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    129 views113 pages

    Motoman MRCinstructions

    Uploaded by

    nestor pariani
    robot instructions

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    of 113
    YASNAC MRC INSTRUCTIONS Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS “ MOTOMAN SAFETY MANUAL MOTOMAN-CILIL) INSTRUCTIONS YASNAC MRC INSTRUCTIONS YASNAC MRC OPERATOR'S MANUAL YASNAC MRC OPERATOR'S MANUAL (APPLICATIONS) YASNAC MAC MAINTENANCE MANUAL 0427378, wp ose Abbiiane Now Zeca seeomiryctspics | Foe fongeas ro ; I Nebae: do sat phregh thot paer@cabescon wee eee eee | | | YASKAWA MANUAL NO. RE-CTO-A200 <> { CONTENTS en a 5 a o oN © RECEIVING .. HANDLING .... INSTALLATION . 3.1 Installation Position and Environment . 3.2 Method of Installation . WIRING .. 4.1, Cable Connections 4.2 Power Supply ... 4.3 Grounding ... BASIC SPECIFICATIONS ... 5.1 YASNAG MRC Speoffications. - 5.2 YASNAC MRG Functions .... “ 5.3 Programming Pendant Spactications 5.4 YASNAC MRG Equipment Configuration DESCRIPTION OF UNITS AND CIRCUIT BOARDS . 8.1 Configuration and Functions of Contactor Urit (’ZNO-MTU02) 6.2 VO Rack (JZNC-MRKO9-O) . . 63 CPU Rack Configuration GENC-MRK04-U1, JZNC-MRK12-0, ZNC-MRK11-0) 6.4 SERVOPACK .. PLAYBACK BOX . . TEST RUN . 8.4 apoction and Ghsok tem betora Stating ‘Test Run 82 TestRunMethod ......... REGULAR INSPECTIONS ...........25-2eseeeneeer renee 1 RECEIVING A, CAUTION + Confirm that the manipulator and YASNAC MRC have the same order number. ‘Special care must be taken when more than one YASNAC MBC is to be instal led. If the numbers do not mateh, the manipulator may not perform as expected and | cause injury or damage. | Controller rear side ‘Cheek the contents of the packages after delivery. The standard specification includes the following four items (check the options separately): * Manipulator, + YASNACMRC; » Programming Pendant: + Power cable (between manipulator and YASNAC MRC). Confirm that the manipulatorand YASNAC MRC have the same order number, The order umbers are displayed in the labels at the positions shown below. Enlargement of Order Mark Label ‘The onter aumber shown in the bel. Check that he sme ‘THE MANIPULATOR AND THE CON- ‘TROLLER SHOULD HAVE SAME OR- Scrpiaed cnder womer apps in he ails the maniplator and ‘YASNACMRE. ‘ORDER. io. 878796 Order nurnber YASNAC MRC: 2HANOLING 2 HANDLING A, CAUTION + Sling and crane operations and forklift truck driving must be conducted by quall- fied personnel. Failure to observe this caution may result in injury or damage. + Do not impart excessive vibrations or shocks during handling. Otherwise, performance may be degraded since the system consists of precision components. ‘The YASNAC MRC should normally be handled with a crane, Strictly follow the precau- tions below. + Check the weight of the controller (see Table 2.1) and select suitable wires to support this weight. + Check that the eye-bolts used for handling the controller are screwed in firmly before lifting the controller, Table 2.1 MRC Weight sopicnie wrcsnses | Mumia vin [RRS SRE SRE KIO SNE | Ae a0 Tara a nen cases | 20 (HOS 108, KS 608 | Dog | 1505 NY se 20g 30s “ote 60 | Fig. 2.1 YASNAC MRC Lifting Method INSTALLATION, 3 INSTALLATION A. WARNING + Install the YASNAC MRC outside the safeguard. Failure to observe this warning may result in injury or damage. A, CAUTION }+ Avoid operation in an environment subject to high temperature, high humidity, dust, corrosive gas, excessive vibration or shock. ‘Failure to observe this caution may result in fire or breakdown, 3.1 Installation Position and Environment Install the YASNAC MRC in an environment which meets the conditions listed below, (1) Environmental Conditions Ambient temperature range: 0 to +45°C (during operation), 10 to +60°C (during storage) Low-humidity (20 to 80%RH) dry location, with:no condensation Location with low dust, dirt, oil mist, and water Location with no inflammable or corrosive liquid oF gas Location not subject to shocks or vibrations Location removed from electrical noise sources (TIG welders, etc.) n (2) Installation Position (@) Install the YASNAC MRC outside the safeguard around the manipulator working envelope (see Fig 3.1). Sela beer ipa : - £ asus : ees vase 3 ‘envelope (max.) 2 L Ge spre Approx. 1m. Fig.31 YASNAG MRC Installation Position (b) Install the YASNAC MRC where the manipulator can be easily seen and safely operated. (6) Install the YASNAC MRC where maintenance can be easily conducted when the door is opened. Ensure a maintenance area is available, as shown in Fig. 32. g % ae 650 ‘Approx. 690 (950) Approx. 600 or \, sl et baa SS Se etl ose MT Fig. 3.2 YASNAC MRC Maintenance Area (Units: mm) Approx. iy. (660) * IK < Approx. 650 (900) SSN 2M Detisof Gabe inlet (one) Pate Dasaits of Power Cable nt (one) Part A Gepcone Can cone: fer At DetatsofPtate (one) Pat Fig. 4.1 YASNAC MRC Cable Connection Diagram a vAFING pai E 4.1 Cable Connections ‘The diagram below oullines the cable connections to the manipulator, YASNAC MRC, and programming pendant. yy Power cable Details ot Part Programming pendant O Connection otprograrnming (1) Connecting the Cables “The method of connecting the cables is described below. @ Insert the YASNAC MRC door handle into cach of the two door locks on the front side of the controller and turn it 90° clockwise. Fig. 4.2 Packaged Position of Door Handle Hato Fig. 4.3 Turn the Door Handle Clockwise WIRING @ Tum the main switch tothe OPEN RESET position, then gently open the door. Maike sure thal the main power supply to the power cable is tured OFF. Fig. 4.4 — Turn the Main Switch to the OPEN RESET Position @® Toconneet the primary power supply, make a hole in the plate covering the power cable inlet in the top or left side of the controller and pass the power ‘cable through it. To prevent slipping, fix the cable tothe plate with a cap cone. ® Lin thecatch with a Matbiade screwdsiver and remove the primary cover from the main switch at the top-left of the YASNAC MRC. Scrowsiver Fig.4.5 Fig.4.6 Remove the Cover 7 AVORING 42 Power Supply Connect to a200/220 VAC (15% to +10%), 50/60 Hz (+ 2H2).3-phase power supply. (See Fig. 4.14) A power-failure processing circuit activates to instantaneously cut off the servo power sup- ply if an instantaneous power failure occurs for several cycles of the supply frequency or if an instantaneous voltage drop occurs in the control power supply. Use a power line guaran- teed to have no power supply distortion. Insert a 3-phase noise filterif noise is received from the power supply. Seal the cable inlets to prevent dirt entering the tnit. YASNAC MAC 4 yyy i zinze8 Vac, }H— senvorncx aoe eco Totranstonnier |__Tesconteolposiet sappy unit Fig. 4.14 Input Power Supply Connection Diagram (1) Installation of Leakage Breaker Ifthe customer connects a leakage breaker in the YASNAC MRC power supply wiring, use a high-frequency leakage breaker to prevent malfunctioning due to the high-fre- quency leakage current from the inverter, ‘The high-frequency leakage current from the inverter may be 60 10 80:mA for the low- capacity type or 80 ta 200 mA for the high-capacity type, but this will have no effect ‘on people. Table 4.1 shows the recommended leakage breakers. Table 4.1 Recommended Leakage Breaker ‘Manufacturer | _ Model ‘Mieobaty Bice Cor. [ NY Series (mmafacired since (9A) Fuji leevie Co BG oF SG Series (manufactied ince 1984) J a (2) Installing Switches Install separate switches in the primary power supply, as shown in Fig. 4.15. ‘The power supply capacity depends on the operating conditions. The values in Table 4.2 assume maximum load conditions (handling mass, operating speed and frequency, etc.) When selecting a transformer, consult your nearest YASKAWA representative fisted at the rear of the manual. Vameey Yaanao Contr Weiser MAG ‘orig, Fig. 4.15 _ Installing Switches to the Primary Power Supply Table 42 Cable Size and Required Switch Capacity ran SKE 35 2005) is SKI 7 3.5 M5) SKIGM 54M) SKOD Fa 14.05) 30 kas 10 505) poet 8K120 0 ie 14005), 40 SKS06 2 220 (MB ‘00 SPIO0 a 140045) “0 1600 8 140 (M5) 50 vos 35 2.015) 5 SP70 5 140 M5) o sv3 1s 2.015) 5 SVI6 5 3.5 (MS) 30. [— sri00 ns 14.0 (M5) 0 | 51 BASIC SPECIFICATIONS YASNAC MRC Specifications Controller Configuration Free-standing, enclosed type Dimensions (mm) ‘SK6, SKI6, SK120, K3, K6, K10, K30, KE0, K100. SV16, KIOM, ‘S608, K1004, K205. K6O4, SK45, SKIOM, $RIO0, SPIO0, SKGOS 1650 (Wx 1300 (HT) > 550 (D) mm NY series, K506, SKS06 {900 (W) > 1600 F) % 650 () mn [Controter | Cooling System Indieet cooling Amnibiont Temperature | During operation: 0°C wo 445°C Daring transit and storage: 10°C to 460°C. = Relative Humidity | S0%RH max. (non-condensing) Power Supply ‘phase, 200/220 VAC (+10"% to 15%) a 50/60 Hi (2 Fi Grounding Grounding resistance: 100 obm or less Exclusive grounding igial vO ‘Specific signals (hardware) 12 inputs and 2 ovtputs| General signals (standard, max.) ‘Are welding 2 inpats and 24 outputs (vith welder interface) [Nomar welding 48 inputs and 48 outpots Positioning System | By absolute encoder Drive Units 'SERVOPACK for AC servomotory [AccelDece! Software servo control Programming Capacity | 2200 steps and 1200 instructions Playback Box [Dimensions (mm) | 268 (W) x 128 (H) x 45.6¢D) mm * Buttons Provided ‘Mode change, eyele change, starvnold, emergency stop 4 2 ‘Sms models haves regenerative resistor hax touted ow the top surface. An opioalsemots playback box is aaah 2 'S BASIC SPECIFICATIONS 5.2 YASNAC MRC Functions Programming [Coordinate System __[ Join, eesmgulareslindncal, wal, wer coordinates Pendant Modification of Teach- | Aditing, deleting and correcting (Robot axes and external axes Operation ling Points respectively can be comocied) lnching Operation | Possitte ‘Locus Gorfirmation | Foreardieverse step. continuous feeding Speed Adjustment | Fine adjustment posible a speed override or TRT Timer Seting Possible every 0.01 8 ‘Shortcut Funetion | Direee open function, sreon reservation imetion Safely Feature [Essential Measures | JI (lapanese Industrial Standara) r-Guard Satety Mode | Siow playback speed ty signal setivaion Teach-Look Mode | Prohibis playback box apeation ving teaching Golisionproot Frames | Doughnut-sector frame, cubic frame (we coordina) Selt-Diagnasis CClassfies error and to types of alarms (major ane minor) and splays the data, User Alarm Display | Possible w ciplay alann messages for peripheral devices Machine Lock ‘Tost-un of peripheral dovles without robot motion Door Interlock Door is open in OFF position oF NFB. Maintenance | Sofiware Time Usage | Control power-on time, serva power-on time, playback tiie, Function operation time, werk time ‘Alaura Display ‘Alan messages and previous alarm recom VO Diagnosis ‘Simulavd enableaisabled ouspur posible TCP Calibration | Auromatically calibrates parameters for end effectors using a master i Programming | Programming Interactive programming Functions [Language ‘Robot language: INPORMIL Flobot Mation Gontiol | Toint coordinates, lineaciculr inexpalatins, ial coordinates ‘Speed Setting Percentage for joint coordinates, 0.1 mm/s units for interpolations, angular velocity for LCP. fixed! motion Program Control ‘Jumps. calls, timer bot step. executien of some insvetons during Instructions ober mation VO Instructions iscsete UO control. analog ouput cnicol,paiem UO processing 5.3 Programming Pendant Specifications (Material [ Reinforced thermoplasite enclosure with» detachable suspending sap. Dimensions (mm) | 170.(W) x 380 0H) x 68 (D) mm Displayed Units 40 characters, 12 lines with hecklighting, bilingual function (English, Japanese, tanga) 2s S— 5.4 YASNAC MRC Equipment Configuration As the YASNAC MRC comprises of units and modules (circuit boards), the fanetions ean _generally be easily restored afler a failure by replacing a unit or a module. "The CPU system program includes anumber of convenient maintenance functions. This sec~ tion outlines the YASNAC MRC equipment configuration, (1) Arrangement of YASNAC MRC Units and Circuit Boards {a) Configuration ‘Model YASNAG MRC Configuration SK6 __| ENCM-RM6067, ERCR-SK6-MAOO SKI6_ | BNCM-RM6068, ERCR-SKIG-MA00 KB ENCM-RM6021 Ke [ENCMERMOOO7 K10, SVI6 ENCM-RM6OO8 Fig. 5.1 YASNAC MAC (SK6, SK16, K3, K6, K10, SV16) Configuration ‘BASIC SPECIFICATIONS otc Modal YASNAG MBC Configuration —_e 'K120__| _ ENCM M069. ERCR-"SK120-MAO0 i094 SKI6W. TERCR-SKI6M-MA00 530.1306 ENCM-RMS002 SK65 NCM-RMOI65, ERCR-SKAS-MAO) 0. Ken |_xto9, krone: W100, ! Fig.5.2 YASNAC MRC (SK120, M10M, K30, K60, K100, SK16M, '$K45,SR100) Configuration chu Wodel TYASNAG MAC Oonfiguration (xeon. Noe 1sVuewedinkiotmdsKeon °WEED 205, TENENNGOO) Ket TENCN:RMS005 ‘SKEOH TENCAERNOS8 Fig, 5.3 YASNAC MRC (K205, K604, SK604) Configuration a wa soo: (Bene {atc ao scan YASNAG MAG Conliguation ENCML-RMEDS ENCM RMGIS6 Fig. 5.4 — YASNAC MRG (K508, SK506) Configuration ose GENE Aeooc re Sty Fig.5.5 YASNAC MRC (S604) Configuration (ENCM-RM4007) S BASIC SPECIFICATIONS Model VASNAG MAC Configuvaton KWo ENCM.RMAODI ‘SP100 TERCR-$P1G0-MAN) Fig.5.6 — YASNAC MRC (1004, SP100) Configuration Nope re Sep or fence (Bieta “] Fig.5.7 YASNAC MRC (NY Series) Configuration (ENCM-RM6033) (0) Location * Door section Playback box (JZNC-MPBO2) Cooling fan » Front section SERVOPACKs VOrack —JZNC-MRK09-O Power contactor circuit board (JANCD-MRYOIB-1) VO circuit board (ANCD-MIO04) Welder interface circuit board CANCD-MEWO1) CPU rack JZNC-MRKO4-1 JZNC-MRK12-0) JZNC-MRK11-[] (NY series) ‘System contro! circuit board (JANCD-MCP01-|, -MMMO02-1) Concurrent 1/0 circuit board (JANCD-MIFO1) Motion control circuit board (JANCD-MCP02B-1,-MMM04) ‘Servo control circuit board (JANCD-MSVOIB, -MSV02) 5 BASIC SPECIFICATIONS a sce (2) Cooling System of the MRC Controller Interior ‘The fan on the side of the YASNAC MRC sucks in air through the air intake and ex- hhausts it out of the air outlet to cool the SERVOPACK. In addition, a fan in the door circulates the air to cool the interior of the YASNAC MRC. To ensure that asufficient rate of cooling is maintained, be sure not to block any air intake or air outlet Contactor unt ZNC-MTUBE) \ or Aira Fig. 5.8 Cooling Configuration a 6 DESCRIPTION OF UNITS AND CIRCUIT BOARDS 6.1 Configuration and Functions of Contactor Unit (JZNC-MTU02) Indirectly operates the non-fuse breaker (NFB) with the switch on the front section to tum (ON and OFF the power supply. This unit comprises a control transformer, power contactot cireuit board GANCD-MTUO1), and servo power supply contactor (IRM (SVM). Table 6.1 Contactor Unit Models ‘Model ‘Compatiote Units JZNC-MTU02-1 JZNCMTUG- JZNCMTUO2S sane MTON23.-MTUI | TZNC-MTUO2-4 '8K120, K60, K100, K1004, $604, SK6, SK16, KA, K6, K10, SVI6 K30, KIOM, SKS, SKISM | 205, K604, SP100, SK6O NY series, SK506 Contactor Unit 5 DESCRIPTION OF UNITS AND CIRCUIT BOARDS 6.2 1/0 Rack (JZNC-MRKO9-()) @ (1) VO Rack Circuit Board Configuration ‘The VO rack circuit board configuration differs according to the application. * Welding applications: MRYOIB x 1, M1004 « 1, MEWOL x 1 (set at factory) ‘* Non-welding applications: MRYOLB x 1, MIOO4 x 2 (set at factory) Ufnecessary. other circuit boards can be added in the three expansion slots in the option space to match the application. The /O logical numbers are allocated sequentially from left to right from the VO stot Refer to the User Functions Manual when adding /O circuit boards after MRC delivery. 1. The YO allocation differs according to the application and the type and quantity of cireuit boards. Fully understand the allocation before starting operation. Othervise, malfunctioning may result 2. Follow all 1/0 interface (voltage, current) specifications. Failure or malfunctioning may result if the specifications are not carefully fol lowed. ‘Terminal block (T81) VO backboard (UANCD-MBEIC2) f Extemal power suppiy ‘2806 protection fuses (8.8) For reganeraive Extemal —tsistorfan vo. ‘power supply alarm detection power supply (24 vD0} ” (SK120) [24 VDC) ifelsla« fz 24v|Onv| FAN FAN 24v | Ou Fe ww | in {ata atnar} our | our “Terminal Bock: TB * For SK120 ony (nar used for other model) ‘Weider imertace creut board (JANCD-MEWG1) (Mounted as standard for woiding apoicaions) For vO ckeu board expansion {NO ofeut board UANCD-441004) (Mountedas standar foraan-welding applications.) Wo circuit Board (JANCO-M1008), ‘Servo contactor Grout board (JANCO-MHYO18) Fig.6.2 VO Rack Configuration Diagram Table 62 Key to Connectors Gannector Name Description Nl ‘Signals for MIFOI (CNO!) ~€N2___| Signals for playback box Z oe Signals for MTUG2, ent ‘To SAFETY OPTION (fore Function) ens ‘To EXTERNAL AXES TU-CONTROL (fuse Function) Ne Power supply from 1PS (CN2) en For intemal power supply } ‘See-6.3 (1) “Connecting an Extemal Powes Ne For extemal power supoly Supply” eng eno bw NL DESCRIPTION OF UNITS AND CIRCUMT BOARDS (2) VO Rack Circuit Board Configuration for Arc Welding Applications ‘The diagram below shows the standard UO rack circuit board configuration for are welding applications. ‘Servo contactor ctu board (UANCD-MRYOB) VO civeuit board (JANCD -MiO04) Empty expansion slot {allows an ational WO cireut boar} = \Woldorintortaco creuit board (JANCD MEWON) Power input (rom eantactor unt) CN (to wolder) ont Mounted circuit boards ~ JANCD-MRVOIB > SANCD-MIOD# = YANCD-MEWOI (otal 3 boards) jeanne “1 Ditere acca to the model Fig.6.3 VO Rack Cirouit Board Configuration for Arc Welding Applications (8) /O Rack Gircuit Board Configuration for Applications other than Arc Welding ‘The diagram below shows the standard /O rack circuit board configuration for non-arc- welding applications. ‘Servo contactor cieuitboard (JANCD-MAYO1E) UO circuit boars (JANOD-MKOOS (1)"4 {VO cieut boare (JANCD-8t1004(2) “* {Empty expansion slot {allows an acaivonal VO cei board) Stotrame a one ont ‘Mounted orcut boars = JANCD-MVOTB = YANGD:¥lOoa x 2 {(otat’3boares) "1 M1O04(1) and (2) areidontical reutboards, Fig. 6.4 VO Rack Circuit Board Configuration for Applications other than Arc Welding (4) W/O Circuit Boards DESCRIPTION OF UNITS AND CIRCUIT BOARDS Mode! Description Comments JANCD-MBBO2 | Mother-board to connect tothe WO rack backboard, | Installed as standard and each VO eireuit board [IANCD-MEWOI-I | §-bit analog ouput cireult hoard (2 channels), with | Installed for are- welder interface welding applications aNcp-MEwou2 ‘bit analog ourputeiveuit board (2 channels), no welder imorface TANCD-MIOO| VO circuit board with 32 IN/OUT points IN, Photocoupler isolated QUT:_NPN open collector ay. JANCD-MIO02 ‘UO circuit board with 32 IN/OUT points IN. Photocoupler isolated OUT PNP open collector IN/OUT 32132 JANCD-MI003 WO circuit board with 16 IN/OUT points IN: Photocoupler isolated OUT, Relay output INIOUT, 16/16 JANCD-MIO0$ ‘VO eireuit bourd with 28 IN/OUT points IN: Photocoupler ieolated OUT. Relay cutpa IN/OUT: 2424 JANCD-MRYOIB-1 Power centactor eitcuit board with specific mpurs (external emergency stop, ae.) Installed as standard JANCD-MIPOS M-NET circuit board (Serial communications inter- face between MRC and extemal PLC.) INIOUT: Bi8 wo 112 JARCR-MSCO: ‘UNIWIRE interfae> cievit board (Saral- to me- dium-scale decentralized system. conducting me ‘dum-distance conounictions with a 2-core cable ‘coiinection between controlled equipment by redue- ing the number of wires.) INjOUT: 8/8 wo bale ar (8) Description of 0s (@) Connecting an /0 extemal power supply ‘The YASNAC MRC has @ 1 A (approx.), 24 V power supply for the Os. Use an extemal 24 VDC power supply forhigher currents or to isolate the interior from the exterior. © Connectthe external power supply to the MBBO2circuitboard. Connect +24 Vito TBI-2 and 0 V to TB1-3. @® Move the shorting plug from CNT to CN8. Ug backboars UANCD-MEBO2) Forregenerative Extema resistor fan vo ower supply. arm detection power supply @4voc)—('SKi20)@AVOS) Na AM ‘Theshortna plug (PLUS) 1 fees] «]s [os [7 zav | On| ran | Fan | 23y | onv Fo || WN Jame] amt) our | our Terminal black: 781 + For $K120 only (not used fr otner madels) Fig.6.8 Connecting an VO External Power Supply 38 6 DESCRIPTION OF UNITS AND CIRCUTT BOARDS ‘The shorting plug acts as a Jumperbetween connectors. Theshoringsiva (plug) aa Fig. 6.6 Circuit Diagrams for the 1/O External Power Supply @ 1. The VO power supply (424 VU, 023 VU) contains 3 A fuses. Install the extemal power supply outside the unit to avoid noise problems. 2, When the internal power supply is selected, disconnect the exteinal power lines from the #24 VU and 0 VU terminals, The unit may malfunction if the external power supply is also connected. (b) Turning ON/OFF control power supply “To tum ON the YASNAC MRC controller power supply, turn the main switch to the ON position then turn ON the control power supply (CPS power supply). If the controller is not located at the workplace, the control power supply can be tummed ON and OFF using the optional remote playback box or external operation device, ‘The external power supply ON/OFF control signal can be input from either the playback box circuit board or MRYO1B circuit board, The MBBO2 circuit board shorting plugs select which of these two input signals is enabled. ‘ote: The np rom the lasback bos i opllnal, Consul your YASKAWA representative, «Shorting Plug Settings> Set the TM1, TM2, and TMS shorting plug on the MBB02 circuit board. Terminal eek TB) UO baron’ (ANCD- BEDE) of TM TMS Fig. 6.7 Positions of the Shorting Plug DESCRIPTION OF UNITS AND CIRCUIT BOARDS ‘The table below shows the relationship between the shorting plug positions and the settings. + Turing power ON and OFF with the ON switch and OFF switch, respectively eh tw [twa | 73 Salting 12 | 25 | 23 | Inporenabiod from payback box only 23_| 12 | 23 _ | inputenatled fom MRVO1 cicuit board enly. 25 | 23 | 23 | input ena from playback bax and MRYOL + Tuming power ON and OFF with the ON switch only (*2) re ae ‘Setting 12 [23 | 12 _|Tinputenabed from playback box only. 23 [12 | 12 _[[npaceaubied from MRYOI circuit board only. 23 | 23 | 1-2 | inpurenabied from playback box and MYO. '» Tuming power ON and OFF with the main switch (#3) Ti | Te | TMs Setting @ | 12 Nate: The ON switch and OFF switch connections differ according to he sting. Seo Wiagrams *1 193 below 2 Sening "1-2" inlieaes pin shed pla 2 by the shoring pu ‘Seving 2-3" indicates pin 2 shored opin’ by de shoring pls. 3 Shows default sting es [ne ' (codneal ' PON ‘ roo ! POFF- F oor q wy Fig. 6.8 Control Power Supply ON/OFF Selector Settings. a (c) Shock sensor connections Using the shock sensor input allows method of stopping the robot to be selected as hold stop or servo power stop. Fig. 6.9 shows the shock sensor connection diagram. Coniactr unit Fig.6.9 Shock Sensor Connection Diagram * Disconnect MTU-6 (MR connector) from SHOCK18 and SHOCK20. Then connect the shock sensor signals to these terminals. Feces eens reece te SHOCKS Foams SHOCKZO PRISM suI0cK 20-0084 42 {S DESCRIPTION OF UNITS AND CIRCUIT BOARDS: + Set shorting plug SW1 on che MRYOLB circuit board to select which stopping method is used on shock sensor input, as shown in the table below. Insert the shorting plug between pins I and 2.or between pins’2 and 3. Plug Position | Setting a3 [Hawa stop [ee] 13s | Stop at servo power OFF 2 indicates factory setting, Poe i + Set shorting plog TMA on the MBB02 circuit board to designate: whether or not the shock sensor input is used. VO baskboaid ‘Terminal ioge(Ta1) GANCO-MBBO2) Piug Postion | Setting p21) | Not used Ts % inicaes Factory seating. (d) Specific VOs ‘Twotypes of specific VO isused: I/Os common toall applications and application: specific Vs. ‘They are connected to the following circuit boards and terminal blocks. Specific inputs (common to all applications) : MRYOLB circuit board ‘Specific outputs (common to all applications) : 4X7 terminal block Specific inputs (each application) + MIO04 circuit board Specific outputs (each application) + M1004 circuit board * Specific inputs (common to all applications) A CAUTION + Before use, remove any jumper leads from the specific input signals. ‘The unit may malfunction if signals are input while the jumper leads areattached, resulting in injury or damage to equipment, DESCRIPTION OF UNITS AND CIRCUIT BOARDS: VO Rack Cireut Board Configuration WO Rack YASNAC MRC JANCD-MRYOTE-T Destin — 01g aretha —-s-4 a ee JANCD-MRYO1B I/O Allocation and Connection Diagram 6 ‘MRYOIB Table of Specific Inputs Terminal Name and Function of input Factory Setting ‘Extemal emergency stop Disabled by {Use comes Ue emergency stop (ESTO) switch of ay extemal operation doves, “Tho servo power tums OFF ana job execution stops when this signal sigur. “Tho servo power cannot be tured ON while this signal is ON. Jumper lead EXHOLD Extetal hold Disabled by ‘Use fo connect the HOLD switch of an external operation device, Job execution stops when this signal is input. ‘Starting and axis operations are disabled while tis signal is ON. Jumper leas Safely plug ‘This signal tums OFF the servo power when the safeguard is opened. Connect othe imerlock Signal from the safety plug attached tothe safeguard, ‘The servo power tums OFF when the interlock signal is input- The servo power cannot be tumed. (ON wise this signal is ON. However, inthe tact mode. the shomting plugs designate wether OF not the servo power turns OFF. Disabled by jumper leat External exis overru ‘Use te connect the overrun switch of an external axis. "The servo power tums OFF, job execution stops, and an alart occurs when this signal is input. Dissbled by | jumper lead ‘Overin recovery Use to connect the overrun recovery switch of an extemal operation device. “The overrun ewteh status isnot monitored while this signal fs input, to allow menual operation cof the overrun axis. EXSVON | Servo ON peeeow Cd Use to connect the servo ON switch ofan exiemal operation device, ‘The servo power turns ON when this Sigal is input Control power ON Use to connect the control power ON switch of an external operation device, ‘The control power turns ON when this signal is inpat ‘Consrol power OFF ‘Use to connect the control power OFF switch ofan extental operation device. ‘The control power turns OFF when this signa i input ‘DINO Direct O Used for te search fnetion DIN! Directin | sed for the search Tanetion| DIN Dirget-in Z Used forthe search function, ‘DIN Diectin 3 (Used forthe search function. 46 {8 DESCRIPTION OF UNITS AND.CIRCUIT BOAROS * Specific outputs (common to all applications) Feet | vm ext | 4 -—PPESP! Progamming pendant 2 —PPESp? — emagercy Sep | += -+-—— PBOXESPT To PEE sensi anint Ieee eee Fig. 6.10 Specific Output Connections. “Terminal Name 4nd Function of Output PES [raprarig pene ace Caper jaya Eitan DBI DRIES a PBOXESP ‘Playback box emergency stop: } ‘Onrputs the status of the playback box emergency stop switch ” (e) Specific VOs (each application) JANCD-MI004 Circuit Board * VO circuit board with 24 IN and OUT points + IN: Photocoupler isolated, all points 24 VDC, 5 mA max. OUT. Relay output, all points 24 VDC, 0.5 A max. Refer to the information below when making an 1/0 cable, inn Gomeciord ened” ~) 141008 excult board glen {cde pn =) ata Fu ome FoNSenoUD Menace Fj (© ois ton, ONE Come Bt 82 = : comacor ance FO SAPO AL comms iE pas shaleapalel ay a] Les js}o|nie}slwtnlal x) Tbr le ari $8 108) Fig, 6.11 MIO04 Circuit Board and VO Gables 8 DESCRIPTION OF UNITS AND CIRCUIT BOARDS ‘Arc Welding WO Rack ChetBoard Configuration t SmAma lelejela| Jelelslele| cu JANCD—M1004 EHH as xen contact zevoe, vs.amax RNG BBE [Note f= indeaes ao itera ey eons. @® tntcaes 171. Refer w Fig 61 fort tet wenn postions onthe terminal block, Fig. 6.12 JANCD-MI004 (CN2 Connector) 1/0 Allocation and Connection Diagram VO Rack GieutBoard Configuration YASNAC MAC ee er See nas Fe (epee = — HSE = EA feerecator Sr trarfusrisoe| Bp i Sas z ° he oo ie = STE ene 7 = tt | —h— a Fars ° [EC z =p 7 ui te igs Pt er Nose: ¥ }+ indicates an intel relay const @® innaes CT Refer o Fig 6.1 forthe seta terminal positions on the femal Block. Fig. 6.13 JANCD-MIQ04 (CN1 Connector) 1/0 Allocation and Connection Diagram DESCRIPTION OF UNITS AND CIRCLIT BOARDS ‘Table of Specific Inputs MIO04 (Arc Welding) Function Number Input Name Function 7 EXTERNAL START Functions the same asthe playback box START button. Oaly the vising edge ofthe signal is valid. I sats robot operation (playback). This signal is Invalid iTexternal start is probibited _from the playback condition setting sereen. ‘CALL MASTER JOB Only the rising edge ofthe signal is valid. Teealls up the star of {he sobot program, that is the start of the master job (Nove 1). | This signa) is invalid dusing playback, when the programming pendant ENABLE lamp is it, when teach-lock is applied, and ‘when play master or call is prohibited (trom te playback ais. play). ‘ALARM/ERROR RESET ter an alarm or error Nas oocurred enc! the eause been cor ected this signal resets the alan or err. SELECTREMOTE MODE ‘Functions the same as the REMOTE mode select key on the ‘Playback box. Only the rising edge of the signal i valid, Te se lects the REMOTE mode. If designated simultaneously with other modes, the TEACH mode kes priority. Ifthe PLAY ‘mode and REMOTE mode are designated simultaneously, the [PLAY made takes prierity, This signal is invalid If extemal ode selection is prohibited fram the teaching conilion set display. SELECT PLAY MODE ‘Functions the same as the PLAY mode select key on the play- bback box. Only the rising edge ofthe signal is valid. Itselects the PLAY mode. If designated simultaneously with other modes, the TEACH mode takes procty. Ifthe PLAY mode and [REMOTE t1ode are designated simultaneously, the PLAY mode takes priodty. This signal is Tnvalid ifextemal mele selection is prohibited from the teaching condition set display. SELECT TEACH MODE "The TEACH mode is selected if this signal tams ON dazing PLAY mode or REMOTE mode. Switching o other modes is disabled while this signal s ON. ths signal tums ON while tbe SELECT REMOTE MODE or SELECT PLAY MODE, signal is ON, this signal takes priority andthe TEACH mode is selected. INTERFERENCE | EN- IF the manipulator auempts 1 enter the cube | (Note 2) area GENERATION PROHIBITED) ‘TRANCE PROHIBITED. ‘while this signal is ON, the manipulator enters waiting stamus (with serve power ON). During waiting satus, the manipulator operation restarts whe this signal was OFF. 8 INTERFERENCE 7 EN- Ifthe manipulator attempts to enter the cube 2 area while this TRANCE PROHIBITED signal is ON, the manipulator enters waiting sta (with serve power ON). During waiting status, dre manipulator operation | estas when this signal turas OFF. 9 | WORK PROMIBITED (ARC | Arc generation is prohibited while this signal is ON. Are genera tion stats whan this signel tums OFF inside the aro-generation area, Use this signal to confirm teaching, 19 WORK RESPONSE (PSEUDO | This signal is used as @ pscudo signal in cases where no AR- AARC ON RESPONSE) GACT Gare generation confirm sina is provided. Wire this signal ON (short OV). Th | IsmIBTT WEAVING ‘Weaving is prohibited while is sgnalis ON. Use this signal t stop weaving operation to check taught steps and movements, [Nove inate jo ia job (rogram) sich ean e alld by CALL. MASTER JOB. ‘Other fimetons are the same for oormal bs. Normally, he peat je, wich manages the childs called ‘spinomeshaety afer te power i tuned ON. i se ae th master jo, 2 ‘See Sestion 1.4intenference Area in the Operator's Mau st Table of Specific Outputs MIO04 (Arc Welding) Function Number Output Name Function 12 INHIBIT SENSING “Aac sensing is prohibited while this signal is ON. Use this signal ‘o.check taught steps and movements if.an are sensor Is aowmted. a ir RUNNING ‘Notties that he jb is running. (Notifies tee xhe jobs conning. system isin reserved starred waiting sts, o fest ran is an- ing.) This signal stats I the same as the playback box START lamp sats. ‘SERVO IS ON [Notifies thatthe servo power i turned ON, intemal processing, such as current position creation is complete, and the system's able toreceive the START commanc. ‘This signal tums OFF ‘when the sorve power supply turns OFR, It can be used for ‘YASNAC MRCH stams diagnosis during an external start ‘START OF MASTER JOB. Notifies that che execution position isthe start of the master jo. "This signal ean be used to contin that the master job has been called. (Note 2) ‘ALARM/ERROR OCCURRED Notifies if n alarm oretror oceuned. Afters major enor occurs, (his signal remains OFF until the powers tumed OFF. BATIERY ALARM “This signal tums ON to wotfy that the battery requires replacing ‘when the voltage drops from the bauery for memory backup and {he ABSO encoder. Major problems may result if memory dat is ost because of an expired battery, You ate recommended 19 avoid these problems by using this signal as a warning signal. REMOTEPLAY/TEACH ‘MODE SELECTED ‘Notifies the current mode serting. ‘These signals are synchro nized withthe lamps in the playback box MODE select keys. “The signal conesponding to the selected mode nurns ON. 3 IN CUBE! “Tums ON when the eusrent tool-center point ies inside a pre-de Fined spice (Cuibe 1). Use this signal to prevent interference with other manipulators and jigs. IN CUBE 2 “Tums ON when the current tool-conter point ies inside a pre-de- ‘ined space (Ciibe 2). Use this signal to prevent interference with odher weanipulaiots and jigs 2 OPERATION ORIGIN POINT (GN CUBE) (Nove 1) ‘Tams ON when the cucrentrool-center point lies inside a the ‘operation origin area (Cube 8). Use this signal to evaluate whether the robot is in the line start position. INTERMEDIATE START OK “This signal tums ON when the manipalator operates. Tt mn OFF when » HOLD is applied during eperation to move the curently executed line with the cursor or to cary out editing. ‘Therefore, this signal can be used asa restart interlock after HOLD is applied. However, it also tums ON in the TEACH ‘mode and it must be referred 19 when the TEACH most is se- ected ‘GAS OFF (MONITOR) "This signal says ON while the GASOF signal from the welding power supply is ON. oy WIRE CUT (MONTTOR} ‘This signal stays ON while the WIRCUT sigual from: the weld- ing power supply is ON. STICKING (MONITOR) “The sticking check is conducted automatically when the are tums of. IF sticking is detected, this signal remains ON until the stick ing is lease. ARCOFF (MONITOR) ‘This signal stay ON while the ARCOFP signal from the weli- ing power supply is ON. ‘Note (= “The operation origin eube and Cube 8 arth same cae, 2: Noteutpue during operation 8 DESCRIPTION OF UNITS AND CIRCUIT BOARDS Handling WO Rack OrastoarContquation YASNAG MRC. ee so : jolie ot ee TTI JANCD—MI004 inoue mers TANS wae Nowe: A F> indicates un otal elas contact, GD indicates TT ‘Refer to Fig 6.11 forte actal sma sions on the terminal block, Fig. 6.14 JANCD-MIO04 (CN2 Connector) I/O Allocation and Connection Diagram 4d YORack Ckeultoard Contiouttion YASNAC MAC ‘rn comnete [slalslalelelelelele) lele| JANCD—MI004 ele Note: 4b indicates an intemal relay comtaet, ® intcars TT ‘Refer ig. 6.1 forthe aewal terminal positons nn he vexing lock Fig. 6.15 JANCD-MIO04 (CN1 Connector) 1/0 Allocation and Connection Diagram {6 DESCRIPTION OF UNITS AND CIRCUIT BOARDS WO Rack CireutBoardContigurtion )a}a)alefalelylele yall JANCD—MI1004 {Noe} /> lndcaes an tteual lay contact, @® wtenes CET “Refer o Fig 6.1 forthe acl ermal postions onthe terminal Wack. Fig. 6.16 JANCD-MIO04 (CN2 Connector) VO Allocation and Connection Diagram vO Rack Grout cara Gonfiguraiion otek YASNAC MRG Geoninteaiel omen! einai neerarsn = ma 0 Pte! = te a trp ® ‘Each point {wat we ol vane (ae on - =e a ° Se @ ° = {4 = = $ J commawn ft @. | swe, e 05 Amex. ——T 12) a ae ie} - ae ¢ z goer tor or < 5 ia me, oe. “TaNop-uaba@ |] (sel \felefelselslootolelellals rr IT | ju Note: ¥ F indcates itera! relay contact © vs000 GI ‘Rer to Fig. 6.11 for he weal terminal postions on ie eins! block. Fig. 6.17 JANCD-MIO04 (CN1 Connector) /O Allocation and Connection Diagram DESCRIPTION OF UNITS AND CIRCUIT BOARDS Table of Specific Inputs MIO04 (Handling) Funetion Number Input Name Function EXTERNAL START Functions the sarie ay the playback box START button, Only the rising edge ofthe signal is valid, It stars robot operation (playback). ‘This signal is invalid if extemal saris prohibited from the playback condition set ‘CALL MASTER JOB ‘Only the rising edge of he signal is vali. Ik calls up the start OF the robot program. dat isthe start of the master job {Note I). ‘This signal js invalid during playback, witen the propramming pendant ENABLE lamp i li, when teach tock is applied, and ‘when play master or all is prohibited (from the playback dis- slay) "ALARMIERROR RESET | After an slam error has occured andthe cause Been cor- ected, this signal exes the alarm oF eto, SELECT REMOTE MODE ‘Eunctions the same as the REMOTE mode select key on the playback box. Only the rising edge ofthe signal is valid. Tse fects he REMOTE mode. If designated simoltancously with other modes, the TEACH mode takes priory. If tbe PLAY ‘mode and REMOTE mode ate designated simultaneously, the PLAY mode takes priority. This signal i invalid if external mode selection is profited from the teaching condition set display. SELECT PLAY MODE ‘Fnctions the sare as the PLAY mode west key on tbe play tok box. Only the sisng edge ofthe signal is-ald, tselets the PLAY mode. IF designated simukancously with other odes, he TEACH moe takes priority. Ite PLAY mode and REMOTE mode are designated simultaneously, the PLAY mode takes priors. This signals inal if extemal mode selection is rohibied from the weacing covdtion set display. SELECT TEACH MODE, ‘The TEACH modes selected if this signal tums ON duriog PLAY mod: or REMOTE mode. Switching to other medes 1s ‘disabled while this signal is ON, IF this signal tums ON while the SELECT REMOTE MODE or SELECT PLAY MODE, signal {s ON. this signa takes priority and the TEACH mode is sslocted. INTERFERENCE 1 EN- ‘TRANCE PROHIBITED: the manipulator auempts to enter the eube 3 (Nowe 2) area hile this signal is ON, the manipulator enters waiting status (with servo power ON), During waiting status, the manipulator ‘operation restarts when this signal tums OFF. INTERFERENCE 2EN- "TRANCE PROHIBITED ‘Ifthe manipulstor atompts to enter to éube 2area while this [ Signal is ON, the manipalatoremers waiting status (with servo power ON). During waiting stats, te manipulator operation sestarts when this Signal turns OFF. SENSOR INPUT 1-8 Inputs 1 to Bare monitored withthe EISEN handling-specitic instructions. Sensor inputs 10 8 correspond 10 HSEN to 8. ‘SHOCK SENSOR ‘Tals isa normally ON (NC) signal input. When tt tens OFF, an MRCII message displays “HAND SHOCK SENSOR OPERAT- ING" anda HOLD is applied. Set dhe inpot reset forthe ‘TEACH mode on the hendling appications diagnostic display. | Short to OVU with wiring if this signal is not used, LOW AIR PRESSURE ‘This is @ normally OFF (NO) signal input, When it tums ON, user alam is given inthe PLAY mode ora user message is is- played in the TEACH mode. Not used Note t: A matt job ia jb (program) hic canbe called by CALL MASTER JOB, ther funétions athe same ssfornorna jobs. Noell, th prem job, which manages ech jobscalled upinmedinely arte power istnned ON is seta he master. 2 See Section 11.4 Uetenfvence Ara" inthe Operioe's Manual Table of Specific Outputs MIO04 (Hanaling) Function Number Output Name Function’ B RUNNING ‘Notifies thatthe job is running, (Notifies chat the job is running, system is in reserved started waiting status, west run is ran~ ‘ing.) "Mis signal status isthe sume as the playback box START Jamap status ‘SERVO IS ON [Notifies that the servo power is tures ON, internal processing ‘such as current pesition reation is complete, and the system i able to receive the START command. This signal tums OFF when the servo power supply turns OFF. Iteun be used for YASNAC MRCII statue diagnosis during an extemal stars, ‘START OF MASTER JOB. ‘Notifies tha te execution postion isthe start of the master Job. ‘This signal can be used to confirm thst the master job has been called. (Note 2) 6 ALARMIERROR OCCURRED Notifies fan elarm orerror occurred. After amajor error occurs, ‘his signal remains OFF unt the power i tured OFF. 7 ‘BATTERY ALARM ‘This signal tums ON to notify thatthe batery requires replacing when the vole deops from the battery for memory backp and he ABSO encoder. Major problems may result if memory data 1s lost because of an expired battery. You are recommended 12 void these problems by using this signal asa warning sige REMOTEPLAV/TEACH ‘MODE SELECTED ‘otifes the current mode setting. These signals are synchio- nized wih the lamps in the playback box MODE select keys ‘The signal corresponding to lhe selected mode ums ON. INCUBE | ‘Tums ON when the cureattool-center point ies inside a pre-de fini space (Cube 1). Use is signal to prevent interference ‘with olher manipulators and jigs. INCUBE2 "Turns ON when che currnetool-contor point its inside a pre-de- | fined space (Cube 2), Use this signal to prevent interference ‘with other manipulators snd figs. a ‘OPERATION ORIGIN POINT (IN CUBE 8) (Now 1) “Turns ON when the current too-center point lies inside athe ‘operation origin area (Cube 8). Use this signal to evaluate whether the robots in the Hine start position. 2 2B INTERMEDIATE START OK ‘TOOL VALVE -4 ‘This signal tums ON when the manipulator operates. Ieturns| OFF when « HOLD is applied duting operation to move the ‘currently executed line with the cursor or to-eanry out eiting. “Therefore, this signal can be used as a restart intestock aera HOLD is applied. However, iLalso tums ON in the TEACH. ‘node and i roust be refered to when the TEACH morte is se- lected. Outputs contoied by the HAND handling: specific instructions. “Tool valves | to 4 comrespond to HAND 1 10-4. "Note: The operation origin cube and Cube 8 are the same cube. 2 Noteup during operation. DESCRIPTION OF UNITS AND Ci General Applications. WO Rack Gireut Board Configuration + YASNAC MRC 2 cerrecer =| tare 2 fF | Each Poi {@ i po 3 ~—om $ = [o] ° é Pe [oe i oe i z ia @ ae iz each Contes t ielelele| | [olelelo| Now

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