next axis. Set them for all axes.
When [ENTER] is pressed in the mechanical specification display for last axis the setting in the mechanical specification display is completed and the display moves to the
motor specification display.
In the motor specification display, motor data are specified.
Operation
Confirm specification of each axis in the motor specification display*1
*2
item
Select desired
Input the value and press [ENTER] (Or move cursor to alternative and press
[ENTER].)*3
Explanation
*1
The motor specification of each axis is shown.
MOTOR SPEC
B1
:RECT-XYZ
AXIS:1
AXIS TYPE:BALL-SCREW
MOTOR
SGMP-15AW-YR1∗
SERVO AMP
JUSP-WSA3AB
CONVERTER
JUSP-ACP35JAB
ROTATION DIRECTION
NORMAL
MAX RPM
2000 rpm
ACCELARATION TIME
0.300 sec
INERTIA RATIO
300
!Maintenance Mode
*2
Group, Type, Axis Number and
Axis Type are displayed.
The cursor is reversed.
When an item which is input by number is selected the number input buffer line is displayed.
When MOTOR (or SERVO AMP or CONVERTER) is selected, the list of MOTOR
(SERVO AMP, or CONVERTER) is shown.
MOTOR LIST
B1
:RECT-XYZ
AXIS:1
AXIS TYPE:BALL-SCREW
USAREM-01YRW1*
USADED -22YRW1*
USAREM-02YRW1*
USADED -32YRW1*
USAREM-05YRW1*
USADED -40YRW1*
USAREM-08YRW1*
USADED -45YRW1*
USADED-13YRW1*
SGMP -01AWYR2*
USAREM-18YRW1*
SGMP -02AWYR1*
Group, Type, Axis Number and
Axis Type are displayed.
The type list registered in
ROM is displayed.
!Maintenance Mode
ROTATION DIRECTION : Set the rotation direction to which the current pulse data is
increased. (The counterclock wise view from the loaded side is positioned normal.)
4-11
RE-CTO-A203
4.2 Addition of Base and Station Axis
Normal direction
AC Servo Motor
MAX. RPM
: Input maximum rotation speed of a motor. (Unit: mm)
ACCELARATION SPEED: Input time between 0.01 and 1.00 to reach maximum
speed from stopping status at 100% JOINT motion .
(Unit: sec)
INERTIA RATIO
: “ 300 ” when in case of traveling axis or ” 0 ” when in case
of rotation axis is set as initial value.
But if the following phenomenon occurs in motion,
deal with the followed procedure.
<Phenomenon1> During motion, the axis moves unsteady on advance direction.
Confirm the motion with increasing this ratio in each 100.
<Phenomenon2> during pause, the motor makes a lot of noise.
Confirm the motion with decreasing this ratio in each 100.
*3
After this motor specification setting, the display moves to the next axis. Set them for all
axes.
When [ENTER] is pressed at the motor specification display for last axis, the setting in
this display is completed and the confirmation dialog is shown.
MOTOR SPEC
B1
:RECT-XYZ
AXIS:3
AXIS TYPE:BALL-SCREW
MOTOR
SGMP-15AWYR1
Modify?
AMP
JUSP-WSA3AB
CONVERTER
JUSP-ACP35JAB
NO FORWARD
ROTATION DIRECTION
YES
MAX RPM
2000 rpm
ACCELARATION TIME
0.300 sec
INERTIA RATIO
300
!Maintenance Mode
If “ YES ” is selected, the system parameter is modified automatically.
The addition of the base axis setting is complete.
4-12
RE-CTO-A203
4.2 Addition of Base and Station Axis
CAUTION
If the control group construction is changed by addition a base axis or station axis, the
internal data of the job file are also changed so that the job file data should be initialized.
Initialize the job file data with the procedure “File Initialize” in this manual after changing
the construction.
When the data, for example motion range, must be changed after the addition of a
base axis or station axis, the change can be done with the same procedure shown
above.
In that case, the control group construction is not changed so the job file data should
not be initialized.
4.2.2
Station Axis Setting
Operation
Confirm the type of control group in control group display*1
group for changing*2
Select desired type in the type list*3
*4
trol group display
Explanation
*1
The control group display is shown.
CONTROL GROUP
R1
B1
R2
S1
S2
:UP6-A0*
:NONE
:NONE
:TURN-2
:NONE
!Maintenance Mode
4-13
Select type of control
Press [ENTER] in con-
RE-CTO-A203
4.2 Addition of Base and Station Axis
*2
Type selection display is shown.
MACHINE LIST
NONE
TURN-2
UNIV-2
UNIV-4
UNIV-6
TURN-1
UNIV-1
UNIV-3
UNIV-5
TURN-1:TURN 1 AXIS STATION
TURN-2:TURN 2 AXES STATION
UNIV-1:UNIVERSAL 1 AXIS STATION
UNIV-2:UNIVERSAL 2 AXES STATION
.....
!Maintenance Mode
*3
After the type selection, the display returns to control group display.
When the station type is not “TURN-1” and “TURN-2” (like a traveling axis) “UNIVERSAL” should be selected. When “UNIVERSAL” is selected, interpolation motion (linear,
circular, etc.) is not supported.
TURN-1
STATION 1ST AXIS
TURN-2
STATION 2ND AXIS (ROTATION TABLE)
OFFSET
STATION 1ST AXIS (INCLINATION AXIS)
If the number of axes is set beyond 27, error occurs.
4-14
RE-CTO-A203
4.2 Addition of Base and Station Axis
*4
The setting in the control group display is completed and the display moves to the connection display.
In the connection display, the SERVOPACK which is connected with each control group and
the contactor which is used for the SERVOPACK are specified.
Operation
Confirm type of each control group in the connection display*1
of desired control group*2
display
Select desired item
Select connection item
Press [ENTER] in the connection
*3
Explanation
*1
Connection status of each control group is shown.
CONNECTION
SV CONTACT
R1 :#1
1
S1 :#1
2
CN< 1 2 3 4 5 6 7 8 9 >
[123456 - - -]
[- - - - - -12 -]
Control group which is set as
"NONE" in the control group
display is not shown.
!Maintenance Mode
*2
The items which can be set are shown.
CONNECTION
SV CONTACT
R1 :#1
1
S1 :#1
2
#1
#2
#3
#4
#5
#6
CN< 1 2 3 4 5 6 7 8 9 >
[123456 - - -]
[- - - - - -12 -]
!Maintenance Mode
It is possible to freely change the connection between each axis of each control group
and each connector(CN) of a SERVOPACK. The number in [ ] is the axis number, and
it indicates the connector number to which each axis connects.
The example above means the following:
R1(Robot)
1st axis
1CN (SERVOPACK #1, 1st contactor is used)
2nd axis
2CN (SERVOPACK #1, 1st contactor is used)
3rd axis
3CN (SERVOPACK #1, 1st contactor is used)
4th axis
4CN (SERVOPACK #1, 1st contactor is used)
5th axis
5CN (SERVOPACK #1, 1st contactor is used)
6th axis
6CN (SERVOPACK #1, 1st contactor is used)
4-15
RE-CTO-A203
4.2 Addition of Base and Station Axis
S1(Station)
1st axis
2nd axis
3rd axis
7CN (SERVOPACK #1, 2nd contactor is used)
8CN (SERVOPACK #1, 2nd contactor is used)
9CN (SERVOPACK #1, 2nd contactor is used)
The setting in the connection display is completed and the display moves to the axes
form display.
In the axes form display, the axis type and motor type are specified.
Operation
Confirm axis type of each axis in the axes form display*1
Select desired axis type
Select desired axis*2
Press [ENTER] in the axes form display*3
Explanation
*1
The axis type of each axis is shown.
The axes form display (In case of TURN type)
AXES CONFIG
S1 : TURN-2
AXIS AXIS TYPE
1
: TURN
2
: TURN
When axis type is "TURN-*" the
axis type can not be changed.
!Maintenance Mode
The axes form display (In case of UNIVERSAL type)
AXES CONFIG
S1
: UNIV-3
AXIS AXIS TYPE
1
: BALL-SCREW
2
: RACK&PINION
3
: TURN
BALL-SCREW :TRAVEL
(BALL-SCREW)
RACK&PINION:TRAVEL
(RACK&PINION)
TURN
:TURN
!Maintenance Mode
4-16
RE-CTO-A203
4.2 Addition of Base and Station Axis
*2
The axis types which can be set are shown.
AXES CONFIG
S1
: UNIV-3
AXIS AXIS TYPE
BALL-SCREW
1
: BALL-SCREW
RACK&PINION
2
: RACK&PINION
ROTATION
3
: ROTATION
!Maintenance Mode
The traveling axis for the ball-screw type should be selected as “ BALL-SCREW ”, the
one for rack & pinion type should be selected as “ RACK & PINION ”. Then the display
returns to the axes form display.
*3
The setting in the axes form display is completed and the display moves to the
mechanical specification display.
In the mechanical specification display, mechanical data are specified.
Operation
Confirm specification of each axis in the mechanical specification display*1
desired item
Input the value
Select
Press [ENTER]*2
Explanation
*1
The mechanical specification is shown.
The mechanical specification display (In case of ROTATION type)
MECHANICAL SPEC
S1
:TURN-2
AXIS TYPE :ROTATION
MOTION RANGE (+)
MOTION RANGE (-)
REDUCTION RATIO(NUMER)
REDUCTION RATIO(DENOM)
OFFSET (AXIS#1-2)
AXIS:1
0.000 deg
0.000 deg
1.000
120.000
10.000 mm
Group, Type, Axis Number and
Axis Type are displayed.
The cursor is reversed.
OFFSET is shown at 1st axis
when the type is TURN-2 only.
!Maintenance Mode
MOTION RANGE
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: deg)
REDUCTION RATIO :Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/120, the numerator should be
set as 1.0 and the denominator should be set as 120.0.
OFFSET
:Offset should be specified at “ TURN-2 ” type only.
nput length between the center of bending axis (1st axis) and
the turning table (2nd axis). (Unit: mm)
4-17
RE-CTO-A203
4.2 Addition of Base and Station Axis
TURN-2
STATION 2ND AXIS (ROTATION TABLE)
OFFSET
STATION 1ST AXIS (INCLINATION AXIS)
The mechanical specification display (In case of BALL-SCREW type)
MECHANICAL SPEC
S1
:UNIV-3
AXIS TYPE:BALL-SCREW
MOTION RANGE (+)
MOTION RANGE (-)
REDUCTION RATIO(NUMER)
REDUCTION RATIO(DENOM)
BALL-SCREW PITCH
AXIS:1
0.000 mm
0.000 mm
1.000
2.000
10.000 mm/r
Group, Type, Axis Number
and Axis Type are displayed.
The cursor is reversed.
!Maintenance Mode
MOTION RANGE
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: mm)
REDUCTION RATIO :Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/2, the numerator should be set
as 1.0 and the denominator should be set as 2.0.
BALL-SCREW PITCH :Input the traveling length when the ball-screw rotates once.
(Unit: mm/r)
The mechanical specification display (In case of RACK&PINION type)
MECHANICAL SPEC
S1
:UNIV-3
AXIS TYPE :RACK&PINION
MOTION RANGE (+)
MOTION RANGE (-)
REDUCTION RATIO(NUMER)
REDUCTION RATIO(DENOM)
PINION DIAMETER
AXIS:2
0.000 mm
0.000 mm
1.000
120.000
100.000 mm
Group, Type, Axis Number
and Axis Type are displayed.
The cursor is reversed.
!Maintenance Mode
MOTION RANGE
:Input maximum moving position (+ direction and - direction) from
origin point. (Unit: mm)
4-18
RE-CTO-A203
4.2 Addition of Base and Station Axis
REDUCTION RATIO
:Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/120, the numerator should be
set as 1.0 and the denominator should be set as 120.0.
PINION DIAMETER :Input the diameter of a pinion. (Unit: mm)
*2
After this setting, the display moves to the next axis. Set them for all axes.
When [ENTER] is pressed in the mechanical specification display for the last axis, the
setting in the mechanical specification display is completed and the display moves to
the motor specification display.
In the motor specification display, motor data are specified.
Operation
Confirm specification of each axis in the motor specification display*1
item*2
Input the value
Select desired
Press [ENTER] in the motor specification display*3
Explanation
*1
The motor specification of each axis is shown.
MOTOR SPEC
S1
:TURN-2
AXIS:1
AXIS TYPE:ROTATION
MOTOR
SGMP-15AW-YR1∗
SERVO AMP
JUSP-WSA3AB
CONVERTER
JUSP-ACP35JAB
ROTATION DIRECTION
NORMAL
MAX RPM
2000 rpm
ACCELARATION TIME
0.300 sec
INERTIA RATIO
300
!Maintenance Mode
*2
Group, Type, Axis Number
and Axis Type are displayed.
The cursor is reversed.
When an item which is input by number is selected, the number input buffer line is displayed.
And when MOTOR (or SERVO AMP or CONVERTER) is selected the list of MOTOR
(SERVO AMP or CONVERTER) is shown.
MOTOR LIST
S1
:TURN-2
AXIS:1
AXIS TYPE:ROTATION
USAREM-01YRW1*
USADED-22YRW1*
USAREM-02YRW1*
USADED-32YRW1*
USAREM-05YRW1*
USADED-40YRW1*
USAREM-08YRW1*
USADED-45YRW1*
USADED-13YRW1*
SGMP-01AWYR2*
USAREM-18YRW1*
SGMP-02AWYR1*
Group, Type, Axis Number
and Axis Type are displayed.
The type list registered in
ROM is displayed.
!Maintenance Mode
ROTATION DIRECTION : Set the rotation direction to which the current pulse data is
increased. (The counterclock wise from view from the loaded side is positioned normal.)
4-19
RE-CTO-A203
4.2 Addition of Base and Station Axis
Normal direction
AC Servo Motor
MAX. RPM
: Input maximum rotation speed of a motor. (Unit: mm)
ACCELARATION SPEED: Input time between 0.01 and 1.00 to reach maximum
speed from stopping status at 100% JOINT motion .
(Unit: sec)
INERTIA RATIO
: “ 300 ” when in case of traveling axis or “ 0 ” when in case
of rotation axis is set as initial value.
But if the following phenomenon occurs in motion,
deal with the followed procedure.
<Phenomenon1> During motion, the axis moves unsteady on advance direction.
Confirm the motion with increasing this ratio in each 100.
<Phenomenon2> During pause, the motor makes a lot of noise.
Confirm the motion with decreasing this ratio in each 100.
*3
After this motor specification setting, the display moves to the next axis. Set them for all
axes.
When [ENTER] is pressed at the motor specification display for the last axis, the setting in this display is completed and the confirmation dialog is shown.
MOTOR SPEC
S1
:TURN-2
AXIS:2
AXIS TYPE:TURN
MOTOR
SGMP-15AWYR1
Modify?
SERVO AMP
JUSP-WSA3AB
CONVERTER
JUSP-ACP35JAB
NOFORWARD
ROTATION DIRECTION
YES
MAX RPM
2000 rpm
ACCELARATION TIME
0.300 sec
INERTIA RATIO
300
!Maintenance Mode
If “ YES ” is selected, the system parameters are modified automatically.
Then addition of the station axis setting is complete.
4-20
RE-CTO-A203
4.2 Addition of Base and Station Axis
CAUTION
If the control group construction is changed by addition of a base axis or station axis, the
internal data of the job file are also changed so that the job file data should be initialized.
Initialize the job file data with procedure “File Initialize” in this manual after changing the
construction.
When the data, motion range for example, should be changed after the addition of a
base axis or station axis, the change can be done in the same procedure as shown
above.
In that case, the control group construction is not changed so the job file data should
not be initialized.
4-21
RE-CTO-A203
5.1 System Version
5 System Diagnosis
5.1
System Version
It is possible to check the system CPU version information as follows.
Operation
Select {VERSION}*1
Select {SYSTEM INFO} under the top menu
Explanation
*1
Version number display is shown.
DATA
EDIT
DISPLAY
L
VERSION
R1
SYSTEM :X1.00A(US)-00
PARAM :1.00 A
MODEL :UP130-A
APPLI :SPOT WELD
CPU
XCP01
XSP01
WRCA#0
SYSTEM ROM
1.00
1.00
1.00-00
UTILITY
C
S
BOOT ROM
1.00
1.00
1.00
!
5.2
Robot Model
Operation
Select {ROBOT} under the top menu
Select {MANIPULATOR TYPE}*1
Explanation
*1
The robot axis configuration display is shown.
DATA
UTILITY
EDIT
DISPLAY
L C S
ROBOT AXIS CONFIG
R1
AXIS CONFIGURATION
R1： UP130-A* 0011_1111 B1:0000_0001
S1： TURN-1
!
5-1
RE-CTO-A203
5.3 Input/Output Status
5.3
Input/Output Status
5.3.1
Universal Input
The status of input signal from the external can be confirmed.
Universal Input Display
Operation
Select {IN/OUT} under the top menu
Select {UNIVERSAL INPUT}*1
Explanation
*1
Universal input display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
UNIVERSAL INPUT
R1
NO.
7654 3210
#001X
0111_1011
#002X
0000_0000
#003X
0000_0000
#004X
1111_0000
#005X
0000_0000
#006X
0000_1010
#007X
0000_0000
#008X
0000_0000
!
Universal Input Detailed Display
Operation
Select {DISPLAY} under the menu
Select {DETAIL}*1
Explanation
*1
Universal input detailed display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
UNIVERSAL INPUT
R1
GROUP
IG#01
123:DEC. 7b:HEX.
IN#001 #0010
[
]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
IN#008 #0017
[
]
!
5-2
RE-CTO-A203
5.3 Input/Output Status
5.3.2
Universal Output
The status of the output signal set by the output instruction can be confirmed and modified.
Universal Output Display
Operation
Select {IN/OUT} under the top menu
Select {UNIVERSAL OUTPUT}*1
Explanation
*1
Universal output display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
UNIVERSAL OUTPUT
R1
NO.
7654 3210
#101X
0111_1011
#102X
0000_0000
#103X
0000_0000
#104X
1111_0000
#105X
0000_0000
#106X
0000_1010
#107X
0000_0000
#108X
0000_0000
!
Universal Output Detailed Display
Operation
Select {DISPLAY} under the menu
Select {DETAIL}*1
Explanation
*1
Universal output detailed display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
UNIVERSAL OUTPUT
R1
GROUP
OG#01
123:DEC. 7b:HEX.
OUT#001 #1010
[
]
OUT#002 #1011
[
]
OUT#003 #1012
[
]
OUT#004 #1013
[
]
OUT#005 #1014
[
]
OUT#006 #1015
[
]
OUT#007 #1016
[
]
OUT#008 #1017
[
]
!
5-3
RE-CTO-A203
5.3 Input/Output Status
Modify the Output Status
Operation
Select the desired output signal number*1
Press [INTER LOCK] + [SELECT]*2
Explanation
*1
*2
Select the status of the desired output signal, “ ” or “
detailed display.
The status is changed. ( :ON status,
:OFF status)
”, in the universal output
DATA
EDIT
DISPLAY
UTILITY
L
C S
UNIVERSAL OUTPUT
R1
GROUP
OG#01 122:DEC. 7a:HEX.
OUT#001 #1010
[
]
OUT#002 #1011
[
]
OUT#003 #1012
[
]
OUT#004 #1013
[
]
OUT#005 #1014
[
]
OUT#006 #1015
[
]
OUT#007 #1016
[
]
OUT#008 #1017
[
]
!
5-4
RE-CTO-A203
5.3 Input/Output Status
5.3.3
Specific Input
Specific Input Display
Operation
Select {SPECIFIC INPUT}*1
Select {IN/OUT} under the top menu
Explanation
*1
Specific input display is shown.
DATA
EDIT
DISPLAY
L
SPECIFIED INPUT
R1
NO.
7654 3210
#401X
0111_1011
#402X
0000_0000
#403X
0000_0000
#404X
1111_0000
#405X
0000_0000
#406X
0000_1010
#407X
0000_0000
#408X
0000_0000
!
UTILITY
C
S
Specific Input Detailed Display
Operation
Select {DISPLAY} under the menu
Select {DETAIL}*1
Explanation
*1
Specific input detailed display is shown.
DATA
EDIT
SPECIFIED INPUT
GROUP
SIN#001 #4010
SIN#002 #4011
SIN#003 #4012
SIN#004 #4013
SIN#005 #4014
SIN#006 #4015
SIN#007 #4016
SIN#008 #4017
!
DISPLAY
R1
UTILITY
L
C
S
123:DEC. 7b:HEX.
SYSTEM ALM REQ
SYSTEM MSG REQ
USER ALM REQ
USER MSG REQ
ALM/ERR RESET
SPEED LIMIT
5-5
RE-CTO-A203
5.3 Input/Output Status
5.3.4
Specific Output
Specific Output Display
Operation
Select {SPECIFIC OUTPUT}*1
Select {IN/OUT} under the top menu
Explanation
*1
Specific output display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
SPECIFIED OUTPUT
R1
NO.
7654 3210
#501X
0111_1011
#502X
0000_0000
#503X
0000_0000
#504X
1111_0000
#505X
0000_0000
#506X
0000_1010
#507X
0000_0000
#508X
0000_0000
!
Specific Output Detailed Display
Operation
Select {DISPLAY} under the menu
Select {DETAIL}*1
Explanation
*1
Specific output detailed display is shown.
DATA
EDIT
SPECIFIED OUTPUT
GROUP
SOUT#001 #5010
SOUT#002 #5011
SOUT#003 #5012
SOUT#004 #5013
SOUT#005 #5014
SOUT#006 #5015
SOUT#007 #5016
SOUT#008 #5017
!
DISPLAY
R1
UTILITY
L
C
S
123:DEC. 7b:HEX.
MAJOR ALM OCCUR
MINOR ALM OCCUR
SYSTEM ALM OCCUR
USER ALM OCCUR
ERROR OCCUR
MEMORY BTRY WEAK
ENCDR BTRY WEAK
5-6
RE-CTO-A203
5.3 Input/Output Status
5.3.5
RIN INPUT
RIN INPUT Display
Operation
Select {RIN}*1
Select {IN/OUT} under the top menu
Explanation
*1
RIN input display is shown.
DATA
RIN INPUT
RIN#001
RIN#002
RIN#003
RIN#004
EDIT
DISPLAY
R1
!
5-7
UTILITY
L
C
S
DIRECT IN1
DIRECT IN2
DIRECT IN3
DIRECT IN4
RE-CTO-A203
5.3 Input/Output Status
5.3.6
Modify the Signal Name
The name of the universal input or output signal can be modified.
DATA
EDIT
UNIVERSAL INPUT
GROUP
IG#01
IN#001 #0010
IN#002 #0011
IN#003 #0012
IN#004 #0013
IN#005 #0014
IN#006 #0015
IN#007 #0016
IN#008 #0017
!
UTILITY
DISPLAY
R1
L
C
123:DEC. 7b:HEX.
[
[
[
[
[
[
[
[
S
]
]
]
]
]
]
]
]
SIGNAL NAME
The name can be modified in two ways.
Direct Modify on the Detailed Display
Operation
Move the cursor to the signal name to be modified in the detailed display, and press
[SELECT].*1
Input the signal name*2
Press [ENTER]*3
Explanation
*1
Character input line is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
UNIVERSAL INPUT
R1
GROUP
IG#01
123:DEC. 7b:HEX.
IN#001 #0010
[
]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
>
!
*2
If the signal name has already been registered, the current name is displayed on the
input line.
If you wish to change the name, delete the characters on the input line by pressing
[CANCEL], and then input a new name.
IN#007 #0016
>TEST SIGNAL
!
[
5-8
]
RE-CTO-A203
5.3 Input/Output Status
*3
New signal name is registered.
DATA
EDIT
DISPLAY
UTILITY
L
C S
R1
UNIVERSAL INPUT
GROUP
IG#01
123:DEC. 7b:HEX.
IN#001 #0010
[ TEST SIGNAL
]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
IN#008 #0017
[
]
!
Modify from the Menu
Operation
Move the cursor to the signal name to be modified in the detailed display.
{EDIT} under the menu*1
[ENTER]
Select {RENAME}*2
Input the signal name
*3
Explanation
*1
The pull-down menu is shown.
DATA
EDIT
編集
汎用入力
SEARCH SIGNAL NO.
グループ
IG#01 NO.
SEARCH RELAY
IN#001
#0010
RENAME
RENAME
IN#002 #0011
IN#003 #0012
IN#004 #0013
IN#005 #0014
IN#006 #0015
IN#007 #0016
IN#008 #0017
!
*2
Character input line is displayed.
*3
New signal name is registered.
UTILITY
DISPLAY
R1
123:DEC.
[
[
[
[
[
[
[
[
L
C
S
7b:HEX.
]
]
]
]
]
]
]
]
DATA
EDIT
DISPLAY
UTILITY
L
C S
R1
UNIVERSAL INPUT
GROUP
IG#01
123:DEC. 7b:HEX.
IN#001 #0010
[ TEST SIGNAL
]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
IN#008 #0017
[
]
!
5-9
Select
Press
RE-CTO-A203
5.3 Input/Output Status
5.3.7
Search the Signal Number
A signal number of universal input, universal output, specific input, or specific output can be
searched.
SIGNAL NO.
DATA
UTILITY
EDIT
DISPLAY
L
C S
UNIVERSAL INPUT
R1
GROUP
IG#01 123:DEC. 7b:HEX.
IN#001 #0010
[
]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
IN#008 #0017
[
]
!
The signal number can be searched in the following two ways.
Direct Search on the Detailed Display
Operation
Move the cursor to a signal number in the detail display, and press [SELECT]*1
the number of the signal *2
Press [ENTER] to start the search*3
Explanation
*1
Number input line is displayed.
DATA
UTILITY
EDIT
DISPLAY
L C S
UNIVERSAL INPUT
R1
GROUP
IG#01
123:DEC. 7b:HEX.
IN#001 #0010
[TEST SIGNAL ]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
>
!
*2
Input the signal number in the number input line.
IN#007 #0016
>41
!
[
5-10
]
Type
RE-CTO-A203
5.3 Input/Output Status
*3
The page where the signal number exists is displayed.
DATA
UTILITY
EDIT
DISPLAY
L C S
UNIVERSALINPUT
R1
GROUP
IG#06
128:DEC 80:HEX.
IN#041 #0060
[
]
IN#042 #0061
[
]
IN#043 #0062
[
]
IN#044 #0063
[
]
IN#045 #0064
[
]
IN#046 #0065
[
]
IN#047 #0066
[
]
IN#048 #0067
[
]
!
5-11
RE-CTO-A203
5.3 Input/Output Status
Search from the Menu
Operation
Select {EDIT} under the menu in the detail display*1
Type the number of the signal
Select {SEARCH SIGNAL NO.}*2
Press [ENTER] to start the search*3
Explanation
*1
The pull-down menu is shown.
DATA
UTILITY
EDIT
編集
DISPLAY
L C S
SEARCH SIGNAL
SIGNAL NO.
NO.
R1
SEARCH
GROUP
IG#01
123:DEC. 7b:HEX.
SEARCH RELAY NO.
RENAME#0010
IN#001
[
]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
IN#008 #0017
[
]
!
*2
Number input line is displayed.
*3
Input the signal number to be searched in the number input line, and press [ENTER].
The page where the signal number exists is displayed.
5.3.8
Relay Number Search
A search can be done for a relay number of a universal input or output signal or a specific
input or output signal.
RELAY NO.
DATA
UTILITY
EDIT
DISPLAY
L C S
UNIVERSAL INPUT
R1
GROUP
IG#01
123:DEC. 7b:HEX.
IN#001
#0010
[
]
IN#002
#0011
[
]
IN#003
#0012
[
]
IN#004
#0013
[
]
IN#005
#0014
[
]
IN#006
#0015
[
]
IN#007
#0016
[
]
IN#008
#0017
[
]
!
5-12
RE-CTO-A203
5.3 Input/Output Status
Direct Search on the Detail Display
Operation
Move the cursor to a relay number in the detail display, and press [SELECT]*1
the number of the relay
*2
Press [ENTER] to start the search
*3
Explanation
*1
A number input line is displayed.
DATA
UTILITY
EDIT
DISPLAY
L C S
UNIVERSAL INPUT
R1
GROUP
IG#01
123:DEC. 7b:HEX.
IN#001 #0010
[TEST SIGNAL ]
IN#002 #0011
[
]
IN#003 #0012
[
]
IN#004 #0013
[
]
IN#005 #0014
[
]
IN#006 #0015
[
]
IN#007 #0016
[
]
>
!
*2
In the number input line, type the relay number.
IN#007 #0016
>60
!
*3
[
]
The page where the input relay number can be found is displayed.
DATA
UTILITY
EDIT
DISPLAY
L C S
UNIVERSALINPUT
R1
GROUP
IG#06
128:DEC 80:HEX.
IN#041 #0060
[
]
IN#042 #0061
[
]
IN#043 #0062
[
]
IN#044 #0063
[
]
IN#045 #0064
[
]
IN#046 #0065
[
]
IN#047 #0066
[
]
IN#048 #0067
[
]
!
5-13
Type
RE-CTO-A203
5.3 Input/Output Status
Search using the Menu
Operation
Select {EDIT} under the menu in the detail display*1
Type the number of the relay
Select {SEARCH RELAY NO.}*2
Press [ENTER] to start the search*3
Explanation
*1
A pull-down menu appears.
DATA
EDIT
編集
UTILITY
DISPLAY
L C S
R1
123:DEC. 7b:HEX.
[
]
[
]
[
]
[
]
[
]
[
]
[
]
[
]
SEARCH SIGNAL NO.
GROUP
IG#01
SEARCH RELAY NO.
IN#001
RENAME#0010
IN#002 #0011
IN#003 #0012
IN#004 #0013
IN#005 #0014
IN#006 #0015
IN#007 #0016
IN#008 #0017
!
*2
A number input line is displayed.
*3
In the number input line, type the relay number and press [ENTER] to start the search.
The page where the relay number can be found is displayed.
5-14
RE-CTO-A203
5.4 System Monitoring Time
5.4
System Monitoring Time
5.4.1
System Monitoring Time Display
The status of system operation, e.g. power supply time, can be checked.
Operation
Select {SYSTEM INFO}
Select {MONITORING TIME}*1
Explanation
*1
The system monitoring time display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
SYS MONITORING TIME
R1
CONTROL POWER TIME (1998/07/06 10:00 )
2385:42'02
SERVO POWER TIME
(1998/07/06 10:30 )
2380:10'12
PLAYBACK TIME
(1998/10/22 11:12 )
2210:00'20
MOVING TIME
(1998/10/22 15:30 )
1875:15'30
OPERATING TIME
(1998/10/22 16:12 )
!
CONTROL POWER TIME
Displays the cumulative time that the main power supply has been ON.
SERVO POWER TIME
Displays the cumulative time that the servo power supply has been ON.
PLAYBACK TIME
Displays the cumulative time during which playback was executed.
MOVING TIME
Displays the cumulative time that the manipulator was in motion.
OPERATING TIME
Displays the cumulative time spent in operation. For example, if the manipulator is
used for arc welding, it displays the amount of time spent in arc welding; if the
manipulator is used for handling, it displays the time spent in handling.
5-15
RE-CTO-A203
5.4 System Monitoring Time
5.4.2
Individual Display of the System Monitoring Time
If the page key
is pressed, servo power time by each robot axis, playback time, moving
time and operating time by each application, is individually displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
SERVO POWER TIME
R1
ROBOT1
(1998/07/06 10:00 )
2385:42'02
STATION1
(1998/08/03 10:00 )
262:37'02
DATA
EDIT
DISPLAY
UTILITY
L
C S
PLAYBACK TIME
R1
ROBOT1
(1998/07/06 10:00 )
2385:42'02
STATION1
(1998/08/03 10:00 )
262:37'02
DATA
EDIT
DISPLAY
UTILITY
L
C S
MOVING TIME
R1
ROBOT1
(1998/07/06 10:00 )
2385:42'02
STATION1
(1998/08/03 10:00 )
262:37'02
DATA
EDIT
DISPLAY
UTILITY
L
C S
OPERATING TIME
R1
APPLI1
(1998/07/06 10:00 )
2385:42'02
APPLI2
(1998/08/03 10:00 )
262:37'02
NOTE The total axes times here are not always the same as the time in the system monitoring
time display because these displays show time as seen from the individual axes.
5-16
RE-CTO-A203
5.4 System Monitoring Time
5.4.3
Clearing the System Monitoring Time
System monitoring times can be cleared and set back to 0 by following procedure. These
operations can be performed in the system monitoring time display, or in the individual displays.
Operation
Select the time to be cleared*1
Select “YES”*2
Explanation
*1
Confirmation dialog is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
SYS MONITORING TIME
R1
CONTROL POWER TIME (1998/07/06 10:00 )
2385:42'02
SERVO POWER TIME
(1998/07/06 10:30 )
Initialize?
2 3MOVING
8 0 : 1 0 TIME
'12
PLAYBACK TIME
(1998/10/22 11:12 )
2YES
210:00'20
NO
MOVING TIME
(1998/10/22 15:30 )
1875:15'30
OPERATING TIME
(1998/10/22 16:12 )
!
*2
The cumulative time value at the cursor line is reset to 0, and a new time measurement
begins.
DATA
EDIT
DISPLAY
UTILITY
L
C S
SYS MONITORING TIME
R1
CONTROL POWER TIME (1998/07/06 10:00 )
2385:42'02
SERVO POWER TIME
(1998/07/06 10:30 )
2380:10'12
PLAYBACK TIME
(1998/10/22 11:12 )
2210:00'20
MOVING TIME
(1998/10/22 15:30 )
0:00'00
OPERATING TIME
(1998/10/22 16:12 )
!
5-17
RE-CTO-A203
5.5 Alarm History
5.5
Alarm History
5.5.1
Alarm History Display
There are five types of alarm list displays: the "MAJOR ALARM DISPLAY," the "MINOR
ALARM DISPLAY," the "USER ALARM(SYSTEM) DISPLAY," the "USER ALARM(USER) DISPLAY," and the "OFF-LINE DISPLAY." Each display shows the alarm code and the date and
time.
Operation
Select {ALARM HISTORY}*1
Select {SYSTEM INFO} under the top menu
the page key
Press
to change the display*2
Explanation
*1
The alarm history display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
MAJOR ALARM
R1
CODE
DATE
CLOCK
01 1030
1998/05/12
12:00
02 0060
1998/06/15
15:25
03
04
05
MEMORY ERROR(PARAMETER FILE)
[5]
JOB:TEST0001 LINE:0010 STEP:010
!
*2
Each time the page key
is pressed, the display changes "MAJOR
ALARM" "MINOR ALARM" "USER ALARM(SYSTEM)” "USER
ALARM(USER)" "OFF-LINE."
5.5.2
Clearing the Alarm History
The history of the minor alarms and the user alarms (system and user ) can be cleared.
Operation
Display the alarm history display to be cleared
Select {CLEAR HISTORY}
*1
Select {DATA} under the menu
*2
Select “YES”
5-18
RE-CTO-A203
5.6 I/O Message History
Explanation
*1
The confirmation dialog is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
MINOR ALARM
R1
CODE
DATE
CLOCK
01 4000
1998/05/12
12:00
02
Clear data?
03
04
NO
YES
05
MEMORY ERROR(TOOL FILE)
[5]
JOB:TEST0001 LINE:0010 STEP:010
!
*2
The alarm history displayed is reset.
5.6
I/O Message History
5.6.1
I/O Message History Display
The I/O message history display shows the date and time, job name, line number, and step
number of the I/O message that appeared on the screen.
Operation
Select {SYSTEM INFO} under the top menu
Select {I/O MSG HISTORY}*1
Explanation
*1
The I/O message history display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
I/O MESSAGE HISTORY
R1
0001 GAS SHORTAGE
0002 WIRE STICKING
0003
0004
0005
0006
0007
DATE/TIME:1999/06/16 12:00
JOB NAME :ARCON LINE:0006 STEP:004
!
Press [SELECT], and numeric values can now be entered. Input the history number,
and press [ENTER]. The search for the input history number begins, and the I/O message that appeared on the screen is displayed.
5-19
RE-CTO-A203
5.6 I/O Message History
Search
Use the following operation to search for the I/O message history.
Operation
Select {EDIT} under the menu
Select {SEARCH}*1
Input the history No.
Press [ENTER]*2
Explanation
*1
Character input line is displayed.
*2
The search for the input history number begins, and the I/O message is displayed.
5.6.2
Clearing the I/O Message History
Use the following operation to clear the I/O message history.
Operation
Select {DATA} under the menu
Select {CLEAR HISTORY}*1
Explanation
*1
The confirmation dialog box is displayed.
DATA
EDIT
DISPLAY
UTILITY
L
C S
I/O MESSAGE HISTORY
R1
0001 GAS SHORTAGE
0002 WIRE STICKING
0003
Clear data?
0004
0005
YES
NO
0006
0007
DATE/TIME:1999/06/16 12:00
JOB NAME :ARCON LINE:0006 STEP:004
!
*2
The displayed I/O message history is cleared.
5-20
Select “YES”*2
RE-CTO-A203
5.7 Position Data When Power is Turned ON/OFF
5.7
Position Data When Power is Turned ON/OFF
5.7.1
Power ON/OFF Position Display
The Power ON/OFF position display shows the position of the manipulator when power was
turned off the last time, the current position of the manipulator when power was later turned
on, and the amount of difference between the two positions. When alarm 4107, "OUT OF
RANGE (ABSO DATA)" occurs, the error value of the faulty axes can be verified in this display.
Operation
Select {ROBOT} under the top menu
Select {POWER ON/OFF POS}*1
Explanation
*1
The power ON/OFF position display is shown.
DATA
EDIT
DISPLAY
UTILITY
L
C S
POWER ON/OFF POSITION R1
OFF POS
ON POS
DIFFERENCE
R1:S
4775
4120
665
L
8225
8225
0
U
960
960
0
R
-336
-336
0
B
-202
-203
1
T
-10
-11
1
!
5-21
RE-CTO-A203
5.8 Current Position Display
5.8
Current Position Display
5.8.1
Current Position Display
Operation
Select {ROBOT} under the top menu
menu*1
Select {CURRENT POSITION} under the sub
Select the types of coordinates to be displayed *2
coordinate system*3
Explanation
*1
The current position display is shown.
DATA
UTILITY
EDIT
DISPLAY
L C S
R1
CURRENT POSITION
COORDINATE : PULSE
TOOL : 00
R1 :S
0
L
0
U
0
R
0
B
0
T
0
!
*2
A pull-down menu appears.
DATA
UTILITY
EDIT
DISPLAY
L C S
CURRENT POSITION
R1
COORDINATE : PULSE
TOOL : 00
R1 :S
PULSE 0
L
BASE 0
U
ROBOT0
R
USER 0
B
0
T
0
!
*3
The type of coordinates being displayed is changed.
DATA
UTILITY
EDIT
DISPLAY
L C S
CURRENT POSITION
R1
COORDINATE : BASE
TOOL : 00
R1 : X 915.000 mm Rx
180.00 deg.
Y
0.000 mm Ry
0.00 deg.
Z 765.000 mm Rz
0.00 deg.
<ROBOT TYPE>
FRONT
S< 180
UP
R< 180
FLIP
T< 180
!
5-22
Select the desired
RE-CTO-A203
5.9 Servo Monitoring
5.9
Servo Monitoring
5.9.1
Servo Monitor Display
The servo monitor display shows the servo-related data of each axis.
Monitor Items
Description
FEEDBACK PULSE
Feedback position (actual position) of each axis
“0” at the home position.
ERROR PULSE
Difference between the command position and
the feedback position of each axis.
SPEED DEVIATION
Difference between the command speed and the
feedback speed of each axis.
SPEED INST
Speed reference of each axis.
FEEDBACK SPEED
Feedback speed (actual speed) of each axis.
TORQUE SPEC
Torque reference of each axis.
MAX. TORQUE
Keeps the maximum value of the torque reference of each axis.
“0” when the maximum torque is cleared or the
control power supply is turned on or off.
ENCODER ROTATE SUM
Position after one rotation of the encoder when
the control power supply of each axis is turned
on.
MOTOR ABSOLUTE
Absolute value of the motor is calculated by adding the position in one rotation to the sum of the
accumulated rotations when the control power
supply of each axis is turned on.
Changing the Monitor Items
Operation
Set the security mode to Management mode
Select {ROBOT} under the top menu
Select {SERVO MONITOR}*1
Select {DISPLAY} under the menu *2
Select
MONITOR ITEM 1 or 2, and view the sub-menu choices by pressing the RIGHT ARROW
KEY [ →] *3
Select a menu *4
5-23
RE-CTO-A203
5.9 Servo Monitoring
Explanation
*1
The servo monitor display appears.
DATA
UTILITY
EDIT
DISPLAY
L C S
R1
SERVO MONITOR
FEEDBACK PULSE
ERROR PULSE
R1 :S
1805
300
L
234
0
U
995
0
R
123
0
B
237
0
T
2432
0
*2
A pull-down menu appears.
MONITOR ITEM 1 is the data on the left, and MONITOR ITEM 2 is the data on the
right.
DATA
UTILITY
EDIT
DISPLAY
MONITOR ITEM1
>
SERVO MONITOR
>
FEEDBACK PULS MONITOR ITEM2
R1 :S
1805
300
L
234
0
U
995
0
R
123
0
B
237
0
T
2432
0
*3
The sub-menu choices are displayed.
EDIT
DATA
DISPLAY
UTILITY
FEEDBACK PULSE
SERVO MONITOR
FEEDBACK PULSE ERROR PULSE
R1 :S
1805 SPEED DEVIATION
300
SPEED INST
INST
L
234 SPEED
0
U
995
0
▼
R
123
0
B
237
0
T
2432
0
*4
The type of monitor-related information is changed.
UTILITY
DATA
EDIT
DISPLAY
L
C S
SERVO MONITOR
R1
SPEED INST
ERROR PULSE
R1 :S
4000
300
L
0
0
U
0
0
R
0
0
B
0
0
T
0
0
5-24
RE-CTO-A203
5.9 Servo Monitoring
Clearing Maximum Torque Data
The data for the maximum torque can be cleared when the maximum torque-related information is being displayed.
Operation
Select {DATA} under the menu *1
Select {MAX. TORQUE} *2
Explanation
*1
{CLEAR MAX TORQUE} is displayed.
UTILITY
EDIT
DISPLAY
DATA
L
C S
CLEAR MAX TORQUE
R1
MAX TORQUE
ERROR PULSE
R1 :S
30
0
L
70
0
U
80
0
R
20
0
B
40
0
T
30
0
*2
The maximum torque data is cleared.
UTILITY
EDIT
DISPLAY
DATA
L
C S
SERVO MONITOR
R1
MAX TORQUE
FEEDBACK PULSE
R1 :S
0
0
L
0
0
U
0
0
R
0
0
B
0
0
T
0
0
5-25
Hardware
RE-CTO-A203
6 YASNAC XRC Specification
WARNING
• Before operating the manipulator, check that the SERVO ON lamp goes
out when the emergency stop buttons on the playback panel and programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of
an emergency. The emergency stop buttons are attached on upper-right of the playback
panel and right of the programming pendant.
• Always set the teach lock before starting teaching.
Failure to observe this caution may result in injury from inadvertent operation of the playback panel.
• Observe the following precautions when performing teaching operations
within the working envelope of the manipulator:
- Always view the manipulator from the front.
- Always follow the predetermined operating procedure.
- Always have an escape plan in mind in case the manipulator comes
toward you unexpectedly.
- Ensure that you have a place to retreat to in case of emergency.
Improper or unintentional manipulator operation can result in injury.
• Prior to performing the following operations, be sure that there is no one
within the working envelope of the manipulator, and be sure that you are
in a safe place yourself.
- Turning the power ON to the YASNAC XRC.
- Moving the manipulator with the programming pendant.
- Running check operation.
- Performing automatic operation.
Injury may result from collision with the manipulator to anyone entering the working envelope of the manipulator.
6-1
RE-CTO-A203
CAUTION
• Perform the following inspection procedures prior to peforming teaching
operations. If problems are found, correct them immediately, and be
sure that all other necessary processing has been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external wires.
• Always return the programming pendant to its specified position after
use.
If the programming pendant is inadvertently left on the manipulator, fixture, or on the floor,
the manipulator or a tool could collide with it during manipulator movement, possibly
causing injuries or equipment damage.
6-2
RE-CTO-A203
6.1 Specification List
6.1
Specification List
Controller
Configuration
Free-standing, enclosed type
Dimensions
Refer to following
Cooling System
Indirect cooling
Ambient Temperature
0°C to + 45°C (During operation)
-10°C to + 60°C (During transit and storage)
Relative Humidity
90%RH max. (non-condensing)
Power Supply
3-phase, 200/220 VAC(+10% to -15%) at 50/60Hz(2 Hz)
Grounding
Grounding resistance : 100 Ω or less
Exclusive grounding
Digital I/O
Specific signal (hardware)
12 inputs and 2 outputs
General signals (standard, max.) 40 inputs and 40 outputs
Positioning System
By serial communication (absolute encoder)
Drive Unit
SERVOPACK for AC servomotors
Acceleration/
Deceleration
Software servo control
Programming
Capacity
5000 steps, 7000 instructions (including steps)
Playback Panel*1
*1
Dimensions
190(W) × 120(H) × 50(D) mm
Buttons Provided
Mode change
Start / Hold, Emergency stop
An optional remote playback panel is available
External Dimensions
A-type
panel
Small
capacity
SV3X, UP6, or SK16X
470(W) × 760(H) × 320(D) mm
Medium
capacity
SK45X, SK16MX, or SP70X
550(W) × 860(H) × 420(D) mm
Large
capacity
UP130, UP165, UP165-100, UP200, UP130R, SK300X, or SP100X
650(W) × 860(H) × 420(D) mm
6-3
RE-CTO-A203
6.1 Specification List
External Dimensions
B-type
panel
New Atype
panel
New Btype
panel
Small
capacity
SV3X, UP6, or SK16X
700(W) × 750(H) × 420(D) mm
Medium
capacity
SK45X, SK16MX, or SP70X
900(W) × 860(H) × 420(D) mm
Large
capacity
UP130, UP165, UP165-100, UP200, UP130R, SK300X, or SP100X
900(W) × 860(H) × 420(D) mm
Small
capacity
SV3X, SV035X, UP6, SK16X, or UP20
500(W) × 900(H) × 420(D) mm
Medium
capacity
UP50, SK45X, SK16MX, SP70X, or UP20M
650(W) × 900(H) × 420(D) mm
Large
capacity
UP130, UP165, UP165-100, UP200, UP130T, SK300X, SP100X,
SK506X, SR200X, UP130R, UP165R, UP200R, or UP130RL
650(W) × 900(H) × 420(D) mm
Small
capacity
SV3X, SV035X, UP6, SK16X, or UP20
500(W) × 1300(H) × 450(D) mm
Medium
capacity
UP50, SK45X, SK16MX, SP70X, or UP20M
650(W) × 1300(H) × 450(D) mm
Large
capacity
UP130, UP165, UP165-100, UP200, UP130T, SK300X, SP100X,
SK506X, SR200X, UP130R, UP165R, UP200R, or UP130RL
650(W) × 1300(H) × 450(D) mm
6-4
RE-CTO-A203
6.2 Function List
6.2
Function List
Programming
Pendant
Operation
Safety
Feature
Maintenance
Function
Coordinate System
Joint, Rectangular/Cylindrical, Tool, User Coordinates
Modification of
Teaching Points
Adding, Deleting, Correcting (Robot axes and external axes
espectively can be corrected.)
Inching Operation
Possible
Locus Confirmation
Forward/Reverse step, Continuous feeding
Speed Adjustment
Fine adjustment possible during operating or pausing
Timer Setting
Possible every 0.01 s
Short-cut Function
Direct-open function, Screen reservation function
Interface
RS-232C × 1 port for FC 1/FC2
(At Programming Pendant)
Application
Arc welding, Spot welding, Handling, General, Others
Essential Measures
JIS (Japanese Industrial Standard)
Running Speed
Limit
User definable
Deadman Switch
3 position type. Servo power can be turned on at the mid
position only. (Located on programming pendant)
Collisionproof
Frames
S-axis frame (doughnut-sector), Cubic frame (user coordinate)
Self-Diagnosis
Classifies error and two types of alarms (major and minor)
and displays the data
User Alarm Display
Possible to display alarm messages for peripheral device
Machine Lock
Test-run of peripheral devices without robot motion
Door Interlock
A door can be opened only when a circuit breaker is off.
Operation Time
Display
Control power-on time, Servo power-on time, Playback time,
Operation time, Work time
Alarm Display
Alarm message and previous alarm records
I/O Diagnosis
Simulated enabled/disabled output possible
T.C.P. Calibration
Automatically calibrates parameters for end effectors using a
master jig
6-5
RE-CTO-A203
6.3 Programming Pendant
Programing
Functions
6.3
Programming
Interactive programming
Language
Robot language: INFORM II
Robot Motion Control
Joint coordinates, Linear/Circular interpolations, Tool coordinates
Speed Setting
Percentage for joint coordinates, 0.1mm/s units for interpolations, Angular velocity for T.C.P. fixed motion
Program Control
Instructions
Jumps, Calls, Timer, Robot stop, Execution of some instructions during robot motion
Operation Instructions
Preparing the operation instructions for each application
(Arc-ON, Arc-OFF, etc...)
Variable
Global variable, Local variable
Variable Type
Byte type, Integer type, Double precision type, Real number
type, Position type
I/O Instructions
Discrete I/O, Pattern I/O processing
Programming Pendant
Material
Reinforced thermoplastic enclosure with a detachable suspending strap
Dimensions
200(W) × 348(H) × 61.8(D) mm
Displayed
Units
40 characters 12 lines
Multilingual function (English, Japanese, Hankul)
Backlight
Others
3 position deadman switch, RS-232C × 1 port
6-6
RE-CTO-A203
6.4 Equipment Configuration
6.4
Equipment Configuration
The XRC is comprised of individual units and modules (circuit boards). Malfunctioning components can generally be easily repaired after a failure by replacing a unit or a module.
This section explains the configuration of the XRC equipment.
6.4.1
Arrangement of Units and Circuit Boards
Configuration
The arrangements of units and circuit boards in the A-type, the B-type, the new A-type, and
the new B-type panels for small-capacity, medium-capacity, and large-capacity XRCs are
shown.
Small Capacity
1. A-type panel
CPU Rack
JZNC-XRK01 -
I/O-Power-On Unit
JZNC-XIU01
Power Supply Unit
JZRCR-XPU03
oo
o
o
Playback Panel
ZY1C-SS3152
Non-fuse Breaker (QF1)
SA33B 10A 3P
A
JZNC-XRK01
XCP01
CPS-150F
NJ2096-1
BAT
SW
Back Duct Fan
4715PS-22T
-B30-B00
(For air inlet)
R
R
T
T
T
1X
(EV2)
(EV1)
1
B 0 0
GRIP
CNPB04
CNPB05
CNPB06
8830-032-170SD
8830-032-170SD
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
CONV
PWM
10250-52A2JL
PWM
CN30
10250-52A2JL
FRC5-C14S52T-OL(D20)
345
3-175475-6
CN40
CNE
89A
67
FRC5-C14S52T-OL(D20)
PWM
1CN
CNPG123
CN50
178323-2
JUSPRCP01AAA
012
EF
CN20
+5V
CNPG456
10220-6202JL
2CN
BCD
(EV4)
Servopack
Ascending Fan
3610PS-22T
-B30-B00
(Air flows up)
R
1KM
2X
1X
(EV3)
CPS-150F
JAPAN
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
XCP01
CNPB01
8830-032-170SD
CNPB02
CNPB03
8830-032-170SD
S
L
8830-032-170SD
U
R
B
T
GRIP
Servopack
Refer to the following table.
A'
(Note 1)
Welding Board
JANCD-XEW02
Sectional view A-A'
Note 1: Standard feature only for UP6 (welding specifications). Available as an option for other models.
Model
YASNAC XRC
Servopack
Converter (Integrated)
QF1
Power Supply Unit
SV3X
ERCR-SV3-RA00
CACR-SV3AAA
JUSP-ACP05JAA
SA33B 15A
JZRCR-XPU03
UP6
ERCR-UP6-RA00
CACR-UP6AAC
JUSP-ACP05JAA
SA33B 15A
CACR-SK16AAC
JUSP-ACP05JAA
SA33B 15A
SK16X
ERCR-SK16-RA00
ENCM-RX6003
Configuration for Small-Capacity XRC in A-Type Panel
6-7
o
o
JZRCR-XPU03o
JZNC-XPW03o
JZRCR-XPU03
RE-CTO-A203
6.4 Equipment Configuration
2. B-type panel
I/O-Power-On Unit
JZNC-XIU01
Power Supply Unit
JZRCR-XPU03
CPU Rack
JZNC-XRK01 -
o
o
oo
A
Playback Panel
ZY1C-SS3152
JZNC-XRK01
CN29
NJ2096-1
CN28
CN06
CN04/CARD
CN02/PP
R
R
R
T
T
T
1KM
01 2
EF
CN10
CN11
CN01/IO
CN02
CN21
CN03
CN22
CN23
CN03/RS232C
CN12
CN13
CN04
CN24 CN25
SER NO.
TYPE
CN06/SV
CN05
AN
CN26
DATE
CN07
CN30
CN01
(EV2)
(EV1)
Non-fuse Breaker (QF1)
SA33B 15A 3P
GRIP
CNPB04
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
C249
DUSB-ARB8X-T11
102
CN10
(EV4)
345
1X
CN20
(EV3)
1
B 0 0
CPS-150F
2X
1X
CPS-150F
XCP01
XCP01
89 A
67
Back Duct Fan
4715PS-22T-B30-B00
(For air inlet)
SKAWA ELECTRIC CORPORATION
4X
3X
CN27
5X
DATE
4X
BCD
5X
3X
CONV
PWM
CNPG456
CN20
+5V
10250-52A2JL
Servopack
Ascending Fan
3610PS-22T
-B30-B00
(Air flows up)
10220-6202JL
2CN
PWM
10250-52A2JL
CNE
3-175475-6
CN40
CN30
FRC5-C14S52T-OL(D20)
1CN
FRC5-C14S52T-OL(D20)
PWM
CNPG123
CN50
178323-2
JUSPRCP01AAA
CNPB01
CNPB02
8830-032-170SD
CNPB03
8830-032-170SD
S
8830-032-170SD
L
U
R
B
T
GRIP
A'
Servopack
Refer to the following table.
Welding Board (Note 1)
JANCD-XEW01
Sectional view A-A'
Note 1: Standard feature only for UP6 (welding specifications). Available as an option for other models.
Model
SV3X
UP6
SK16X
Converter (Integrated)
YASNAC XRC
Servopack
ERCR-SV3-RA01 CACR-SV3AAA
ERCR-UP6-RA01 CACR-UP6AAC
ERCR-SK16-RA01 CACR-SK16AAC
QF1
SA33B 15A
SA33B 15A
SA33B 15A
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
Power Supply Unit
JZRCR-XPU03
JZRCR-XPU03
JZRCR-XPU03
o
o
o
Configuration for Small-Capacity XRC in B Type Panel
3. New A-type panel
Power Supply Unit
JZRCR-XPU03
o
I/O-Power-On Unit
JZNC-XIU01
CPU Rack
JZNC-XRK01 -
o
oo
Playback Panel
ZY1C-SS3152
A
JZNC-XRK01
XCP02/OPT
CPS-150F
XCP01
NJ2096-
CN05/SV
DATE
CN05
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
4X
JAPAN
5X
3X
YASNAC
POWER SUPPLY
CPS-150F
CN04
CN03
SOURCE
PWR ON
+5V
Back Duct Fan
4715PS-22T-B30-B00
(For air inlet)
CN02
+24V
OHT
CN01
R
R
R
T
T
T
1KM
2X
1X
1
B 0 0
(EV1)
Non-fuse Breaker (QF1)
Refer to the following table.
(EV2)
GRIP
CNPB04
CNPB05
8830-032-170SD
8830-032-170SD
CNPB06
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
CONV
PWM
10250-52A2JL
CN20
+5V
CNPG456
10220-6202JL
2CN
PWM
01 2
EF
345
89 A
67
CN50
178323-2
JUSPRCP01AAA
PWM
(Air flows up)
10250-52A2JL
FRC5-C14S52T-OL(D20)
CNE
3-175475-6
CN40
1CN
FRC5-C14S52T-OL(D20)
Servopack
Ascending Fan
4715PS-22T-B30-B00
CN30
(EV4)
CNPG123
BCD
(EV3)
CNPB01
8830-032-170SD
CNPB02
CNPB03
8830-032-170SD
S
L
8830-032-170SD
U
R
B
T
GRIP
Servopack
Refer to the following table.
(Note 1)
Welding Board
JANCD-XEW01
A'
Sectional view A-A'
Note 1: Standard feature only for UP6 (welding specifications). Available as an option for other models.
Model
YASNAC XRC
Servopack
SV035X
ERCR-SV035-RA10 CACR-SV035AAA
SV3X
ERCR-SV3-RA10
UP6
SK16X
UP20
ERCR-UP6-RA10
ENCM-RX6006
ERCR-SK16-RA10
ERCR-UP20-RA10
ENCM-RX6005
Converter (Integrated)
JUSP-ACP05JAA
CACR-SV3AAA
JUSP-ACP05JAA
CACR-UP6AAC
JUSP-ACP05JAA
CACR-SK16AAC
JUSP-ACP05JAA
CACR-UP20AAA
JUSP-ACP05JAA
QF1
o
o
JZRCR-XPU03o
SA33B/15A
JZNC-XPW03o
SA33B/15A JZRCR-XPU03o
JZRCR-XPU03o
SA33B/15A
JZNC-XPW03o
JZRCR-XPU03
SA33B/5A
JZRCR-XPU03
Configuration for Small-Capacity XRC in New A Type Panel
6-8
Power Supply Unit
SA33B/5A
RE-CTO-A203
6.4 Equipment Configuration
4. New B-type panel
Non-fuse Breaker (QF1)
Refer to the following table.
Playback Panel
ZY1C-SS3152
A
I/O-Power-On Unit
JZNC-XIU01
o
Power Supply Unit
JZRCR-XPU03
CPU Rack
JZNC-XRK01 -
Servopack
Ascending Fan
4715PS-22T
-B30-B00
(Air flows up)
Welding Board (Note 1)
JANCD-XEW01
Back Duct Fan
4715PS-22T-B30-B00
(For air inlet)
R
R
R
T
T
T
1KM
oo
o
2
A'
Servopack
Refer to the following table.
Sectional view A-A'
Note 1: Standard feature only for UP6 (welding specifications). Available as an option for other models.
Model
SV035X
SV3X
UP6
SK16X
UP20
YASNAC XRC
Servopack
ERCR-SV035-RA11 CACR-SV035AAA
ERCR-SV3-RA11
CACR-SV3AAA
ERCR-UP6-RA11
CACR-UP6AAC
ERCR-SK16-RA11 CACR-SK16AAC
ERCR-UP20-RA11 CACR-UP20AAA
Converter (Integrated)
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
QF1
SA33B/5A
SA33B/5A
SA33B/15A
SA33B/15A
SA33B/15A
Configuration for Small-Capacity XRC in New B-Type Panel
6-9
Power Supply Unit
JZRCR-XPU03
JZRCR-XPU03
JZRCR-XPU03
JZRCR-XPU03
JZRCR-XPU03
o
o
o
o
o
RE-CTO-A203
6.4 Equipment Configuration
Medium Capacity
1. A-type panel
Power Supply Unit
JZRCR-XPU02
o
CPU Rack
JZNC-XRK01 -
I/O-Power-On Unit
JZNC-XIU01
o
Playback Panel
ZY1C-SS3152
oo
A
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
Non-fuse Breaker (QF1)
EA53B 30A
Servopack
Ascending Fan
3610PS-22T-B30-B00
(Air flows up)
Converter
JUSP-ACP25JAA
A'
Servopack
Refer to the following table.
Sectional view A-A'
Model
YASNAC XRC
Servopack
Converter (Separated)
SK45X
ERCR-SK45-RA00
CACR-SK45AAB
JUSP-ACP25JAA
EA53B/30A JZRCR-XPU02
JUSP-ACP25JAA
EA53B/30A JZRCR-XPU02
SK16MX ERCR-SK16M-RA00 CACR-SK16MAAB
SP70X
ERCR-SP70-RA00
CACR-SP70AAB
QF1
Power Supply Unit
o
o
EA53B/30A JZRCR-XPU02o
JUSP-ACP25JAA
Configuration for Medium-Capacity XRC in A-Type Panel
2. B-type panel
Power Supply Unit
JZRCR-XPU02
o
I/O-Power-On Unit CPU Rack
JZNC-XIU01
JZNC-XRK01 -
o
oo
Playback Panel
ZY1C-SS3152
A
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
Non-fuse Breaker (QF1)
EA53B/30A
Servopack
Ascending Fan
3610PS-22T
-B30-B00
(Air flows up)
Converter
JUSP-ACP25JAA
Model
YASNAC XRC
A'
Servopack
Refer to the following table.
Servopack
SK45X
ERCR-SK45-RA01
CACR-SK45AAB
SK16MX ERCR-SK16M-RA01 CACR-SK16MAAB
SP70X
ERCR-SP70-RA01
CACR-SP70AAB
Converter (Separated)
JUSP-ACP25JAA
JUSP-ACP25JAA
JUSP-ACP25JAA
Configuration for Medium-Capacity XRC in B-type Panel
6-10
Sectional view A-A'
QF1
Power Supply Unit
EA53B/30A
EA53B/30A
EA53B/30A
JZRCR-XPU02
JZRCR-XPU02
JZRCR-XPU02
o
o
o
RE-CTO-A203
6.4 Equipment Configuration
3. New A-type panel
I/O-Power-On Unit
JZNC-XIU01
Power Supply Unit
JZRCR-XPU02
o
o
CPU Rack
JZNC-XRK01 -
oo
Playback Panel
ZY1C-SS3152
A
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
Non-fuse Breaker (QF1)
SA33B/20A
Servopack
Ascending Fan
4715PS-22T
-B30-B00
(Air flows up)
A'
Servopack
Refer to the following table.
Converter
Refer to the follwing table.
Model
UP50
SK45X
SK16MX
SP70X
UP20M
Servopack
Converter (Separated)
YASNAC XRC
ERCR-UP50-RA10 CACR-UP50AAB JUSP-ACP25JAAY11
ERCR-SK45-RA10 CACR-SK45AAB
JUSP-ACP25JAAY
ERCR-SK16M-RA10 CACR-SK16MAAB JUSP-ACP25JAAY
ERCR-SP70-RA10 CACR-SP70AAB
JUSP-ACP25JAAY
ERCR-UP20M-RA10 CACR-UP20MAAB JUSP-ACP25JAAY11
Sectional view A-A'
Power Supply Unit
QF1
SA33B/20A JZRCR-XPU02
SA33B/20A JZRCR-XPU02
SA33B/20A JZRCR-XPU02
SA33B/20A JZRCR-XPU02
SA33B/20A JZRCR-XPU02
Configuration for Medium-Capacity XRC in New A-Type Panel
4. New B-type panel
Playback Panel
ZY1C-SS3152
A
Non-fuse Breaker
(QF1) SA33B/20A
I/O-Power-On Unit
JZNC-XIU01
o
Power Supply Unit
JZRCR-XPU02
o
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
Servopack
Ascending Fan
4715PS-22T
-B30-B00
(Air flows up)
Converter
Refer to the following table.
CPU Rack
JZNC-XRK01 -
oo
JZNC-XRK01
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-1
(EV1)
A'
(EV2)
(EV3)
Servopack
Refer to the following table.
Model
YASNAC XRC
Servopack
Converter (Separated )
JUSP-ACP25JAAY11
ERCR-UP50-RA11 CACR-UP50AAB
UP50
SK45X ERCR-SK45-RA11
CACR-SK45AAB
JUSP-ACP25JAAY
SK16MX ERCR-SK16M-RA11 CACR-SK16MAAB JUSP-ACP25JAAY
SP70X ERCR-SP70-RA11
CACR-SP70AAB
JUSP-ACP25JAAY
UP20M ERCR-UP20M-RA11 CACR-UP20MAAB JUSP-ACP25JAAY11
Sectional view A-A'
QF1
SA33B/20A
SA33B/20A
SA33B/20A
SA33B/20A
SA33B/20A
Configuration for Medium-Capacity XRC in New B-Type Panel
6-11
Power Supply Unit
JZRCR-XPU02
JZRCR-XPU02
JZRCR-XPU02
JZRCR-XPU02
JZRCR-XPU02
RE-CTO-A203
6.4 Equipment Configuration
Large Capacity
1. A-type panel
Power Supply Unit
Refer to the table below.
I/O-Power-On Unit
JZNC-XIU01
Playback Panel
ZY1C-SS3152
CPU Rack
JZNC-XRK01 -
o
oo
A
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
Non-fuse Breaker (QF1)
EA53B/40A
Servopack
Ascending Fan
3610PS-22T
-B30-B00
(Air flows up)
A'
Converter
JUSP-ACP35JAA
Heat Exchanger
Servopack
Sectional view A-A'
Refer to the following table. YD5-1042A
Model
YASNAC XRC
Servopack
UP130
ERCR-UP130-RA00
CACR-UP130AAB
Converter (Separated)
JUSP-ACP35JAA
EA53B/40A
UP165
ERCR-UP165-RA00
CACR-UP130AAB
JUSP-ACP35JAA
EA53B/40A
UP165-100
ERCR-UP165-RA03
ERCR-UP200-RA00
CACR-UP130AABY18
EA53B/40A
EA53B/40A
QF1
ERCR-UP130R-RA00 CACR-UP130AABY18
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
SK300X
ERCR-SK300-RA00
CACR-SK300AAB
JUSP-ACP35JAA
EA53B/40A
SP100X
ERCR-SP100-RA00
CACR-SP100AAB
JUSP-ACP35JAA
EA53B/40A
UP200
UP130R
CACR-UP130AABY18
Power Supply Unit
o
o
JZRCR-XPU02o
JZRCR-XPU02o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU02
JZRCR-XPU02
EA53B/40A
Configuration for Large-Capacity XRC in A-type Panel
2. B-type panel
I/O Power On Unit
JZNC-XIU01
CPU Rack
JZNC-XRK01 -
o
Power Supply Unit
Refer to the following table.
oo
Playback Panel
ZY1C-SS3152
A
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
DATE
SER NO.
TYPE
(EV6)
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
(EV7)
YASKAWA ELECTRIC CORPORATION
NJ2096-1
JAPAN
(EV5)
(EV1)
NJ2096-1
(EV3)
(EV2)
(EV4)
Non-fuse Breaker (QF1)
EA53B/40A
Servopack
Ascending Fan
3610PS-22T
-B30-B00
(Air flows up)
Converter
JUSP-ACP35JAA
Model
UP130
UP165
UP165-100
UP200
UP130R
SK300X
SK506X
SP100X
YASNAC XRC
ERCR-UP130-RA01
ERCR-UP165-RA01
ERCR-UP165-RA04
ERCR-UP200-RA01
ERCR-UP130R-RA01
ERCR-SK300-RA01
ERCR-SK506-RA01
ERCR-SP100-RA01
Servopack
Refer to the following table.
A'
Heat Exchanger
Sectional view A-A'
YD5-1042A
Refer to the following table.
Servopack
Converter (Separated)
CACR-UP130AAB
CACR-UP130AAB
CACR-UP130Y18
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
CACR-UP130AABY18
CACR-UP130AABY18
CACR-SK300AAB
CACR-UP130AABY18
CACR-SP100AAB
QF1
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
Configuration for Large-Capacity XRC in B-Type Panel
6-12
Power Supply Unit Heat Exchanger
WIth
JZRCR-XPU02
With
JZRCR-XPU02
With
JZRCR-XPU02
With
JZRCR-XPU02
With
JZRCR-XPU01
With
JZRCR-XPU01
With
JZRCR-XPU01
Without
JZRCR-XPU01
o
o
o
o
o
o
o
o
RE-CTO-A203
6.4 Equipment Configuration
3. New A-type panel
CPU Rack
JZNC-XRK01 -
I/O-Power-On Unit
JZNC-XIU01
oo
o
Power Supply Unit
Refer to the following table.
Playback Panel
ZY1C-SS3152
A
JZNC-XRK01
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
DATE
SER NO.
TYPE
DATE
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-1
Non-fuse Breaker (QF1)
Refer to the table below.
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-1
(EV1)
(EV3)
(EV2)
G R I
P
Servopack
Ascending Fan
4715PS-22T-B30-B00
(Air flows up)
Converter
JUSP-ACP35JAA
A'
Servopack
Refer to the following table.
Sectional view A-A'
Model
YASNAC XRC
Servopack
Converter (Separated)
QF1
Power Supply Unit
UP130
ERCR-UP130-RA10
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
JZRCR-XPU02
UP165
ERCR-UP165-RA10
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
UP165-100 ERCR-UP165-RA13
CACR-UP130AABY18
JUSP-ACP35JAA
SA33B/30A
UP200
ERCR-UP200-RA10
CACR-UP130AABY18
JUSP-ACP35JAA
SA33B/30A
UP130T
ERCR-UP130T-RA10
CACR-UP130AABY18
JUSP-ACP35JAA
SA33B/30A
SK300X
ERCR-SK300-RA10
CACR-SK300AAB
JUSP-ACP35JAA
SA53B/40A
SP100X
ERCR-SP100-RA10
CACR-SP100AAB
JUSP-ACP35JAA
SA53B/40A
SK506X
ERCR-SK506-RA10
CACR-UP130AABY18
JUSP-ACP35JAA
SA53B/40A
SR200X
ERCR-SR200-RA10
CACR-SK300AAB
JUSP-ACP35JAA
SA53B/40A
UP130R
ERCR-UP130R-RA10
CACR-UP130AABY18
JUSP-ACP35JAA
SA53B/40A
UP165R
ERCR-UP165R-RA10
CACR-UP130AABY21
JUSP-ACP35JAA
SA53B/40A
UP200R
ERCR-UP200R-RA10
CACR-UP130AABY21
JUSP-ACP35JAA
SA53B/40A
UP130RL
ERCR-UP130RL-RA10
CACR-UP130AABY21
JUSP-ACP35JAA
SA53B/40A
Configuration for Large-Capacity XRC in New A-Type Panel
6-13
o
o
JZRCR-XPU02o
JZRCR-XPU02o
JZRCR-XPU02o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU02
RE-CTO-A203
6.4 Equipment Configuration
4. New B-type panel
Non-fuse Breaker (QF1)
Refer to the following table.
A
I/O-Power-On Unit
JZNC-XIU01
o
QF1
ET
RES
OFF
TRI
P
ON
Power Supply Unit
JZRCR-XPU01
CPU Rack
JZNC-XRK01 -
o
Back Duct Fan
5915PC-22T-B30-B00
(For air inlet)
Servopack
Ascending Fan
4715PS-22T
-B30-B00
(Air flows up)
oo
JZNC-XRK01
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2096-1
(EV1)
(EV2)
(EV3)
G R I
P
A'
Converter
JUSP-ACP35JAA
Servopack
Refer to the following table.
Sectional view A-A'
Model
YASNAC XRC
Servopack
Converter (Separated)
QF1
Power Supply Unit
UP130
ERCR-UP130-RA11
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
JZRCR-XPU02
UP165
ERCR-UP165-RA11
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
UP165-100
ERCR-UP165-RA14
CACR-UP130AABY18
JUSP-ACP35JAA
SA33B/30A
UP200
ERCR-UP200-RA11
CACR-UP130AABY18
JUSP-ACP35JAA
SA33B/30A
UP130T
ERCR-UP130T-RA11
CACR-UP130AABY18
JUSP-ACP35JAA
SA33B/30A
SK300X
ERCR-SK300-RA11
CACR-SK300AAB
JUSP-ACP35JAA
SA53B/40A
SP100X
ERCR-SP100-RA11
CACR-SP100AAB
JUSP-ACP35JAA
SA53B/40A
SK506X
ERCR-SK506-RA11
CACR-UP130AABY18
JUSP-ACP35JAA
SA53B/40A
SR200X
ERCR-SR200-RA11
CACR-SK300AAB
JUSP-ACP35JAA
SA53B/40A
UP130R
ERCR-UP130R-RA11
CACR-UP130AABY18
JUSP-ACP35JAA
SA53B/40A
UP165R
ERCR-UP165R-RA11
CACR-UP130AABY21
JUSP-ACP35JAA
SA53B/40A
UP200R
ERCR-UP200R-RA11
CACR-UP130AABY21
JUSP-ACP35JAA
SA53B/40A
UP130RL ERCR-UP130RL-RA11 CACR-UP130AABY21
JUSP-ACP35JAA
SA53B/40A
Configuration for Large-Capacity XRC in New B-Type Panel
6-14
o
o
JZRCR-XPU02o
JZRCR-XPU02o
JZRCR-XPU02o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU02
RE-CTO-A203
6.4 Equipment Configuration
Location
Section
Unit
Playback panel(ZY1C-SS3125)
Door
Heat exchange board (Large capacity XRC in A and B type
panel)
Servopack
(CACRAA )
(Separated type converter
for medium and large
capacity XRC)
Control circuit board
(JASP-WRCA01)
Control power supply
(JUSP-RCP01
)
Converter(JUSP-ACP
Front
section
Amplifier(JUSP-WS
JAA)
AA)
I/0, TU unit (JZNC-XIU01 )
CPU Rack
(JZNC-XRK01 - )
System control circuit board
(JANCD-XCP01 )
CPU power supply(CPS-150F)
Power Supply unit (JZNC-XPW03 , JZRCR-XPU
6.4.2
)
Cooling System of the Controller Interior
The backside duct fan draws in air from the air intake and expels it from the air outlet to cool the
Servopack. The servopack ascending fan circulates the air to keep temperature even throughout the
interior of the XRC. Large capacity XRC in A and B type panel are equipped with a heat exchanger on
the door to cool the interior of the XRC.
6-15
RE-CTO-A203
6.4 Equipment Configuration
.
Servopack
Ascending Fan
Backside Duct Fan
Air Intake
Air Outlet
Servopack
Cooling Configuration (Small and medium capacity XRC in A and B type panel)
Heat Exchange
Servopack Ascending Fan
Backside Duct Fan
Air Intake
Air Intake
Air Outlet
Air Outlet
Servopack
Cooling Configuration (Large capacity XRC in A and B type panel)
6-16
RE-CTO-A203
6.4 Equipment Configuration
Servopack Ascending Fan
Backside Duct Fan
Air Intake
Air Outlet
Servopack
Cooling Configuration (New A type panel)
Servopack Ascending Fan
Backside Duct Fan
Air Intake
Air Outlet
Servopack
Cooling Configuration (New B type panel)
6-17
7 Description of Units and Circuit Boards
Refer to XRC 2001 Supplement, section 2, for description of units and circuit boards.
7-1
7-2
Maintenance
RE-CTO-A203
8.1 Regular Inspections
8
Inspections
8.1
Regular Inspections
CAUTION
• Do not touch the cooling fan or other equipment while the power is
turned ON.
Failure to observe this caution may result in electric shock or injury.
Carry out the following inspections.
Inspection Equipment
Inspection Item
Inspection
Frequency
Comments
Check that the doors are
completely closed.
Daily
Check for gaps or damage to the sealed construction.
Monthly
Servo ascending fan
and backside duct fan
Check operation
As required
While power ON
Heat exchange fan
(Inside, Outside)
(Large type only)
Check operation
As required
While servo ON
Emergency stop
button
Check operation
As required
While servo ON
Deadman switch
Check operation
As required
On teach mode
Confirm battery alarm or
message is displayed or
not
As required
Battery
XRC Controller
8-1
RE-CTO-A203
8.2 XRC Inspections
8.2
8.2.1
XRC Inspections
Checking if the Doors are Firmly Closed
• The YASNAC XRC has a fully sealed construction, designed to keep external air containing oil mist out of the XRC.
Be sure to keep the XRC doors fully closed at all times, even when the controller is not
operating.
• Open or close the two locks in each door with the minus driver when opening or closing
the doors for maintenance after the main power is turned off. (CW:Open, CCW:Close)
Make sure push the door closed and turn the door lock with the driver. When the door is
closed, turn the door lock until the door clicks.
Door Lock
Main Switch
Handle
Door Lock
YASNAC XRC Front View
8.2.2
Checking for Gaps or Damage in the Sealed Construction Section
• Open the door and check that the seal around the door is undamaged.
• Check that the inside of the XRC is not excessively dirty. If it is dirty, determine the cause,
take measures to correct the problem and immediately clean up the dirt.
• Fully close each door lock and check that no excessive gaps exist around the edge of the
door.
8-2
RE-CTO-A203
8.3 Cooling Fan Inspections
8.3
Cooling Fan Inspections
Inspect the cooling fans as required. A defective fan can cause the XRC to malfunction
because of excessive high temperatures inside.
The servo ascending fan and backside duct fan normally operate while the power is turned ON. Check
if the fans are operating correctly by visual inspection and by feeling air moving into the air inlet and
from the outlet.
Servo Ascending Fan
Backside Duct Fan
Air Intake
Air Outlet
Servopack
Cooling Fan Construction (Small- or medium-capacity XRC, in A- or B-type panels)
8-3
RE-CTO-A203
8.3 Cooling Fan Inspections
Servo Ascending Fan
Heat Exchanger
Backside Duct Fan
Air Intake
Air Intake
Air Outlet
Air Outlet
Servopack
Cooling Fan Construction (Large capacity XRC in A and B type panel)
Servo Ascending Fan
Backside Duct Fan
Air Intake
Air Outlet
Servopack
Cooling Fan Construction (New A type panel)
8-4
RE-CTO-A203
8.3 Cooling Fan Inspections
Servo Ascending Fan
Backside Duct Fan
Air Intake
Air Outlet
Servopack
Cooling Fan Construction (New B type panel)
8-5
RE-CTO-A203
8.4 Emergency Stop Button Inspections
8.4
Emergency Stop Button Inspections
The emergency stop buttons are located on both the playback panel and the programming
pendant. Confirm the servo power is off by pressing the emergency stop button on the playback panel after the servo ON button, before the robot is operated.
8.5
Deadman Switch Inspections
The programing pendant is equipped with a three-position deadman switch. Perform the following operation to confirm the deadman switch operates.
1. Press [TEACH] on the playback panel to switch to teach mode. The [TEACH] lamp
lights.
TEACH
2. Press [SERVO ON READY] on the playback panel. The [SERVO ON READY] lamp
blinks.
SERVO ON
READY
3. Press [TEACH LOCK] on the programming pendant. The [TEACH LOCK] LED blinks.
TEACH
LOCK
4. When the deadman switch is grasped lightly, the servo power is turned ON.
When the deadman switch is grasped firmly or released, the servo power is turned
OFF.
If the [SERVO ON READY] lamp does not light in previous operation (2), check the follow-
NOTE ing:
• The emergency stop button on the playback panel is pressed.
• The emergency stop button on the programming pendant is pressed.
• The emergency stop signal is input from external.
If the servo is not turned on in a previous operation (4), check the following:
• The overrun LS is operating.
• If a major alarm is occurring.
8-6
RE-CTO-A203
8.6 Battery Inspections
8.6
Battery Inspections
The XRC has a battery that backs up the important program files for user data in the CMOS
memory.
A battery alarm indicates when a battery has expired and must be replaced. The programming
pendant display and the message "Memory battery weak" appears at the bottom of the display.
The way to replace the battery is described in “9.1.1 Replacing Parts of the CPU Rack”.
8.7
Power Supply Voltage Confirmation
Check the voltage of R, S, T terminal of the circuit breaker (QF1) with an electric tester.
Power Supply Voltage Confirmation
Measuring Items
Terminals
Correct Value
Correlate voltage
Between R and S, S
and T, T and R
200 to 220V (+10%, -15%)
Voltage between earth
(S phase ground)
Between R and G, T
and G
200 to 220V (+10%, -15%)
Between S and G
About 0V
R
S
T
G
ON
OFF
U
V
W
Circuit Breaker (QF1)
8-7
RE-CTO-A203
8.8 Open Phase Check
8.8
Open Phase Check
Open Phase Check List
Check Item
Contents
Lead Cable Check
Confirm if the lead cable for the power supply is wired as shown
in the following. If the wiring is wrong or broken, repair it.
Input Power Supply
Check
Check the open phase voltage of input power supply with an
electric tester.
(Normal value: 200-220V (+10%, -15%))
Circuit Breaker (QF1)
Check
Turn on the control power supply and check the open phase voltage of “U,V,W” of the circuit breaker (QF1) with an electric tester.
If abnormal, replace the circuit breaker (QF1).
Input 200/220VAC
S
R
T
CIRCUIT
BREAKER
(QF1)
U
V
W CONTACTER
(1KM)
R
U
S
V
T
W
8-8
CONVERTER
RE-CTO-A203
9.1 Replacing XRC Parts
9
Replacing Parts
9.1
Replacing XRC Parts
WARNING
• Turn OFF the power supply before opening the XRC doors.
Failure to observe this warning may result in electric shock.
• After turning OFF the power supply, wait at least 5 minutes before
replacing a servopack or power supply unit. Do not touch any terminals
during this period.
Failure to observe this warning may result in electric shock.
CAUTION
• To prevent anyone inadvertently turning ON the power supply during
maintenance, put up a warning sign such as "DO NOT TURN ON THE
POWER" at the primary power supply (knife switch, wiring circuit
breaker, etc.) and at the YASNAC XRC and related controllers and use
accepted lockout/tagout procedures.
Failure to observe this caution may result in electric shock or injury.
• Do not touch the regeneration resistors. They are very hot.
Failure to observe this caution may result in burn injuries.
• After maintenance is completed, carefully check that no tools are left
inside the YASNAC XRC and that the doors are securely closed.
Failure to observe this caution may result in electric shock or injury.
9-1
RE-CTO-A203
9.1 Replacing XRC Parts
9.1.1
Replacing Parts of the CPU Rack
CPU rack (JZNC-XRK01 - ) is comprised of the control power supply unit, the rack for the
various circuit boards and system control boards.
(CN05)
AC200V Input Connector
(From Power Unit)
(CN04)
PC Card
(CN04)
Control Power ON/OFF
Battery Alarm
(CN03)
RS232C Connector
(CN03), (CN02)
DC24V Output Connector
(To Programming Pendant)
Battery
Monitor, Alarm Display
(CN01)
DC24V, DC5V Output Connector
(To XIU unit)
System Control Board
JANCD-XCP01
Control Power Unit
CPS-150F
CPU Rack Configuration (JZNC-XRK01 - )
Replacing the Battery
Replace the battery within 40 hours if a battery alarm occurs. If it is within 30 minute after turing on the electricity after the power was turned off for more than 2 days, replace the battery
immediately.
(The battery alarms appear on the programing pendant display and LED on the system control board is turned on.)
Replacement Procedure
1. Disconnect the battery connector (BAT) and remove the battery.
2. Mount the new battery and connect the battery connector.
Although the CMOS memory is backed up by super capacitor, the battery must be
NOTE replaced as soon as the battery alarm occurs. The job data and other data may be lost if
the battery is left for more than 40 hours.
9-2
RE-CTO-A203
9.1 Replacing XRC Parts
Replacing the JANCD-XCP01
Circuit Board
Turn off the power before replacing a circuit board.
Replacement Procedure
1. Disconnect all cables connected to the circuit board.
2. Undo 2 screws fixing the circuit board and rack.
3. Spread the levers attached to the upper and lower side of circut board up and down
respectively and pull out the circuit board forward
To Remove
To Fix
JANCD-XCP01†
Lever
To Fix
To Remove
4.
5.
6.
7.
8.
Pull out the circuit board from the rack.
Insert a new circuit board into the slot of the rack with the levers spread.
Push the board until it is placed in the same position of other boards.
Tighten upper and lower screws.
Connect all disconnected cables.
The JANCD-XCP01
circuit board contains important file data (CMOS memory) for the
NOTE user programs, which is backed up by the battery. Incorrect operations can cause this
stored file data to be lost.
For more information about the replacement procedure of the JANCD-XCP01 circuit
board, refer to “YASNAC XRC INSTRUCTIONS for CPU Circuit Board Replacement Procedure.” If you have not received a copy of this instruction manual, contact your Yaskawa
representative.
9-3
RE-CTO-A203
9.1 Replacing XRC Parts
Replacing the Control Power Unit (CPS-150F)
CAUTION
• After turning OFF the power supply, wait at least 5 minutes before
replacing a control power unit. Do not touch any terminals during this
period. Confirm all monitor lights are turned off.
Failure to observe this caution may result in electric shock or injury.
Replacement Procedure
1. Disconnect all cables connected to the control power unit.
2. Undo four upper and lower screws attaching the control power unit and the rack. (two
screws on each side).
3. Pull out the control power unit from the rack holding the lever which is attached at the
upper and lower side.
4. Insert the new control power unit in to the slot of the rack.
5. Push the new control power unit until it is placed in the same position of other boards.
6. Tighten upper and lower screws.
7. Connect all disconnected cables.
9-4
RE-CTO-A203
9.1 Replacing XRC Parts
9.1.2
Replacing the Servopack
WARNING
• After turning OFF the power supply, wait at least 5 minutes before
replacing a servopack. Do not touch any terminals during this period.
Failure to observe this warning may result in electric shock.
There are two kinds of Servopacks depending on capacity.
Type
NOTE
Manipulator
Integrated Type
Small capacity
SV3X, SV035X, UP6, SK16X, UP20
Separated Type
Medium capacity
SK16MX, SK45X, UP50, UP20M, SP70X
Large capacity
UP130, UP130R, UP165, UP200, UP130T,
SK300X, SR200X, UP200R, SK506X,
UP165-100, UP165R, UP130RL, SP100X
• Before replacing a servopack, confirm the version number of the JASP-WRCA01
board and be sure to backup the data. (Refer to YASNAC XRC INSTRUCTION
For CPU Circuit Board Replacement Procedure.)
• After having replaced the servopack, load the backup data to the JASP-WRCA01
board.
Replacement Procedure (Integrated Type Small Capacity)
1. Turn OFF the primary power supply and wait at least 5 minutes before replacing. Do
not touch any terminals during this period.
2. Verify that the Servopack CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the Servopack.
Main circuit power supply connector (CN7)
Regenerative resistor connector (CN8)
Servo control power supply connector (1CN)
Cables connected externally to the servo control board
• PG cable connectors (CNPG123, CNPG456)
• Communications cable connector (CN10)
• Power ON signal cable connector (CN20)
• Motor cable connectors (CN1 to CN6)
4. Remove the ground wiring connected to the Servopack.
5. Remove the four screws in the four corners of the Servopack.
6. With the top and bottom grips, pull out the Servopack.
7. Install the new Servopack and reconnect the connectors in the reverse order of that lissted above.
9-5
RE-CTO-A203
9.1 Replacing XRC Parts
Servo Control
Power Supply
Ground
Wiring
Top Grip
Servo Control
Board
CN10
CN20
CNPG456
Red LED
CNPG123
1CN
CN7
Bottom
CN8 Grip CN1 to CN6
Configuration of Integrated Type (Small Capacity) Servopack
Replacement Procedure (Separated Type Medium Capacity)
• How to Replace Converter
1. Turn OFF the primary power supply and wait at least 5 minutes before replacing. Do
not touch any terminals during this period.
2. Verify that the converter CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the converter.
Main circuit power supply connector (CN7)
Regenerative resistor connector (CN8)
Servo control power supply connectors (1CN and 2CN)
PN power supply terminals (P×1, N×1)
4. Remove the ground wiring connected to the converter.
5. Remove the four screws in the four corners of the converter.
6. With the top and bottom grips, pull out the converter.
7. Install the new converter and reconnect the connectors in the reverse order of that
listed above.
• How to Replace PWM Amplifier
1. Turn OFF the primary power supply and wait at least 5 minutes before replacing. Do
not touch any terminals during this period.
2. Verify that the converter CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the control board.
PG cable connectors (CNPG123, CNPG456)
Communication cable connector (CN10)
Power ON signal cable connector (CN20)
Motor cable connectors (CN1 to CN6)
4. Remove the ground wiring connected to the PWM amplifier.
5. Remove the four screws in the four corners of the PWM amplifier.
9-6
RE-CTO-A203
9.1 Replacing XRC Parts
6. With the top and bottom grips, pull out the PWM amplifier.
7. Install the new PWM amplifier and reconnect the connectors in the reverse order of
that listed above.
PWM Amplifier
Converter
Top Grip
20CN
Top Grip
Ground Wiring
10CN
2CN
CNPG456
Servo Control
Power Supply
Red
LED
1CN
P
CNPG123
N
PN
Wiring
Servo Control
Board
7CN
8CN
Bottom Grip
Ground
Wiring
4CN to 6CN
Bottom
1CN to 3CN
Grip
Configuration of Separated Type (Medium Capacity) Servopack
Replacement Procedure (Separated Type Large Capacity)
• How to Replace Converter
1. Turn OFF the primary power supply and wait at least 5 minutes before replacing. Do
not touch any terminals during this period.
2. Verify that the converter CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the converter.
Main circuit power supply terminals (TM1: L1, L2, L3)
Regenerative resistor terminals (TM1: B1, B2)
Servo control power supply connectors (1CN and 2CN)
PN power supply terminals (P×2, N×2)
4. Remove the ground wiring connected to the converter.
5. Remove the four screws in the four corners of the converter.
6. With the top and bottom grips, pull out the converter.
7. Install the new converter and reconnect the connectors in the reverse order of that
listed above.
• How to Replace PWM Amplifier
1. Turn OFF the primary power supply and wait at least 5 minutes before replacing. Do
not touch any terminals during this period.
2. Verify that the converter CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the control board.
PG cable connectors(CNPG123, CNPG456)
Communication cable connector (CN10)
Power ON signal cable connector (CN20)
Motor cable terminal (EUVW), motor cable connectors (CN4 to CN6)
4. Remove the ground wiring connected to the PWM amplifier.
9-7
RE-CTO-A203
9.1 Replacing XRC Parts
5. Remove the four screws in the four corners of the PWM amplifier.
6. With the top and bottom grips, pull out the PWM amplifier.
7. Install the new PWM amplifier and reconnect the connectors in the reverse order of
that listed above.
Converter
Ground
Wiring
Top Grip
PWM Amplifier
20CN
Ground Wiring
Top Grip
10CN
2CN
Servo Control
Power Supply
CNPG456
Red
LED
1CN
CNPG123
P
N
Servo Control
Board
PN
Wiring
4CN to
6CN
Bottom Grip
Bottom Grip
TM1 L1L2L3B1B2
EUVW11-12 EUVW21-22 EUVW31-32
Configuration of Separated Type Servopack for Large Size Robot
9.1.3
Replacing the parts of I/O Power-on Unit
Checking and Replacing Fuses
The types of fuses on the I/O power-on unit (JZNC-XIU01 ) and power-on unit (JANCDXTU01 ) are as follows.
Parts No.
Fuse Name
Specification
FU1, 2
Control Power Supply Fuse
250V, 5A, Time Lag Fuse
(Std: 313005, 250V, 5A (LITTEL))
FU3, 4
DC24V Fuse
250V, 3A Rapid Cut Fuse
(Std : 312003 250V, 3A (LITTEL))
FU5, 6
Brake Fuse
GP40, 4.0A, 250V (Daito Tsushin)
9-8
RE-CTO-A203
9.1 Replacing XRC Parts
(FU1, 2)
Control power supply fuse
(FU5, 6)
Brake fuse
(FU3, 4)
DC24V fuse
JANCD-XTU01
Fuse Position
If a fuse appears to be blown (see “10.2 Alarm Message List”), remove each fuse shown
above and check the continuity with an electric tester. If the fuse is blown, replace it with the
same type of fuse (supplied).
NOTE Determine and correct the cause of the blown fuse. If the problem is uncorrected, the fuse
may blow again.
9-9
RE-CTO-A203
9.2 YASNAC XRC Parts List
9.2
YASNAC XRC Parts List
YASNAC XRC Parts List
No.
Name
Model
1
Servopack
*1
2
CPU rack
JZNC-XRK01 -
3
6 Axis type
Backboard
JANCD-XBB01
System control circuit board
JANCD-XCP01
High speed serial interface
circuit board
JANCD-XIF03
Control power supply
CPS-150F
I/O Power-on unit
Comment
JZNC-XIU01
Power-on circuit board
JANCD-XTU01
Specific I/O curcuit board
JANCD-XIO01
General I/O circuit board
JANCD-XIO02
4
Power supply unit
*2
5
Playback panel
ZY1C-SS3152
6
Servo ascending fan
3610PS-22T-B30-B00
A and B type panel
4715PS-22T-B30-B00
New A and new B type
panel
4715PS-22T-B30-B00
Small capacity
5915PS-22T-B30-B00
Medium and large capacity
7
Backside duct fan
8
Heat exchanger
YD5-1042A
Only large capacity A and
B type panel
9
Contactor circuit board fuse
313005, 5A, 250V
Time lag fuse
312003, 3A, 250V
Rapid cut fuse
GP40, 4.0A, 250V
Alarm fuse
10
Contactor circuit board relay
LY2 DC24V
11
Battery
ER6VC3N 3.6V
*1
The type of the servopack depends on the robot model. For details, see the " Table.
Servopack List (Small Capacity) ", “Table. Servopack List (Medium Capacity)”, and "
9-10
RE-CTO-A203
9.2 YASNAC XRC Parts List
*2
Table. Servopack List (Medium Capacity) " .
The type of the power supply unit depends on the robot model. For detail, see the "
Table. Power Supply Unit List ".
Servopack List (Small Capacity)
SV3X
UP6
SK16X
Type
Type
Type
Component
Servopack
CACR-SV3AAA
CACR-UP6AAC
CACR-SK16AAC
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
S
JUSP-WS02AA
JUSP-WS05AAY17
JUSP-WS10AAY17
L
JUSP-WS02AA
JUSP-WS10AAY17
JUSP-WS10AAY17
U
JUSP-WS01AA
JUSP-WS05AAY17
JUSP-WS10AAY17
R
JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
B
JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
T
JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
Servo control
circuit board
JASP-WRCA01
JASP-WRCA01
JASP-WRCA01
Control power
supply
JUSP-RCP01
JUSP-RCP01
JUSP-RCP01
Converter
Amplifier
9-11
RE-CTO-A203
9.2 YASNAC XRC Parts List
SV035X
UP20
Type
Type
Component
Servopack
CACR-SV035AAA
CACR-UP20AAA
JUSP-ACP05JAA
JUSP-ACP05JAA
S
JUSP-WS04AA
JUSP-WS10AA
L
JUSP-WS04AA
JUSP-WS20AAY22
U
JUSP-WS04AA
JUSP-WS10AAY17
Converter
Amplifier
R
-
JUSP-WS02AA
B
JUSP-WS01AA
JUSP-WS02AA
T
JUSP-WS01AA
JUSP-WS02AA
Servo control
circuit board
JASP-WRCA01
JASP-WRCA01
Control power
supply
JUSP-RCP01
JUSP-RCP01
Servopack List (Medium Capacity)
SK16MX
SK45X
UP50
Type
Type
Type
Component
Servopack
Amplifier
Servo control
circuit board
Converter
Control power
supply
CACR-SK16MAAB
CACR-SK45AAB
CACR-UP50AAB
S
JUSP-WS30AA
JUSP-WS30AA
JUSP-WS44AA
L
JUSP-WS20AA
JUSP-WS20AA
JUSP-WS60AA
U
JUSP-WS20AA
JUSP-WS20AA
JUSP-WS20AA
R
JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
B
JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
T
JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
JASP-WRCA01
JASP-WRCA01
JASP-WRCA01
JUSP-ACP25JAA
JUSP-ACP25JAA
JUSP-ACP25JAAY11
JUSP-RCP01
JUSP-RCP01
JUSP-RCP01
9-12
RE-CTO-A203
9.2 YASNAC XRC Parts List
UP20M
SP70X
Type
Type
Component
Servopack
Amplifier
Servo control
circuit board
Converter
Control power
supply
CACR-UP20MAAB
CACR-SP70AAB
S
JUSP-WS44AA
JUSP-WS20AA
L
JUSP-WS60AA
JUSP-WS15AA
U
JUSP-WS20AA
JUSP-WS44AA
R
JUSP-WS02AA
JUSP-WS05AA
B
JUSP-WS02AA
-
T
JUSP-WS02AA
-
JASP-WRCA01
JASP-WRCA01
JUSP-ACP25JAAY11
JUSP-ACP25JAA
JUSP-RCP01
JUSP-RCP01
Servopack List (Large Capacity)
Component
Servopack
Amplifier
Servo control
circuit board
Converter
Control power
supply
UP200, UP130R,
UP165-100, UP130T,
SK506X
UP130, UP165
UP130RL, UP165R,
UP200R
Type
Type
Type
CACR-UP130AABY18
CACR-UP130AAB
CACR-UP130AABY21
S
JUSP-WS60AAY18
JUSP-WS60AA
JUSP-WS60AAY18
L
JUSP-WS60AAY18
JUSP-WS60AA
JUSP-WS60AAY18
U
JUSP-WS60AA
JUSP-WS60AA
JUSP-WS60AAY18
R
JUSP-WS20AAY13
JUSP-WS20AAY13
JUSP-WS20AAY13
B
JUSP-WS15AAY13
JUSP-WS15AAY13
JUSP-WS15AAY13
T
JUSP-WS15AAY13
JUSP-WS15AAY13
JUSP-WS15AAY13
JASP-WRCA01
JASP-WRCA01
JASP-WRCA01
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-RCP01
JUSP-RCP01
JUSP-RCP01
9-13
RE-CTO-A203
9.2 YASNAC XRC Parts List
SK300X, SR200X
SP100X
Type
Type
Component
Servopack
Amplifier
Servo control
circuit board
Converter
Control power
supply
CACR-SK300AAB
CACR-SP100AAB
S
JUSP-WS60AAY18
JUSP-WS60AAY18
L
JUSP-WS60AAY18
JUSP-WS60AAY18
U
JUSP-WS60AAY18
JUSP-WS60AAY18
R
JUSP-WS30AAY18
-
B
JUSP-WS30AAY18
-
T
JUSP-WS30AAY18
JUSP-WS20AAY19
JASP-WRCA01
JASP-WRCA01
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-RCP01
JUSP-RCP01
Power Supply Unit List
Type
Robot Type
JZNC-XPW03 or
JZRCR-XPU03
SV3X, SV035X, UP6, SK16X, UP20
JZRCR-XPU02
SK16MX, SK45X, SP70X, UP50, UP20M,
UP130, UP165, UP165-100, UP200,
UP130T
JZRCR-XPU01
SK300X, SP100X, SK506X, SR200X,
UP130R, UP165R, UUP200R, UP130RL
9-14
RE-CTO-A203
9.3 Supplied Parts List
9.3
Supplied Parts List
The supplied parts of YASNAC XRC is as follows.
Parts No.1 to 3 are used for fuse for replacement and No.4 is used as a tool for connecting the
I/O.
No
Parts Name
1
5A
Glass-Tube fuse
Φ6
3A
Glass-Tube fuse
Φ6
2
3
4.0A
Alarm fuse
Dimensions
Pcs
2
312003
3A 250V
(LITTEL)
JANCD-XTU01
FU3, 4
2
GP40
4.0A 250V
(Daito Tsushin)
JANCD-XTU01
FU5, 6
20.5
2
4
9.4
JANCD-XTU01
FU1, 2
313005
5A 250V
(LITTEL)
3.0
11.5
Application
2
3.0
32
Model
WAGO
Connector wiring
tool
231-131
(WAGO)
JANCD-XI001
CN05, 06
JANCD-XTU01
CN26, 27
CPS-150F
CN04
Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the XRC. The spare parts list for the XRC is shown below. Product performance can not be
guaranteed when using spare parts from any company other than Yaskawa. To buy the spare
parts which are ranked B or C, inform the manufacturing number (or order number ) of XRC to
Yaskawa representative. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of frequent operation
• Rank C: Drive unit
9-15
RE-CTO-A203
9.4 Recommended Spare Parts
NOTE For replacing parts in Rank B or Rank C, contact your Yaskawa representative.
Recommended Spare Parts of XRC for SV3X
No Rank
Name
1
A
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
4
A
Type
ER6VC3N 3.6V
JZNC-XZU02
4715PS-22TB30-B00
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
Minebea
2
2
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
1
1
2
1
3
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
13
14
B
B
B
B
Servopack Control Board
Amplifire
Amplifire
Amplifire
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP05JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSP-WS02AA
Yaskawa
JUSP-WS01AA
Yaskawa
JUSP-WSA5AA
Yaskawa
15
B
Control Power Unit
CPS-150F
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-SV3AAA
Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU03
Yaskawa
JZNC-XPP02
Yaskawa
Remark
A and B type
panel
New A and
new B type
panel
For Servo
For S,L axes
For U axis
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.25 “ Programming
Pendant” is ordered.
9-16
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SV035X
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
4
A
5
6
7
A
A
A
JZNC-XZU02
4715PS-22TB30-B00
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Control Power Fuse
313005 5A 250V
24VDC Fuse
312003 3A 250V
Brake Fuse
GP40 4.0A 250V
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
B
B
13
14
15
16
17
18
19
20
21
22
23
24
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
10
10
10
2
2
2
3
1
1
3
1
1
Servopack Control Board
Amplifire
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP05JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSP-WS04AA
Yaskawa
1
1
1
3
B
B
Amplifire
Control Power Unit
JUSP-WS01AA
CPS-150F
1
1
2
1
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Yaskawa
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-SV035AAA Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU03
Yaskawa
JZNC-XPP02
Yaskawa
Remark
New A and
new B type
panel
For Servo
For S,L,U
axes
For B, T axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.24 “ Programming
Pendant” is ordered.
9-17
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP6
No Rank
Name
1
A
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
4
A
Type
ER6VC3N 3.6V
JZNC-XZU02
4715PS-22TB30-B00
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
Minebea
2
2
10
10
10
2
2
2
3
1
1
3
1
1
For Servo
1
1
1
2
For S,U axes
1
1
For L axis
1
3
1
1
For R,B,T
axes
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
B
B
Servopack Control Board
Amplifire
13
B
Amplifire
14
B
Amplifire
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP05JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSPYaskawa
WS05AAY17
JUSPYaskawa
WS10AAY17
JUSP-WS01AA
Yaskawa
15
B
Control Power Unit
CPS-150F
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-UP6AAC Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU03
Yaskawa
JZNC-XPP02
Yaskawa
A and B type
panel
New A and
new B type
panel
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.25 “ Programming
Pendant” is ordered.
9-18
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SK16X
No Rank
Name
1
A
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
4
A
Type
ER6VC3N 3.6V
JZNC-XZU02
4715PS-22TB30-B00
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
Minebea
2
2
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
3
1
3
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
B
B
Servopack Control Board
Amplifire
13
B
Amplifire
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP05JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSPYaskawa
WS10AAY17
JUSP-WS02AA
Yaskawa
14
B
Control Power Unit
CPS-150F
15
16
17
18
19
20
21
22
23
24
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
Fuji Electric Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-SK16AAC Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU03
Yaskawa
JZNC-XPP02
Yaskawa
Remark
A and B type
panel
New A and
new B type
panel
For Servo
For S,L,U
axes
For R,B,T
axes
For CPU unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.24 “ Programming
Pendant” is ordered.
9-19
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP20
No Rank
Name
1
A
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
4
A
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
13
B
B
B
Servopack Control Board
Amplifier
Amplifier
14
B
Amplifier
15
B
16
Type
ER6VC3N 3.6V
Manufacturer
Qty
Qty
per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
2
2
10
10
10
2
2
2
3
1
1
3
1
1
For Servo
1
1
1
1
1
1
For S axis
For L axis
1
1
For U axis
Amplifier
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP05JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSP-WS10AA
Yaskawa
JUSPYaskawa
WS20AAY22
JUSPYaskawa
WS10AAY17
JUSP-WS02AA
Yaskawa
1
3
B
Control Power Unit
CPS-150F
For R,B,T
axes
For CPU Unit
17
18
19
20
21
22
B
B
B
B
B
B
23
24
25
26
27
C
C
C
C
C
System Control Board
JANCD-XCP01
Communication Board
JANCD-XIF03
Specific I/O Board
JANCD-XIO01B
General I/O Board
JANCD-XIO02
Power On Board
JANCD-XTU01B
Circuit Protection Board for JARCR-XFL01
Brake Area
Servopack
CACR-UP20AAA
CPU Unit
JZNC-XRK01 -1
I/O Power On Unit
JZNC-XIU01B
Power Unit
JZRCR-XPU03
Programming Pendant
JZNC-XPP02
JZNC-XZU02
4715PS-22TB30-B00
Servopack Ascending Fan 4715PS-22TB30-B00
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
New A and
new B type
panel
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.27 “ Programming
Pendant” is ordered.
9-20
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SK16MX
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Manufacturer
Toshiba
Battery
Yaskawa
Minebea
Servopack Ascending Fan 3610PS-22TB30-B00
Minebea
4715PS-22TB30-B00
Minebea
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
13
14
B
B
B
B
Servopack Control Board
Amplifire
Amplifire
Amplifire
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP25JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSP-WS30AA
Yaskawa
JUSP-WS20AA
Yaskawa
JUSP-WS02AA
Yaskawa
15
B
Control Power Unit
CPS-150F
16
17
18
19
20
21
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
22
23
24
25
C
C
C
C
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
JANCD-XCP01
JANCD-XIF03
JANCD-XIO01
JANCD-XIO02
JANCD-XTU01
CACRSK16MAAB
JZNC-XRK01 -1
JZNC-XIU01
JZRCR-XPU02
JZNC-XPP02
Qty
Qty
per
unit
1
1
2
2
2
2
3
3
4
3
3
3
4
3
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
1
1
1
2
3
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
Remark
A, new A, new
B type panel
B type panel
A type panel
B type panel
New A and
new B type
panel
For Servo
For S axis
For L,U axes
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.25 “ Programming
Pendant” is ordered.
9-21
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP20M
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
4
A
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
A
B
Control Relay
Converter
10
B
Control Power Unit
11
12
13
14
15
B
B
B
B
B
Servopack Control Board
Amplifire
Amplifire
Amplifire
Amplifier
LY-2-DC24V
JUSPACP25JAAY11
JUSPRCP01
JASP-WRCA01
JUSP-WS44AA
JUSP-WS60AA
JUSP-WS20AA
JUSP-WS02AA
16
B
Control Power Unit
CPS-150F
17
18
19
20
21
22
B
B
B
B
B
B
23
C
24
25
26
27
C
C
C
C
System Control Board
JANCD-XCP01
Communication Board
JANCD-XIF03
Specific I/O Board
JANCD-XIO01
Genenal I/O Board
JANCD-XIO02
Power On Board
JANCD-XTU01
Circuit Protection Board for JARCR-XFL01
Brake Area
Servopack
CACRUP20MAAB
CPU Unit
JZNC-XRK01 -1
I/O Power On Unit
JZNC-XIU01
Power Unit
JZRCR-XPU02
Programming Pendant
JZNC-XPP02
JZNC-XZU02
5915PC-22TB30-B00
Servopack Ascending Fan 4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
Littel fuse
Littel fuse
Daito Communication
Apparatus
OMRON
Yaskawa
10
10
10
2
2
2
3
1
3
1
SANRITZ
1
1
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
3
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Yaskawa
1
1
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
Remark
New A and
new B type
panel
For Servo
For S axis
For L axis
For U axis
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.27 “ Programming
Pendant” is ordered.
9-22
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SK45X
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Manufacturer
Toshiba
Battery
Yaskawa
Minebea
Servopack Ascending Fan 3610PS-22TB30-B00
Minebea
4715PS-22TB30-B00
Minebea
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
13
14
B
B
B
B
Servopack Control Board
Amplifire
Amplifire
Amplifire
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP25JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSP-WS30AA
Yaskawa
JUSP-WS20AA
Yaskawa
JUSP-WS10AA
Yaskawa
15
B
Control Power Unit
CPS-150F
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-SK45AAB Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU02
Yaskawa
JZNC-XPP02
Yaskawa
Qty
Qty
per
unit
1
1
2
2
2
2
3
3
4
3
3
3
4
3
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
1
1
1
2
3
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Remark
A type, new A
type, and new
B type panel
B type panel
A type panel
B type panel
New A and
new B type
panel
For Servo
For S axis
For L, U axes
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.25 “ Programming
Pendant” is ordered.
9-23
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP50
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
4
A
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
A
B
Control Relay
Converter
10
B
Control Power Unit
11
12
13
14
15
B
B
B
B
B
Servopack Control Board
Amplifire
Amplifire
Amplifire
Amplifier
LY-2-DC24V
JUSPACP25JAAY11
JUSPRCP01
JASP-WRCA01
JUSP-WS44AA
JUSP-WS60AA
JUSP-WS20AA
JUSP-WS10AA
16
B
Control Power Unit
CPS-150F
17
18
19
20
21
22
23
24
25
26
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
JZNC-XZU02
5915PC-22TB30-B00
Servopack Ascending Fan 4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
Littel fuse
Littel fuse
Daito Communication
Apparatus
OMRON
Yaskawa
10
10
10
2
2
2
3
1
3
1
SANRITZ
1
1
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
3
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01B Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01B Yaskawa
CACR-UP50AAB Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01B
Yaskawa
JZRCR-XPU02
Yaskawa
JZNC-XPP02
Yaskawa
Remark
New A and
new B type
panel
For Servo
For S axis
For L axis
For U axis
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.26 “ Programming
Pendant” is ordered.
9-24
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SP70X
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Manufacturer
Toshiba
Battery
Yaskawa
Minebea
Servopack Ascending Fan 3610PS-22TB30-B00
Minebea
4715PS-22TB30-B00
Minebea
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
13
14
15
B
B
B
B
B
Servopack Control Board
Amplifire
Amplifire
Amplifier
Amplifire
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP25JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSP-WS20AA
Yaskawa
JUSP-WS15AA
Yaskawa
JUSP-WS44AA
Yaskawa
JUSP-WS05AA
Yaskawa
16
B
Control Power Unit
CPS-150F
17
18
19
20
21
22
23
24
25
26
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-SK70AAB Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU02
Yaskawa
JZNC-XPP02
Yaskawa
Qty
Qty
per
unit
1
1
2
2
2
2
3
3
4
3
3
3
4
3
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
1
1
1
1
1
1
3
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Remark
A, new A, and
new B type
panel
B type panel
A type panel
B type panel
New A and
new B type
panel
For Servo
For S axis
For L axis
For U axis
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.26 “ Programming
Pendant” is ordered.
9-25
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP130, UP165
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
4
3
4
Minebea
3
3
Remark
A, new A,
new B type
panel
B type panel
A and B type
panel
New A and
new B type
panel
A and B type
panel
5
A
Heat Exchanger Fan
4710PS-22T-B30 Minebea
2
2
6
7
8
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
10
10
10
2
2
2
9
10
11
A
B
B
Control Relay
Converter
Control Power Unit
3
1
1
3
1
1
12
13
B
B
Servopack Control Board
Amplifire
Little fuse
Littel fuse
Daito Communication
Apparatus
LY2 DC24V
OMRON
JUSP-ACP35JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSP-WS60AA
Yaskawa
1
1
1
3
14
B
Amplifire
Yaskawa
1
1
15
B
Amplifire
Yaskawa
1
2
For B,T axes
16
B
Control Power Unit
JUSPWS20AAY13
JUSPWS15AAY13
CPS-150F
For S,L,U
axes
For R axis
1
1
For CPU Unit
17
18
19
20
21
22
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
1
1
23
24
25
26
C
C
C
C
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
JANCD-XCP01
JANCD-XIF03
JANCD-XIO01
JANCD-XIO02
JANCD-XTU01
CACRUP130AAB
JZNC-XRK01 -1
JZNC-XIU01
JZRCR-XPU02
JZNC-XPP02
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.26 “ Programming
Pendant” is ordered.
9-26
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP200, UP165-100
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
4
3
4
Minebea
3
3
Remark
A, new A, and
new B type
panel
B type panel
A and B type
panel
New A and
new B type
panel
A and B type
panel
5
A
Heat Exchanger Fan
4710PS-22T-B30 Minebea
2
2
6
7
8
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
10
10
10
2
2
2
9
10
11
A
B
B
Control Relay
Converter
Control Power Unit
3
1
1
3
1
1
For Servo
12
13
B
B
Servopack Control Board
Amplifire
1
1
1
2
For S,L axes
14
15
B
B
Amplifire
Amplifire
1
1
1
1
For U axis
For R axis
16
B
Amplifire
1
2
For B,T axes
17
B
Control Power Unit
1
1
For CPU Unit
18
19
20
21
22
23
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
1
1
1
1
1
1
1
1
1
1
1
1
24
25
26
27
C
C
C
C
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
1
1
1
1
1
1
1
1
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP35JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSPYaskawa
WS60AAY18
JUSP-WS60AA
Yaskawa
JUSPYaskawa
WS20AAY13
JUSPYaskawa
WS15AAY13
CPS-150F
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACRYaskawa
UP130AABY18
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU02
Yaskawa
JZNC-XPP02
Yaskawa
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.27 “ Programming
Pendant” is ordered.
9-27
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP130R, UP130T, SK506X
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
4
3
4
Minebea
3
3
Remark
A, new A, and
new B type
panel
B type panel
A and B type
panel
New A and
new B type
panel
A and B type
panel
5
A
Heat Exchanger Fan
4710PS-22T-B30 Minebea
2
2
6
7
8
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
10
10
10
2
2
2
9
10
11
A
B
B
Control Relay
Converter
Control Power Unit
3
1
1
3
1
1
For Servo
12
13
B
B
Servopack Control Board
Amplifire
1
1
1
2
For S,L axes
14
15
B
B
Amplifire
Amplifire
1
1
1
1
For U axis
For R axis
16
B
Amplifire
1
2
For B,T axes
17
B
Control Power Unit
1
1
For CPU Unit
18
19
20
21
22
23
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
1
1
1
1
1
1
1
1
1
1
1
1
24
25
26
27
C
C
C
C
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
1
1
1
1
1
1
1
1
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP35JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSPYaskawa
WS60AAY18
JUSP-WS60AA
Yaskawa
JUSPYaskawa
WS20AAY13
JUSPYaskawa
WS15AAY13
CPS-150F
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACRYaskawa
UP130AABY18
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU01
Yaskawa
JZNC-XPP02
Yaskawa
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.27 “ Programming
Pendant” is ordered.
9-28
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for UP130RL, UP165R, UP200R
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Servopack Ascending Fan 4715PS-22TB30-B00
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
B
B
Servopack Control Board
Amplifire
13
B
Amplifire
14
B
Amplifire
15
B
Control Power Unit
16
17
18
19
20
21
B
B
B
B
B
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
22
23
24
25
C
C
C
C
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
Manufacturer
Qty
Qty
per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
3
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
3
1
1
For S, L, U
axes
For R axis
1
2
For B, T axes
1
1
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP35JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSPYaskawa
WS60AAY18
JUSPYaskawa
WS20AAY13
JUSPYaskawa
WS15AAY13
CPS-150F
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACRYaskawa
UP130AABY21
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU01
Yaskawa
JZNC-XPP02
Yaskawa
New A and
new B type
panel
New A and
new B type
panel
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.25 “ Programming
Pendant” is ordered.
9-29
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SK300X, SR200X
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
4
3
4
Minebea
3
3
5
A
Heat Exchanger Fan
4710PS-22T-B30 Minebea
2
2
6
7
8
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
10
10
10
2
2
2
9
10
11
A
B
B
Control Relay
Converter
Control Power Unit
3
1
1
3
1
1
12
13
B
B
Servopack Control Board
Amplifire
1
1
1
3
14
B
Amplifire
1
3
15
B
Control Power Unit
1
1
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP35JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSPYaskawa
WS60AAY18
JUSPYaskawa
WS30AAY18
CPS-150F
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-SK300AAB Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU01
Yaskawa
JZNC-XPP02
Yaskawa
Remark
A, new A, and
new B type
panel
B type panel
A and B type
panel
New A and
new B type
panel
A and B type
panel
For Servo
For S,L,U
axes
For R,B,T
axes
For CPU Unit
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.25 “ Programming
Pendant” is ordered.
9-30
RE-CTO-A203
9.4 Recommended Spare Parts
Recommended Spare Parts of XRC for SP100X
No Rank
Name
Type
1
A
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
4
A
Servopack Ascending Fan 3610PS-22TB30-B00
4715PS-22TB30-B00
5
6
7
A
A
A
Control Power Fuse
24VDC Fuse
Brake Fuse
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
B
B
Servopack Control Board
Amplifire
13
B
Amplifire
14
B
Control Power Unit
15
16
17
18
19
20
21
22
23
24
B
B
B
B
B
C
C
C
C
C
System Control Board
Communication Board
Specific I/O Board
Genenal I/O Board
Power On Board
Servopack
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
Manufacturer
Qty
Qty
per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
1
1
2
2
2
2
Minebea
3
4
3
4
Minebea
3
3
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
3
1
1
For S,L,U
axes
For T axis
1
1
For CPU Unit
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Littel fuse
Littel fuse
Daito Communication
Apparatus
LY-2-DC24V
OMRON
JUSP-ACP35JAA Yaskawa
JUSPSANRITZ
RCP01
JASP-WRCA01
Yaskawa
JUSPYaskawa
WS60AAY18
JUSPYaskawa
WS20AAY19
CPS-150F
Fuji Electric
Hi-Tech
JANCD-XCP01
Yaskawa
JANCD-XIF03
Yaskawa
JANCD-XIO01
Yaskawa
JANCD-XIO02
Yaskawa
JANCD-XTU01
Yaskawa
CACR-SP100AAB Yaskawa
JZNC-XRK01 -1 Yaskawa
JZNC-XIU01
Yaskawa
JZRCR-XPU01
Yaskawa
JZNC-XPP02
Yaskawa
A, new A, and
new B type
panel
B type panel
A and B type
panel
New A and
new B type
panel
For Servo
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.24 “ Programming
Pendant” is ordered.
9-31
Alarm • Error
RE-CTO-A203
10.1 Outline of Alarm
10 Alarm
10.1 Outline of Alarm
When the alarm of level 0-3(major alarm) occurs, the servo power supply is interrupted.
Alarm Code classification.
Alarm Code
0
Alarm Level
Alarm Reset Method
Level 0 (Major alarm)
(Off line alarm : Initial diagnosis/
Hardware diagnosis alarm)
It is not possible to reset by [RESET] under
the alarm display or the specific I/O signal(Alarm reset). Turn off the main power supply and correct the cause of the alarm. Then
turn on the main power supply again.
Level 1-3 (Major alarm)
It is not possible to reset by [RESET] under
the alarm display or the specific I/O signal(Alarm reset). Turn off the main power supply and correct the cause of the alarm. Then
turn on a main power supply again.
Level 4-8 (Minor alarm)
After correcting the cause, it is possible to
reset by [RESET] under the alarm display or
the specific I/O signal(Alarm reset).
Level 9 (Minor alarm)
(I/O Alarm)
After correcting the cause that the specific
input signal for the system or user alarm
request is input, it is possible to reset by
[RESET] under the alarm display or the specific I/O signal(Alarm reset).
1
3
4
8
9
10-1
RE-CTO-A203
10.2 Alarm Display
10.2 Alarm Display
10.2.1
Displaying/Releasing Alarm
If an alarm occurs during operation, the manipulator stops immediately, the alarm/error lamp
on the playback panel lights and the alarm display appears on the programming pendant indicating that the machine was stopped by an alarm.
JOB
EDIT
DISPLAY
L
ALARM
R1
ALARM
4000
MEMORY ERROR(TOOL FILE)
[1]
OCCUR TIMES:1
UTILITY
C
A
RESET
!
If more than one alarm occurs simultaneously, the first four alarms are displayed. The fifth
and subsequent alarms are not displayed, but they can be checked on the alarm history display. The following operations are available in the alarm status: display change, mode
change, alarm reset, and emergency stop. If the display is changed to the other during alarm
occurrence, the alarm display can be shown again by selecting {SYSTEM INFO} and
{ALARM} under the menu.
Release
Alarms are classified by minor and major alarms.
Minor Alarms
Operation
Press [SELECT]*1
Explanation
*1
Select [RESET] under the alarm display to release the alarm status. When using an
external input signal, turn on the “ALARM RESET” setting.
Major Alarms
Operation
Turn off the main power supply and remove the cause of the alarm*1
Explanation
*1
If a severe alarm, such as hardware failure occurs, servo power is automatically shut
off and the manipulator stops. If releasing does not work, turn off the main power and
correct the cause of the alarm.
10-2
RE-CTO-A203
10.2 Alarm Display
10.2.2
Special Alarm Display
(1) Sub Data
Sub data such as data for the axis where the alarm occurred, may also be displayed for
some alarms.
• Decimal data
Without signs: 0 to 65535
With signs: -32768 to 32767
• Binary data
The alarm occurrence data becomes “1”.
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
• Axis data
The axis where the alarm occurred is highlighted.
With robot axis: Robots 1 to 3
[SLURBT]
With base axis: Robots 1 to 3
[123]
With station axis: Stations 1 to 6 [ 1 2 3 ]
• XYZ coordinate data
The coordinates when the alarm occurred are highlighted.
[XYZ]
[ X Y Z Tx Ty Tz ]
• 123 data
The data for the alarm that occurred is highlighted.
[123]
• Control group data
The control group where the alarm occurred is highlighted.
[ R1 R2 S1 S2 S3 ]
(2) Multiple Servopack System
In a system using more than one Servopack, the number of the Servopack where the
alarm occurred is also displayed. The S1 switch of the WRCA01 board shows the Servopack number.
SV#1: Servopack 1 (WRCA01 board S1 switch: 0)
SV#2: Servopack 2 (WRCA01 board S1 switch: 1)
SV#3: Servopack 3 (WRCA01 board S1 switch: 2)
SV#4: Servopack 4 (WRCA01 board S1 switch: 3)
SV#5: Servopack 5 (WRCA01 board S1 switch: 4)
SV#6: Servopack 6 (WRCA01 board S1 switch: 5)
10-3
RE-CTO-A203
10.2 Alarm Display
(3) Independent Control Function (Optional)
In the independent control function (multi-task job), the tasks that were being done when
the alarm occurred are also displayed.
TASK#0: Master-task job
TASK#1: Sub-task1 job (SUB1)
TASK#2: Sub-task2 job (SUB2)
TASK#3: Sub-task3 job (SUB3)
TASK#4: Sub-task4 job (SUB4)
TASK#5: Sub-task5 job (SUB5)
10-4
RE-CTO-A203
10.3 Alarm Message List
10.3 Alarm Message List
CAUTION
Pay special attention when performing any repairs for system control circuit board
“JANCD-XCP01”. Personnel must be appropriately skilled in maintenance mode operation to carry out repairs.
JANCD-XCP01 back up very important file data for the user program with a battery. Careless operation may delete registered data. If repairs for JANCD-XCP01 are necessary,
consult YASKAWA representative before performing any repairs.
Alarm Message List
Alarm
Number
Message
Cause
Remedy
0010
CPU BOARD INSERTION ERROR
[Decimal Data]
• Insertion of the circuit board was not completed
• Defective circuit board
• Check whether the circuit board is correctly inserted.
• Replace the circuit board.
Data stands for error circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
(Note)
XCP02 circuit board (# - )
:Slot NO.
:0 XCP02 circuit board(main)
1 Sub-board1(connector CNSL side)
2 Sub-board2(connector CNET side)
0020
CPU
COMMUNICATION
ERROR
[Decimal Data]
• Insertion of the circuit board was not completed
• Defective circuit board
Data stands for an error circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
(Note)
XCP02 circuit board (# - )
:Slot NO.
:0 XCP02 circuit board(main)
1 Sub-board1(connector CNSL side)
2 Sub-board2(connector CNET side)
10-5
• Check whether the circuit board is correctly inserted.
• Replace the circuit board.
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
0021
Message
Cause
Remedy
COMMUNICATION
ERROR(SERVO)
[Decimal Data]
• The connection of communication cable
for servopack was not completed.
• The connection of communication cable
for servopack was not cut.
• The connection of terminal connector was
not completed.
• The terminal connector was unusual.
• The circuit board was out of order.
• (The terminal connector was equipped 1
for a system).
• Check the connection of communication
cable for servopack.
• (XCP01 CN05 - WRCA(#*) CN10 cable,
WRCA CN10(#*) - WRCA
• CN10(#*) cable)
• Replace the communication connector
for servopack.
• Check the connection of the terminal
connector(WRCA CN10(#*)).
• Replace the terminal connector.
• Replace the circuit board.
Data stands for an error circuit board
50:WRCA01 circuit board (#1)
51:WRCA01 circuit board (#2)
52:WRCA01 circuit board (#3)
53:WRCA01 circuit board (#4)
54:WRCA01 circuit board (#5)
55:WRCA01 circuit board (#6)
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on the
WRCA01 circuit board is ( -1).
0030
ROM ERROR
[Decimal Data]
An error was found by sum check of system
program.
Data stands for an error circuit board
1:XCP01 circuit board
2:XSP01 circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
(Note)
XCP02 circuit board (# - )
:Slot NO.
:0
XCP02 circuit board(main)
1
Sub-board1(connector CNSL side)
2
Sub-board2(connector CNET side)
50:WRCA01 circuit board (#1)
51:WRCA01 circuit board (#2)
52:WRCA01 circuit board (#3)
53:WRCA01 circuit board (#4)
54:WRCA01 circuit board (#5)
55:WRCA01 circuit board (#6)
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on the
WRCA01 circuit board is ( -1).
10-6
• Replace the circuit board.
• When the XCP01 circuit board is
replaced, consult YASKAWA representative.
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
0040
MEMORY ERROR
(CPU BOARD RAM)
[Decimal Data]
Cause
Memory(RAM) error
Data stands for an error circuit board
1:XCP01 circuit board
2:XSP01 circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
Remedy
• Replace the circuit board.
• When the XCP01 circuit board is
replaced, consult a YASKAWA representative.
(Note)
XCP02 circuit board (# - )
:Slot NO.
:0
XCP02 circuit board(main)
1
Sub-board1(connector CNSL side)
2
Sub-board2(connector CNET side)
50:WRCA01 circuit board (#1)
51:WRCA01 circuit board (#2)
52:WRCA01 circuit board (#3)
53:WRCA01 circuit board (#4)
54:WRCA01 circuit board (#5)
55:WRCA01 circuit board (#6)
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on the
WRCA01 circuit board is ( -1)
0050
MEMORY
ERROR(PCI-BUS
COMMON RAM)
[Decimal Data]
A error occured in PCI bus shared RAM of
the CPU rack or shared RAM between circuit boards.
Data stands for an error circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
(Note)
XCP02 circuit board (# - )
:Slot NO.
:0
XCP02 circuit board(main)
1
Sub-board1(connector CNSL side)
2
Sub-board2(connector CNET side)
10-7
• Insert the circuit board securely in the
CPU rack or in the connector on the
board.
• Replace the circuit board.
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
0060
Message
Cause
Remedy
COMMUNICATION
ERROR(I/O MODULE)
[Decimal Data]
• An error occured in communication of I/O
module.
• Defective I/O module
• Check the connection of the communication cable for I/O module. (XCP01 CN01
- XIU01 CN03 cable,
WRCA01(#*) CN20 - XIU01 CN21
cable)
• Replace the communication connector
for I/O module.
Data stands for the error I/O module.
1-15: I/O module connected with
XCP01circuit board
17-31:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#1)
33-47:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#2)
49-63:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#3)
65-79:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#4)
81-95:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#5)
97-111:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#6)
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on the
WRCA circuit board is ( -1)
0100
COMMUNICATION
ERROR (WRCA#1)
[Decimal Data]
• An error occurred in the communications
sequence between the XCP01 circuit
board and Servopack #1.
• Check the connection of the communications cable for the servopack. (XCP01
or CN05 to WRCA (#*) or CN10 cable,
WRCA (#*) or CN10 to WRCA or CN10
(#*) cable)
• Replace the communications cable for
the servopack.
• Check the connection of the terminal
connector (WRCA (#*) and CN10).
• Replace the terminal connector.
• Replace the circuit board.
0101
COMMUNICATION
ERROR (WRCA#2)
[Decimal Data]
• An error occurred in the communications
sequence between the XCP01 circuit
board and Servopack #2.
• Check the connection of the communications cable for the servopack. (XCP01 or
CN05 to WRCA (#*) or CN10 cable,
WRCA (#*) or CN10 to WRCA or CN10
(#*) cable)
• Replace the communications cable for
the servopack.
• Check the connection of the terminal
connector (WRCA (#*) and CN10).
• Replace the terminal connector.
• Replace the circuit board.
10-8
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
Remedy
0102
COMMUNICATION
ERROR (WRCA#3)
[Decimal Data]
• An error occurred in the communications
sequence between the XCP01 circuit
board and Servopack #3.
• Check the connection of the communications cable for the servopack. (XCP01or
CN05 to WRCA (#*) or CN10 cable,
WRCA (#*) or CN10 to WRCA or CN10
(#*) cable)
• Replace the communications cable for
the servopack.
• Check the connection of the terminal
connector (WRCA (#*) and CN10).
• Replace the terminal connector.
• Replace the circuit board.
0103
COMMUNICATION
ERROR (WRCA#4)
[Decimal Data]
• An error occurred in the communications
sequence between the XCP01 circuit
board and Servopack #4.
• Check the connection of the communications cable for the servopack. (XCP01 or
CN05 to WRCA (#*) or CN10 cable,
WRCA (#*) or CN10 to WRCA or CN10
(#*) cable)
• Replace the communications cable for
the servopack.
• Check the connection of the terminal
connector (WRCA (#*) and CN10).
• Replace the terminal connector.
• Replace the circuit board.
0104
COMMUNICATION
ERROR (WRCA#5)
[Decimal Data]
• An error occurred in the communications
sequence between the XCP01 circuit
board and Servopack #5.
• Check the connection of the communications cable for the servopack. (XCP01 or
CN05 to WRCA (#*) or CN10 cable,
WRCA (#*) or CN10 to WRCA or CN10
(#*) cable)
• Replace the communications cable for
the servopack.
• Check the connection of the terminal
connector (WRCA (#*) and CN10).
• Replace the terminal connector.
• Replace the circuit board.
0105
COMMUNICATION
ERROR (WRCA#6)
[Decimal Data]
• An error occurred in the communications
sequence between the XCP01 circuit
board and Servopack #6.
• Check the connection of the communications cable for the servopack. (XCP01 or
CN05 to WRCA (#*) or CN10 cable,
WRCA (#*) or CN10 to WRCA or CN10
(#*) cable)
• Replace the communications cable for
the servopack.
• Check the connection of the terminal
connector (WRCA (#*) and CN10).
• Replace the terminal connector.
• Replace the circuit board.
0200
MEMORY ERROR
(PARAMETER FILE)
[Decimal Data]
The parameter file was damaged.
Data stands for the damaged parameter file.
0:RC*, 1:RO*, 2:SV, 3:SVM, 4:SC, 5:SD*,
6:CIO*, 7:FD*, 8:AP, 9:RS, 10:SE, 11:RMS*,
12:AMC*, 13:SVP*, 14:MF*,15:PCD*
*:System parameter
• Initialize the parameter file damaged on
maintenance mode.
• Load the saved parameter file in the
external memory unit.
Alarm
Number
10-9
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
0210
MEMORY ERROR
(SYSTEM CONFIGDATA)
The system configuration data information
on setting system initialization was
damaged.
Needs investigation.
Consult a YASKAWA representative.
0220
MEMORY ERROR
(JOB MNG DATA)
The job control data was damaged.
• Initialize the job on maintenance mode
The whole job data is deleted.
• Load the job saved on the external memory unit.
0230
MEMORY ERROR
(LADDER PRG FILE)
The concurrent I/O ladder program was
damaged.
• Initialize the ladder program on maintenance mode.
• Load the ladder program saved on the
external memory unit.
0300
VERIFY ERROR
(SYSTEM CONFIGDATA)
[Decimal Data]
The system parameter was modified illegally.
Needs investigation.
Consult a YASKAWA representative.
0310
VERIFY ERROR
(CMOS MEMORY
SIZE)
CMOS memory capacity on system setting
was different than the current one.
Check the connection status of CMOS
memory circuit board (XMM01) for expansion.
0320
VERIFY ERROR
(I/O MODULE)
[Decimal Data]
• The status of the I/O module on initializing
system or modifying was different than the
current.
• The communication mode (16/17 bytes)
does not coincide with the XIO01 due to
replacement of the I/O module.
• Check the I/O module is same as when it
was initialized or modified.
• Modify the I/O module on maintenance
mode.
• Verity the communication mode (16/17
bytes) of the new I/O module.
Alarm
Number
Remedy
Data stands for the I/O module.
1-15: I/O module connected with XCP01 circuit board
17-31:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#1)
33-47:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#2)
49-63:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#3)
65-79:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#4)
81-95:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#5)
97-111:Contactor circuit board, speed detect
circuit board connected with
WRCA01 circuit board(#6)
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on the
WRCA01 circuit board is ( -1)
0330
VERIFY ERROR
(APPLICATION SETTING)
The applicatoion on system setting was different than AP parameter.
10-10
Change the AP parameter to the correct
value.
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
0340
VERIFY ERROR
(SENSOR FUNCTION)
• The sensor function on system initializing
was different than the function of the sensor circuit board mounted now.
• The sensor setting on system setting was
different than SE parameter.
• Set the function of the sensor circuit
board on maintenance mode again.
• Change SE parameter for the correct
value.
0400
PARAMETER
TRANSMISSION
ERROR
[Decimal Data]
• The connection of communication cable
for servopack was not completed.
• The connection of communication cable
for servopack was not cut.
• The connection of terminal connector is
not completed.
• The terminal connector is unusual.
• The circuit board was out of order. (The
terminal connector is equipped 1 for a system).
• Check the connection of communication
cable for servopack. (XCP01 CN05 WRCA(#*) CN10 cable,
WRCA CN10(#*) - WRCA CN10(#*)
cable)
• Replace the communication connector
for servopack.
• Check the connection of the terminal
connector(WRCA CN10(#*)).
• Replace the terminal connector.
• Replace the circuit board.
Data stands for an error circuit board
50:WRCA01 circuit board (#1)
51:WRCA01 circuit board (#2)
52:WRCA01 circuit board (#3)
53:WRCA01 circuit board (#4)
54:WRCA01 circuit board (#5)
55:WRCA01 circuit board (#6)
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on the
WRCA01 circuit board is ( -1)
0410
MODE CHANGE
ERROR
[Decimal Data]
An error occurred in process of change to
normal operation mode.
Data stands for an error circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
(Note)
XCP02 circuit board (# - )
:Slot NO.
:0
XCP02 circuit board(main)
1
Sub-board1(connector CNSL side)
2
Sub-board2(connector CNET side)
50:WRCA01 board (#1)
51:WRCA01 board (#2)
52:WRCA01 board (#3)
53:WRCA01 board (#4)
54:WRCA01 board (#5)
55:WRCA01 board (#6)
<Data :10-21>
• Insert the circuit board in the CPU rack
fast.
• Replace the circuit board.
<Data :50-55>
• Check the connection of communication
cable for servopack. (XCP01 CN05 WRCA(#*) CN10 cable,
WRCA CN10(#*) - WRCA CN10(#*)
cable)
• Replace the communication connector
for servopack.
• Check the connection of the terminal
connector(WRCA CN10(#*)).
• Replace the terminal connector.
• Replace the circuit board.
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on
WRCA01 circuit board is ( -1)
0500
SEGMENT PROC
NOT READY
An error occured in communication between
XCP01 circuit board and WRCA01 circuit
board.
10-11
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
0510
SOFTWARE VERSION UNMATCH
[Decimal Data]
The software version of the XCP01 circuit
board does not agree with that of the WRCA
circuit board.
• Contact your Yaskawa representative.
0900
WATCHDOG TIMER
ERROR
(XCP01)
[Decimal Data]
An insertion error of the XCP01 circuit board
or defective circuit board.
• Insert the circuit board in the CPU rack
fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0901
WATCHDOG TIMER
ERROR
(XCP02#1)
[Decimal Data]
An insertion error of the XCP02#1 circuit
board or the circuit borad failer.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board
• If the error occurs again, contact your
YASKAWA representative.
0902
WATCHDOG TIMER
ERROR
(XCP02#2)
[Decimal Data]
An insertion error of the XCP02#2 circuit
board or defective circuit board.
• Insert the circuit board in theCPU rack or
the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0910
CPU ERROR(XCP01)
[Decimal Data]
An insertion error of the XCP01 circuit board
or defective circuit board.
• Insert the circuit board in theCPU rack
fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0911
CPU ERROR
(XCP02#1)
[Decimal Data]
An insertion error of the XCP02#1 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0912
CPU ERROR
(XCP02#2)
[Decimal Data]
An insertion error of the XCP02#2 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0920
BUS ERROR
(XCP01)
[Decimal Data]
An insertion error of the XCP01 circuit board
or defective circuit board.
• Insert the circuit board in the CPU rack
fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0921
BUS ERROR
(XCP02#1)
[Decimal Data]
An insertion error of the XCP02#1 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0922
BUS ERROR
(XCP02#2)
[Decimal Data]
An insertion error of the XCP02#2 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board
• If the error occurs again, contact your
YASKAWA representative.
10-12
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
0930
CPU HANG UP
ERROR
(XCP01)
[Decimal Data]
An insertion error of the XCP01 circuit board
or defective circuit board.
• Insert the circuit board in the CPU rack
fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0931
CPU HANG UP
ERROR
(XCP02#1)
[Decimal Data]
An insertion error of the XCP02#1 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0932
CPU HANG UP
ERROR
(XCP02#2)
[Decimal Data]
An insertion error of the XCP02#2 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0940
WATCHDOG TIMER
ERROR
(WRCA#1)
[Decimal Data]
An insertion error of theWRCA01#1 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board
fast.
• Replace the circuit board
• If the error occurs again, contact your
YASKAWA representative.
0941
WATCHDOG TIMER
ERROR
(WRCA#2)
[Decimal Data]
An insertion error of the WRCA01#2 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0942
WATCHDOG TIMER
ERROR
(WRCA#3)
[Decimal Data]
An insert error of the WRCA01#3 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0943
WATCHDOG TIMER
ERROR
(WRCA#4)
[Decimal Data]
An insertion error of the WRCA01#4 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0944
WATCHDOG TIMER
ERROR
(WRCA#5)
[Decimal Data]
An insertion error of the WRCA01#5 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0945
WATCHDOG TIMER
ERROR
(WRCA#6)
[Decimal Data]
An insertion error of the WRCA01#6 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
10-13
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
0950
CPU ERROR
(WRCA#1)
[Decimal Data]
An insertion error of the WRCA01#1 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0951
CPU ERROR
(WRCA#2)
[Decimal Data]
An insertion error of the WRCA0#21 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0952
CPU ERROR
(WRCA#3)
[Decimal Data]
An insertion error of the WRCA01#3 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0953
CPU ERROR
(WRCA#4)
[Decimal Data]
An insertion error of the WRCA01#4 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board
fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0954
CPU ERROR
(WRCA#5)
[Decimal Data]
An insertion error of the WRCA01#5 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0955
CPU ERROR
(WRCA#6)
[Decimal Data]
An insertion error of the WRCA01#6 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0960
CPU HANG UP
ERROR
(WRCA#1)
[Decimal Data]
An insertion error of the WRCA01#1 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0961
CPU HANG UP
ERROR
(WRCA#2)
[Decimal Data]
An insertion error of the WRCA01#2 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0962
CPU HANG UP
ERROR
(WRCA#3)
[Decimal Data]
An insertion error of the WRCA01#3 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
10-14
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
0963
CPU HANG UP
ERROR
(WRCA#4)
[Decimal Data]
An insertion error of the WRCA01#4 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0964
CPU HANG UP
ERROR
(WRCA#5)
[Decimal Data]
An insertion error of the WRCA01#5 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0965
CPU HANG UP
ERROR
(WRCA#6)
[Decimal Data]
An insertion error of the WRCA01#6 circuit
board or defective circuit board.
• Insert the circuit board in the CPU rack
or the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
0999
NMI ERROR
[Decimal Data]
NMI(interruption CPU signal of unknown origin) occured because of the motion error of
hardware, circuit board and rack or control
error of software.
• Insert the circuit board in theCPU rack or
the connector on the circuit board fast.
• Replace the circuit board.
• If the error occurs again, contact your
YASKAWA representative.
1000
ROM ERROR
(XCP01)
The error was found by sum check of system program for the XCP01 circuit board.
Replace the XCP01 circuit board (ROM).
1001
ROM
ERROR(WRCA01)
[Decimal Data]
The error was found by sum check of system program for the XCP01 circuit board.
Replace the WRCA circuit board (ROM).
1002
ROM ERROR
(XFC01)
The error was found by sum check of system program for the XFC01 circuit board.
Replace the XFC01 circuit board (ROM).
1003
ROM (XCP02)
The error was found by sum check of system program for the XCP02 circuit board.
Replace the XCP02 circuit board (ROM).
1030
MEMORY ERROR
(PARAMETER FILE)
[Decimal Data]
The parameter file of CMOS memory was
damaged.
Data stands for the damaged parameter file.
0:RC*, 1:RO*, 2:SV, 3:SVM, 4:SC, 5:SD*,
6:CIO*, 7:FD*, 8:AP, 9:RS, 10:SE, 11:RMS*,
12:AMC*, 13:SVP*, 14:MF*, 15:PCD*
*:System parameter
• Initialize the parameter file damaged on
maintenance mode.
• Load the saved parameter from the
floppy disk and restore.
1031
MEMORY ERROR
(MOTION1)
[Decimal Data]
The saved each file on CMOS memory used
by motion instruction was damaged.
• Initialize the file damaged on maintenance mode.
• Load the saved file from the floppy disk
and restore.
1032
MEMORY ERROR
(MOTION2)
[Decimal Data]
• The saved each file on XCP01 circuit
board memory used by motion instruction
was damaged.
• An insertion error of the XCP01 circuit
board or the circuit borad failer.
• Turn the power off then back on.
• Insert the XCP01 circuit board in CPU
rack fast.
• Replace the XCP01 circuit board.
• If the error occurs again, contact your
YASKAWA representative.
10-15
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
1050
SET-UP PROCESS
ERROR
(SYSCON)
[Decimal Data]
The error occured in the setup process of
system when the main power was turned
on.
1: The set up of motion instruction was not
completed. The set up of the WRCA01,
XCP02 circuit board was not completed.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
1051
SETUP INITIALIZE
ERROR
(MOTION)
[Decimal Data]
The error occured in the setup process of
motion instruction when the main power
was turned on.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
1100
SYSTEM ERROR
C: B: C:
[Decimal Data]
The alarm of unknown origin was detected
by noise and control error.
• Needs investigation. Consult a
YASKAWA representative.
1101
SYSTEM ERROR
(SYSTEM1)
[Decimal Data]
The error occured in the control check of
system.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
1102
SYSTEM ERROR
(SYSTEM2)
[Decimal Data]
The error occured in the control check of
system.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
1103
SYSTEM ERROR
(EVENT)
[Decimal Data]
The error occured in the event data check of
system.
• If the error occurs again, contact your
YASKAWA representative.
1104
SYSTEM ERROR
(CIO)
[Bit Pattern]
The error occured in the I/O control check of
system
• Check the connector, cable for transmission path of I/O signal(XCP01I/O contactor unit , I/O module)
• Reset the I/O module on maintenance
mode.
Alarm
Number
Data stands for the cause of alarm.
0001_0000:Communication error with I/O
module or seting error of I/O module
Remedy
• Replace the XCP01, I/O contactor unit, I/
O module.
1105
SYSTEM ERROR
(SERVO)
[Decimal Data]
The error occured in control check of the
WACA01/WRCF01 circuit board.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
1106
SYSTEM ERROR
(SPEED MONITOR)
[Decimal Data]
The error occured in control check of the
XFC01 circuit board.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
1200
HIGH TEMPERATURE (IN CNTL BOX)
The temperature in the controller raised
abnormally.
Check whether interior fan of controller is
working or not.
1201
OVERRUN LIMIT
SWITCH RELEASED
Overrun recovery switch was operated on
playback.
• Don't operate the overrun recovery
switch on playb\ack.
• It is thought that the overrun recovery
switch is failed. Consult YASKAWA representative.
1202
FAULT
[Decimal Data]
CPU motion impossibility caused by 0 division etc.
Data stands for the factor of alarm.
1:Calculation
2:Floating point
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
10-16
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
1203
SAFETY CIRCUIT
ERROR (XCI01)
[Binary Data]
The error occurred in the safe circuit processing of the XCI01 circuit board.
00000000_********: CPU1 error
********_00000000: CPU2 error
*: Data of 0 or 1
• Turn the power off then back on.
• Check the connection cable of the I/O
contactor unit.
• If the error occurs again, contact your
Yaskawa representative.
1204
COMMUNICATION
ERROR (I/O Module)
[Binary Data]
An error occurred in the communications of
the I/O module.
0000_0000_0000_0010: ST#1
0000_0000_0000_0100: ST#2
0000_0000_0000_1000: ST#3
:
1000_0000_0000_0000: ST#15
• Check the connector and cable for the I/
O signal transmission (XCP01-I/O
power on unit, and I/O module)
• Set the I/O module to maintenance
mode again.
• Take countermeasures against noise.
• Replace the XCP01 circuit board, the I/
O-power on unit, and/or the I/O module.
1206
SPEED ERROR
(XCP01)
Robot/Station
[Axis Data}
The motor speed displayed in the axis data
exceeds the maximum motor speed.
• Incorrect wiring of motor U,V,W lines
• Incorrect motor type
• The motor was rotated by an external
force.
• Motor (encoder) fault
• Check the connection of the motor.
• Check the robot motion for when the
alarm occurs and if any external force is
being applied to the motor.
• Check if the the U, V, and W lines of the
motor are connected correctly. If not,
reconnect them.
• Check if the alarm occurs at a teaching
speed lower than the speed when the
alarm occurred. Depending on the
teaching posture, the R, B, or T axis
may move at a higher speed during linear interpolation. If so, reconsider the
teaching.
<When the alarm occurs in the robot
axis>
Check if the motor type specified in the
instruction manual is used. If not, use
the specified type of motor.
<When the alarm occurs in the external
axis>
Check if the motor type set in the system configuration is the same as that is
actually connected. If the setting in the
system configuration is correct, replace
the motor with one set in the system
configuration. If not, correct the setting
in the system configuration.
10-17
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
Remedy
1300
SERVO CPU SYNCHRONIZING
ERROR
The communication between the XCP01
circ board and the WRCA01 circuit board
was abnormal.
• The cable between the XCP01 circuit
board and WRCA01 circuit board was
defective.
• The connection of the terminal connector
was imcomplete.
• Defective XCP01 circuit board
• Defective WRCA01 circuit board
• Check the connection of communication
cable for servopack.
(XCP01 CN05 - WRCA(#*) CN10 cable,
WRCA CN10(#*) - WRCA CN10(#*)
cable)
• Replace the communication cable for
servopack.
• Check the connection of the terminal
connector(WRCA CN10(#*)).
• Replace the terminal connector.
• Replace the XCP01 circuit board,
WRCA01 circuit board.
1301
COMMUNICATION
ERROR
(SERVO)
[Decimal Data]
The communication between the XCP01
circ board and the WRCA01 circuit board
was abnormal.
• The cable between the XCP01 circuit
board and WRCA01 circuit board was
defective.
• The connection of the terminal connector
was incomplete.
• Defective XCP01 circuit board
• Defective WRCA01 circuit board
• Check the connection of communication
cable for servopack.
(XCP01 CN05 - WRCA(#*) CN10 cable,
WRCA CN10(#*) - WRCA CN10(#*)
cable)
• Replace the communication cable for
servopack.
• Check the connection of the terminal
connector(WRCA CN10(#*)).
• Replace the terminal conector.
• Replace the XCP01 circuit board,
WRCA01 circuit board.
• If the error occurs again, contact your
YASKAWA representative.
1302
COMMUNICATION
ERROR
(SERVO I/O)
[Decimal Data]
The communication between WRCA01 circuit board and the contactor unit(for I/O,
robot, external axis)was abnormal.
• Check the connection for communication
cable between the WRCA01 circuit
board and contactor unit.
(WRCA01(#*) CN20 - XIU01 CN21
cable)
• Replace the WRCA01 circuit board.
• Replace the contactor unit.
• If the error occurs again, contact your
YASKAWA representative.
1303
ARITHMETIC
ERROR
(SERVO)
[Decimal Data]
The error occured on check of interior control for the WRCA circuit board.
Needs investigation. Consult a YASKAWA
representative.
1304
EX-AXIS BOARD
NOT INSTALLED
• The system included the external axis, but
the external axis circuit board (WRCF01
board) was not installed.
• The system did not include the external
axis, but the system with external axis was
set.
• Defective WRCF01 circuit board
• Defective WRCA01 circuit board
<The system with external axis>
• Check the installation of the external axis
circuit board(WRCF01 board).
• If the WRCF01 circuit board is installed,
replace it.
<The system without external axis>
• Check the system is not included external axis.
• Execute the system configuration again
on system without external axis.
Alarm
Number
10-18
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
1305
POWER ON UNIT
NOT INSTALLED
[Bit Pattern]
• The contactor unit was set on system configuration, but the contactor unit was not
installed.
• The system was not installed contactor
unit, but the system was set as though a
contactor unit installed.
• Defective contactor unit
• Defective WRCA circuit borad
<The system with external axis>
• Check the installation of the external axis
circuit board(WRCF01 board).
• If the WRCF01 circuit board is installed,
replace it.
<The system without external axis>
• Check the system is not included external axis.
• Execute the system configuration again
on system without external axis.
1306
AMPLIFIER TYPE
MISMATCH
Robot/Station
[Axis Data]
• The type of amplifier displayed by axis
data was different than the type set by system configuration.
• The type of amplifier was not correct.
• The type of amplifier was different than the
type set by system configuration.
• Defective amplifier
• Defective WRCA01 circuit board
• Check the type of servopack displayed
by axis data.
<Error in robot axis>
Check the type of servopack is same as
described one on manual. If the type is
not correct, replace it with correct servopack.
<Error in external axis>
Check the type of servopack set by system configuration is same as actual
installed one. If set data by system configuration is correct, replace installed servopack with correct one. If set data by
sytem configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 circuit board.
1307
ENCORDER TYPE
MISMATCH
Robot/Station
[Axis Data]
The type of encoder displayed by axis data
was different than the type set by system
configuration.
• The type of encoder was not correct.
• The system configuration setting of
encoder was not correct.
• Defective encoder
• Defective WRCA circuit board
• Check the type of motor displayed by
(Note)
The encoder is accessories of motor, check
the type of motor to check the type of
encoder
10-19
axis data.
<Error in robot axis>
Check that the type of motor is same as
the one described in the manual. If the
type is not correct, replace it with the correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is same as actual
installed one. If the set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 circuit board.
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
1308
Message
OVER SPEED
Robot/Station
[Axis Data]
Cause
Remedy
The motor speed displayed by axis data
exceeded allowable max speed.
• The wiring of UVW wire of motor was not
correct.
• The type of motor was not correct.
• The motor was moved by external power.
• Defective WRCA01, WRCF01 circuit board
• Defective motor(encoder)
• Check the connection of motor.
• Check the robot motion on alarm and
check whether external power is operated or not.
• Check the connection of UVW wire of
motor again. If the error is found, alter
the connection.
• Check the reoccurence by reducting the
teaching speed on alarm.There is a possibility that R,B,T axis move at a fast
speed on liner interpolation according to
teaching position. In this case, alter the
teaching.
<Error in robot axis>
Check that the type of motor is same as
the one described in the manual. If the
type is not correct, replace it with the correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is same as actual
installed one. If the set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace WRC01
and/or WRCF01 circuit board.
10-20
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
1309
Message
OVERLOAD
(CONTINUE)
Robot/Station
[Axis Data]
Cause
Remedy
The motor torque displayed by axis data
exceeded rated torque for a long time(a few
seconds - a few minutes). It may have
burned the motor.
• The wrong wiring, the breaking of the
UVW wire for the motor
• The type of motor was not correct.
• The motor was moved by external power.
• It interfered with an outside equipment.
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
• Defective motor(encoder)
• Check whether the robot interferes with
the outside equipment. If the robot interferes, remove the cause.
• Check the connection of UVW wire of
motor again. And check the breaking of
the wire.
• There is a possibility the robot moves by
extra load. Check the motion status of
robot again and reduce the teaching
speed. Then confirm the reoccurrence.
<Error in robot axis>
Check that the type of motor is the same
as the one described in the manual. If
the type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is the same as the
actual installed one. If set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for axis
where the error occurred.
10-21
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
1310
Message
OVERLOAD
(MOMENT)
Robot/Station
[Axis Data]
Cause
Remedy
The motor torque displayed by axis data
exceeded rated torque for a long time. It
may have burned the motor.
• The wrong wiring, the breaking of the wire
UVW wire for the motor
• The type of motor was not correct.
• The motor was moved by external power.
• It interfered with an outside equipment.
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
• Defective motor(encoder)
• Check whether the robot interferes with
the outside equipment. If the robot interferes, remove the cause.
• Check the connection of UVW wire of
motor again. And check the breaking of
the wire.
• There is a possibility the robot moves by
extra load. Check the motion status of
robot again and reduce the teaching
speed. Then confirm the reoccurrence.
<Error in robot axis>
Check that the type of motor is the same
as the one described in the manual. If
the type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is the same as the
actual installed one. If set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for axis
where the error occurred.
10-22
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
1311
Message
Cause
Remedy
AMPLIFIER OVERLOAD
(CONTINUE)
Robot/Station
[Axis Data]
The servopack(amplifier) current displayed
by axis data exceeded rated current for a
long time(a few seconds - a few minutes). It
may have burned the servopack.
• The wrong wiring, the breaking of the
UVW wire for the motor
• The type of motor was not correct.
• The motor was moved by external power.
• It interfered with an outside equipment.
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
• Defective motor(encoder)
• Check whether the robot interferes with
the outside equipment. If the robot interferes, remove the cause.
• Check the connection of UVW wire of
motor again. And check the breaking of
the wire.
• There is a possibility the robot moves by
extra load. Check the motion status of
robot again and reduce the teaching
speed. Then confirm the reoccurrence.
<Error in robot axis>
Check that the type of motor is the same
as the one described in the manual. If
the type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is the same as the
actual installed one. If set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for axis
where the error occurred.
10-23
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
Remedy
1312
AMPLIFIER OVERLOAD
(MOMENT)
Robot/Station
[Axis Data]
The servopack(amplifier) current displayed
by axis data exceeded rated current for a
long time(a few seconds - a few minutes). It
may have burned the servopack.
• The wrong wiring, the breaking of the
UVW wire for the motor
• The type of motor was not correct.
• The motor was moved by external power.
• It interfered with an outside equipment.
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
• Defective motor(encoder)
• Check whether the robot interferes with
the outside equipment. If the robot interferes, remove the cause.
• Check the connection of UVW wire of
motor again. And check the breaking of
the wire.
• There is a possibility the robot moves by
extra load. Check the motion status of
robot again and reduce the teaching
speed. Then confirm the reoccurrence.
<Error in robot axis>
Check that the type of motor is the same
as the one described in the manual. If
the type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is the same as the
actual installed one. If set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for axis
where the error occurred.
1313
MOTOR ERROR
Robot/Station
[Axis Data]
The motor was driven recklessly. This error
occured when the motor moved in reverse
for the forward instruction.
• Incorrect wiring of the UVW wire for the
motor
• The type of motor was not correct.
• Defective WRCA01, WRCF01 circuit board
• Check the connection of UVW wire of
motor again.
<Error in robot axis>
Check that the type of motor is same as
the one described in the manual. If the
type is not correct, replace it with correct
motor.
<Error in external axis>
Check that the type of motor set by system configuration is same as actual
installed one. If set data by system configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
Alarm
Number
10-24
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
Remedy
1314
SERVO TRACKING
ERROR
Robot/Station
[Axis Data]
The servo deflection of the axis displayed by
axis data became excessive, the robot was
shifted from instructed motion position or
tracks more than tolerance and operated
• The wrong wiring, the breaking of the wire
of UVW wire for the motor
• The type of motor was not correct.
• The motor was moved by external power.
• It interfered with an outside equipment.
• Defective WRCA01, WRCF01 cir cuit
board
• Defective amplifier
• Defective motor(encoder)
• Check whether the robot interferes with
the outside equipment. If the robot interferes, remove the cause.
• Check the connection of UVW wire of
motor again. And check the breaking of
the wire.
• There is a possibility the robot moves by
extra load. Check the motion status of
robot again and reduce the teaching
speed. Then confirm the reoccurrence.
<Error in robot axis>
Check that the type of motor is the same
as the one described in the manual. If
the type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is the same as the
actual installed one. If set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for axis
where the error occurred.
1315
POSITION ERROR
Robot/Station
[Axis Data]
The number of pulses generated by one
rotation of the motor was not a regulated
pulse numbers. There is a possibility the
position was shifted. (But, if this alarm
occured simultaneously with the alarm
related to the encoder, it was thought this
alarm accompanied the encoder alarm.)
• Noise of outside equipment
• Defective WRCA01, WRCF01 circuit board
• Down of the power supply voltage for the
encoder
• Defective motor(encoder)
• Check whether there is a equipment
generating loud noise.
• Check the ground of controller is correct.
• When the errror occurred at external
axis, set the ferritecore on the encoder
cable for noise measure.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the motor for axis occured the
error.
1316
BROKEN PG LINE
Robot/Station
[Axis Data]
The break of the signal wire from encoder
(But, this alarm may accompany the position
error alarm, the alarm related to the
encoder.)
• Noise of outside equipment
• Defective WRCA01, WRCF01 circuit board
• Decrease of the power supply voltage for
the encoder
• Defective motor(encoder)
• Check the conduction of cable from the
WRCA01, WRCF circuit board to the
motor(encoder).
• Check whether there is equipment generating loud noise.
• Check the grounding of controller is correct.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the motor for the axis where
the error occurred.
Alarm
Number
10-25
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
1317
SPEED WATCHER
BOARD ERROR
The error occurred in the speed detective
circuit board.
• Defective speed detective circuit board
• Defective WRCA circuit board
• Turn the power off then back on.
• If the error occurs again, replace the
speed detective circuit board and
WRCA01 circuit board.
1318
OVERVOLTAGE
(CONVERTER)
[Bit Pattern]
The power supply voltage of direct current
supplied to the amplifier of servopack
exceeded 420V.
• The primary power supply voltage was too
high.(220V,+10%)
• It was too much load.
• Defective converter
• Defective WRCA01 circuit board
• Check the primary power supply (220V,
+10%).
• Lower the teaching speed of the fore and
aft steps for alarm occurence step about
30% and check the reoccurrence. If the
alarm doesn't reoccur, alter the load.
• If the error occurs again, replace the
WRCA01 circuit board and the converter.
1319
GROUND FAULT
Robot/Station
[Axis Data]
One of U,V,W wires of the motor displayed
on axis data was grounded at least.
• Defective the motor
• Ground fault of the motor, lead wire
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
This alarm does not occured by turning off
the controlled power supply. But never fail
to turn on the servo power supply after
checking the motor grounding. There is a
possibility the servopack is damaged
when the servo turn-on and off is repeateduring ground fault status.
• Check the connection of the U,V,W,E
wires of motor again.
• Remove the U,V,W,E wires of the motor
from the terminal of the controller and
check the conduction of U-E, V-E, W-E. If
the wires are conducted, it's abnormal.
• In case an error is found by the above
check, remove the connector of the
motor side and check again. If the wires
are conducted, it is thought to be a
defective lead wire. Specify the error
point and replace the lead wire.
• If the error is not caused by the lead
wire, it is thought to be a defective motor.
• If the error occurs again, replace the
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for the axis
where the error occurred.
1320
OPEN PHASE
(CONVERTER)
[Bit Pattern]
Any of the three-phase current for primary
side power supply of servopack was openphase.
• The wrong wiring of the primary side
power supply connection.
• The decrease of the primary side power
supply voltage(170V or less)
• Defective WRCA01, WRCF01 circuit board
• Defective converter
• Check the connection of the primary side
wiring R,S,T wires of servopack.
• Check that the power supply voltage is
more than 170V.
• If the error occurs again, replace the
WRCA01,WRCF01 circuit board.
• Replace the converter for the axis where
the error occurred.
Alarm
Number
10-26
Remedy
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
1321
OVERCURRENT
(AMP)
Robot/Station
[Axis Data]
One of the U,V,W wires of the motor displayed on the axis data was grounded at
least.
• Defective motor
• Ground fault of the motor, lead wire
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
• Overheating of amplifier
This alarm does not occured by turning off
the controlled power supply. But never fail
to turn on the servo power supply after
checking the motor grounding. There is a
possibility the servopack is damaged
when the servo turn-on and off is repeateduring ground fault status.
• Check the connection of the U,V,W,E
wires of motor again.
• Remove the U,V,W,E wires of the motor
from the terminal of the controller and
check the conduction of U-E, V-E, W-E. If
the wires are conducted, it's abnormal.
• In case an error is found by the above
check, remove the connector of the
motor side and check again. If the wires
are conducted, it is thought to be a
defective lead wire. Specify the error
point and replace the lead wire.
• If the error is not caused by the lead
wire, it is thought to be a defective motor.
• If the error occurs again, replace the
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for the axis
where the error occurred.
1322
REGENERATIVE
TROUBLE
(CONVERTER)
[Bit Pattern]
Because the resurrection energy on
reducing the motor speed was too high, the
resurrection circuit board didn't work.
• The load installed on robot was too heavy.
• The primary side power supply voltage
was too high.(242V or more)
• Check the load again. Lower the teaching speed of the fore and aft steps for
alarm occurence step about 30% and
check the reoccurence. If the alarm
doesn't reoccur, alter the load.
• Defective converter
• Defective WRCA01, WRCF01 circuit board
• Check the primary power supply(220V,
+10%).
• If the error occurs again, replace the
WRCA01, WRCF01 circuit board.
• Replace the converter for the axis where
the error occurred.
1323
INPUT POWER
OVER VOLTAGE
(CONV)
[Bit Pattern]
The primary side power supply voltage of
servopack was too high.(more than 242V)
• Check the primary power supply(220V,
+10%).
• If the error occurs again, replace the
WRCA01 circuit board.
• Replace the converter for axis occured
the error.
1324
TEMPERATURE
ERROR
(CONVERTER)
[Bit Pattern]
The temperature of servopack(converter)
was too high.
• Check whether the ambient temperature
is too high or not.
• Check the primary power supply(220V,
+10%).
• If the error occurs again, replace the
WRCA01 circuit board.
• Replace the converter for axis occured
the error.
10-27
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
1325
COMMUNICATION
ERROR
(ENCODER)
Robot/Station
[Axis Data]
The communication error between the
encoder and the WRCA01 circuit board.
• The wrong wiring of the encoder wire
• The type of motor was not correct.
• Defective WRCA01 circuit board
• Defective encoder
• Check the connection of the encoder displayed on axis data.
• Check whether there is equipment generating big noise around or not.
• Check the ground of controller is correct.
<Error in robot axis>
Check the type of motor is same as
described one on manual. If the type is
not correct, replace it with correct motor.
<Error in external axis>
Check the type of motor set by system
configuration is same as actual installed
one. If set data by system configuration
is correct, replace installed motor with
correct one. If set data by sytem configuration is not correct, set the correct system configuration.
• If the error occurs again, replace the
WRCA01 circuit board.
1326
DEFECTIVE
ENCODER ABSOLUTE DATA
Robot/Station
[Axis Data]
The error occured in the position detect
circuit board of encoder.
• Turn the power off then back on.
• If the error occurs again, replace the
motor(encoder) for the axis where the
error occurred.
1327
ENCODER OVER
SPEED
Robot/Station
[Axis Data]
• The control power supply was turned on
when the encoder was rotating(400rpm or
more). Turning on the control power supply
can not be done when the motor is rotating.
• The no brake axes, R,B,T axis for SK6,
freely fell when the servo power supply
was turned off by emergency stop. When
the power supply was turned back on this
status, this alarm occured.
• In case this alarm occuredin a stop state, it
is thought that the encoder caused the
error.
• Check the timing of turning on the control power supply.
• If the error occurs when the control
power supply is turned in a stopped
state, replace the motor(encoder) displayed on axis data.
1328
DEFECTIVE SERIAL
ENCODER
Robot/Station
[Axis Data]
The internal parameter of the serial encoder
became abnormal. It is thought to be an
error of the encoder.
Turn the power off then back on. If the
phenomenon occurs again after repeating this operation several times, replace
the motor(encoder) for the axis where the
error occurred.
1329
DEFECTIVE SERIAL
ENCODER COMMAND
Robot/Station
[Axis Data]
When the encoder backup error occurred,
normally the controller automatically resets
the data of the encoder. But, this was the
case there was no response of the reset
completion from the encoder. It is thought
that the encoder was abnormal.
Turn the power off then back on. If the
phenomenon occurs again after repeating this operation several times, replace
the motor(encoder) for the axis where the
error occurred.
1330
MICRO PROGRAM
TRANSMIT ERROR
Robot/Station
[Axis Data]
Defective WRCA01 circuit board
Turn the power off then back on. If the
phenomenon occurs again after repeating this operation several times, replace
the WRCA01 circuit board for the axis
where the error occurred.
10-28
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
1331
CURRENT FEEDBACK ERROR
(U PHASE)
Robot/Station
[Axis Data]
When the phase balance of the motor current was automatically adjusted, the read U
phase current value was abnormal.
• Defective WRCA01 circuit board
• Defective amplifier
Turn the power off then back on. If the
phenomenon occurs again after repeating this operation several times, replace
the WRCA01 circuit board, amplifier for
the axis where the error occurred.
1332
CURRENT FEEDBACK ERROR
(V PHASE)
Robot/Station
[Axis Data]
When the phase balance of the motor current was automatically adjusted, the read V
phase current value was abnormal.
• Defective WRCA01 circuit board
• Defective amplifier
Turn the power off then back on. If the
phenomenon occurs again after repeating this operation several times, replace
the WRCA01 circuit board, amplifier for
axis the the error occurred.
1335
ENCODER NOT
RESET
Robot/Station
[Axis Data]
Reset was not completed though encoder
backup error reset was requested. It may
be possible that the battery is not connected
with the encoder.
• Connect the battery with the encoder.
Contact your YASKAWA representative
because the breakdown of the encoder
is thought when the alarm occurs again
even if the battery is connected.
1336
XFC01 NOT
INSTALLED
The speed monitoring board (XFC01) is not
mounted although it has been specified.
Mount the speed monitoring board
(XFC01).
1337
SPEED MONITOR
LEVEL NOT SAME
The error occurred in the speed monitoring
level signal (duplicated signal check).
• Check the connection cables of the I/O
contactor unit.
• Replace the WRCA01 board.
1338
SPEED MONITOR
LEVEL ERROR
The error occurred in the speed monitoring
level signal (signal error).
• Check the connection cables of the I/O
contactor unit.
• Replace the WRCA01 board.
1339
SPEED MONITOR
LEVEL ERR (XFC01)
The error occurred in the speed monitoring
level signal.
• Disconnected cable between the I/O contactor unit and the XFC01 circuit board
• Check the cable connection between the
I/O contactor unit and the XFC01 circuit
board.
• Check the cable connection between the
I/O contactor unit and the XCI01 circuit
board.
• Replace the I/O contactor unit and the
XFC01 circuit board.
• If the error occurs again, contact your
YASKAWA representative.
• Disconnected cable between the I/O contactor unit and the XCI01 circuit board
• Defective I/O contactor unit
• Defective XFC01 circuit board
1340
BROKEN SPEED
MONITOR LINE
The speed monitoring command cable is
disconnected.
• Check the connection cable of the I/O
contactor unit.
• Replace the WRCA01 board.
1341
BROKEN SPEED
MONITOR LINE
(XFC01)
The error occurred in the speed monitoring
level signal.
• Disconnected cable between the I/O contactor unit and the XFC01 circuit board
• Disconnected cable between the I/O contactor unit and the XCI01 circuit board
• Defective I/O contactor unit
• Defective XFC01 circuit board
• Check the cable connection between the
I/O contactor unit and the XFC01 circuit
board.
• Check the cable connection between the
I/O contactor unit and the XCI01 circuit
board.
• Replace the I/O contactor unit and the
XFC01 circuit board.
• If the error occurs again, contact your
YASKAWA representative.
10-29
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
1342
OVER SPEED
(XFC01)
Robot/Station
[Axis Data]
The motor speed displayed in the axis data
exceeded the allowable maximum motor
speed.
• Improper wiring of motor lines U, V and W.
• Wrong type of motor was used .
• Motor was moved by an external force.
• Defective XFC01 circuit board
• Defective motor (encoder)
• Check the motor wiring.
• Check the robot movement when the
alarm occurred to make sure that no
external force has been applied.
• Check the wiring of motor lines U, V and
W.
• Reduce the teaching speed from the
speed when the alarm occurred to
check if the same error will occur. With
some taught postures, the R-, B-, or Taxis may operate at a high speed during
linear interpolation. In this case, review
the teaching.
<Error in robot axis>
Check that the type of motor is same as
the one described in the manual. If the
type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is same as actual
installed one. If the set data by system
configuration is correct, replace installed
motor with correct one. If set data by
system configuration is not correct, set
the correct system configuration.
• If the error occurs again, replace the
XFC01 circuit board.
1343
COMMUNICATION
ERROR
(XFC01)
Robot/Station
[Axis Data]
The communication error occurred between
the WRCA01 and the XFC01 circuit board.
• Faulty connection between the WRCA01
board and the XFC01 circuit board.
• Defective WRCA01 board
• Defective XFC01 circuit board
• Check the connection of the WRCA01
board and the XFC01 circuit board.
• Replace the WRCA01 board and the
XFC01 circuit board.
• If the error occurs again, contact your
YASKAWA representative.
10-30
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
1344
COMMUNICATION
ERR
(ENCODER) (XFC01)
Robot/Station
[Axis Data]
The communication error occurred between
the encoder and the XFC01 circuit board.
• Improper wiring of encoder cables
• Noise from external devices
• Incorrect motor type
• Defective XFC01 circuit board
• Defective encoder
• Check the encoder connection displayed
in the axis data.
• Check that there is no device generating
excessive noise.
• Check that the grounding of the control
panel is correct.
<Error in robot axis>
Check that the type of motor is same as
the one described in the manual. If the
type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by system configuration is same as actual
installed one. If the set data by system
configuration is correct, replace installed
motor with correct one. If set data by
system configuration is not correct, set
the correct system configuration.
• If the error occurs again, replace the
XFC01 circuit board.
4000
MEMORY ERROR
(TOOL FILE)
[Decimal Data]
The tool file of CMOS memory was damaged.
The data stands for the file No.
Initialize the tool file in the maintenance
mode. Load the saved tool file in the
external memory unit and restore.
4001
MEMORY ERROR
(USER COORD FILE)
The user coordinates file of CMOS memory
was damaged.
The data stands for the file No.
Initialize the user coordinates file in the
maintenance mode. Load the saved user
coordinates file in the external memory
unit and restore.
4002
MEMORY ERROR
(SV MON SIGNAL
FILE)
The servo monitor signal file of CMOS
memory was damaged.
Initialize the servo monitor signal file in the
maintenance mode. Load the saved servo
monitor signal file in the external memory
unit and restore.
4003
MEMORY ERROR
(WEAVING FILE)
The weaving condition file of CMOS memory was damaged.
Initialize the weaving condition file in the
maintenance mode. Load the saved
weaving condition file in the external
memory unit and restore.
4004
MEMORY
ERROR(HOME POS
FILE)
The home position calibration file of CMOS
memory was damaged.
Reset the home position calibration (absolute data) after reset the alarm. Load the
home position calibration file (absolute
data)in the external memory unit and
restore.
4005
MEMORY ERROR
(SPEC POINT DATA)
The specified point file of CMOS memory
was damaged.
Load the specified point file in the external
memory unit and restore.
4006
MEMORY ERROR
(WELDER COND
FILE)
[Decimal Data]
The welder condition data file of CMOS
memory was damaged.
The data stands for the file No.
Initialize the welder condition data file in
the maintenance mode. Load the saved
welder condition data file in the external
memory unit and restore.
4007
MEMORY ERR
(ARC START COND
FILE)
[Decimal Data]
The arc start condition file of CMOS memory was damaged. The data stands for the
file No.
Initialize the arc start condition file in the
maintenance mode. Load the saved arc
start condition file in the external memory
unit and restore.
10-31
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4008
MEMORY ERROR
(ARC END COND
FILE)
[Decimal Data]
The arc end condition file of CMOS memory
was damaged.
The data stands for the file No.
Initialize the arc end condition file in the
maintenance mode. Load the saved arc
end condition file in the external memory
unit and restore.
4009
MEMORY ERROR
(ARC AUX COND
FILE)
[Decimal Data]
The welding condition assistance file of
CMOS memory was damaged.
The data stands for the file No.
Initialize the welding condition assistance
file in the maintenance mode. Load the
saved welding condition assistance file in
the external memory unit and restore.
4010
MEMORY ERROR
(COM-ARC COND
FILE)
[Decimal Data]
The COM-ARC condition file of CMOS
memory was damaged.
The data stands for the file No.
Initialize the COM-ARC condition file in
the maintenance mode. Load the saved
COM-ARC condition file in the external
memory unit and restore.
4012
MEMORY ERROR
(LINK
SERVOFLOAT )
[Decimal Data]
The link servo float condition file of CMOS
memory was damaged.
The data stands for the file No.
Initialize the link servo float condition file
in the maintenance mode. Load the
saved link servo float condition file in the
external memory unit and restore.
4013
MEMORY ERROR
(LINEAR
SERVOFLOAT)
[Decimal Data]
The linear servo float condition file of CMOS
memory was damaged.
The data stands for the file No.
Initialize the linear servo float condition file
in the maintenance mode. Load the
saved linear servo float condition file in
the external memory unit and restore.
4014
MEMORY ERROR
(ROBOT CALIB FILE)
[Decimal Data]
The robot calibration file of CMOS memory
was damaged.
The data stands for the file No.
Initialize the robot calibration file in the
maintenance mode. Load the saved robot
calibration file in the external memory unit
and restore.
4017
MEMORY ERROR
(WELDER
USER-DEF FILE)
[Decimal Data]
The welder user definition file of CMOS
memory was damaged.
The data stands for the file No.
Initialize the welder user definition file in
the maintenance mode. Load the saved
welder user definition file in the external
memory unit and restore.
4018
MEMORY ERR
(LADDER PRG FILE)
[Decimal Data]
The ladder program file of CMOS memory
was damaged.
Initialize the ladder program file in the
maintenance mode. Load the saved
ladder program file in the external memory
unit and restore.
4020
MEMORY ERROR
(OPERATION ORIGIN FILE)
[Decimal Data]
The operation origin file of CMOS memory
was damaged.
The data stands for the file No.
Initialize the operation origin file in the
maintenance mode.
4021
MEMORY ERROR
(CONVEYOR COND
FILE)
[Decimal Data]
The conveyor condition file of CMOS memory was damaged.
The data stands for the file No.
Initialize the conveyor condition file in the
maintenance mode. Load the saved conveyor condition file in the external memory
unit and restore.
4022
MEMORY ERROR
(PAINT SPECIAL
FILE)
[Decimal Data]
The paint color condition file in the CMOS
memory was damaged.
The the data stands for the file number.
Initialize the paint color condition file in the
maintenance mode. Load the saved file in
the external memory unit and restore.
4023
MEMORY ERROR
(PAINTING COND
FILE)
[Decimal Data]
The painting condition file in the CMOS
memory was damaged.
The data stands for the file number.
Initialize the painting condition file in the
maintenance mode. Load the saved condition file in the external memory unit and
restore.
4025
MEMORY ERROR
(INTERRUPT JOB
FILE)
The interrupt jog file in the CMOS memory
was damaged.
The data stands for the file number.
Initialize the interrupt jog file in the maintenance mode.
10-32
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4028
MEMORY ERROR
(SENSOR MON
COND FILE)
[Decimal Data]
The sensor monitoring condition file of
CMOS memory was damaged.
The data stands for the file No.
Initialize the sensor monitoring condition
file in the maintenance mode. Load the
saved sensor monitoring condition file in
the external memory unit and restore.
4031
MEMORY ERROR
(GUN COND FILE)
[Decimal Data]
The spot gun condition data file of
CMOS memory was damaged.
The data stands for the file No.
Initialize the spot gun condition data file in
the maintenance mode. Load the saved
spot gun condition data file in the external
memory unit and restore.
4032
MEM ERROR
(SPOT WELDER
COND FILE)
[Decimal Data]
The spot welder condition data file of CMOS
memory was damaged.
The data stands for the file No.
Initialize the spot welder condition data file
in the maintenance mode. Load the saved
spot welder condition data file in the external memory unit and restore.
4033
MEMORY ERROR
(GUN PRESSURE
FILE)
[Decimal Data]
The gun pressure file of CMOS memory
was damaged.
The data stands for the file No.
Initialize the gun pressure file in the maintenance mode. Load the saved servo gun
pressure file in the external memory unit
and restore.
4034
MEMORY ERROR
(ANTICIPATION OT
FILE)
[Decimal Data]
The anticipation output file of CMOS memory was damaged.
The data stands for the file No.
Initialize the anticipation output file in the
maintenance mode.
Load the saved anticipation output file in
the external memory unit and restore.
4035
MEMORY ERROR
(ANTICIPATION OG
FILE)
[Decimal Data]
The anticipation output file of CMOS memory was damaged.
The data stands for the file No.
Initialize the anticipation output file in the
maintenance mode.
Load the saved anticipation output file in
the external memory unit and restore.
4036
MEMORY ERROR
(WEARING FILE)
[Decimal Data]
The wearing file of CMOS memory was
damaged.
The data stands for the file No.
Initialize the wearing file in the maintenance mode. Load the saved wearing file
in the external memory unit and restore.
4037
MEMORY ERROR
(STROKE POSITION)
[Decimal Data]
The stroke position file of CMOS memory
was damaged.
The data stands for the file No.
Initialize the stroke position file in the
maintenance mode. Load the saved
stroke position file in the external memory
unit and restore.
4038
MEMORY ERROR
(PRESSURE FILE)
[Decimal Data]
The pressure file of CMOS memory was
damaged.
The data stands for the file No.
Initialize the pressure file in the maintenance mode. Load the saved pressure file
in the external memory unit and restore
4039
MEMORY ERROR
(FORM CUT FILE)
[Decimal Data]
The form cut file of the CMOS memory was
damaged. The data stands for the file No.
Initialize the form cut file in the maintenance mode. Load the saved formcut file
in the external memory unit and restore
4040
MEMORY ERROR
(SHOCK LEVEL
FILE)
[Decimal Data]
The shock level file of the CMOS memory
was damaged. The data stands for the file
No.
Initialize the shock level file in the maintenance mode.
Load the saved shock level file in the
external memory unit and restore.
4041
MEMORY ERROR
(SPOT IO ALLOCTE
FL)
[Decimal Data]
The spot IO allocate file of the CMOS memory was damaged.
Initialize the spot IO allocate file in the
maintenance mode.
Load the saved spot IO allocate file in the
external memory unit and restore.
4042
MEMORY ERROR
(VISION FILE)
[Decimal Data]
The vision file of the CMOS memory was
damaged.
The data stands for the file No.
Initialize the vision file in the maintenance
mode.
Load the saved vision file in the external
memory unit and restore.
10-33
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
Remedy
4043
MEMORY ERROR
(VISION CALIBRATION)
[Decimal Data]
The vision calibration of the CMOS memory
was damaged.
The data stands for the file No.
Initialize the vision calibration in maintenance mode.
Load the saved vision calibration in the
external memory unit and restore.
4044
MEMORY ERROR
(WELDING PULSE
COND FILE)
[Decimal Data]
The welding pulse condition file in the
CMOS memory was damaged.
The data stands for the file number.
Initialize the welding pulse condition file in
maintenance mode.
Load the saved condition file in the external memory unit and restore.
4045
MEMORY ERROR
(WELDING PULSE
SELECTION FILE)
[Decimal Data}
The welding pulse selection file in the
CMOS memory was damaged.
The data stands for the file number.
Initialize the welding pulse selection file in
maintenance mode.
Load the saved selection file in the external memory unit and restore.
4046
MEMORY ERROR
(CONVEYOR CALIBRATION)
[Decimal Data]
The conveyor calibration in the CMOS
memory was damaged.
The data stands for the file number.
Initialize the conveyor calibration in maintenance mode.
Load the saved calibration in the external
memory unit and restore.
4047
MEMORY ERROR
(MACRO DEFINITION FILE)
[Decimal Data]
The macro definition file in the CMOS memory was damaged.
The data stands for the file number.
Initialize the macro definition file in maintenance mode.
Load the saved definition file in the external memory unit and restore.
4048
MEMORY ERROR
(SERVO S-GUN
FILE)
The sealer gun condition file in the CMOS
memory was damaged.
Initialize the sealer gun condition file in the
maintenance mode.
Load the saved condition file in the external memory unit and restore.
4049
MEMORY ERROR
(PASTE QUAN COMPENSATION FILE)
[Decimal Data]
The seal amount correction condition file in
the CMOS memory was damaged.
Initialize the seal amount correction condition file in maintenance mode.
Load the saved condition file in the external memory unit and restore.
4050
MEMORY ERROR
(AXIS I/O ALLOCATION FILE)
The axis motion I/O allocation file in the
CMOS memory was damaged.
Initialize the axis motion I/O allocation file
in maintenance mode.
Load the saved I/O allocation file in the
external memory unit and restore.
4051
MEMORY ERROR
(GUN COND AUX
FILE
[Decimal Data]
The gun condition auxiliary file in the CMOS
memory was damaged.
The data stands for the file number.
Initialize the gun condition auxiliary file in
maintenance mode.
Load the saved file in the external memory unit and restore.
4052
MEMORY ERROR
(TOOL INTERFERENCE FILE)
[Decimal Data]
The tool interference file in the CMOS memory was damaged.
The data stands for the file number.
Initialize the tool interference file in maintenance mode.
Load the saved file in the external memory unit and restore.
4053
MEMORY ERROR
(PAINTING SYSTEM
CONFIGURATION)
[Decimal Data]
The painting system setting file in the
CMOS memory was damaged.
The data stands for the file number.
Initialize the painting system setting file in
maintenance mode.
Load the saved setting file in the external
memory unit and restore.
4054
MEMORY ERROR
(PAINTING SPECIAL)
[Decimal Data]
The painting device condition file in the
CMOS memory was damaged.
The data stands for the file number.
Initialize the painting device condition file
in maintenance mode.
Load the saved file in the external memory unit and restore.
4055
MEMORY ERROR
(CCV-PAINT TABLE)
[Decimal Data]
The painting CCV file in the CMOS memory
was damaged.
The data stands for the file number.
Initialize the painting CCV file in maintenance mode.
Load the saved file in the external memory unit and restore.
Alarm
Number
10-34
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4056
MEMORY ERROR
(PLUG VOLUME
FILE)
[Decimal Data]
The painting filling file in the CMOS memory
was damaged.
The data stands for the file number.
Initialize the painting filling file in maintenance mode.
Load the saved file in the external memory unit and restore.
4057
MEMORY ERROR
(EVB GUN SPECIAL
FILE)
[Decimal Data]
The EVB gun file in the CMOS memory was
damaged.
The data stands for the file number.
Initialize the EVB gun file in maintenance
mode.
Load the saved file in the external memory unit and restore.
4058
MEMORY ERROR
(EVB TURBINE
SPECIAL FILE)
[Decimal Data]
The EVB turbine file in the CMOS memory
was damaged.
The data stands for the file number.
Initialize the EVB turbine file in maintenance mode.
Load the saved file in the external memory unit and restore.
4059
MEMORY ERROR
(EVB PAINT
SPECIAL FILE)
[Decimal Data]
The EVB paint file in the CMOS memory
was damaged.
The data stands for the file number.
Initialize the EVB paint file in maintenance
mode.
Load the saved file in the external memory unit and restore.
4060
MEMORY ERROR
(CLEARANCE FILE)
[Decimal Data]
The clearance file in the CMOS memory
was damaged.
The data stands for the file number.
Initialize the clearance file in maintenance
mode.
Load the saved file in the external memory unit and restore.
4061
MEMORY ERROR
(GAGING SENSOR
FILE)
[Decimal Data]
The gaging sensor file in the CMOS memory was damaged.
The data stands for the file number.
Initialize the gaging sensor file in maintenance mode.
Load the saved file in the external memory unit and restore.
4062
MEMORY ERROR
(LINEAR SCALE
FILE)
[Decimal Data]
The linear scale condition file in the CMOS
memory was damaged.
The data stands for the file number.
Initialize the linear scale condition file in
maintenance mode.
Load the saved file in the external memory unit and restore.
4063
MEMORY ERROR
(CONVEYOR COND
SUPP.)
[Decimal Data]
The conveyor condition auxiliary file in the
CMOS memory was damaged.
The data stands for the file number.
Initialize the conveyor condition auxiliary
file in maintenance mode.
Load the saved auxiliary file in the external memory unit and restore.
4064
MEMORY ERROR
(WEAVING SYNCHRONIZING WELD
FILE)
[Decimal Data]
The weaving synchronizing welding condition file in the CMOS memory was damaged.
The data stands for the file number.
Initialize the weaving synchronizing welding condition file in maintenance mode.
Load the saved condition file in the external memory unit and restore.
4100
OVERRUN IN
ROBOT AXIS
[Bit Pattern]
One of the robot axis overrun limit switches
was operated.
Reset the overrun.
4101
OVERRUN IN
EXTERNAL AXIS
[Bit Pattern]
One of the external axis overrun limit
switches was operated.
Reset the overrun.
4102
SYSTEM DATA HAS
BEEN CHANGED
[Decimal Data]
An attempt was made to change data which
exerted the influence on the system and
turned on the servo power supply.
The data stands for the alarm factor.
1:System parameter change
Turn off the power once and back on.
10-35
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4103
PARALLEL START
INSTRUCTION
ERROR
[Decimal Data]
The error occured in the independent
control start operation.
The data stands for alarm factor.
1:The sub task is being executed.
The job was executed by instructed sub
task, but another job was being started in
the sub task.
2:The group axis is being used
The job operated by other sub task used
same group axis.
3:Multiple start of same job
The job tried to start was executed by
other sub task.
4:Master job unregistration
Though master job was not registered,
The attempt was made to execute
PSTART SUB(job name omitted)
5:Synchronization instruction error
When restarted by PSTART, synchroniza
tion instruction status of sub task under
interruption was different than the status
to restart.
6:The alarm is stopping
The attempt was made to start sub task
under stop by alarm.
7: SYNC synchronized task designation
omit error
The start sub-task omits the synchronized
task designation between SUB3 and
SUB5.
8: SYNC synchronized task designation
error
The same task is designated in SYNC.
1:Complete the sub task by PWAIT
comand.
2:Check that the job started and the timing
of execution for start comand again.
3:Check that the job started and the timing
of execution for start comand again.
4:Register the master job for sub task.
5:Check that the job started and the timing
of execution for start comand again.
6:Start after reset the alarm.
7: Check the PSTART command again.
8: Check the PSTART command again.
4104
WRONG EXECUTION OF LOAD INST
[Decimal Data]
When the installation was executed, the
error occured in DCI function.
The data stands for the alarm factor.
Refer to the data transmission functionmanual for details.
Correct the error according to the data of
the alarm factor after reset the alarm.
4105
WRONG EXECUTION OF SAVE INST
[Decimal Data]
When the installation was executed, an
error occured in DCI function.
The data stands for the alarm factor.
Refer to the data transmission function
manual for details.
Correct the error according to the data of
the alarm factor after resetting the alarm.
4106
WRONG EXECUTION OF DELETE
INST
[Decimal Data]
When the installation was executed, the
error occured in DCI function.
The data stands for the alarm factor.
Refer to the data transmission function
manual for details.
Correct the error according to the data of
the alarm factor after resetting the alarm.
4107
OUT OF RANGE
(ABSO DATA)
Robot/Station
[Axis Data]
The difference between the position of the
power supply off and the power supply on
exceeded tolerance for the robot / station.
Operate axis for robot /station to set the
current value 0 position and check the
original mark (arrow).
If not matched, there is an error of PG
system for the axis where the error
occurred. Please check.
10-36
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4109
DC 24V POWER
SUPPLY FAILURE
The external 24V power supply was not output.
• Check whether fuse for I/O contactor unit
is cut or not.
• Check the external 24V power supply.
• Check the connection of communication
cable for I/O module. (XCP01 CN01XIU01 CN03 cable)
• If the error occurs again, contact your
YASKAWA representative.
4110
SHOCK SENSOR
ACTION
[Bit Pattern]
The shock sensor was operated.
Check the factor of shock sensor operation.
4111
BRAKE FUSE
BLOWN
[Bit Pattern]
The brake fuse was melted.
Replace the fuse.
4112
DATA SENDING
ERROR
[Decimal Data]
When the data transmission function was
used, the error occurred.
The data stands for the alarm factor.
1:Retryover of NAK
2:Retryover of timeout in timer A
3:Retryover of mutual response error
Correct the error according to the data of
the alarm factor after resetting the alarm.
4113
DATA RECEIVING
ERROR
[Decimal Data]
When the data transmission function was
used, the error occurred.
The data stands for the alarm factor.
1:Reception timeout (timer A)
2:Reception timeout (timer B)
3:Heading length is short.
4:Heading length is long.
5:The heading No. error.
6:The text length exceeds 256 characters.
Correct the error according to the data of
the alarm factor after resetting the alarm.
4114
TRANSMISSION
HARDWARE ERROR
[Decimal Data]
When the data transmission function was
used, the error occurred.
The data stands for the alarm factor.
1:Overrun error
2:Parity error
3:Flaming error
4:Transmission timeout (timer A)
5:Transmission timeout (timer B)
Correct the error according to the data of
the alarm factor after resetting the alarm.
4115
TRANSMISSION
SYSTEM BLOCK
[Decimal Data]
When the data transmission function was
used, the error occurred. (Though the transmission procedure is correct, there is a
reception that irrationality is caused in system. This error is mainly caused by PC
breached the rule or abnormal communication.)
The data stands for the alarm factor.
1:Received EOT when waiting ACK.
2:Received EOT when waiting ENQ.
3:Received EOT before last block reception
4:Received codes for except EOT after last
block reception.
Correct the error according to the data of
the alarm factor after resetting the alarm.
4116
TRANSMISSION
SYSTEM ERROR
[Decimal Data]
An error occurs in the internal processing of
the transmission system.
An investigation is required. Contact your
Yaskawa representative.
10-37
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4117
SERVO POWER
INPUT SIGNAL
ERROR
It is thought that the CPU rack, circuit board
was abnormal.
• Check whether the setting is the same
as the system or not(robot and external
axis)
• If the error occurs again, contact your
YASKAWA representative.
4119
FAN ERROR
(IN CONTROL BOX)
The axis was instructed to turn servo on and
off separately.
Make the condition so as to be able to turn
servo on and off after resetting the alarm.
4120
IMPOSSIBLE TO
DISCONNECT
SERVO
[Control Group]
Some axes were instructed and cannot turn
the servo on or off.
After resetting the alarm, adjust the axes
so that the servo power can be turned on
and off.
4121
COOLING FAN 1
ERROR
[Binary Data]
The number of revolutions of cooling fan 1
connected to the contactor unit was
reduced.
After resetting the alarm, move the manipulator in the teach mode to a safe place.
Contact your Yaskawa representative to
replace the cooling fan 1.
4122
COOLING FAN 2
ERROR
[Binary Data]
The number of revolutions of cooling fan 2
connected to the contactor unit was
reduced.
After resetting the alarm, move the manipulator in the teach mode to a safe place.
Contact your Yaskawa representative to
replace the cooling fan 2.
4123
COOLING FAN 3
ERROR
[Binary Data]
The number of revolutions of cooling fan 3
connected to the contactor unit was
reduced.
After resetting the alarm, move the manipulator in the teach mode to a safe place.
Contact your Yaskawa representative to
replace the cooling fan 3.
4127
U-AXIS TIMING BELT
BLOWN
An error was detected in the drive belt of the
U-axis.
Perform an overrun release, move the
robot to the posture for replacement, and
replace the belt.
4200
SYSTEM ERROR
(FILE DATA)
[Decimal Data]
When acess to the file data was executed,
the error occured. (File edition, Operation of
external memory unit)
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
4201
SYSTEM
ERROR(JOB)
[Decimal Data]
When access to the job was executed, the
error occured.
(During robot is being playback and operation)
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
4202
SYSTEM
ERROR(JOB)
[Decimal Data]
When acess to the job was executed, the
error occured.
(Job edition, Operation of external memory
unit)
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
4203
SYSTEM ERROR
(POSITION DATA)
[Bit Pattern]
When acess to the position data was executed, the error occured.
(During playback and operation)
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
10-38
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4204
SYSTEM ERROR
(POSITION DATA)
[Decimal Data]
When access to the position data was executed, the error occured.
(Job/position variable edition, Operation of
external memory unit)
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
4206
SYSTEM ERROR
(TRANSMISSION)
[Decimal Data]
When the data transmission function was
used, the error occured.
The error of internal procedure for transmission system.
Needs investigation.
Consult a YASKAWA representative.
4207
SYSTEM
ERROR(MOTION)
[Decimal Data]
The system error occured in MOTION.
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
4208
SYSTEM ERROR
(ARITH)
[Decimal Data]
The system error occured in ARITH.
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
4209
OFFLINE SYSTEM
ERROR
(ARITH)
[Decimal Data]
The system error occured in ARITH offline.
• Reset the alarm and repeat the operation.
• Turn the power off then back on.
• If the error occurs again, contact your
YASKAWA representative.
4220
SERVO POWER OFF
FOR JOB
[Control Group]
The servo power supply was not turned on
for the job group axis which was to be operated.
Intercept the servo power supply once
and turn on the servo power supply to the
group axis to be operated.
4221
SERVO POWER OFF
FOR JOB
[Control Group]
The servo power supply was not turned on
for the job group axis which was to be operated.
Intercept the servo power supply once
and trun on the servo power supply to the
group axis to be operated.
4222
SAFE CIRCUIT SIG
NOT SAME
(XCI01)
[Binary Data]
The error occurred in the safe circuit signal
(I/O contactor unit). (Check the XCI01 circuit board duplication signal.)
• Check the safe circuit signal wiring of the
cables connected to the I/O contactor
unit.
• Replace the I/O contactor unit.
4223
SAFE CIRCUIT SIGNAL NOT SAME
(SV)
[Decimal Data]
The error occurred in the safe circuit signal
(I/O contactor unit). (Check the WRCA01
board duplication signal.)
The data stands for the following error signals:
1: IORDY
2: ON_EN
3: OVSPD
4: SVMAIN
5: EXOT
6: SVMX
7: KMMB
8: KMMA
• Check the safe circuit signal wiring of the
cables connected to the I/O contactor
unit.
• Replace the I/O contactor unit.
4300
VERIFY ERROR
(SERVO PARAMETER)
[Decimal Data]]
A mistake was found in the parameter
related to servo control.
Needs investigation.
Consult a YASKAWA representative.
10-39
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4301
CONTACTOR
ERROR
[Bit Pattern]
• The contactor of the contactor unit was not
turned ON at servo ON.
• While turning servo ON, the signal from
the contactor was intercepted .
• The contactor signal was not intercepted at
servo OFF(at emergency stop).
• While turning servo OFF(at emergency
stop), the contactor signal was turned ON.
Reasons are as follows:
• Defective contactor unit
• Defective WRCA01 circuit board
• Turn servo ON again after resetting the
alarm.
• If the error occurs again, replace the
contactor unit, WRCA01 circuit board.
4302
BRAKE CIRCUIT
ERROR
[Bit Pattern]
• The brake relay signal unit was not turned
ON at servo ON.
• While turning servo ON, the brake relay
signal was intercepted .
• The brake relay signal was not intercepted
at servo OFF(at emergency stop).
• While turning servo OFF(at emergency
stop), the brake relay signal was turned
ON.
Reasons are as follows:
• Defective contactor unit
• Defective WRCA01 circuit board
• Reset the alarm and turn servo ON
again.
• If the error occurs again, replace the
contactor unit, WRCA01 circuit board.
4303
CONVERTER
READY SIGNAL
ERROR
[Bit Pattern]
• There was no response(servo ready signal) of charge completion from convertor at
servo ON.
• While turning servo ON, the servo ready
signal was intercepted .
• The servo ready signal was not intercepted at servo OFF(at emergency stop).
• While turning servo OFF(at emergency
stop), the servo ready signal was turned
ON.
Reasons are as follows:
• Primary side power supply voltage was too
low.
• Because the power supply cable of primary side was too fine or its cable was too
long, the voltage drop occurred at servo
ON.
• Defective WRCA01,WRCF01 circuit board
• Defective converter
• Reset the alarm and turn servo ON
again.
• Check the primary power supply voltage
(220V+10%).
• If the error occurs again, replace the
WRCA01 circuit board, the converter.
10-40
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4304
CONVERTER INPUT
POWER ERROR
[Bit Pattern]
• There was no response(ready 1 signal) of
primary power supply input from convertor
at servo ON.
• While turning servo ON, the ready 1 signal
was intercepted .
• The ready 1 signal was not intercepted at
servo OFF(at emergency stop).
• While turning servo OFF(at emergency
stop), the ready 1 signal was turned ON .
Reasons are as follows:
• Mistaken wiring of connection for primary
side power supply.
• The drop of primary side power supply
(less than170V).
• Because the power supply cable of primary side was too fine or its cable was too
long, the voltage drop occurred at servo
ON.
• Defective WRCA01,WRCF01 circuit board
• Defective converter
• Check the connection for primary side
wiring R,S,T, wire.
• Check that the power supply voltage is
more than 170V.
• If the error occurs again, replace the
WRCA01 circuit board, WRCF01 circuit
board, the converter.
4305
CONVERTER CIRCUIT CHARGE
ERROR
[Bit Pattern]
• There was no response(ready 2 signal) of
charge completed from convertor at servo
ON.
• While turning servo ON, the ready 2 signal
was intercepted .
• The ready 2 signal was not intercepted at
servo OFF(at emergency stop).
• While turning servo OFF(at emergency
stop), the ready 2 signal was turned ON .
Reasons are as follows:
• Mistaken wiring of connection for primary
side power supply.
• The drop of primary side power supply
(less than170V).
• Because the power supply cable of primary side was too fine or its cable was too
long, the voltage drop occured at servo
ON.
• Defective WRCA01,WRCF01 circuit board
• Defective converter
• Defective amplifier(There is a possibility
that power circuit was short-circuited internally.)
• Check that primary power supply is more
than 170V.
• Replace the amplifier.
• If the error occurs again, replace the
WRCA01 circuit board, WRCF01 circuit
board, the converter.
10-41
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
Remedy
4306
AMPLIFIER READY
SIGNAL ERROR
[Bit Pattern]
• There was no response(amp ready signal)
of energizing completed from amplifier at
servo ON.
• While turning servo ON, the amp ready
signal was intercepted.
• The amp ready signal was not intercepted
at servo OFF(at emergency stop).
• While turning servo OFF(at emergency
stop), the amp ready signal was turned
ON.
Reasons are as follows:
• Defective WRCA01,WRCF01 circuit board
• Defective converter
• Defective amplifier(There is a possibility
that power circuit was short-circuited internally.)
• Reset the alarm and turn servo ON
again.
• If the error occurs again, replace the
WRCA01 circuit board, WRCF01 circuit
board, the converter.
4307
SERVO ON DEFECTIVE SPEED
Robot/Station
[Axis Data]
• While encoder was rotating, the servo
power supply was turned on. Impossible to
turn on control power supply in the rotation
• The no brake axes, R,B,T axis for SK6,
freely fell when the servo power supply
was turned off by emergency stop. When
the servo control power supply was turned
back on this status, this alarm occured.
Check the timing of turning on servo
power supply again.
4308
VOLTAGE DROP
(CONVERTER)
[Bit Pattern]
• Direct current power supply voltage supplyed to amplifier for servopack has
become less than143V.
Reason is follows:
• Primary power supply voltage was too low.
• There was open phase.
• Defective converter
• Defective WRCA01circuit board
• Check the connection for primary side
wiring R,S,T, wire.
• Check that power supply voltage is more
than 170V.
• If the error occurs again, replace the
WRCA01, WRCF01 circuit board, the
converter.
4309
DEFECTIVE
ENCODER INTERNAL DATA
Robot/Station
[Axis Data]
The internal parameter error for serial
encoder. It is thought the encoder was
abnormal.
• Turn the power off then back on. If a
phenomenon occurs again after repeating this operation several times, replace
the motor(encoder) for axis occured the
error.
• If the error occurs again, consult with a
YASKAWA representative.
4310
ENCODER OVERHEAT
Robot/Station
[Axis Data]
The encoder has overheated to 100
degrees.
• Check that the ambient temperature is
not too high.
• Check the load again.
• Chech the primary power supply voltage
(220V+10%).
• If the error occurs again, replace the
WRCA01 circuit board, the encoder.
Alarm
Number
10-42
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4311
ENCODER BACK-UP
ERROR
Robot/Station
[Axis Data]
• Because backup power supply voltage for
encoder decreased(less than 2.6V), position data of the encoder disappered.
• Whenever a new motor was used, this
error occurred.
• Reset the alarm. Adjust the home position again.
• Check the battery voltage for encoder.
(more than 2.8V)
• Replace the battery.
• If the error occurs again, replace the
encoder.
• Because it is charged the backup condenser, don't turn off power supply for a
few minutes.
4312
ENCODER BATTERY ERROR
Robot/Station
[Axis Data]
Voltage of backup battery for encoder has
decreased.(less than 2.8V)
(In case leaving this voltage as it is, the
backup error occurs and position data disappears.)
• Check the battery voltage for encoder.
(more than 2.8V)
• Replace the battery.
4313
SERIAL ENCODER
OVER HEAT
Robot/Station
[Axis Data]
The encoder has overheated to 100
degrees.
• Check that the ambient temperature is
not too high.
• Check the load again.
• Check the primary power supply voltage
(220V+10%).
• If the error occurs again, replace the
WRCA01 circuit board, the encoder.
4314
SERIAL ENCODER
BATTERY ERROR
Robot/Station
[Axis Data]
Voltage of backup battery for encoder has
decreased.(less than 2.8V)(In case leaving
this voltage as it is, the backup error occurs
and position data disappears.)
• Check the battery voltage for encoder.
(more than 2.8V)
• Replace the battery.
4315
COLLISION DETECT
Robot/Station
[Axis Data]
• A collision from interferrence between
robot and peripheral device etc. was
• Remove the object after resetting the
alarm or move the robot to the safety
detected.
• The collision was mis-detected by the normal movement of the robot, because the
detection level was small.
position.
• When the alarm cannot be reset
because the robot comes in contact with
the object, invalidate this function in the
collision detection level set file or enlarge
the detection level and move the robot to
the safety position.
• Enlarge the detection level so as not to
mis-detect the collision detection by the
normal movement of the robot. Moreover, set accurate information of the
weight of the tool.
4316
PRESSURE DATA
LIMIT
The value of pressure in the "GUN PRESSURE" file or the "PRESSURE" file exceeds
the maximum pressure in the "GUN CONDITION" file.
Change the value of pressure in the
"GUN PRESSURE" file or the "PRESSURE" file below the maximum pressure.
4400
NOT READY (ARITH)
[Decimal Data]
The operation process of motion control
does not end in regulated time.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
10-43
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4401
SEQUENCE TASK
CONTR ERROR
[Decimal Data]
The error has occured in job exec statement
part.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4402
UNDEFINED COMMAND(ARITH)
The instruction not defined was demanded
of the path operation process.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4404
ARITHMETIC
ERROR
[Decimal Data]
The control error occured in the path operation process.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4405
SELECT ERROR
(PARAMETER)
[Decimal Data]
The control error occured in the path operation process.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4406
GROUP AXIS CONTROL ERROR
[Decimal Data]
When operating cooperative control, the
control error occured in the path operation
process.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4407
TWO STEPS SAME
POSITION
(CIRC)
Among three taught points, there was the
same point of two points or more.
Reset the alarm. Teach the different 3
points again.
4408
TWO STEPS SAME
POSITION
(SPLINE)
Among three taught points, there was the
same point of two points or more.
Reset the alarm. Teach the different 3
points again.
4409
TWO STEPS SAME
POSITION
(3 POINTS)
Among three taught points, there was the
same point of two points or more. (User
coordinates, robots calibration, etc.)
Reset the alarm. Teach the different 3
points again.
4410
TWO STEPS SAME
POSITION
(WEAV)
The weaving base point was the same as
the wall point.
Reset the alarm. Teach the different 3
points again.
4411
TEACH ERROR
(SPLINE)
It was not an equidistant distance between
teaching points.
Teach again to be an even distance
between teaching point
4412
IMPOSSIBLE LINEAR
MOTION
(L/U)
In case the form of L,U axis for start point
and end point were different in interpolation
motion except MOJV, it was not possible to
operate.
Make the form of L,U axis same and teach
again.
4413
IMPOSSIBLE LINEAR
MOTION
(S/L)
In case the form of S, L axis for start point
and end point were different in interpolation
motion except MOJV, it was not possible to
operate.
Make the form of S, L axis the same and
teach again.
4414
EXCESSIVE SEGMENT
(LOW SPEED)
Robot/Station
[Axis Data]
It exceeded rated speed of the motor at a
specified speed.
Reset the alarm. Reduce the speed of the
step (Move instruction) occurred the alarm
or change the robot pose.
10-44
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4415
EXCESSIVE SEGMENT
(HIGH SPEED)
Robot/Station
[Axis Data]
It exceeded rated speed of the motor at a
specified speed.
Reset the alarm. Reduce the speed of
step (Move instruction) occurred the alarm
or change the robot pose.
4416
PULSE LIMIT (MIN.)
Robot/Station
[Axis Data]
It exceeded pulse software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4417
PULSE LIMIT (MAX.)
Robot/Station
[Axis Data]
It exceeded pulse software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4418
CUBE LIMIT (MIN.)
Robot/Station
[XYZ]
The tool control point exceeded cube software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4419
CUBE LIMIT (MAX.)
Robot/Station
[XYZ]
The tool control point exceeded cube software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4420
SPECIAL SOFTLIMIT
(MIN.)
Robot/Station
[Axis Data]
It exceeded pulse software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4421
SPECIAL SOFTLIMIT
(MAX.)
Robot/Station
[Axis Data]
It exceeded pulse software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4422
MECHANICAL
INTERFERENCE
(MIN.)
Robot/Station
[Axis Data]
An abnormal (reverse) axis interfered mutually.
Reset the alarm. Release the interference
and teach again.
4423
MECHANICAL
INTERFERENCE
(MAX.)
Robot/Station
[Axis Data]
An abnormal (reverse) axis interfered mutually.
Reset the alarm. Release the interference
and teach again.
4424
SPECIAL MECHANICAL INTRF (MIN.)
Robot/Station
[Axis Data]
An abnormal (reverse) axis interfered mutually.
Reset the alarm. Release the interference
and teach again
4425
SPECIAL MECHANICAL INTRF (MAX.)
Robot/Station
[Axis Data]
An abnormal (reverse) axis interfered mutually.
Reset the alarm. Release the interference
and teach again.
4426
PULSE MECHANICAL LIMIT (MIN.)
Robot/Station
[Axis Data]
It exceeded pulse software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4427
PULSE MECHANICAL LIMIT (MAX.)
Robot/Station
[Axis Data]
It exceeded pulse software limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
10-45
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4428
SEGMENT CONTROL ERROR
[Decimal Data]
The error occurred in data and the timing of
the processing part where the operation part
was controlled.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4429
WRONG SPECIFIED
CONTROL GROUP
[Decimal Data]
The error occurs in information on the robot
which uses for the job interpretation and the
motion control.
• Reset the alarm and repeat the operation
• If the error occurs again, contact your
YASKAWA representative.
4430
CPU COMMUNICATION ERROR
[Decimal Data]
When interrupting various circuit board from
the XCP01 circuit board, interrupted boards
were not prepared or didn't respond.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4431
JHM ERROR
[Decimal Data]
The data was abnormal in the job control
process.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4432
INSTRUCTION
INTERPRETER
ERROR
[Decimal Data]
The error occurred in the job interpretation
exec statement part.
• Reset the alarm. Select job and repeat
the operation.
• If the error occurs again, operate by the
following procedure:
Delete the command that caused the
alarm and register again and start execution.
Delete the job that cause the alarm and
register again and start execution.
• If the error occurs again, contact your
YASKAWA representative.
4433
UNDEFINED GLOBAL VARIABLE
[Decimal Data]
The global variable range was undefined.
Needs investigation at YASKAWA. Consult a YASKAWA representative.
4434
VAR-SCOREBOARD
CONTROL ERROR
[Decimal Data]
The error occurred in variable scoreboard
control.
• Reset the alarm. Select job and repeat
the operation.
• If the error occurs again, operate by the
following procedure:
Delete the command that caused the
alarm and register again and start execution.
Delete the job that cause the alarm and
register again and start execution.
• If the error occurs again, contact your
YASKAWA representative.
4435
UNDEFINED LOCALVARIABLE
[Bit Pattern]
The local variable was undefined.
Set the local variable used for sub header
of job.
4436
LESS THAN 3
STEPS(CIRCULAR)
[Decimal Data]
A circle step didn't contain a minimum of 3
consecutive points.
Reset the alarm. Teach at least 3 consecutive points for the circle step.
4437
LESS THAN 3
STEPS(SPLINE)
A spline interpolation designation step didn't
contain a minimum of 3 consecutive points.
Reset the alarm. Teach at least 3 onsecutive points for the spline interpolation designation step.
10-46
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4438
UNDEFINED JOB
[Decimal Data]
Job was not registered.
Reset the alarm and register job. Or
Delete CALL, JUMP instruction caused
the alarm.
4439
UNDEFINED LABEL
[Decimal Data]
No labels existed in the currently executing
job.
Reset the alarm and register job . Or
Delete CALL, JUMP instruction occured
the alarm.
4440
UNDEFINED
RETURN JOB
[Decimal Data]
The job call stack contained no return.
Reset the alarm and start execution from
the master job. Or delete RET instruction.
4441
LACK OF LOCALVARIABLE AREA
[Decimal Data]
Too many local variables used in the job.
Reset the alarm and reduce the use number of the local variables
4442
LOCAL-VARIABLE
CONTROL ERROR
[Decimal Data]
When job was executed, the error occurred
in control process of local variable.
• Reset the alarm. Select job and repeat
the operation.
• If the error occurs again, operate by following procedure:
Delete the command that caused the
alarm and register again and start execution.
Delete the job that caused the alarm
and register again and start execution.
4443
JOB CALL STACK
ERROR
[Decimal Data]
At the job CALL, RET, END instruction,
when operating the job call stack, internal
control data of inside was abnomal.
• Reset the alarm. Select the job again
and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4444
UNSUCCESSFUL
FINE POSITIONING
[Binary Data]
• When executing PL=0 or interrupting
external servo, the servo deflection was
• Reset the alarm. In case an external
force is affecting the robot, move the
not put within time.
• Excessive external force
• The servopack, the motor were abnormal.
robot to remove the external force and
repeat the operation.
• In case the phenomenon occurs again
without any external force, try to insert
the XCP01 circuit board again.
• If the error occurs again, contact your
YASKAWA representative.
4445
DATA PRESET
ERROR
[Decimal Data]
When the interpretation process section of
job annuled the content of interpretation and
started to interpret again, various kinds of
data were attempted to be initialized. At the
time,a disagreement of data occured.
• Reset the alarm. Select the job and
repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4446
OVER VARIABLE
LIMIT
[Decimal Data]
The range of the numerical value of the variable for storage destination was exceeded.
Increase the variable range at the storage
destination or rewrite the job to bring the
number of variables in range.
4447
DEFECTIVE TAUGHT
POINT
(CIRC)
A straight line linked the three points.
Reset the alarm and teach again.
10-47
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4448
WEAVING CONTROL ERROR
[Decimal Data]
When executing the weaving motion control,
the control error occurred in the path operation process.
Data stands for the alarm factor.
4:Weaving speed instruction was moving
time instruction, moving time was less
than 0.
5:Weaving speed instruction was frequency
instruction, frequency was less than 0.
6.Weaving stopping time was negative
7:Vertical direction distance at or horizontal
direction distance was 0 in triangular
wave, L type weaving.
9:Distance between P point and control
point was less than 0 in the wrist weaving
Except above:Control error
• 4:Set 0.1 seconds or more in the moving
time of weaving file.
• 5:Set 0.1 hertz or more in the frequency
of weaving file.
• 6:Set a positive value in the stopping
time of weaving file.
• 7:Set 1mm or more in the vertical direc
tion, horizontal direction distance of
weaving file.
• If the error occurs again, contact your
YASKAWA representative.
4449
UNMATCHED POSN
VAR DATA TYPE
[Bit Pattern]
The data types(pulse, Cartesian) of the
stored data and the storage destination are
different.
Match the data types(pulse, Cartesian) of
the stored data and the storage destination.
4450
FILE NO. ERROR
[Decimal Data]
The error occured during file No. check.
• Reset the alarm. Select the job and
repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4451
UNDEFINED REFERENCE POINT
[Bit Pattern]
No reference point was registered or insufficient reference points were registered.
Correctly register reference points.
4452
STACK MORE THAN
8 (JOB CALL)
[Decimal Data]
The job call stack overflowed.
Reset the alarm and modify the job to
reduce the jobs in the job call stack.
4453
OVER VARIABLE
NO.
[Bit Pattern]
A variable number was out-of-range.
Modify the job by using the permitted variable number.
4454
UNDEFINED
WELDER CONDITION FILE
[Decimal Data]
The welder condition data file was not set.
Set the welder condition data file.
4455
UNDEFINED ARC
START COND FILE
[Decimal Data]
The arc start condition file was not set.
Set the arc start condition file.
4456
UNDEFINED ARC
END COND FILE
[Decimal Data]
The arc end condition file was not set.
Set the arc end condition file.
4457
WRONG WELDER
SELECTION
[Decimal Data]
The arc voltage command units didn't match
the welder power supply (individual,unified).
Match the arc voltage command units.
4458
EQUATION EXCEPTION ERROR
[Decimal Data]
When executing equation of SET instruction, the item of the equation which couldn't
be executed was attempted.
• Reset the alarm and repeat the operation.
• If the error occurs again, operate the following procdure:
Delete the command that caused the
alarm and register again.
Delete the job that caused the alarm
and register again.
10-48
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
4459
EXCESSIVE
INSTRUCTION
EQUATION
[Decimal Data]
An equation was too long.
Divide up the equation to reduce its
length.
4460
ZERO DIVIDED
OCCURRENCE
[Decimal Data]
A division by zero was attempted.
Set not to divide by zero.
4461
UNDEFINED AUTO
WELD RELEASE
COND
[Decimal Data]
Number of automatic sticking release
attempts was set to zero in the arc auxiliary
file.
Set the number of automatic sticking
release attempts and repeat the operation.
4462
UNDEFINED POSITION FOR ARC
RETRY
[Decimal Data]
Arc retry was set but no move instruction
exists after ARCON.
Set a move instruction after ARCON.
4463
PARITY ERROR
General I/O group parity error.
Stop parity error from occuring.
4464
OVER BCD RANGE
• An attempt was made to output a value
which exceeded the maximum BCD value
limit of 99 (decimal) without parity or 79
(decimal) with parity.
• An attempt was made to read data which
couldn't be represented as BCD (most-or
least-significant 4 bits are 9 or above) to a
variable.
• Reset the data in the permitted range.
• Check the designated data (BCD/binary)
and parity check.
4465
OVER BINARY
RANGE
(PARITY CHECK)
An attempt was made to output a value
exceeding 127(decimal) while the parity
check was designated.
• Reset the data in the permitted range.
• Review the parity check.
4466
OFFLINE UNDEFINED COMMAND(ARITH)
[Decimal Data]
Undefined instruction was required for software for off-line path arithmetic of the
XCP01 circuit board.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4468
ROBOT CALIBRATION DATA ERROR
[Decimal Data]
The error occured in the process of making
robot calibration data.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4469
ROBOT CALIBRATION FRAME
ERROR
[Decimal Data]
The error occured in frame conversion process of robot calibration data
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4471
CALIBRATION DATA
ERROR
[Decimal Data]
The error occured in the process of making
calibration data.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4472
TOOL CALIBRATION
DATA ERROR
[Decimal Data]
The error occured in the process of making
calibration data.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
Alarm
Number
10-49
Remedy
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4473
ARITHMETIC ALARM
RESET ERROR
[Decimal Data]
System data didn't corrspond with reset process after the alarm occurred in arithmetic
section.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4474
WRONG CONTROL
GROUP AXIS
[Bit Pattern]
An instruction such as a job call (CALL) or
job jump (JUMP) was used for a call or jump
to a job in a group outside the currently used
job control group.
Include the call source job control group in
the control group used by the current call
destination job.
4475
CANNOT EXECUTE
JOB(NO ROBOT)
[Decimal Data]
When executing ARCON, WVON instruction, the robot was not in the prescribed job
control group.
Add a robot to the job control group.
4476
CANNOT EDIT (EDIT
LOCK JOB)
[Decimal Data]
An attempt was made to overwrite an editlocked job.
Cancel the edit lock.
4477
SELECT ERROR
(APPLICATION )
[Decimal Data]
When executing operation instruction, the
selection parameter(parameter specified for
maker) for first application and application
parameter(AP) was not adjusted.
Needs investigation.
Consult a YASKAWA representative.
4480
SELECT
ERROR(SENSOR )
[Decimal Data]
When executing sensor instruction, the
selection parameter(parameter specified for
maker) for first sensor application and sensor parameter(SE) is not adjusted.
Needs investigation.
Consult a YASKAWA representative.
4484
WRONG PORT NO.
(ANALOG OUTPUT)
[Decimal Data]
Parameter(AxP010) showed the head of
analog port used for arc, sealing was incorrect.
Change the parameter to a normal value.
4485
WRONG SELECTION (SENSOR)
[Decimal Data]
When executing sensor instruction, robot
designation(system parameter) uses sensor
application and robot designation(system
parameter) uses application was not corresponded.
Needs investigation.
Consult a YASKAWA representative.
4486
PATH OVER
[Decimal Data]
The path went outside the designated passover monitoring area.
• Correct the cause of the pass-over.
• Set the pass-over radius inside the permitted range.
4487
WRONG MECH
PARAMETER FILE
[Decimal Data]
Path arithmetic process section control
error.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4488
INCOMPLETE PT
FRAME
[Decimal Data]
Path arithmetic process section control
error.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4489
DEFECTIVE TAUGHT
POINT(CUTTING)
[Decimal Data]
Impossible to execute cutting motion.
Data stands for the alarm factor.
1:CW axis CUT pulse error
C,W axis position on cutting start is not
zero(0) pulse.
2:Cutting(edge) radius 0
Cutting(edge) radius is zero(0).
1:Set C,W axis position of cutting start
position zero(0).
2:Set the radius zero(0) or more.
10-50
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4490
DEFECTIVE TAUGHT
POINT(ENDLESS)
[Decimal Data]
Impossible to execute endless motion.
Data stands for the alarm factor
1:Interpolation motion impropriety of endless function.
Linear motion inpropriety. This error
occurred as follows. When operating playback panel and programming pendant,
though continuous rotaion was completed,
MRESET instruction was not executed but
linear interpolation was executed.
4:Instruction position of step has permitted
pulse over cursor for endless axis
exceeded 2,147,483,647 pulse.
1:In case this alarm occurs when operating programing pendant, reset the alarm
and execute the MRESET operation.
In case this alarm occurs when operating playback, set the MRESET instruction before executing the MOVL, MOVC
instruction.
4:Check the teaching position again. Set
C,W axis position of cutting start position zero(0).
4491
CORRECTIONAL
DIRECTION ERROR
[Decimal Data]
When correcting a motion, the error occured
in the process of making a correction in the
direction for path arithmetic.
4:Referrence points were the same.
• Teach reference points again.
• If the error occurs again, contact your
YASKAWA representative.
4492
POSITION CORRECTION ERROR
[Decimal Data]
When correcting a motion, the error occured
in making process of making a correction in
the volume for path arithmetic.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4493
OVER TOOL FILE
NO.
[Decimal Data]
The error occurred in the tool file control
process.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4494
DEFECTIVE TAUGHT
POINT(WEAV)
[Decimal Data]
1:Weaving start point and end point were
the same.
• In case there was no instruction of stop
weaving, the position of weaving start point
and end point was the same point or the
position of weaving start point and referrence point is the same point.
• In case there is instruction to stop weaving, the position of the weaving start point
and referrence point is the same point.
Check the position of the start point, end
point and referrence point. Teach again.
4495
UNDEFINED ROBOT
CALIBRATION
[Bit pattern]
Robot calibration was incomplete when a
coordinated move instruction was executed.
Conduct robot calibration.
4496
PARAMETER
ERROR
[Decimal Data]
Parameter settings caused division by zero.
Needs investigation.
Consult a YASKAWA representative.
4497
DEFECTIVE TAUGHT
POINT(CALIB)
[Decimal Data]
There was a problem with the taught points.
Teach the points again.
4498
CANNOT EXECUTE
JOB(NO GRP AXIS)
[Decimal Data]
An illegal instruction was executed in a job
with no control group.
Register the instruction in a job with control axis.
4499
UNDEFINED POSITION VARIABLE
[Bit Pattern]
Undefined position data was used.
Define the position data.
4500
UNDEFINED USER
FRAME
[Decimal Data]
Undefined user coordinates were used.
Define the user coordinates.
10-51
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Message
Cause
Remedy
4501
OUT OF
RANGE(PARALLEL
PROCESS)
[Decimal Data]
The error occured in task control process of
independent control function.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4502
SL BOARD ON-LINE
ERROR
When turning on power supply, detected in
the XCP01 circuit board that the XCP02
didn't normally work.
• Insert the XCP02 circuit board again.
• If the error occurs again, contact your
YASKAWA representative.
4504
MEASURE INST
EXECUTE ERROR
[Decimal Data]
When executing the measure instruction,
the error occured.
Data stands for the alarm factor.
2:MEASON instruction
3:MEASOF instruction
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4505
UNDEFINED POSITION FOR ARC ON
[Decimal Data]
Retry was possible with ARC RETRY execution only if a step existed before the
ARCON instruction.
Register a step in front of the ARCON
instruction.
4506
UNDEFINED POS
FOR RESTART
RETURN
[Decimal Data]
No restart-return step existed in the job
when a restart was attemted.(Eg.,a retry
request was received during 1-step execution of CALL destination job.)
Reset the alarm and correct the job.
4507
REFP POS ERROR
(SEARCH MOTION)
The distance between the search start point
and aimed point was too short to determine
the search direction.
Reset the alarm and increase the distance
between the search start point and aimed
point.
4508
PECIFIED ERROR
(COORDINATE)
[Decimal Data]
Position confirmation was not possible
because the position variable (P) designates coordinates as tool coordinates, master tool coordinates.
Data stands for the alarm factor.
0:No coordinates
1:Designation error for master tool coordinates system
2:Designation error for tool coordinates system
Reset the alarm and change the coordinates.
4509
MFRAME ERROR
[Decimal Data]
Impossible to create user coordinates
8:No position file registered.
Register the position file(variable).
4510
CANNOT EXECUTE
INSTRUCTION
(SQRT)
[Decimal Data]
The attempt was made to caluculate the
root of a negative number
(Second argument is a negative.)
Correct the job.
4511
OUT OF RANGE
(DROP-VALUE)
[Control Group]
When turning on servo, the difference in
robot position pulse at servo ON and the
previous servo OFF exceeded the permitted
range.
(Permitted pulse is normally 100pulse.)
Reset the alarm and repeat the operation.
4512
TWO STEPS SAME
LINE(3 STEPS)
The three points for creating the user coodinates or three or more taught points for
robot calibration lie on the same line.
Teach again such that the three points do
not lie on the straight line.
4513
EXCESSIVE
SEGMENT
(SAFETY 1): LOW
Robot/Station
[Axis Data]
The specified speed exceeded the safe
speed.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
Alarm
Number
10-52
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4514
EXCESSIVE
SEGMENT
(SAFETY 1): HIGH
Robot/Station [Axis
Data]
The specified speed exceeded the safe
speed.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
4515
EXCESSIVE
SEGMENT
(SAFETY 2): LOW
Robot/Station
[Axis Data]
The specified speed exceeded the safe
speed.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
4516
EXCESSIVE
SEGMENT
(SAFETY 2): HIGH
Robot/Station
[Axis Data]
The specified speed exceeded the safe
speed.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
4517
SEARCH MONITOR
SET ERROR
(SERVO)
[Decimal Data]
The error occurred in the interface with
servo on feedback ratch mode.
Check the system version of the XCP01,
WRCA circuit board.
4518
SEARCH MON
RELEASE ERROR
(SERVO)
[Decimal Data]
The error occured in the interface with servo
on feedback ratch mode.
Check the system version of the XCP01,
WRCA circuit board.
4519
SPHERE INTRF
ERR(ROBOT)
[Decimal Data]
Robot calibration was not executed.
Execute robot calibration.
4520
AXIS BLOCKING
[Control Group]
Operation was instructed to group axis out
of axis blocking on play mode.
• Reset the alarm and repeat the operation.
• In case operating robot after reset the
alarm, turn on the general input signal
set in the parameter.
4521
WRONG JOB TYPE
[Bit Pattern]
0000_0001:Robot job was started from concurrent job by CALL or JUMP instruction.
0000_0001:Concurrent job was started from
robot job by CALL or JUMP instruction.
Check the starting job.
4522
TAG DATA CHANGE
PROCESS ERROR
[Decimal Data]
The error occured when welding conditions
were changed in a job or file.
Correct the job.
4524
CANNOT EXECUTE
INST
(CONCUR JOB)
A concurrent job contained an instruction
(MOV,etc.) which couldn't be executed in a
concurrent job.
Correct the job.
4526
SYNTAX ERROR IN
EQUATION INST
[Decimal Data]
Internal data of equation inst was abnormal.
Needs investigation.
Consult a YASKAWA representative.
4527
UNDEFINED PORT
NO.
(AOUT)
[Decimal Data]
Designation of port No.for job was abnormal.
Needs investigation.
Consult a YASKAWA representative.
4528
SYNTAX ERROR
[Decimal Data]
Internal data was abnormal in instruction.
(System function unmatch)
Needs investigation.
Consult a YASKAWA representative.
10-53
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
4529
TWIN COORDINATED ERROR
[Decimal Data]
1: The job started by SYNC was a job without any robot axes (job with station axes
only, or concurrent job, etc.).
2: The job started by SYNC was a job with
robot axes only.
Set the R +S job to the job that is
started by SYNC.
4534
TORQUE INTERFERENCE
During operation at the designated speed,
there is axis that the robot axis or motor load
torque exceeded the permitted torque.
• Check if the tool weight information is
correctly set in the tool file.
• Reset the alarm. Reduce the step (for
moving instruction) speed that caused
the alarm or change pose of robot.
4540
JOB QUE EMPTY
ERROR
[QUE] was called by CALL instruction and
JUMP instruction when all job queue was
not used.
Set data in the job queue and call [QUE].
4543
STACK LESS THAN 0
(JOB CALL)
[Decimal Data]
The error occurred in internal data when
returning job.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4564
INTERNAL STATUS
ERR
(SEARCH HALT)
[Decimal Data]
When execution of start point detecting
function(SRCH), search function for general
sensor(ASRCH), force detecting function(TSRCH) was completed, the process
error occured.
• Reset the alarm and repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4565
SOFTWARE
UNMATCH
[Decimal Data]
Operating function didn't correspond to system.
Need the investigation.
Consult YASKAWA representative.
4567
CANNOT MONITOR
DISTANCE
The attempt was made to execute MOVJ,
MOVS when operating ARC retry, restart.
Set not to operate ARC retry, restart or,
change the instruction(interpolation) to
MOVL, MOVC.
4572
UNDEFINED MOTOR
GUN CONTROL GRP
There was no group setting controlled as
motor gun.
Configulate again on customer maintenance mode, set the motor gun axis correctly.
4574
SPOT WELD COMPLETE TIME LIMIT
Welding completed signal from timer conductor or welding error signal doesn't enter
even if waiting set time.
• Correct the factor, no turning on power
supply of timer conductor etc., and
repeat the operation.
• In case that it takes time to response
from the timer, lengthen set time.
4575
ERROR IN WELD
START TIMING SET
When there was no set of second pressure
at servogun, welding timing was set [After
first pressure].
Set the second pressure or, change the
start timing.
4576
ERR IN SERVO GUN
CONT MODE
The error occurred in control process of servogun.
Needs investigation.
Consult a YASKAWA representative.
4577
ERR IN SERVO GUN
MODE RLSE
The error occurred in control process of servogun.
Needs investigation.
Consult a YASKAWA representative.
4578
SPOT WELD ERROR
[Decimal Data]
The error occurred in timer conductor of
system designated by data.
Reset the timer conductor that caused the
welding error and repeat the operation.
4581
DEFECTIVE ANTICIPATION FILE
[Decimal Data]
A setting in the anticipation output file is set
to an improper value. The setting of the OT
output or OG output is “-”
1: OT output No. failure
2: OG output No. failure
After resetting the alarm, set to the proper
value .
10-54
Remedy
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Cause
Remedy
4583
CANNOT EXECUTE
GUN TYPE
Set gun was set by operation mode of control impossible.
Change to the mode applied to the gun.
4584
STRWAIT TIME LIMIT
Confirmation signal designated by stroke
switch confirmation instruction doesn't enter
even if waiting set time.
• Correct the factor, defective LS etc., and
repeat the operation.
• If the error occurs again, contact your
YASKAWA representative.
4585
SERVO PG ON
ERROR
Encoder’s power is not on when the control
power supply is turned on.
Check the cable connection of the motor
gun’s encoder.
4587
MOTOR GUN
CHANGE ERROR
The error occured when the gun was
changed. The number shown indicates the
cause of the alarm.
1: GUNCHG was issued in a system configuration in which the gun change function
cannot be used.
2: GUNCHG PICK was issued while the
servo of the motor gun’s motor was on.
3: GUNCHG PICK was issued when the
ATC was unchucked.
4: GUNCHG PLACE was issued when the
ATC was unchucked.
5: The encoder’s power could not be turned
on when GONCHG PLACE was issued.
6: The encoder’s power could not be turned
off when GUNCHG PLACE was issued.
7: The serial number of the motor gun does
not correspond to the gun number specified in GUNCHG.
1: Reconnect the motor gun on the station
axis in maintenance mode.
2: Execute GUNCHG PICK when the
servo of the motor gun’s motor is off.
3: Exceute GUNCHG PICK when the ATC
is chucked.
4: Execute GUNCHG PLACE when the
ATC is chucked.
5: Check the cable connection of the
motor gun’s encoder.
6: Check the cable connection of the
motor gun’s encoder.
7: Check the gun number in the gun conditon data file for GUNCHG. And,
check the gun’s serial number.
4588
COMPENSATION
DIRECTION UNSETTING
When correction direction of fix side chip for
gun condition data file was except 1, 2,
[Contact Teaching],[Abrasion Correction]
etc. was intended to used.
Set the correction direction of fix side chip
to apply the gun.
4589
ABRASION BASIS
POS UNSETTING
[Decimal Data]
When using abrasion correction function at
servogun, various standard position was not
registered.
1: Standard position A
2: Standard position B
3: Standard position C
Register a required standard position.
4601
UNDEFINED GUN
COND FILE
[Decimal Data]
Gun condition data file was not set.
Set the gun condition data file completely.
4603
WIRE STICKING
[Decimal Data]
The sticking was detected by the welder.
1 : Welder 1
2 : Welder 2
3 : Welder 3
4 : Welder 4
Determine the sticking factor of the
welder.
4612
TSYNC ERROR
[Decimal Data]
The number of synchronizations in the
TSYNC command disagree.
The data indicates the number of synchronization that were first executed.
Check the number of synchronizations in
the TSYNC command again.
4617
SU AXIS MOTION
DISABLED (LR AXIS
POSITION ERROR)
[Decimal Data]
With L- and R-axes in the present positions,
the S- and U-axes cannot be moved.
Add a teaching position or change the
teaching position before the move command where the error occurred so that the
L- and R-axes move to the home position.
10-55
RE-CTO-A203
10.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
4623
GETPOS COMMAND ERROR
[Decimal Data]
Cause
1: Cannot get the step of the local position
variable.
Ex.) MOVJ LP000 VJ=25.00
2: Cannot get the step of the arrangement
variable.
Ex.) MOVJ P[0] VJ=25.00
3: This step does not exist.
10-56
Remedy
Check the GETPOS command again.
RE-CTO-A203
10.4 I/O Alarm Message List
10.4 I/O Alarm Message List
Arc Welding Application
Alarm No.
Registration No.
I/O Alarm Message
9000
00
9010
01
MISSING ARC GENERATION CONFIRM
9020
02
ARC SHORTAGE
9030
03
9040
04
GAS SHORTAGE (RESTART)
9050
05
WIRE SHORTAGE (RESTART)
9060
06
9070
07
9080
08
9090
09
9100
10
9110
11
9120
12
9130
13
9140
14
9150
15
9160
16
9170
17
9180
18
9190
19
9200
20
9210
21
9220
22
9230
23
9240
24
9250
25
9260
26
9270
27
9280
28
9290
29
9300
30
9310
31
System Section
User Section
10-57
RE-CTO-A203
10.4 I/O Alarm Message List
Handling Application
Alarm No.
Registration No.
9000
00
9010
01
9020
02
9030
03
9040
04
9050
05
9060
06
9070
07
9080
08
9090
09
9100
10
9110
11
9120
12
9130
13
9140
14
9150
15
9160
16
9170
17
9180
18
9190
19
9200
20
9210
21
9220
22
9230
23
9240
24
9250
25
9260
26
9270
27
9280
28
9290
29
9300
30
9310
31
I/O Alarm Message
System Section
User Section
10-58
AIR PRESSURE LOWERED
RE-CTO-A203
10.4 I/O Alarm Message List
Spot Welding Application
Alarm No.
Registration No.
I/O Alarm Message
9000
00
ERR OF WELD TIMER COOLING
WATER
9010
01
ERROR OF GUN COOLING WATER
9020
02
ERROR IN TRANSTHERMO OF GUN
9030
03
AIR PRESSURE LOWERED
9040
04
9050
05
9060
06
9070
07
9080
08
9090
09
9100
10
9110
11
9120
12
9130
13
9140
14
9150
15
9160
16
9170
17
9180
18
9190
19
9200
20
9210
21
9220
22
9230
23
9240
24
9250
25
9260
26
9270
27
9280
28
9290
29
9300
30
9310
31
System Section
User Section
10-59
RE-CTO-A203
10.4 I/O Alarm Message List
General Application
Alarm No.
Registration No.
9000
00
9010
01
9020
02
9030
03
9040
04
9050
05
9060
06
9070
07
9080
08
9090
09
9100
10
9110
11
9120
12
9130
13
9140
14
9150
15
9160
16
9170
17
9180
18
9190
19
9200
20
9210
21
9220
22
9230
23
9240
24
9250
25
9260
26
9270
27
9280
28
9290
29
9300
30
9310
31
System Section
User Section
10-60
I/O Alarm Message
RE-CTO-A203
11.1 Error Message List
11 Error
11.1 Error Message List
Error warns the operator not to advance to the next operation caused by a wrong operation
and the access method when programing pendant operation or an external equipment(computor, PLC, etc.)accesses.
When an error occurs, release it after the confirmation of the content of the error.
To release the error perform following the operation.
• Press [CANCEL] on programming pendant.
• Input alarm/error reset signal (specific input).
NOTE An error is different than an alarm because it does not stop the robot even if it occurred
while the robot was operated (during playback).
11-1
RE-CTO-A203
11.1 Error Message List
11.1.1
System and General Operation
Error NO.
Data
Message
10
-
Turn off servo power and perform corrective action
It cannot be operated on servo
power supply.
20
-
Depress TEACH
Out of specified mode operation
30
-
Illegal setting for number of variables
Parameter setting error
31
-
Illegal setting for number of variables
name
40
-
50
-
60
-
Undefined robot position variables
Position type variable cannot be
used
Depress MODIFY
Undefined points (ORG, XX, XY)
Not registered user coordinates
basic 3 points(ORG, XX, XY)
Program and current tool different
The tool number registered with
teaching position data didn't
match the the tool number.selected at the programing
pendant.
70
-
80
-
Same position in the 3 points
90
-
Set robot exactly to taught position
100
-
On overrun recovery status
110
-
Turn ON servo power
120
-
Set to PLAY mode
130
-
No start using external signal
140
-
No start using P.BOX
150
-
TEACH-LOCK mode
170
-
Servo off signal ON
180
-
TEACH mode select signal ON
190
-
Set variable number
200
-
Defined group axis
210
-
Undefined coordinated robots
211
-
Cannot register between stations
212
Contents
Cannot register group conbination
220
-
Taught by other robot
230
-
While releasing soft limit
11-2
RE-CTO-A203
11.1 Error Message List
Error NO.
Data
Message
240
-
Undefined robot
250
-
Defined condition No.
260
-
Undefined file
270
-
Undefined gun condition file
280
-
Lack of number of I/O points
290
-
Cannot set same No.
300
-
Undefined user frame
310
-
Cannot register Master JOB
320
-
Cannot operate CHECK-RUN
330
-
Cannot operate MACHINE LOCK
340
-
Cannot operate Master JOB
350
-
Cannot initialize
360
-
Teach point not specified
370
-
No SYNCHRO operatrion
380
-
390
-
400
-
410
-
420
-
430
-
Register start reserved JOB
440
-
Clear data to teach at the tool because
other tool is set
450
-
Wrong JOB for measuring
460
-
Excess time for measuring
470
-
Calibration at another file
480
-
Calibration at another robot combination
490
-
Cannot calibrate at this combination
500
-
Undefined robot calibration data
510
-
Undefined axis
Position not checked
Contents
Second home position was not
checked
Can specify servo off by safety relay
Wrong specification of measure interval
Wrong specification of measure
interval for TRT function.
Time could not be measured
Time could not be measured
Incorrect number of taught points
Taught points for tool calibration
were incorrect.
11-3
RE-CTO-A203
11.1 Error Message List
Error NO.
Data
Message
520
-
Cannot select two coorditated combination
530
-
Start reservation mode
540
-
Not start reservation mode
550
-
Start reserved JOB change prohibit is
set
560
-
Cannot teach position while soft limit
released
570
-
Turn on all contactor's servo power
580
-
Connect group axis to one contactor
590
-
600
-
Out of setting data range
610
-
Cannot use the user coordinate
620
-
Select JOB (robot)
630
-
Not completed to load original tool file
640
-
Not specified tool file
650
-
Incorrect measured data
660
-
Wrong data type of position variable
670
-
Enter path number
-
Defined data
Register group axis combination
680
XXX
Contents
[SYNCHRO] key for coordinated
job which was not registered as
group was pressed.
File No.
690
-
Illegal path number
700
-
Wrong CMOS memory board type
710
-
Enter path number
720
-
Defined file name
730
-
Undefined Name Position file
740
-
This name cannot be defined
750
-
Undefined Name Position
760
-
Error in start condition set
770
-
During robot operation
780
-
Quit operation by mini operation pendant
11-4
RE-CTO-A203
11.1 Error Message List
Error NO.
Data
Message
790
-
FWD/BWD don’t work in the handle
operation
800
-
The gun of designation is not connected
810
-
Servo power supply is limited
820
-
Modification range over
830
-
Cannot move while modifying speed
840
-
Unregistered key
850
-
Cannot register instruction
860
-
Please release key registration mode
870
-
This key cannot be allocated
880
-
Same relay cannot be set
890
-
This key has already been registered.
Cannot register them once
900
-
Relay No. not set
910
-
Cannot be registered because job control group not same
920
-
Cannot modify this setting
930
-
Undefined conveyor calibration data
940
-
Forced pressure signal ON
950
-
Negative correction distance
11-5
Contents
RE-CTO-A203
11.1 Error Message List
11.1.2
Editing
Error No.
Data
1010
-
EDIT LOCK mode
1020
-
Enter correct value
1030
-
Unauthorized ID No.
1040
-
-
1050
-
Enter correct date
1060
-
Enter correct clock
1070
-
Enter a number in 8 figures
11.1.3
Message
Contents
Job Defined Data
Error No.
Data
Error Message
2010
-
Incorrect character
2020
-
Name not entered
2030
-
Undefined JOB name
2040
-
Defined JOB name
2050
-
Address not found
2060
-
Select master
2070
-
Set robot exactly to taught position
2080
-
Press INSERT or MODIFY
2090
-
Only modifying move instruction possible
2100
-
JOB cannot be edited.
2110
-
Over soft limit
2120
-
Cannot insert/alter/delete with servo off
2130
-
Only modifying move instruction possible
2150
-
Inserting is not possible from this point
2160
-
Cannot modify or delete this position
2170
-
Press INSERT to record same step as
previous step
2180
-
Cannot insert data
11-6
Error Contents
RE-CTO-A203
11.1 Error Message List
Error No.
Data
2190
-
Cannot delete data
2200
-
Cannot modify data
2210
-
Illegal data setting
2220
-
Display edit instruction
2230
-
Illegal instruction equation
2240
-
Excessive instruction equation
2250
-
Unmatched number of parentheses in
equation
2260
-
Wrong group axis selection
2270
-
Cannot insert any more instruction in
JOB
*
JOB memory is full
2280
2290
2291
2292
2293
Error Message
Error Contents
1
Lack of position file memories
2
Lack of JOB registering memories
3
Lack of instruction file memories
4
Lack of memory pool
5
Lack of pass condition file for multilayer
-
Undefined master JOB
*
Undefined SUB Master JOB
1
Sub-master 1
2
Sub-master 2
3
Sub-master 3
4
Sub-master 4
5
Sub-master 5
-
Undefined MASTER START JOB
*
Undefined SUB START JOB
1
Sub-master 1
2
Sub-master 2
3
Sub-master 3
4
Sub-master 4
5
Sub-master 5
11-7
RE-CTO-A203
11.1 Error Message List
Error No.
Data
Error Message
2300
-
Cannot teach JOB without group-axis
specification
*
Same label exists
2310
XXX
Error Contents
Line No.
2320
-
Cannot creat coordinated JOB
2330
-
Cannot edit coordinated instruction
2340
-
Pasted data not found
2350
-
Editing data not found
2360
-
Cannot create editing area
2370
-
Cannot cut/copy NOP and END
instructions
2380
-
Wiring JOB selection
2390
-
Wrong group axis selection
2400
-
Cannot move in cut & paste editing
2410
-
When variable is used for speed setting, perform a line-edit
2420
-
When variable is used for teach setting, perform a line-edit
2430
-
Reverse data not found
2440
-
Move C-and W-axis to basic position
2450
-
Relative JOB not permitted
2460
-
Specified JOB is already converted
2470
-
Wrong JOB type
2480
-
Wrong JOB coordinates setting
2490
-
Execute NEXT/BACK operation once
2500
-
Cannot convert the JOB
2510
-
Cannot correct position in the JOB
2520
-
Enter JOB name
2530
-
Illegal step number
2540
-
Enter step number
2550
-
Duplicated step number
2560
-
Cannot correct steps of position variables and REFP
11-8
Calibration not complete
Lazer cutting
RE-CTO-A203
11.1 Error Message List
Error No.
Data
Error Message
2570
-
The step does not contain speed
2580
-
The step dose not contain PL/CONT
2590
-
Soft limit range over
2600
-
Cannot teach position in concurrent
JOB
2610
-
Wrong JOB kind
2620
-
Cannot correct play speed in the JOB
2630
-
Conveyor position not reset
2640
-
Incorrect JOB name
2650
-
Defined JOB name
2660
-
Register MOVL inst. after circular block
2670
-
Undefined target JOB
2680
-
Wrong designation of welding section
2690
-
Defined same kind JOB
2700
-
Press position not reset
2710
-
Relative job can’t be shifted with pulse
type
2720
-
Cannot correct position variables
2730
-
Cannot use robot macro JOB
2740
-
Cannot use concurrent macro JOB
2750
-
Cannot use JOB with group-axis specification
2760
-
Cannot insert/modify/delete for group
axis detachment
2761
-
Axis is separated.
Cannot add, modify, or delete.
2770
-
Cannot reverse data of SVSPOTMOV
instruction
2780
-
Arithmetic error
11-9
Error Contents
RE-CTO-A203
11.1 Error Message List
11.1.4
External Memory Equipment
Error No.
Data
Message
3010
-
Floppy disk drive cable not connected
3020
-
Floppy disk not inserted into floppy
disk drive
3030
-
Floppy disk protection is ON
3040
-
File not saved on floppy disk
3050
-
File saved on floppy disk
3060
-
Out of memory on floppy disk
3070
-
Number of files on floppy disk is full
3080
-
I/O error on floppy disk
*
Transmission error with floppy disk
drive
3090
1
Framing error
2
Overrun error
3
Parity error
4
Data code error
5
Data read error
6
Dat write error
7
Data time out
8
Serial I/O error
9
Error other than described above
3100
-
Total checksum error
3110
-
Syntax error
*
HEX code error
3120
Contents
1
Specification error of data record
2
Specification error of FEO record
3
Record type error
4
Total check error of record
3130
-
Verify error
3140
-
Wrong pseudo instruction
11-10
RE-CTO-A203
11.1 Error Message List
Error No.
Data
*
3150
3160
3170
3180
Message
Contents
Concurrent I/O record error
1
Format error
2
Ladder program is too long
3
Exceed the range of the data
4
Specification error of channel No.
5
Specification error of relay No.
6
Timer value error
7
Specification error of timer No.
-
Cannot load illegal system data
*
Condition file data error
1
Format error
2
Specified file No. is omitted
3
Specified tool No. is omitted
4
User file is not registered
-
Concurrent I/O data transmission error
11-11
RE-CTO-A203
11.1 Error Message List
Error No.
Data
*
3190
Message
Error in JOB data record
1
The number of position data
(NPOS) record wrong for the format
2
Record on the user coordinate No.
is wrong for the format
3
Tool record is wrong for the format
4
Record on the position data section
is wrong for the format
5
Robot type of XYZ data (RCONF)
record is wrong for the format
6
Date record is wrong for the format
7
Comment record is wrong for the
format
8
JOB attribute data (ATTR) record is
wrong for the format
9
Control group (GROUP)record is
wrong for the format
10
Local variable (LVARS)record is
wrong for the format
11
JOB argument (JARGS) record is
wrong for the format
12
Teaching coordinates for relative
JOB (FRAME) record is wrong for
the format
13
Position data corrdinates do not
match relative job coordinates
3200
-
NOP or END instruction not found
3210
-
Position No. storage area not found
*
Syntax error in instruction data
3220
Contents
2
Interior control error
3
Undefined instruction/tag
4
Instruction/tag shortage
5
Disuse instruction/tag
6
Sub instruction
7
Non instruction
11-12
RE-CTO-A203
11.1 Error Message List
Error No.
3220
Data
Message
Contents
8
Invalid instruction
9
Invalid tag
10
Invalid character
11
Undefined intermediate code
12
Intermediate code shortage
13
Syntax stack overflow
14
Syntax stack underflow
15
Array type tag incompleted
Tag [ARRAY]
16
Element type tag incompleted
Tag [ELEMENT]
17
Macro JOB unregistered
18
Input format error
19
Date size over
20
MIN value over
21
MAX value over
22
Operation expression error
23
JOB call argument setting error
24
Macro JOB call argument setting
error
25
Position vector setting error
26
System error
27
Soft key designate error
28
Numerical input buffer overflow
29
Real type data precision error
30
Element format error
35
[BOOL TYPE] data error
36
[CHAR] data error
37
[BYTETYPE] [BINARY] / HEXADECIMAL BYTE TYPE] data error
38
[INTEGER TYPE] [DECIMAL
EORD TYPE] data error
11-13
RE-CTO-A203
11.1 Error Message List
Error No.
3220
Data
Message
Contents
39
[BINARY/HEXADECIMAL WORD
TYPE] data error
40
[DOUBLE PRECISION TYPE]
[DECIMAL DWORD TYPE] data
error
41
[BINARY/HEXADECIMAL WORD
TYPE] data error
42
[REAL TYPE] data error
43
[LADDER SPECIAL TYPE] data
error
44
JCL text
45
Invalid text
46
[LABEL NAME] data error
47
[JOB NAME] data error
48
[STRING] data error
49
[COMMENT] data error
58
Invalid instruction/tag detection
3230
-
Syntax not matched
3240
-
Undefined application
3250
-
Cannot load this file
3260
-
Excess input data
3270
-
Cannot verify this file
3280
-
Wrong welding condition (STANDARD/
ENHANCED)
3290
-
Serial port not defined
3300
-
Serial port being used
3310
-
Protocol being used
3320
-
Wrong GUN type
3330
-
Undefined multilayer data
3340
-
Illegal number of multilayer data
3350
-
Not enough memory
3360
-
Invalid directory
3370
-
Incorrect directory name
11-14
RE-CTO-A203
11.1 Error Message List
Error No.
Data
3380
-
Drive not ready
3390
-
File not found
3400
-
File already exists on the media
3410
-
Out of memory on the media
3420
-
Max number of files has been reached
3430
-
I/O error on the drive
3440
-
Wrong media type
3450
-
Cannot load macro JOB at current
security mode
*
Cannot backup to PC card
3460
Message
Contents
Load in management mode.
1
Insufficient PC card memory.
2
Not accessible to PC card.
3470
-
Database not found
3480
-
Database access error
3490
-
Same database exists
3500
-
Check PC card insertion
3510
-
Cannot delete folder. Check attribute
and inside file
3520
-
Same folder exists
11-15
RE-CTO-A203
11.1 Error Message List
11.1.5
Error No.
4010
4020
4030
4040
Concurrent I/O
Data
*
Message
Illegal relay No.
XXX
*
Line No.
Illegal block No.
XXX
*
Line No.
Illegal instruction
XXX
*
Line No.
Relay/register No. duplicated in OUT/
GOUT or arithmetic instruction
XXX
4050
4060
4070
4080
4090
4100
*
The relay is not used
Line No.
Excess STR-[-NOT] instructions
XXX
*
Line No.
Excess AND [OR] STR instructions
XXX
*
Line No.
Syntax error in CNT instructions
XXX
*
Line No.
Enter STR [-NOT] at head of block
XXX
*
Plural output are instructed to
the relay or register
Line No.
XXX
*
Contents
Need STR [-NOT]
Line No.
Relay No. duplicated in TMR and CNT
XXX
Timer and counter are used
twice
Line No.
4110
-
Excessive ladder scan-time
Ladder scan time is too long
4120
-
Concurrent I/O memory is full
Exceeds memory capacity
4130
-
END instruction not found
END instruction not found
4140
-
Wrong ladder program
Position and number of PART
instruction are wrong
Wrong use of GSTR, GOUT commands
GSTR and GOUT is not used
together
4150
*
XXX
4160
-
Line No.
Cannot edit system section
11-16
RE-CTO-A203
11.1 Error Message List
Error No.
Data
4170
-
Cannot modify/delete
4180
-
Press INSERT/MODIFY/DELETE keys
4190
-
Ladder program not found
4200
-
Cannot specify system variables ($)
4210
-
Cannot edit line
4220
-
Excess TMR/CNT or arithmetic instructions
4230
-
Syntax error in TMR/CNT instructions
11.1.6
Message
Contents
More than 100 TMR, CNT or
arithmetic instruction used
Maintenance Mode
Error No.
Data
Message
8010
-
Too many axes
8020
-
Too many I/O points
8030
-
Too many boards (XFB01B (MASTER))
8040
-
Memory error (ControlNet) output condition
8050
-
Robot model is not registered
11-17
Contents
Dwg.No.
1
MACHINE
HE0300333-1/31
Revisions:
CUSTOMER :
2
: (PAGE2)
ELEMENTARY DIAGRAM OF YASNAC XRC FOR NORTH AMERICAN SPEC.(ANSI/RIA)
3
PAGE
4
5
6
7
8
9
10
11
12
13
Draw.
Appr.
Check.
14
15
16
17
YASNAC XRC
ELEMENTARY DIAGRAM
CONTENTS
18
19
NAME
CONTENTS
2/
LIST OF REFERENCE
3/
SYSTEM CONNECTION DIAGRAM
4/
MAIN POWER : QS1,T1,QS2
5/
MAIN POWER :JZRCR-XPU06B,QS3
6/
BRAKE RELEASE:JARCR-XFL02B
REVISION
7/
JZRCR-XSU02(1/4) : JARCR-XCT01(1/4)
8/
JZRCR-XSU02(2/4) : JARCR-XCT01(2/4)
9/
JZRCR-XSU02(3/4) : JARCR-XCT01(3/4)
10/
JZRCR-XSU02(4/4) : JARCR-XCT01(4/4)
11/
1CV(CONVERTER),1GS(DC POWER SUPPLY),(1SV(1/8):JUSP-WCCA162)
12/
1SV(2/8):S-AXIS 1AMP,JASP-WRCA01(1/7)
13/
1SV(3/8):L-AXIS 2AMP,JASP-WRCA01(2/7)
14 /
1SV(4/8):U-AXIS 3AMP,JASP-WRCA01(3/7)
15/
1SV(5/8):R-AXIS 4AMP,JASP-WRCA01(4/7)
16/
1SV(6/8):B-AXIS 5AMP,JASP-WRCA01(5/7)
17 /
1SV(7/8):T-AXIS 6AMP,JASP-WRCA01(6/7)
18/
1SV(8/8):JASP-WRCA01(7/7),JANCD-XFC01
19/
JZNC-XRK01B-1(1/2):JANCD-XBB01(1/2),XCP01(1/2),2GS
20 /
JZNC-XRK01B-1(2/2):JANCD-XBB01(2/2),XCP01(2/2)
21 /
JZRCR-XCO02 (1/8) : JARCR-XCI01(1/3)
22 /
JZRCR-XCO02 (2/8) : JARCR-XCI01(2/3),XCI03(1/5)
23 /
JZRCR-XCO02 (3/8) : JARCR-XCI01(3/3);SAFTY CIRCUIT:CPU1,CPU2
24 /
JZRCR-XCO02 (4/8) : JARCR-XCU01
25 /
JZRCR-XCO02 (5/8) : JARCR-XCI03(2/5)
26 /
JZRCR-XCO02 (6/8) : JARCR-XCI03(3/5)
27 /
JZRCR-XCO02 (7/8) : JARCR-XCI03(4/5)
28 /
JZRCR-XCO02 (8/8) : JARCR-XCI03(5/5)
29 /
PLAYBACK PANEL (ZY1C-SS3152)
30 /
PROGRAMMING PENDANT (JZNC-XPP02 )
31 /
JANCD-XEW01-1(OPTION)
20
21
22
NOTE
1/
23
24
LIST OF ADDED PAGE
PAGE
25
NOTE
NAME
REVISION
/
/
/
/
/
/
/
/
/
26
HE0300333
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
1
31
Dwg.No.
1
HE0300333-2/31
Revisions:
TABLE OF REFERENCE DIAGRAMS
2
No.
3
1
DRAW No.
NAME
HB9280
REVISION
MAIN CONTROL BOX DIMENSION DIAGRAM
2
4
3
4
5
5
6
6
7
7
8
9
8
10
9
10
OPTION LIST
11
No.
12
2
NAME
PAGE
1
3
13
Draw.
Appr.
Check.
4
5
14
6
7
15
8
16
9
10
17
TYPE LIST
19
No. XRC TYPE(ERCR-)
QS1
FU1 3 QS2 FU4 6 QS3
FU7 9
1
UP6-RB10
UP6
1.5kVA
194R-NC030P3
5A
USCC3I
10A
USCC3I
10A
2
UP6-RB11
UP6
1.5kVA
194R-NC030P3
10A
-
-
USCC3I
10A
3
UP20-RB10
UP20
2.8kVA
194R-NC030P3
10A USCC3I
15A
USCC3I
15A
4
UP20-RB11
UP20
2.8kVA
194R-NC030P3
15A
-
-
USCC3I
15A
46
45
42
41
40
39
38
20
ROBOT TYPE AC POWER
48
YASNAC XRC
ELEMENTARY DIAGRAM
LIST OF REFERENCE
18
21
22
1KM,2KM SERVO PACK
SC-5-1 Z845
CACR-UP6AAC
SZ-A11
SC-5-1 Z845
CACR-UP6AAC
SZ-A11
SC-5-1 Z845
CACR-UP20AAA
SZ-A11
SC-5-1 Z845
CACR-UP20AAA
SZ-A11
NOTE
INPUT POWER SOURCE
AC480V
INPUT POWER SOURCE
AC200/220V
INPUT POWER SOURCE
AC480V
INPUT POWER SOURCE
AC200/220V
23
24
25
26
HE0300333
28
29
30
31
32
33
34
35
36
37
43
44
47
49
2
31
1.000
10.000 1.890 0.000 0.000 0.000 0.000 0.000 3.150 12.000 0 )
(1.260
4.000
27
Dwg.No.
3
AC480V
50/60Hz
3
AC200/220V
50/60Hz
QS1
FUSED
DISCONNECT
SWITCH
QS1
FUSED
DISCONNECT
SWITCH
TRANSFORMER
T1
FUSED
HOLDER
QS2
AC200V
I/O UNIT
JZRCR-XCO02
CN05
DC24V,DC5V
CND1
JARCR-XCI01
CN07
CN01
XSR01
(OPTION)
CNC1
CN02
DC24V
CN04 (P.PANEL)
CN03 (CONTROL)
CN02 (JL-012C)
CN01 (DC IN/OUT)
CNA1 CNA2
to
XPU06B
-1KM
ONLY UP20
5
1XT
1KM
POWER UNIT
JZRCR-XPU06B
1Z
LF
FU
BRAKE
R0
CONTROL
RESISTOR
2KM
2XT
4X
RB
1X
CN3
AC200V
QS3
CN2
TM1
CN5
FUSED
HOLDER
AC200V L1C,L2C
AC200V L1,L2,L3
RY
BRAKE RELEASE BOARD
CN4
CN1
JARCR-XFL02B
SERVOPACK
(PAGE.2)
POWER CONTROL UNIT
JZRCR-XSU02
JARCR-XCT01
(AC IN) CN32
(BRAKE OUT) CN31
REGENERATIVE RESISTOR
R1
1CN JUSP-RCP01AAC
1GS
CN2
JUSP-ACP05JAA
1CV
CN8
CN1
5A
CN1
CN7
CN1
CN3
CN4
CN6 JUSP-WS**AA
CN3
1AMP
PN
XFC01
CNPB01
PN JUSP-WS**AA
CN3
2AMP
6XT
1CN
3CN
2CN
CN1
4CN
3AMP
CN6
CN3
CN1
JUSP-WS**AA
CN6 JUSP-WS**AA
CN3
4AMP
5CN
CNPB04
CN1
6CN
CNPB03
CNPB02
CN20
CNSCU
CN30
(FAN,GS) CN30
CBL-RC031
CBL-RC007
JASP-WRCA01
CN50
(AC CONTROL) CN29
(EXT.OUT) CN28
(OT,SHOCK) CN26
(DC SELECT) CN27
(SPEED) CN25
NEXT CT CN24
NEXT CT CN22
CN20
(CONTROL) CN21
CBL-RC007
(DC IN/OUT)
CN23
CN6 JUSP-WS**AA
CN3
5AMP
CN1
6AMP
CONDENSER
EV1
EV2
FAN
FAN
EV3
2BC
SERVO
COOLING FAN
SERVO DUCT
COOLING FAN
MANIPULATOR
FAN
26
HE0300333-3/31
CNP
CN03
CN05 EXESP,EXSVON
CN06 ESP OUT
CN04
DC24V
FAN
DC 24V FAN
WITH
SENSOR
ON/OFF
CPS-150F
2GS
CPU RACK
JZNC-XRK01B-1
JANCD-XBB01
CNP
CN FAN1
FAN
RS232C
CNA1 CNA2
JARCR-XCI03
CN10,11 CN12,13
I/O
=24/24
CNPB05
CN6 JUSP-WS**AA
CN3
CN1
CNPB06
21
CN FAN2
PCMCIA
CARD
CN02
CN03
JANCD-XCP01
CBL-RC006
CN01
CNJ1
JANCD
-XIF03
CNJ2
CN05
CNIF
CNIF
(JL-040)
CN04
I/O
=16/16
(DIN)CN44
CN10
25
CND1 CN41 CN40
CN42 (PBESP)
JARCR-XCU01
CN43 (PP HOTLINE)
CNPG123
CNPG456
(OPTION)
S-AXIS
MOTOR
L-AXIS
MOTOR
U-AXIS
MOTOR
R-AXIS
MOTOR
B-AXIS
MOTOR
T-AXIS
MOTOR
30
JASP-WRCF01
OT
SHOCK, LAMP(OPTION)
29
EXCNPB01
EXT.MOTOR(AXES)
1BC
28
HE0300333
27
EXCNPB02
24
TO WELDER
23
TO WELDER
19
CNBAT
17
CN03
16
CN02
EXCNPG123
22
BATTRY
18
YASNAC XRC
ELEMENTARY DIAGRAM
SYSTEM CONNECTION DIAGRAM
20
JANCD
-XEW01
Draw.
Appr.
Check.
15
CBL-RC001
CN01
14
EXCNPB03
13
CN04
(OPTION)
12
CBL-RC034-1
11
CBLRC011-1
PLAYBACK PANEL
ZY1C-SS3152
PBESP
CN1
PBESP
10
(OPTION
CBL-RC018
7
CNS1
CBL-RC032
CBL-RC032
CBL-RC032
6
CNMM CNMM
JANCD
-XMM01
5
CBLRC011-1
9
CBL
-XR005-1
4
JANCD
-XCP02
(OPTION
CNS1
3
CNS2
X81
2XT
8
PROGRAMMNIG PENDANT
X82
CN01
JZNCXPP02
RS
-232C
Revisions:
2
CNT1-1
FC2
1
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
3
31
Revisions:
AC 200/220V
50/60Hz
L1 L2 L3 PE
(R) (S) (T)
EXT.
EXT.
2
1
3
PE
5
3
1
3
V
3
(PAGE2)
FU1
3
(PAGE2)
35
U
FU1
QS1 (PAGE2)
FU1 FU2 FU3
36
4
PE
5
QS1 (PAGE2)
FU1 FU2 FU3
HE0300333-4/31
AC 480V
50/60Hz
L1 L2 L3 PE
(R) (S) (T)
1
Dwg.No.
IN CASE OF INPUT POWER SOURCE
AC200/220V.
W
5
T1
3 4.5kVA
PRIMARY:575/480/240V
SECONDARY:208V
6
N
7
8
u
v
w
1
3
5
QS2 (PAGE2)
FU4 FU5 FU6
9
2
4
6
10
L1 L2 L3
XPU06B-1KM
11
5
1
12
XFL02B
CN4
6
25
39
38
Draw.
Appr.
Check.
t1
40
r1
13
14
15
16
17
18
YASNAC XRC ELEMENTARY DIAGRAM
MAIN POWER : QS1,T1,QS2
19
20
21
22
23
L1 L2 L3
XPU06B-1KM
24
5
1
25
26
HE0300333
27
28
29
30
31
32
33
34
37
41
42
43
44
45
46
47
48
49
4
31
QS1
4
24
4
10
1
IN CASE OF INPUT SORCE
AC200/220V
NOTE
FU1,FU2
AC250V 10A
TIME LAG FUSE
L1 L2 L3
2
HE0300333-5/31
Revisions:
Dwg.No.
QS2
JZRCR-XPU06B
3
FU1
4
FU2
FN2010-10/06
(SCHAFFNER)
P
1Z
AC250V
N
10A
P’
N’
E
1XT
5X
1
2
-B2
-A2
r
t
-B1
-A1
PS1
PS2
5
1KM
A2
A1
6
1FV
SZ-Z5
2KM
A1 A2
3
-B3
4
-A3
AC2
-A5
SVM1B
SVM2A
-A6
23
24
23
10
54
53
11
1
3
54
5
53
1KM
12
2
4
6
62
(PAGE2)
61
-A8
P
4X
-B2
-A2
P
-B1
-A1
P
62
SVM1
61
Draw.
Appr.
Check.
P
-A3
5X
-B4
15
1
3
5
16
2
4
6
XSU02
CN29
RKFAN1
RKFAN2
P
-A4
XSU02 7
CN32 22
2KMMB+
2KMMB1KMMB+
1KMMB-
P
-B3
14
XSU02 10
CN29 11
2KMMA+
2KMMA1KMMA+
1KMMA-
-B4
-A4
13
SVM2B
SVM2
-B8
24
19
3
SVM1A
-B6
9
2GS(CPS)
CN05
XSU02 7
CN30 27
-B5
8
7
12
AC1
7
2FV
SZ-Z5
XSU02
CN32
10
19
XSU02 7
CN30 26
2KM
(PAGE2)
17
YASNAC XRC
ELEMENTARY DIAGRAM
MAIN POWER:JZRCR-XPU06B,QS3
1X
-B1
18
2XT
-A1
19
20
R
-B2
RKFAN1
T
-A2
RKFAN2
EV1
-B3
RKFAN1
1
-A3
RKFAN2
2
21
r2
22
t2
XFL02B
CN3
6
21
23
1
3
R
-B4
T
-A4
5
24
FU7 FU8 FU9
2
4
EV2
3
EV3
4
-B5
QS3
4715PS-22T-B30-B00 X1
(MINEBEA)
6XT
4715PC-22T-B30-B00 X2
(MINEBEA)
-A5
(PAGE2)
6
25
R
-B6
T
-A6
RB
26
-B7
HE0300333
-A7
27
-B8
L1 L2 L3
28
1CV
L1C(r)
-A8
L2C(t)
11
9
1GS
1CN
11
24
29
30
FG
RB:MF20N3R5JU(MICRON)
3.5
20W
(FRAME to FRAME CONNECTION)
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
5
31
JARCR-XFL02B
BA1
2
3
5
5
BB4
6
BB1
4
-2
4
BRCOM
7
17
D11
D10
NOTE
FOR EXTERNAL AXIS.
(NOT MOUNT)
1
D13
D14
D15
D16
TM1
1
10 [K2]
10
2
14
13
D12
6
CN2
SB8
6
CN6
-1
9
[K2]
3
BR
XSU02
CN31
1
2
HE0300333-6/31
Revisions:
BA4
Dwg.No.
CN1
1
1
BA7
[K2]
7
EXTERNAL
AXIS
MOTOR
BRAKE
7SUP
2
8
7
8
5
6
7
BB7
8
9
11
12
[K2]
10
SB2
2
13
11
SB3
3
14
12
SB4
13
SB5
14
Draw.
Appr.
Check.
14
SB6
15
SB7
BA1
-C1
-D1
9
2
14
-B2
10
3
-C2
11
4
BA5
5SUP
-D2
12
[K1]
16
BA4
4SUP
[K1]
14
BA3
3SUP
[K1]
14
BA2
2SUP
[K1]
7
13
[K1]
1SUP
12
1
14
6
13
12
[K1]
CN5
-B1
[K2]
5
13
11
[K1]
11
4
4
13
10
[K1]
[K2]
3
13
9
[K2]
CN2
BA6
6SUP
8
NOTE
17
FU1,2,3
AC250V 3.15A
SERVO
MOTOR 2BC
BRAKE
K1,K2
MY4Z-CR (OMRON)
AC200V
19 K3
MY2ZN-CR (OMRON)
AC200V
20
18
YASNAC XRC ELEMENTARY DIAGRAM
BRAKE RELEASE:JARCR-XFL02B
12 13 14
9 6 9
15 16 17
9 9 9
CN3
FU3
1
13
21 QS3
5
22
14
[K2]
2
t2
13
22
14
[K3]
23
13
14
24
26
HE0300333
QS2
4
27 13
1BA
CN4
25
SB1
r1
t1
1
2
23
HL1
1
FU1
1
14
13
28
D1
9
[K3]
2BA
D2
FU2
4
24
-A1
12
BB1
[K3]
-A2
WHITE
BB4
3
2
29
4
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
6
31
1.000
(1.260 1.890 0.000 0.000 0.000 0.000 0.000 3.150 12.000 0 )
10.000
4.000
[K1]
r2
4P
6
7
NCM
NCM
[K25]
[K24]
+24VU
024V
NCM [K25]
LY2-DC24V
(OMRON)
D1
NCM
(GREEN)
F10
A6
024VU
A
F9,F10
AC250V 3.15A
TIME LAG FUSE
Z(L)
250V 3.15A
8
DUMMY
CONNECTOR
B
F9
B6
+24VU
4
3
NOTE
A5
024V
NEXT I/O
2
1
B5
+24V
NEXT
XSU02
-B3
-A3
-B4
-A4
6
5
Z(L)
250V 3.15A
CN27
7
024VU
9
EX24VIN
8
EX0VIN
DC
SELECT
+24V
10
9
+24V
10
024V
11
r
XPU06B
5X
13
024V
CN32
-D1
12
CN30 -D1
-C1
t
Draw.
Appr.
Check.
5
4
F3
250V
5A
15
16
17
YASNAC XRC
F4
+24V
F5
250V
5A
F3.F4
AC250V 5A
TIME LAG FUSE
250V
4A
BRK
BRK-R
[K7]
[K3]
CN31
-B1
-C1
F5,F6
AC250V 4A
GP40(DAITO)
INDICATION FUSE
-D1
-D2
250V
4A
+24V
024V
SYSTEM
+24V
+24VU
024VU
USER
+24V
-A2
6
3
BR
-A3
-B3
KEYIN PLUG
XX4
XE475
20
NCM
21
BRCOM
KEYIN PLUG
CN32
-D3
-C3
[K25]
SVM1
SVM2
-D2
XPU06B
5X
RBRAKE2
-A1
-A3
KEYIN PLUG
25
SVM-1
CN30
-B1
[K14]
-A1
KEYIN PLUG
-C3
-B2
KEYIN PLUG
28
XPU06B
5X
5
6
KEYIN PLUG
29
30
31
32
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
7
31
AC1
AC2
33
-D3
5
15
XPU06B
5X
34
HE0300333
RKFAN1
RKFAN2
-A3
27
BRAKE CONTROL RESISTOR
40 60W
MYS06N400JIX1000WZZ
FAN1
FAN2
-B3
26
ONLY UP20
R0
-B1
24
5
9
RBRAKE1
-C2
23
XFL02B
CN1
BB4
-C3
-D3
FUCUT
(INDATA)
19
BB1
BA4
-C2
F6
NOTE
BA1
-A1
-B2
XX3
XE475
22
ELEMENTARY DIAGRAM
JZRCR-XSU02(1/4 ):JARCR-XCT01(1/4 )
18
PS1
PS2
-C1
14
NOTE
HE0300333-7/31
Revisions:
DUMMY
CONNECTOR
+24V
GND
A2
024VU
5
PS
B2
+24VU
4
Z(L)
A1
024V
19
7
+5V
CN20
B1
+24V
2GS
(CPS150F)
3
NOTE
CN20 I/O DC SUPPLY
DUMMY CONNECTION
JARCR-XCT01(1/4)
2
Dwg.No.
JZRCR-XSU02(1/4)
1
JARCR-XCT01(2/4)
1
CBL-RC007
S_ON1+
2
S_ON1-
+24V
CN21
-4
FU1
-14
250V 3.15A
ON_EN1 OVER_SPEED1
[K10]
[K9]
3
S_ON1
4
[K15]
OT
EXOT1
[K11]
[K12]
SVMAIN1 SVMX1
[K13]
HE0300333-8/31
Revisions:
Dwg.No.
JZRCR-XSU02(2/4)
SVM-1
[K5]
[K1]
INDATA
[K14]
S_ON1+
9
7
S_ON1-
9
14
GND
024V
024V
+24V
[K16]
5
INDATA
024V
+24V
FU2
6
250V 3.15A
GND
7
CN21
8
-13
S_ON2-
OVER_SPEED2
OT
EXOT2
SVMAIN2
SVMX2
[K17]
[K18]
[K19]
[K20]
[K21]
[K8]
SVM-2
[K2]
S_ON2
9
10
+24V
11
ON_EN2
-5
S_ON2+
CN21
-1
+24V
S_ON2+
9
8
S_ON2-
9
13
024V
1KMMMA 2KMMMA
+5V
-2
SVMXOK1
ON
ON
ON
OFF
OFF
OFF
ON
OFF
SW2
1-2
2-3
SVMXOK1 SVMXOK2
ON
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
-3
12
10
1KMMA
18
10
2KMMA
19
SW2
2
CN22
-1
1
-2
Draw.
Appr.
Check.
-7
TUDIN
WRCA01
CN20
DIN3
15 18
DIN2
22
9
9
DIN3
-9
DIN2
-10
[K22]
10
15
-5
S_ON21+
-6
-7
-9
9
15
-10
-11
+5V
SVMXOK21+
-12
-12
SVMXOK2
S_ON11+
-8
DIN1
-11
+24V
17
TUDIN
CN24
-3
-4
[K15]
EXTUDIN
-8
DIN1
16
S_ON1
S_ON2
-6
DINCOM
14
GND
+24VU
+24V
024V
[K23]
+5V
3
SVMXOK1
13
[K22]
SVMXOK21-
024V
SVMXOK2
024V
-13
-14
+5V
024V
S_ON21S_ON11-
-15
19
SVMAIN11+
-16
SVMAIN11-
OVSPD1
9
18
20
-17
21
SVMAIN21+
-18
OVSPD2
9
20
22
ELEMENTARY DIAGRAM
JZRCR-XSU02(2/4):JARCR-XCT01(2/4)
YASNAC XRC
18
SVMAIN21-
INDATA
23
024V
0V
-19
24
TUSIG
-20
CN21
25
-15
SVMAIN1+
SVMAIN1
-16
SVMAIN1-
26
TUSIC*
+24V
-17
SVMAIN2+
[K13]
HE0300333
SVMAIN2
-18
SVMAIN2-
27
[K21]
024V
28
-19
TUSIG
29
JL012
INDATA
-20
TUSIG*
OUTDATA
SW1
3
SERIAL
2
TERMINATOR
1
120
30
NEXT
XSU02
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
8
31
Dwg.No.
JZRCR-XSU02(3/4)
1
HE0300333-9/31
Revisions:
JARCR-XCT01(3/4)
2
+24V
CBL-RC007
CN23
-1
3
SPMOD1
+24V
-2
CN24
-1
-3
-2
4
SPMOD2
SPMOD1OUT
5
SPMOD3
6
7
-4
S_ON1+
S_ON2+
8
9
XCO02
CN41
24
24
S_ON1+
-5
S_ON2+
-6
DINCOM
-3
8
4
8
9
-8
SPMOD3OUT
S_ON1
-4
[K16]
S_ON2
-5
[K23]
-6
-7
DIN3
SPMOD2OUT
8 TUDIN
14
S_ON12+
S_ON22+
DIMCOM
-7
10
DIN2
-9
-8
-10
-9
NEXT
XSU02
TUDIN
DIN3OUT
11
DIN1
12
SPMOD COM
13
DIN2OUT
-11
-12
-13
S_ON2-
Draw.
Appr.
Check.
-14
S_ON1-
S_ON1-
-15
14
-10
8
10
8
5
S_ON2-
-13
-18
8
15
-19
CBL-RC031
-15
DIN2
-16
S_ON12+
-17
-18
CN25
-A1
+24V
DIN3
DIN1
-20
17
S_ON22+
-14
-17
16
SPMODCOM
-12
024V
-16
15
DIN1OUT
-11
-19
+24V
-20
OVER_SPEED1
-A2
OVSPD1
YASNAC XRC
8
OVSPD1 20
[K10]
024V
OVER_SPEED2
19
20
-A3
OVSPD2
XFC01
CNSCU
18
27
8
OVSPD2 22
-A5
SPMODE2
21
[K18]
-A4
SPMODE1
-B1
SPMODE3
-B2
024V
22
ELEMENTARY DIAGRAM
JZRCR-XSU02(3/4):JARCR-XCT01(3/4)
18
-B3
-B4
-B5
23
-C1
FANALM1
24
-C2
FANALM2
INDATA
-C3
FANALM3
-C4
25
-C5
26
-D1
024VU
HE0300333
-D2
024VU
27
-D3
024VU
-D4
-D5
28
024V
024VU
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
9
31
JARCR-XCT01(4/4)
1
EXOT1+
+24VU
OT_R
CN27
-1
[K4]
EXOT1
SVM-1
-2
EXOT1-
SVM-2
[K1]
[K12]
4
EXOT2+
5
OT_R
[K20]
-4
EXOT2-
-6
024VUT
7
INDATA
LP2
-C1
LP1
1BC
CN4-6
-D1
+24VU
CN2-6
+24VU
024VU
CN5-6
OT-
CN3-6
SPARE(0V)
OT-
SHOCK-
CN6-6
-C2
KEYIN PLUG
-D2
OT
-A3
+24VU
024VU
INDATA
(OPTION)
LAMP
-B2
-5
6 24VUT
024VU
-B1
-A2
INDATA
(BATTERY ALARM)
[K4]
CN26
-A1
[K2]
EXOT2
-3
HE0300333-10/31
Revisions:
+24VU
2
3
Dwg.No.
JZRCR-XSU02(4/4)
KEYIN PLUG
-B3
[K11]
8
[K19]
GND
9
024VU
024VU
INDATA
-C3
INDATA
-D3
SHOCK1
SHOCK2
10
024VU
GND
F7
250V 5A
11
12
EXBRK+
13
EXBRK-
CN28
-1
BRK
-2
[K6]
Draw.
Appr.
Check.
[K1]
15 EXTUDINE
ON_EN1+
-B2
KEYIN PLUG
-C2
024V
GND
-B3
[K9]
-9
+24V
024VU
INDATA
INDATA
YASNAC XRC
-C4
INDATA
INDATA
XPU06B
4X
5
12
2KMMB2KMMA+
-D5
INDATA
GND
2KMMB+
-C5
2KMMA
20
1KMMA-
-B5
INDATA
8
9
1KMMA+
-A5
GND
19
1KMMB+
1KMMB-
-D4
1KMMA
8
8
2KMMA-
+24V
024VU
Z(L)
+5V
ELEMENTARY DIAGRAM
JZRCR-XSU02(4/4):JARCR-XCT01(4/4)
18
-D3
-A4
-B4
[K17]
-10
21
KEYIN PLUG
-C3
ON_EN2
ON_EN2-
8
SVM2B
-D2
ON_EN1
16
ON_EN2+
17
SVM2A
XPU06B
5X 5
-A3
-8
ON_EN1-
-C1
-D1
8
14
EXTUDIN
-7
SVM1A
SVM1B
-A2
INDATA
(SVMX_ER)
[K2]
+24VU
-6
-B1
SVM-1 SVM-2
-5
024VU
[K1]
[K2]
[K24]
-4
14 EXNCM-
+24V
NCM
-3
EXNCM+
CN29
-A1
SVM-2
F8
250V 5A
SVM-1
SHOCK(OPTION)
22
BRK-R
23
[K3]
OT_R
NOTE
24
BRK-R [K3]
BRK
[K7]
LY2-DC24V
(OMRON)
[K4]
SVM 1
25
[K5]
BRK
26
HE0300333
OUTDATA
[K6]
BRK
27
28
[K7]
SVM
29
[K8]
30
024V
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
10
31
Dwg.No.
1SV(1/8) SERVO PACK (PAGE2)
1
HE0300333-11/31
Revisions:
ONLY UP20
2
CONDENSER UNIT
JASP-WCCA162
CN1
-A3,B3
3
+
+
+
CN1
-A1,B1
4
5
CONVERTER
JUSP-ACP05JAA (5A)
6
7
1 CV
8
L1
9
5
28
L2
QS3
L3
CN7
-1
R
-2
S
-3
T
CN3,4
-A3
+
P
1AMP 6AMP
JUSP-WS**AA
CHARGE
CN3,4
-A1
10
FG
12 15
2 2
N
11
CN8
-1
12
13
Draw.
Appr.
Check.
R1
14
-2
15
16
REGENERATIVE
RESISTOR
220W 12.5
17
YASNAC XRC
ELEMENTARY DIAGRAM
1CV(CONVERTER),1GS,(1SV(1/8):JUSP-WCCA162)
18
CONRDY1*
CN1
-1
CONRDY2*
-2
CONRDY*
-3
OVFLT*
-4
OPHFLT*
-5
REGFLT*
-6
UVFLT*
-7
COM
-8
AXRUN
-9
AXRUN*
-10
REGON*
-11
ACOVFLT*
-12
THM
-13
THMCOM
-14
GND
2CN
-A1
+5V
-B1
CONRDY1*
CONRDY2*
CONRDY*
OVFLT*
OPHFLT*
REGFLT*
UVFLT*
COM
WRCA01
CN30
18
5
AXRUN
AXRUN*
REGON*
ACOVFLT*
THM
THMCOM
19
20
DC POWR SUPPLY
JUSP-RCP01AAC
21
22
1 GS
23
24
1CN
-3
L1C(r)
5 XPU06B
1X
28
NOISE
FILTER
-2
L2C(t)
+
-1
CHARGE
FG
25
ALM
-A2
+7V
-B2
-15V
-A3
GND
+5V
POWER LOST
PG7V
18
13
-15V
+15V -B3
WRCA01
CN50
+15V
26
HE0300333
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
11
31
4
CN6
A3
P
11 1CV-CN3
9
A1
N
S-AXIS
CN1
-2
JASP-WRCA01(1/7)
5
-3
B7
B8
A7
A8
NU_1*
NU_1
B1
B2
A1
A2
PV_1*
PV_1
B9
B10
A9
A10
NV_1*
B3
B4
A3
A4
B11
B12
A11
A12
B5
B6
A5
A6
B15
B14
A15
A14
GND
A5
A6
B5
B6
IVCT_1
GND
A7
A8
B7
B8
IPMFLT_1*
GND
DBON_1
A1
A2
B1
B2
A9
A10
B9
B10
B3
B4
PU_1*
7
8
NV_1
PW_1*
PW_1
9
NW_1*
NW_1
10
POS15V
GND
IUCT_1
11
12
Draw.
Appr.
Check.
GND
PBRDY_1*
PU*
-4
NU*
-1
-1
MV1
-3
-2
MV1
-2
MW1
-4
-3
MW1
-3
ME1
-1
-4
ME1
-4
-5
BA1
-5
-6
BB1
NU
PV*
PV
NV*
NV
PW*
BA1
PW
NW*
SM
P
BRAKE
-6
BB1
13 14
5 8
BB1
XFL02B
CN29
6
17
NW
+15V
GND
IU
GND
GND
IPMFLT*
GND
DBON
16
AXEN_1*
ID1_1
A11
A12
B11
B12
GND
ID1
ID2_1
ID3_1
A13
A14
B13
B14
ID2
ID3
ID4_1
ID5_1
A15
A16
B15
B16
ID4
ID5
(NC)
NFG15V
B13
B16
A13
A16
(NC)
-15V
R1
R2
-3
-2
GND
RDY*
GND
CN1
-1
CN2
-1
IV
15
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(2/8): S-AXIS 1AMP,JASP-WRCA01(1/7)
18
CN1
-1
MU1
PU
A3
A4
17
MU1
1CN
-2
CN3
PU_1
6
14
2BC
CASE FG
B1
N
CNPB01
13
S-AXIS
1AMP
N
B3
P
13
2AMP-CN6
2
P
HE0300333-12/31
Revisions:
MANIPULATOR
2
3
Dwg.No.
SERVO PACK 1SV(2/8)
1
-5
-3
GND
DB-RESISTOR BOARD
ROBOT 1AMP(JUSP-)
19
20
DB-RESISTOR(R1,R2)
UP6
WS05AAY17
33 , 20
UP20
WS10AA
11 , 20W
MOTOR S-AXIS
W
SGMDH-06A2A-YR2*550
SGMDH-12A2A-YR1*
1150
21
1BC
22
CNPG123
(1/3)
23
24
PS_1
PS_1*
PG5V_1
PG5V_1
GND
GND
25
24
22
45
19
CN1
-1
-2
-3
P
P
P
DATA+
DATA+5V
-1
-2
-5
0V
-6
BAT
OBT
-3
-4
FG
-7
-4
P
26
HE0300333
BATTERY
CASE
FG FG2
27
E
29
13 14 15
28 27 27
16 17
27 28
PG
P
21
47
28
S-AXIS
13
27
BATTERY
IN CASE OF UP20
30
BAT
0BT
13 14
30 30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
12
31
2
12 1AMP
3 -CN6
P
3
14 2AMP
2 -CN6
12 1AMP
3 -CN6
P
P
N
N
14 3AMP
2 -CN6
P
4
IN CASE
OF UP20
5
6
P
A1
N
B3
B1
N
B1
B2
A1
A2
PV_2*
PV_2
B9
B10
A9
A10
NV_2*
B3
B4
A3
A4
B11
B12
A11
A12
B5
B6
A5
A6
B15
B14
A15
A14
GND
A5
A6
B5
B6
14
IVCT_2
GND
A7
A8
B7
B8
15
IPMFLT_2*
GND
DBON_2
A1
A2
B1
B2
A9
A10
B9
B10
GND
A3
A4
B3
B4
AXEN_2*
ID1_2
A11
A12
B11
B12
GND
ID1
ID2_2
ID3_2
A13
A14
B13
B14
ID2
ID3
19
ID4_2
ID5_2
A15
A16
B15
B16
ID4
ID5
20
(NC)
NFG15V
B13
B16
A13
A16
(NC)
-15V
11
NV_2
PW_2*
PW_2
NW_2*
NW_2
12
13
POS15V
GND
IUCT_2
Draw.
Appr.
Check.
GND
16
PBRDY_2*
17
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(2/7): L-AXIS 2AMP,JASP-WRCA01(2/7)
18
1
-3
3
-2
MV2
2
-4
4
-3
MW2
3
-1
1
-4
ME2
4
-5
BA2
5
NU
PV*
PV
NV*
CN1
-2
NV
PW*
-4
-3
-1
24
PG5V_2
GND
GND
25
6
2BC
CN2
-B1
CN2
-1,6
MU2
A
-A2
CN2-2
CN3-6
MV2
B
-B2
CN2-3
CN5-6
MW2
C
-A1
CN2-4
CN6-6
ME2
D
CN2
-5
BA2
E
PW
NW*
BA2
SM
F
BB1
12
8
XFL02B
CN29
6
17
GND
L-AXIS
BRAKE
P
NW
+15V
GND
IU
IV
GND
IPMFLT*
CN1
-1
CN2
-1
GND
DBON
R2
-5
-3
GND
R1
-3
-2
GND
RDY*
DB-RESISTOR BOARD
DB-RESISTOR
IN CASE
OF UP20
R1
ROBOT 2AMP(JUSP-)
16
14
37
11
P
DB-RESISTOR(R1,R2) MOTOR L-AXIS
W
UP6
WS10AAY17
33 , 20W
SGMDH-12A2A-YR1*
1150
UP20
WS20AAY22
5 , 60W
SGMDH-14A2A-YR1*
1400
1BC
CN2
-1
-2
-3
CNPG123
PS_2
PS_2*
PG5V_2
BRAKE
IN CASE OF UP20
NU*
(2/3)
23
SM
PU
21
22
L-AXIS
BB1
12
8
XFL02B
CN29
6
17
CN3
NU_2*
NU_2
10
MU2
PU*
PU_2
9
CN2
-1
BA2
A7
A8
8
CN2
2
N
B7
B8
7
2BC
CN1
-2
P
JASP-WRCA01(2/7)
CNPB02
PU_2*
L-AXIS
2AMP
HE0300333-13/31
Revisions:
CN6
A3
P
N
Dwg.No.
EXT.(MANIPULATOR)
SERVO PACK 1SV (3/8)
1
P
P
DATA+
DATA+5V
C 1
D 2
H 5
0V
G 6
BAT
OBT
T 3
S 4
FG
J 7
L-AXIS
PG
P
-4
13
39
P
26
-5
HE0300333
CASE FG
FG2
27
12 14
28 27
E
28
UP6
UP20
12
28
29
BAT1 0BT1
30
12
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
13
31
CN6
A3
P
13
2AMP-PN
3
MANIPULATOR
P
A1
N
2BC
N
B3
3
U-AXIS
3AMP
CN1
-2
B1
4
JASP-WRCA01(3/7)
-3
6
7
8
9
PU_3
B7
B8
A7
A8
NU_3*
NU_3
B1
B2
A1
A2
PV_3*
PV_3
B9
B10
A9
A10
NV_3*
B3
B4
A3
A4
B11
B12
A11
A12
B5
B6
A5
A6
B15
B14
A15
A14
GND
A5
A6
B5
B6
IVCT_3
GND
A7
A8
B7
B8
IPMFLT_3*
GND
DBON_3
A1
A2
B1
B2
A9
A10
B9
B10
PU_3*
NV_3
PW_3*
PW_3
NW_3*
10
11
12
13
Draw.
Appr.
Check.
14
NW_3
POS15V
GND
IUCT_3
GND
PBRDY_3*
PU*
-4
PU
NU*
-1
CN3
-1
MU3
-1
MV3
-3
-2
MV3
-2
MW3
-4
-3
MW3
-3
ME3
-1
-4
ME3
-4
-5
BA3
-5
P
NV
PW*
SM
XFL02B
CN29
6
17
PW
NW*
NW
+15V
GND
IU
BRAKE
-6
BB1
12
8
BA3
GND
IV
GND
IPMFLT*
GND
RDY*
A3
A4
B3
B4
16
AXEN_3*
ID1_3
A11
A12
B11
B12
GND
ID1
ID2_3
ID3_3
A13
A14
B13
B14
ID2
ID3
ID4_3
ID5_3
A15
A16
B15
B16
ID4
ID5
(NC)
NFG15V
B13
B16
A13
A16
(NC)
-15V
CN1
-1
CN2
-1
GND
DBON
GND
R1
R2
-3
-2
GND
-5
-3
DB-RESISTOR BOARD
19
ROBOT 3AMP(JUSP-)
20
DB-RESISTOR(R1,R2)
UP6
WS05AAY17
33 , 20W
UP20
WS10AAY17
33 , 20W
MOTOR U-AXIS
W
SGMDH-06A2A-YR2*550
SGMDH-06A2A-YR1*
550
21
22
CNPG123
1BC
CN3
-1
-2
-3
(3/3)
23
24
PS_3
PS_3*
PG5V_3
PG5V_3
P
DATA+
DATA+5V
P
P
P
26
HE0300333
E
PG
0V
-6
BAT
OBT
-3
-4
FG
-7
FG2
12
28
28
U-AXIS
P
-4
5
31
27
-1
-2
-5
33
GND
GND
25
8
6
29
3
34
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(4/8): U-AXIS 3AMP,JASP-WRCA01(3/7)
18
3CN
-2
NU
PV*
PV
NV*
15
17
U-AXIS
MU3
CN3
CNPB03
5
HE0300333-14/31
Revisions:
2
Dwg.No.
SERVO PACK 1SV(4/8)
1
13
27
29
BAT
30
0BT
12
30
31
32
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
14
31
11
1CV-CN4
9
P
16 5AMP-CN6
2
P
CN6
A3
P
A1
N
3
MANIPULATOR
R-AXIS
4AMP
2BC
N
B3
4 JASP-WRCA01(4/7)
B7
B8
A7
A8
6
NU_4*
NU_4
B1
B2
A1
A2
7
PV_4*
PV_4
B9
B10
A9
A10
NV_4*
B3
B4
A3
A4
B11
B12
A11
A12
B5
B6
A5
A6
B15
B14
A15
A14
GND
A5
A6
B5
B6
IVCT_4
GND
A7
A8
B7
B8
IPMFLT_4*
GND
DBON_4
A1
A2
B1
B2
A9
A10
B9
B10
B3
B4
8
9
NV_4
PW_4*
PW_4
NW_4*
10
11
12
13
Draw.
Appr.
Check.
14
NW_4
POS15V
GND
IUCT_4
GND
PBRDY_4*
PU*
NU*
MV4
-3
-2
MV4
-2
-4
MW4
-4
-3
MW4
-3
-1
ME4
-1
-4
ME4
-4
-5
BA4
-5
NU
PV*
PV
NV*
-6
NV
PW*
BA4 BB4
SM
NW
+15V
GND
IU
P
BB4
BRAKE
-6
BB4
16 17
9 9
XFL02B
CN29
6
17
PW
NW*
GND
IV
GND
IPMFLT*
(CN2)
-1
GND
DBON
GND
RDY*
15
GND
16
AXEN_4*
ID1_4
A11
A12
B11
B12
GND
ID1
ID2_4
ID3_4
A13
A14
B13
B14
ID2
ID3
ID4_4
ID5_4
A15
A16
B15
B16
ID4
ID5
(NC)
NFG15V
B13
B16
A13
A16
(NC)
-15V
-2
GND
-3
ROBOT 4AMP(JUSP-)
19
20
DB-RESISTOR(R1,R2)
MOTOR R-AXIS
W
UP6
WS01AA
-(SHORT)
SGMPH-01A1A-YR2*
100
UP20
WS02AA
-(SHORT)
SGMPH-02A1A-YR3*
200
21
22
CNPG456
23
24
PS_4
PS_4*
PG5V_4
PG5V_4
GND
GND
25
24
22
45
19
P
P
P
HE0300333
DATA+
DATABAT
0BT
-1
-2
-3
-4
+5V
0V
-1
-2
FG
-3
33
1BC
CN4
-1
-2
-3
(1/3)
34
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(5/8): R-AXIS 4AMP,JASP-WRCA01(4/7)
18
-1
PU
A3
A4
17
MU4
-3
PU_4
PU_4*
-1
CN3
CNPB04
5
R-AXIS
4CN
-2
CN4
MU4
CN1
-2
B1
N
HE0300333-15/31
Revisions:
2
Dwg.No.
SERVO PACK 1SV(5/8)
1
R-AXIS
PG
P
-4
21
47
P
26
27
BATTERY
E
FG6
12
28
28
17
27
29
30
BAT 0BT
16 17
30 30
31
32
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
15
31
P
15 4AMP-CN6
3
3
4
MANIPULATOR
CN6
A3
A1
N
CN3
PU_5
6
NU_5*
NU_5
B1
B2
A1
A2
7
PV_5*
PV_5
B9
B10
A9
A10
NV_5*
B3
B4
A3
A4
B11
B12
A11
A12
B5
B6
A5
A6
B15
B14
A15
A14
GND
A5
A6
B5
B6
IVCT_5
GND
A7
A8
B7
B8
IPMFLT_5*
GND
DBON_5
A1
A2
B1
B2
A9
A10
B9
B10
9
PU_5*
NV_5
PW_5*
PW_5
NW_5*
10
11
12
13
Draw.
Appr.
Check.
14
CN1
-2
JASP-WRCA01(5/7)
B7
B8
8
NW_5
POS15V
GND
IUCT_5
GND
PBRDY_5*
A7
A8
PU
-4
B-AXIS
MU5
5CN
-2
CN5
-1 MU5
-1
MV5
-3
-2
MV5
-2
MW5
-4
-3
MW5
-3
ME5
-1
-4
ME5
-4
-5
BA5
-5
SM
NU*
NU
PV*
PV
NV*
-1
NV
PW*
P
PW
NW*
BA5
NW
+15V
GND
IU
XFL02B
CN29
6
17
BRAKE
-6
BB4
15
8
GND
IV
(CN2)
-1
GND
IPMFLT*
GND
DBON
-2
GND
RDY*
GND
A3
A4
B3
B4
16
AXEN_5*
ID1_5
A11
A12
B11
B12
GND
ID1
ID2_5
ID3_5
A13
A14
B13
B14
ID2
ID3
ID4_5
ID5_5
A15
A16
B15
B16
ID4
ID5
(NC)
NFG15V
B13
B16
A13
A16
(NC)
-15V
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(6/8): B-AXIS 5AMP,JASP-WRCA01(5/7)
18
-3
PU*
15
17
2BC
B1
N
CNPB05
5
B-AXIS
5AMP
N
B3
P
17
6AMP-CN6
2
P
HE0300333-16/31
Revisions:
2
Dwg.No.
SERVO PACK 1SV(6/8)
1
GND
-3
19
ROBOT 5AMP(JUSP-)
20
21
22
24
PS_5
PS_5*
PG5V_5
PG5V_5
GND
GND
25
MOTOR B-AXIS
W
WS01AA
-(SHORT)
SGMPH-01A1A-YR2*
100
UP20
WS02AA
-(SHORT)
SGMPH-02A1A-YR3*
200
1BC
CNPG456
(2/3)
23
DB-RESISTOR(R1,R2)
UP6
16
14
37
11
CN5
-1
-2
-3
P
P
P
DATA+
DATABAT
0BT
-1
-2
-3
-4
+5V
0V
-1
-2
FG
-3
B-AXIS
PG
P
13
39
-4
P
26
HE0300333
27
E
12
29
FG6
17
27
28
29
30
BAT
0BT
15
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
16
31
1SV(7/8)
P
16
5AMP-CN6
3
MANIPULATOR
CN6
A3
P
A1
N
T-AXIS
6AMP
N
B3
3
2BC
B1
4
CN3
PU_6
B7
B8
6
NU_6*
NU_6
B1
B2
A1
A2
7
PV_6*
PV_6
B9
B10
A9
A10
NV_6*
B3
B4
A3
A4
B11
B12
A11
A12
B5
B6
A5
A6
B15
B14
A15
A14
GND
A5
A6
B5
B6
IVCT_6
GND
A7
A8
B7
B8
IPMFLT_6*
GND
DBON_6
A1
A2
B1
B2
A9
A10
B9
B10
B3
B4
8
9
PU_6*
NV_6
PW_6*
PW_6
NW_6*
10
11
12
13
Draw.
Appr.
Check.
14
CN1
-2
JASP-WRCA01(6/7)
CNPB06
5
NW_6
POS15V
GND
IUCT_6
GND
PBRDY_6*
A7
A8
PU
-4
T-AXIS
MU6
6CN
-2
CN6
-1
MU6
-1
MV6
-3
-2
MV6
-2
MW6
-4
-3
MW6
-3
ME6
-1
-4
ME6
-4
-5
BA6
SM
NU*
NU
PV*
PV
NV*
-1
-5
NV
PW*
P
PW
NW*
BRAKE
-6
BB4
15
8
BA6
NW
+15V
GND
IU
XFL02B
CN29
6
17
GND
IV
GND
IPMFLT*
(CN2)
-1
GND
DBON
-2
GND
RDY*
15
GND
16
AXEN_6*
ID1_6
A11
A12
B11
B12
GND
ID1
ID2_6
ID3_6
A13
A14
B13
B14
ID2
ID3
ID4_6
ID5_6
A15
A16
B15
B16
ID4
ID5
(NC)
NFG15V
B13
B16
A13
A16
(NC)
-15V
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(7/8): T-AXIS 6AMP,JASP-WRCA01(6/7) HE0300333
18
-3
PU*
A3
A4
17
HE0300333-17/31
Revisions:
2
SERVO PACK
Dwg.No.
1
GND
-3
19
ROBOT 6AMP(JUSP-)
20
DB-RESISTOR(R1,R2)
MOTOR T-AXIS
UP6
WS01AA
-(SHORT)
SGMPH-01A1A-YR2*
W
100
UP20
WS02AA
-(SHORT)
SGMPH-02A1A-YR3*
200
21
22
23
CNPG456
1BC
(3/3)
PS_6
PS_6*
PG5V_6
24
PG5V_6
25
GND
GND
8
6
29
3
CN6
-1
-2
-3
P
P
P
DATA+
DATABAT
0BT
-1
-2
-3
-4
+5V
0V
-1
-2
FG
-3
PG
P
5
31
-4
P
26
T-AXIS
-5
CASE FG
27
FG6
15 16
28 27
E
12
30
28
29
BAT
30
0BT
15
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
17
31
1
JL040
CN30
-1
CONRDY1*
-B2
SIG
-B3
COM
TERMINATION
CONNECTOR
NOTE
-9
IN CASE OF CONNECTED NEXT SERVO UNIT
-10
AXRUN*
CBL-RC001
-11
REGON*
-12
ACOVFLT*
-13
THM
SIG*
CN10
-A2
SIG
-A3
11
12
GND
FG
Draw.
Appr.
Check.
JASP-WRCF01 (OPTION)
(EXTERNAL MOTOR AXIS)
REGULATOR
REGULATOR
+15V
PG_5V
15
CNE
CBL-RC007
+24V
P
ELEMENTARY DIAGRAM
YASNAC XRC
1SV(8/8):JASP-WRCA01(7/7),JANCD-XFC01
P
-4
(S_ON+)
-5
(NC)
19
CNPG789
P
-6
P
-8
DINCOM
-7
TUDIN
20
DIN3
21
-9
DIN2
P
-10
DIN1
22
23
XSU02
CN21
-11
+24V
JANCD-XFC01
P
8
14
-12
SVMXOK2
-13
(024V)
P
24
-14
(S_ON-)
CNS
-15
SVMAIN1+
P
25
SVMAIN1SVMAIN2+
26
CNPB09
-3
(024V)
18
CNPB08
-2
SVMXOK1
17
CNPB07
CNE
CN20
-1
16
NEXT
SERVO UNIT
FOR EXTERNAL
AXES CONTROL
SIG
-15V
-B3
+15V
SIG*
P
3.3V
GND
-A3
-15V
-B3
CASE FG
-B2
PG7V
11
25
SIG
FG
-5V
-A2
POWER LOST
-B2
P
HE0300333
SVMAIN2-
CNS
+24V
CNSCU
-1
-16
SVMAIN1
-17
SVMAIN2
-18
SPMODE1
27
P
TUSIG*
29
-19
TUSIG
-20
TUSIG*
OVSPD1
OVSPD2
-4
SPMODE1
-5
SPMODE2
-6
XSU02
CN25
9
19
SPMODE3
-7
024V
INDATA
+24V
-3
SPMODE3
TUSIG
CBL-RC031
-2
SPMODE2
28
20
4
REGULATOR
-B1
+5V
1 GS
2CN
+5V
CN50
-A1
SIG*
XCP01
CN05
SIG
CASE FG
10
14
SIG*
P
-14
THMCOM
13
120
-8
AXRUN
9
SIG*
-7
UVFLT*
8
20
4
FG
-6
RGFLT*
7
XCP01
CN05
SIG
CBL-RC015-1
-5
OPHFLT*
11
15
SIG*
P
CASE FG
-4
OVFLT*
1 CV
CN1
-A3
-3
CONRDY*
5
SIG
-2
CONRDY2*
4
OUTDATA
SIG*
CN10
-A2
HE0300333-18/31
Revisions:
INDATA
3
6
CBL-RC001
JASP-WRCA01(7/7)
2
Dwg.No.
SERVO PACK 1SV(8/8)
024V
JL012
OUTDATA
CASE FG
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
18
31
Dwg.No.
JZNC-XRK01B-1(1/2)
1
2
CN05
-4
PS1
XPU06B
3 5X
PS2
5
5
-3
-2
+24V
024V
5
6
+5V
-2
0V
CN02
-3
CNP
7
CN03
-3
CNP
9
EOF
PCOM
-2
+24V
XCO02
CN01
024V
21
4
X81
024V
30
7
CBL-RC032
+24V
XSU02
CN20
024V
7
2
P
024V
POWER ON/OFF
CONTROL
21
6
+24V
-2
CN04
-1
0V
P
+24V
8
XCO02
CN01
P
-1
JANCD-XBB01(1/2)
+5V
P
-4
0V
-1
4
CN01
-5
+5V
HE0300333-19/31
Revisions:
2GS
CPS-150F
DC POWER ON/OFF
10
JANCD-XCP01(1/2)
11
CNS2
CNJ2
12
IOSIG*
INDATA
JL012
OUTDATA
13
Draw.
Appr.
Check.
14
15
16
CN01
-1
IOSIG
-2
ERRCPU*
-5
ERRCPUCOM
-6
DINCOM
-10
DIN4
-11
DIN2
-12
DIN3
-13
DIN1
-14
IOSIG*
P
IOSIG
ERRCPU+
P
ERRCPUDINCOM
P
P
DIN4
XCO02
CN03
DIN2
21
5
DIN3
DIN1
17
YASNAC XRC
ELEMENTARY DIAGRAM
JZNC-XRK01B-1(1/2):JANCD-XBB01(1/2),XCP01(1/2),2GS
CASE
FG
18
CBL-RC006
19
INDATA
JL012
20
OUTDATA
PPSIG*
CN02
-2
PPSIG
-3
PPSIG*
P
PPSIG
CASE
FG
21
CNS1
CNJ1
22
23
CD
CN03
-1
RD
-2
SD
-3
ER
-4
232SG
-5
DR
-6
RS
-7
CS
-8
FG
+5V
+5V2
26
10
CBL-RC032
CD
P
RD
SD
P
ER
24
25
X81 30
RS232C
232SG
P
DR
RS
P
CS
-5V
27
28
BAT
BATTERY
VOLTAGE
CHECK
BATALM*
29
GND/G
-1
GND/G
-5
37
PWOFF
CNBAT
-3
38
HE0300333
LED4:BETTERY
ALARM(RED)
+5V
ER6VC3N
3.6V
(TOSHIBA)
30
GND
+
GND
31
32
33
34
35
36
39
40
41
42
43
44
45
46
47
48
49
19
31
JANCD-XCP01(2/2)
JZNC-XRK01B-1 (2/2)
HE0300333-20/31
Revisions:
JANCD-XBB01(2/2)
Dwg.No.
1
2
JANCD-XIF03
3
CNIF
CNIF
CN05
-2
SIG*
JL040
4
5
INDATA
SIG
OUTDATA
SIG*
P
-3
SIG
CASE
FG
6
WRCA01
CN10
18
3
FG
CBL-RC001
7
8
CN04
PCMCIA
(PC CARD)
9
10
11
CNMM
CNMM
JANCD-XMM01
(OPTION)
12
13
Draw.
Appr.
Check.
14
15
16
17
JANCD-XCP02
(OPTION)
YASNAC XRC
ELEMENTARY DIAGRAM
JZNC-XRK01B-1(2/2):JANCD-XBB01(2/2),XCP01(2/2)
18
CNS1
CNT1-1
19
20
21
22
23
+24V
DC FAN (JZNC-XZU02)
CNFAN1
24
FANALM1
FAN
CNFAN2
25
FG
FANALM2
FAN
FRAME to FRAME
CONNECTION
26
HE0300333
024V
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
20
31
JZRCR-XCO02
(1/8)
Dwg.No.
JARCR-XCI01(1/3)
1
P
IOSIG
31
3
-3
7
IOSIG
+24V
+5V
024V
P
JL012
KEYIN PLUG
P/S
P/S
-A3
KEYIN PLUG
024V
+24V
024V
31
22
OUTDATA
-11
-12
GND
-A5
-13
-B5
-14
+24VU
+5V
HOLD
Draw.
Appr.
Check.
REMOTE
INDATA
-A2,B2
INDATA
-A4,B4
024VU
-10
INDATA
-12
INDATA
024VU
GND 024V
22 23
11 8
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (1/8):JARCR-XCI01(1/3)
22 23
12 7
23
5
23
8
23
5
23
9
23
6
22 23
9 10
23
7
OUTDATA
OUTDATA
-26
STARTLED
OUTDATA
-28
HOLDLED
OUTDATA
-30
REMOTELED
OUTDATA
-32
ALMLED
DSW
OUTDATA
-34
SVONLED
OUTDATA
K12
20
CBL-RC018
PPESP
22 23
9 6
23
4
K5
22 23
4 2
024VU
21
PPESP PBESP
24
K5
EXESP ERRCPU
K6
K7
+5V
IORDY1
HE0300333
23
SAF1
18
DSW2+
27
SAF2
SPMOD2
SPMOD3
IORDY1
RDY
K9
K10
K11
IORDY2
SYSRDY
IORDY2
RDY
K4
K3
K2
K3
22
17
024V
LED1
-B 8
LED2
-B 9
LED3
-B10
LED4
-B11
LED5
-B12
SPMOD1
024V
PPESP2-
-B 7
LED4
SPMOD1
-B13
SPMOD2
-B14
SPMOD3
-B15
-B16
S_ON1+
S_ON1-
-B17
-B18
-B19
-B20
PBESP2+
PBESP2-
24
14
PPESP2+
-A23
LED3
HSW2+
PPESP1-
-A22
PPESP2-
XCU01
CND1
DSW2+
-A21
PPESP2+
HSW1-
DSW1-
-A20
PPESP1-
SYSRDY
S_SP2+
-A19
DSW1-
K10
S_SP1-
-A18
HSW2+
K4
FST2+
-A17
HSW1-
LED5
+24V
FST1-
-A16
S_SP2+
K9
K8
FORCE2+
-A15
S_SP1-
SYSRDY
FORCE1-
-A14
FST2+
LED1
23
DIN1
-A13
LED2
28
DIN2
-A12
FST1-
+24V
23
27
DIN4
DIN3
-A11
FORCE2+
22
26
024VU
-A7
FORCE1-
22
14
024V
25
0V
-A10
OUTDATA
-24
TEACHLED
024V
-A9
SVON-
-22
PLAYLED
+24VU
-A8
INDATA +24VU
-20
OPTIONLED
+5V
-A6,B6
-18
(PBESP-)
+24V
-A3,B3
024VU
-16
SVON-
19
DIN1
CBL-RC006
15,17,19,21,23
25,27,29,31,33
+24VU
18
P
INDATA
-14
EDITLOCK
17
DIN2
DIN3
+24V
INDATA
-8
START
16
DIN4
P
-A5,B5
-6
TEACH
29
15
024V
-4
PLAY
P.PANEL
CN1
15
024V
CND1
-2
OPTION
14
19
15
KEYIN PLUG
1,3,5,7
9,11,13
024VU
13
-9
024V
CN04
12
XCP01
CN01
-A1,B1
10
11
-8
-B4
-B6
+24VU
ERRCPU-
-10
-A6
024VU
ERRCPU+
P
-7
-B3
+5V
(OPTION)
XEW01
CN04
9
-5
-A4
19
3
8
INDATA
IOSIG
-4
+24V
K8
KEYIN PLUG
P
IOSIG*
P
-6
-B2
2GS
(CPS-150F)
CN01
IOSIG
ERRCPU
-B1
-A2
19
4
-1
-2
-3
22 23
10 5
-A1
+24V
IOSIG*
ERR_CPU-
+24VU
CN01
0V
6
IOSIG*
CBL-RC001
2GS
4 (CPS-150F)
CN01
5
-2
HE0300333-21/31
Revisions:
3
CN03
CN02
IOSIG*
(OPTION)
XEW01
2
CN01
S_ON2+
S_ON2PBESP2+
PBESP2-
PBESP
29
K6
30
-B21
PBESP122 23
4 1
024VU
PBESP1CBL-RC034-1
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
21
31
JZRCR-XCO02
(2/8)
Dwg.No.
JARCR-XCI01(2/3)
1
2
EXESP1+
-1
EXESP1-
-2
EXESP2+
-3
EXESP2-
-4
EXSVON1+
-5
+24VU
-A1
4
5
024V
9
10
-A3
EXESP-
-A4
21
21 PPESP121 PBESP129
EXSVON1-
-7
23
5
PPESP1-
-A5
PBESP1-
EXHOLD1+
-9
EXHOLD1-
-10
EXHOLD2+
-11
EXHOLD2-
-12
SAF_F1+
-13
SAF_F1-
-14
SAF_F2+
-15
SAF_F1SAF_F2+
PM
-B4
TM
-B5
+24VU
XSR01
(OPTION)
KEYIN PLUG
-C1
+24V
-C2
21
19
21
20
21
3
21
15
23
4
23
2
-16
SAF_F2-
TLK
-B3
KEYIN PLUG
+24V
23
EXHOLD1- 11
23
EXHOLD2+ 7
SAF_F1-
-B2
23
10 TLK
23
8 PM
23
9 TM
23
EXSVON2+ 3
-8
EXSVON2-
8
024VU
2
-6
EXSVON2+
7
EXESP1- 3
EXESP2+ 23
-B1
EXSVON1-
6
024VU
K7
23
3
024V
-A2
EXESP
HE0300333-22/31
Revisions:
CN07
CN05
+24VU
-C3
HSW1-
HSW1-
-C4
DSW1-
DSW1-
-C5
ERR_CPU-
ERRCPU-
-D1
SVON-
SVON-
-D2
11
EXSVON1-
-D3
024VU
12
21
15
EXHOLD1-
-D4
FORCE1-
FORCE1-
-D5
13
CN06
Draw.
Appr.
Check.
14
PPESPOUT+
-1
PPESPOUT-
-2
PPESP2+
SW9
21
21
PPESP2-
23
2 PPESP1
3
2
+24VU
PPESP2
23
23
PBESP2
23
23
1
15
PPESPIN+
-3
PPESPIN-
-4
PBESPOUT+
-5
PBESPOUT-
-6
INDATA
16
17
GND
PBESP2+
21
28
PBESP2-
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (2/8):JARCR-XCI01(2/3),XCI03(1/5)
18
SW8
23
1 PBESP1
3
2
+24VU
19
JARCR-XCI03(1/5)
-8
PBESPIN-
DSW
GND
CNA2
-9
DSWOUT+
+24VU
K12
-10
DSWOUT-
21
INDATA
-7
PBESPIN+
20
1
GND
IO2
GND
IO1
GND
OE0*
GND
LC0*
GND
SCLKO
GND
INDATA31
GND
OUTDATA20
GND
SAMPO*
GND
RSTO*
-11
RDY+
RDY
22
23
RDY-
-12
024V
-13
K2
+24V
K11
-14
24 DC
+24V
SELECT
-15
024VU
25
-16
+24VU
26
CNA2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
-17
-18
-19
-20
-18
-17
-16
-15
-14
-13
-12
-11
-10
-9
-8
-7
-6
-5
-4
-3
-2
-1
GND
IO2
GND
IO1
GND
OE0*
GND
LC0*
GND
SCLKO
GND
INDATA31
GND
OUTDATA20
GND
SAMPO*
GND
RSTO*
RDY 23 23
024VU
21 30
27
5V
GND
+24V
024V
+24VU
024VU
28
29
FG
CNA1
CBL-RC011-1
2,4,6
1,3,5
10,12,14
9,11,13
16,18,20
15,17,19
5V
GND
+24V
024V
+24VU
024VU
FRAME to
FRAME
CONNECTION
30
31
32
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
22
31
15,17,19
16,18,20
7,9,11
8,10,12
1,3,5
2,4,6
33
GND
024VU
CNA1
INDATA
34
HE0300333
024V
CBL-RC011-1
JZRCR-XCO02
(3/8)
+24VU
1
21
PBESP129
2
3
4
PBESP1
INDATA
21
PPESP121
PPESP1
INDATA
22
EXESP13
EXESP1
INDATA
22
SAF_F19
SAF_F1
INDATA
21
ERR_CPU3
5
6
7
8
INDATA
22
EXSVON15
EXSVON1
INDATA
21
DSW120
DSW1
INDATA
21
FORCE115
FORCE1
INDATA
SVON
INDATA
21
FST117
9
10
11
EXHOLD1
INDATA
024V
12
23
15
22
6 EXSVON2+
21
20 DSW2+
23 23
15 24
21
18 S_SP2+
23
18
21
HSW2+
19
23 23
17 26
22
EXHOLD2+
8
SAF_F2
23
26
EXSVON2
23
27
DSW2
23
25
FST2
23
29
S_SP2
23
29
HSW2
23
30
EXHOLD2
23
30
PM
22
6
TM
22
7
TLK
22
5
+5V
GND
PM*
OUTDATA*
23
21
TM*
TLK*
TLK*
TM*
GND
024VU
23
24
23
21
FST2+
17
23
16
EXESP2
FORCE2 27
21
FORCE2+
16
23
17
23
20
HSW1
INDATA
22
EXHOLD17
22
10 SAF_F2+
23
20
S_SP1
INDATA
21
HSW119
23 22
14 14
23
19
FST1
INDATA
21
S_SP118
22
EXESP2+
3
23
16
ERR_CPU
21
SVON15
23 22
14 18
HE0300333-23/31
Revisions:
Dwg.No.
JARCR-XCI01(3/3)
PM*
23 23
19 28
23 23
15 25
23 23
18 27
024VU
CPU1
13
16
17
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (3/8):JARCR-XCI01(3/3);SAFTY CIRCUIT:CPU1,CPU2 HE0300333
18
19
20
21
SAFETY CIRCUIT
PBESP1
TM*
SYSRDY1
DSW1
SVON
SAF_F1
EXSVON1
EXESP1
ERR_CPU
PPESP1
PBESP1
EXESP1
ERRCPU
SYSRDY1
TM*
DSW1
SAF_F1
SAFRDY1
FORCE1
SVON
IORDY1
SYSRDY1
EXSVON1
SAF_F1
FORCE1
PM*
PM*
SAF1
21
26
SAF2
21
28
SAFRDY1
TLK*
DSW1
FST1
S_SP1
TM*
TLK*
DSW1
HSW1
EXHOLD1
RDY
CPU2
22
23
24
25
26
27
28
29
30
SAFETY CIRCUIT
PBESP2
EXESP2
TM*
SYSRDY2
DSW2
SVON
SAF_F2
EXSVON2
ERR_CPU
TM*
PPESP2
PBESP2
EXESP2
ERRCPU
SYSRDY2
DSW2
SAF_F2
SVON
SAFRDY2
FORCE2
EXSVON2
IORDY2
SYSRDY2
FORCE2
SAF_F2
PM*
PM*
TLK*
SAFRDY2
FST2
DSW2
S_SP2
HSW2
TM*
TLK*
DSW2
EXHOLD2
RDY
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
49
23
31
22
14
22
18
23
1
23
5
23
12
23
4
23
2
23
8
23
3
23
4
23
13
23
11
23
5
23
6
23
7
23
8
22
27
PPESP2
47
15
PPESP1
48
Draw.
Appr.
Check.
14
23
2
23
1
23
3
23
5
23
12
23
6
23
4
23
8
23
5
23
7
23
13
23
11
23
8
23
9
23
10
23
11
22
27
JZRCR-XCO02
(4/8)
1
FORCE1+
FORCE1-
2
S_SP1+
0V
12
024VU
-B1
-A20
DSW2-
-B5
-A21
HSW2
DSW1
DSW2
PPESP1-
-A22
-A1
PPESP2+
-A23
024VU
Draw.
Appr.
Check.
-A2
-A24
-A3
-A25
PPESP2XCI01
CND1
-A4
PPESP2+
21
18
-A5
+24V
CN44
16
17
EXT.
DIN
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (4/8):JARCR-XCU01
18
19
-1
-2
-3
-4
-5
-6
-7
-8
EXDIN1+
EXDIN1EXDIN2+
EXDIN2EXDIN3+
EXDIN3EXDIN4+
EXDIN4-
+5V
-B 7
LED
YELLOW
LED
YELLOW
024VU
+5V
20
LED
YELLOW
+24V
CBL-RC007
21
SPMOD3
23
XSU02
24 CN23
9
8
25
26
S_ON1+
S_ON2+
DINCOM
DIN3
DIN2
DIN1
SPMODCOM
HE0300333
S_ON2S_ON1-
27
28
NOTE
+24V
024V
LED2
-B 9
LED3
-B10
LED4
-B11
LED5
-B12
-2
-B13
-3
-B14
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
-17
-18
-19
-20
-B15
SPMOD01
SPMOD02
SPMOD03
S_ON1+
-B16
S_ON1-
-B17
S_ON2+
-B18
024V
S_ON2-
-B19
PBESP2+
-B20
PBESP2-
-B21
PBESP1-
-B22
-B23
024V
-B24
-B25
CN42
-A 1
-A 2
-A 3
-B 1
-B 2
-B 3
+24VU
SYSTEM +24V
+24VU
024VU
LED1
-B 8
LED
YELLOW
-1
SPMOD1
22
LED
YELLOW
CN41
SPMOD2
30
HSW1
-A18
+24VU
29
S_SP2
-A17
-B4
PPESP2-
15
S_SP1
-A16
DSW2+
X81
30
12
FST2
-A19
PPESP114
FST1
-A15
-B2
PPESP1+
13
FORCE2
-A14
X81
30
2
FORCE1
-A13
-B3
11
DIN1
-A12
CN43
DSW1-
DIN2
-A11
+24VU
DSW1+
DIN3
-A10
-16
CBL-RC032
DIN4
-A 9
-15
HSW2-
024VU
-A 8
-14
HSW2+
+24VU
-A 7
-13
HSW1-
-A5,B5
024VU
-12
HSW1+
0V
-A6,B6
-10
-11
S_SP2-
10
+5V
+24VU
-9
S_SP2+
9
-A3,B3
-A4,B4
-8
FST2S_SP1-
8
024V
-7
FST2+
7
024V
+5V
-6
FST1-
6
+24V
-A2,B2
-5
FST1+
SAFETY
5 SIGNAL
CBL-RC034-1
-A1,B1
-3
-4
FORCE2-
4
CND1
+24V
-2
FORCE2+
3
+24VU
-1
HE0300333-24/31
Revisions:
CN40
Dwg.No.
JARCR-XCU01
PBESP2+
PBESP2PBESP1+
P.PANEL
SA1(PBESP)
29
16
PBESP1-
USER +24V
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
24
31
(5/8)
HE0300333-25/31
Revisions:
Dwg.No.
JZRCR-XCO02
1
JARCR-XCI03(2/5)
2
IN00
CN10
B1
IN01
A1
IN02
B2
IN03
A2
IN04
B3
IN05
A3
IN06
B4
IN07
A4
024VU
B7
024VU
A7
OUT00-
B8
OUT00+
A8
OUT01-
B9
OUT01+
A9
OUT02-
B10
OUT02+
A10
OUT03-
B11
OUT03+
A11
OUT04-
B12
OUT04+
A12
OUT05-
B13
OUT05+
A13
OUT06-
B14
OUT06+
A14
OUT07-
B15
OUT07+
A15
024VU
B16
024VU
A16
024VU
B17
024VU
A17
+24VU
B18
+24VU
A18
+24VU
B19
+24VU
A19
FG
B20
40
39
+24VU
3
INDATA
4
GND
5
6
7
024VU
8
+24V
9
OUT00
+5V
10
OUT01
OUTDATA
11
024V
OUT02
13
OUT03
Draw.
Appr.
Check.
12
14
OUT04
15
OUT05
16
OUT06
17
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (5/8):JARCR-XCI03(2/5)
18
OUT07
19
20
21
22
+24VU
024VU
23
24
25
26
HE0300333
27
28
29
30
31
32
33
34
35
36
37
38
41
42
43
44
45
46
47
48
49
25
31
(6/8)
2
JARCR-XCI03(3/5)
IN10
CN11
B1
IN11
A1
IN12
B2
IN13
A2
IN14
B3
IN15
A3
IN16
B4
IN17
A4
024VU
B7
024VU
A7
OUT10-
B8
OUT10+
A8
OUT11-
B9
OUT11+
A9
OUT12-
B10
OUT12+
A10
OUT13-
B11
+24VU
3
INDATA
4
GND
5
6
7
024VU
8
+24V
9
OUT10
+5V
10
OUT11
OUTDATA
11
024V
13
OUT13
OUT14
15
OUT15
16
OUT16
17
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (6/8):JARCR-XCI03(3/5)
18
OUT17
19
A11
OUT14-
B12
OUT14+
A12
OUT15-
B13
OUT15+
A13
OUT16-
B14
OUT16+
A14
OUT17-
B15
OUT17+
A15
024VU
B16
024VU
A16
024VU
B17
024VU
A17
+24VU
B18
+24VU
A18
+24VU
B19
+24VU
A19
FG
B20
39
14
OUT13+
40
Draw.
Appr.
Check.
12
OUT12
HE0300333-26/31
JZRCR-XCO02
Dwg.No.
Revisions:
1
20
21
22
+24VU
024VU
23
24
25
26
HE0300333
27
28
29
30
31
32
33
34
35
36
37
38
41
42
43
44
45
46
47
48
49
26
31
JZRCR-XCO02
(7/8)
HE0300333-27/31
Revisions:
Dwg.No.
JARCR-XCI03(4/5)
1
+24VU
EXIN00
CN12
-B1
EXIN01
-A1
EXIN02
-B2
EXIN03
-A2
EXIN04
-B3
EXIN05
-A3
EXIN06
-B4
EXIN07
-A4
EXIN10
-B5
EXNI11
-A5
EXIN12
-B6
EXNI13
-A6
024VU
-B7
024VU
-A7
EXOUT00
-B8
EXOUT01
-A8
EXOUT02
-B9
EXOUT03
-A9
EXOUT04
-B10
EXOUT05
-A10
EXOUT06
-B11
EXOUT07
-A11
EXOUT10
-B12
EXOUT11
-A12
EXOUT12
-B13
EXOUT13
-A13
024VU
-B16
024VU
-A16
024VU
-B17
024VU
-A17
+24VU
-B18
+24VU
-A18
+24VU
-B19
+24VU
-A19
FG
-B20
2
INDATA
3
GND
4
5
6
7
8
9
10
+5V
11
OUTDATA
12
024VU
13
Draw.
Appr.
Check.
14
15
16
17
+24VU
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (7/8):JARCR-XCI03(4/5)
18
19
20
21
22
024VU
23
24
25
26
HE0300333
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
27
31
JZRCR-XCO02
(8/8)
HE0300333-28/31
Revisions:
Dwg.No.
JARCR-XCI03(5/5)
1
+24VU
EXIN14
CN13
-B1
EXIN15
-A1
EXIN16
-B2
EXIN17
-A2
EXIN20
-B3
EXIN21
-A3
EXIN22
-B4
EXIN23
-A4
EXIN24
-B5
EXNI25
-A5
EXIN26
-B6
EXNI27
-A6
024VU
-B7
024VU
-A7
EXOUT14
-B8
EXOUT15
-A8
EXOUT16
-B9
EXOUT17
-A9
EXOUT20
-B10
2
INDATA
3
GND
4
5
6
7
8
9
10
+5V
11
OUTDATA
12
024VU
13
Draw.
Appr.
Check.
14
15
EXOUT21
-A10
EXOUT22
-B11
EXOUT23
-A11
EXOUT24
-B12
EXOUT25
-A12
EXOUT26
-B13
EXOUT27
-A13
024VU
-B16
024VU
-A16
024VU
-B17
024VU
-A17
+24VU
-B18
+24VU
-A18
+24VU
-B19
+24VU
-A19
FG
-B20
16
17
+24VU
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (8/8):JARCR-XCI03(5/5)
18
19
20
21
22
024VU
23
24
25
26
HE0300333
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
28
31
PLAYBACK PANEL(P.PANEL)
CBL-RC018
2
CN1
15
+24VU
3
33
+24VU
SA4
SVON-
4
16
SERVO ON READY
34
SVON LED
GREEN
SVONLED
5
LED
3
024VU
21
+24VU
SA3
6
PLAY
7
SA2
LED
8
START
26
START_LED
WHITE
STARTLED
LED
9
024VU
27
+24VU
Draw.
Appr.
Check.
SA6
HOLD
HOLDLED
10
HOLD
28
HOLD_LED
17
YASNAC XRC
ELEMENTARY DIAGRAM
PLAYBACK PANEL(ZY1C-SS3152)
21
22
PBESP2+
WHITE
R12
PBESP2-
XCO02
CN42
24
28
2XT
LED
PBESP-
20
PBESP1-
R11
REMOTE_LED
30
REMOTELED
+24VU
PBESP1+
SA7
REMOTE
12
REMOTE
19
L11
SA1 L12
29
+24VU
18
EMERGENCY STOP
ORANGE
LED
11
024VU
HL1
ALARM_LED
32
ALARMLED
GREEN
LED
31
+24VU
16
TEACH_LED
SA5
START
XCO02
CN04
24
25
11
21
15
TEACH
7
+24VU
14
6
WHITE
TEACHLED
024VU
13
PLAY_LED
23
TEACH
12
22
LED
+24VU
10
PLAY
5
024VU
9
4
WHITE
PLAYLED
8
15
HE0300333-29/31
Revisions:
Dwg.No.
ZY1C-SS3152(IZUMI)
1
17
ESP_COM
18
ESP1
(024VU)
1 (024VU)
OPTION
2 OPTION
(+24VU)
19 (+24VU)
OPTIONLED
20 OPTION_LED
CN2
1
L21
2
PBESP3+
L22
PBESP3-
R21
PBESP4+
R22
PBESP4-
EXPBESP
(OPTION)
3
RED
4
LED
23
13
EDIT_LOCK_COM
14
EDIT_LOCK
CN3
1
SA8
024VU
24
2
EDITLOCK
NC(3)
25
EDIT LOCK(OPTION)
NC(4)
NC(5)
FG
26
NC(6)
HE0300333
NC(7)
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
29
31
YASNAC-XRC
DSW1+
2
DSW1-
XCO02
CN43
DSW2+
24
11
DSW2-
X81
-5
X82
-5
1CN
-1
-4
-4
-2
-1
-1
-3
-2
-2
-4
DEADMAN SWITCH FUNCTION
GRIP
POSITION
DSW1
HA1B-M1(IZUMI)
SB2
1
2
DSW2
SB3
MAIN POWER SHUTOFF
(CANNOT POWER ON)
1
MAIN POWER ON
MAIN POWER SHUTOFF
(CANNOT POWER ON)
PANIC OR
EMERGENCY
SHUTOFF
3
GRIP POSITION
CYCLE
2
3
JANCD-XSP01
CNKEY
(NC) -1
+24V
6
7
SERVOPACK
BEHAVIOR
HARD GRIP
HA1B-M1(IZUMI)
4
5
GRIP
STRENGTH
FREE
(GRIP RELEASED)
SOFT GRIP
(1CLICK)
HE0300333-30/31
Revisions:
Dwg.No.
CBL-RC032
1
3
JZNC-XPP02
2GS
(CPS-150F)
CN03
+24V
19
6
024V
8
X82
-9
X81
-9
CNIF
-3
+24V
DC/DC
-10
-10
-4
024V
PPSIG*
10 XCP01
PPSIG
CN02
11
19
20
FG
PPESP1+
12
PPESP1XCO02
CN43
13
Draw.
Appr.
Check.
24
14
PPESP2+
PPESP2-
-13
-13
-11
-11
-3
-3
-6
-6
-8
-8
KEYD0
KEYD1
-4
KEYD2
-5
KEYD3
-6
KEYD4
-7
KEYD5
-8
KEYD6
-9
KEYD7
INDATA
JL012
-2
-7
-7
-2
-3
GND
-1
-12
-12
+5V
-24V
024V
9
(NC)
OUTDATA
-10
KEYL0
-5 (PPESP+)
-11
KEYL1
-6 (PPESP-)
-12
KEYL2
-13
KEYL3
-7 (EXPPESP+)
-14
KEYL4
-8 (EXPPESP-)
-15
KEYL5
-16
KEYL6
-17
LEDD0
-18
LEDD1
14
15
SHEET KEYBOARD
WITH CABLE
FP5-YKD4-A
(JAE)
-19
-20
16
FG
CBL-XRO05-1
17
YASNAC XRC
ELEMENTARY DIAGRAM
PROGRAMMING PENDANT : JZNC-XPP02
18
19
CNLCD
-1
FLM
-2
CL1
+5V
CN01
-2
RD
20
RS-232C
(FC2)
SD
-7
RS
RS
-8
CS
GND
CS
-5
GND
22
RD
-3
SD
21
3
FG
HOOD
CASE
FG
23
GND
24
25
26
HE0300333
27
28
29
-3
CL2
-4
VCC G
-5
GND G
-6
D_OFF*
-7
VD3
-8
VD2
-9
VD1
-10
VD0
-11
LCNEG24V
-12
VCON
CNCFL
-2
CFL5V
-1
GND/G
CNESP
-1
PPESP+
-2
PPESP-
-3
EXPPESP+
-4
EXPPESP-
LCD MODULE
LU4833
(STANLAY)
BACK
LIGHT
SB1
CNBZ
-1
BUZZ+
-2
BUZZ-
NC1
NC1
NC2
NC2
HA1
BUZZER
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
30
31
IOSIG*
XCO02
CN02
P
IOSIG
21
2
-A3
INDATA
IOSIG
120
5
OUTDATA
-B2
IOSIG*
-6
-B3
IOSIG
-7
10
11
CN01
-2
IOSIG*
IOSIG*
P
21
2
FG
-3
ARCOFI_A
P
IOSIG
-2
IOSOG*
-3
IOSIG
+5V
STICK*
CUP14V
-25
CUP14*
ARCON*
CASE FG
FG
STICK
-23
+24VU
CASE FG
ARCOFI_B
-27
IOSIG
CUP SENSOR
IOSOG*
NEXT
I/O
(XEW01)
ARCACT_B
-26
STICK
DETECTOR
Z( L)
9
ARCACT_A
ARCON*
/WELDING
(INDATA)
CBL-RC001
IOSIG
WIRCUT_B
-14
NOTE
IN CASE OF CONNECTED NEXT I/O CONNECTION
XCO02
CN02
WIRCUT_A
-13
6
8
GASOF_B
-4
TERMINATION
CONNECTOR
7
GASOF_A
-3
JL012
-5
CBL-RC015-1
4
CN03
-2
CN01
-A2
IOSIG*
HE0300333-31/31
Revisions:
CBL-RCO01
2
3
Dwg.No.
JANCD-XEW01-1 (OPTION)
1
ARCON
TO
WELDER
ARCON
-15
ARCON_A
-16
12
WIRINCH
ARCON_B
WIRINCH
-17
13
WIRINCH_A
Draw.
Appr.
Check.
-18
WIRRTR
14
WIRINCH_B
WIRRTR
-19
WIRRTR_A
-20
15
FLOW
WIRRTR_B
FLOW
-21
OUT1_A
-22
16
OUT1_B
+24VU
-29
17
+24VU
-30
YASNAC XRC
ELEMENTARY DIAGRAM
WELDING I/F BOARD:JANCD-XEW01-1 (OPTION)
024VU
19
12bit
D/A
-31
12bit
D/A
-33
CN04
-B1
21
+24V
23
P
024V
XCO02
CN01
+24VU
21
9
P
024VU
P
024V
NEXT
I/O
-A2
FU2
-9
12bit
D/A
024V
CH3_A
(ANALOG OUT)
CH3_G
-10
+24VU
024VU
-1
024VU
-A5
+24VU
-B6
+24VU
25
-B2
FU1
CH2_A
(ANALOG OUT)
CH2_G
-34
FG
-B5
+24
24
+24V
-A1
CH1_A
(ANALOG OUT)
CH1_G
-32
20
22
024VU
OUT DATA
18
P
024VU
-A6
SEARCH
CN02
-1
+24VU
SEARCH
-2
26
SEARCH_A
-4
HE0300333
+24VU
27
NOTE
28
FU1,FU2
250V 1A
QUICK ACTING
024VU
SEARCH_B
-5
TO
WELDER
024VU
024VU
FG
29
FRAME to FRAME
CONNECTION
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
31
31
YASNAC XRC
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone
81-93-645-7745
Fax
81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone
1-937-847-6200
Fax
1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
2280 Argentia Road, Mississauga, Ontario, L5N 6H8, Canada
Phone
1-905-813-5900
Fax
1-905-813-5911
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South Waukegan, IL 60085, U.S.A.
Phone
1-847-887-7000
Fax
1-847-887-7370
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany
Phone
49-6196-569-300
Fax
49-6196-888-301
MOTOMAN ROBOTICS EUROPE AB
Box 504 S38525 Torsas, Sweden
Phone
46-486-48800
Fax
46-486-41410
MOTOMAN ROBOTEC GmbH
Kammerfeldstr.1,D-85391 Allershausen, Germany
Phone
49-8166-90100
Fax
49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
KFPA Bldg #1201, 35-4 Yeoido-dong, Youngdungpo-Ku, Seoul 150-010, Korea
Phone
82-2-784-7844
Fax
82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone
65-6282-3003
Fax
65-6289-3003
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. MALAYSIA REPRESENTATIVE OFFICE
B615, 6th Floor, East Wing, Wisma Tractors, No.7, Jalan SS 16/1, Subang Jaya, 47500 Petaling Jaya, Selangor D.E. Malaysia
Phone
60-3-5031-5311
Fax
60-3-5031-5312
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
4F No Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China
Phone
86-21-5866-3470
Fax
86-21-5866-3869
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. RD., Sec. 3, Taipei, Taiwan
Phone
886-2-2502-5003
Fax
886-2-2505-1280
YASKAWA ELECTRIC (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone
852-2803-2385
Fax
852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone
86-10-6532-1850
Fax
86-10-6532-1851
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083, China
Phone
86-10-6234-5003
Fax
86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone
86-10-6788-0541
Fax
86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO. RE-CTO-A203 4
C Printed in Japan February 2002 98-12
">