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EA1400
Manipulator Manual
Part Number:
Revision:
148362-1CD
0
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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
Page
Section
1
MOTOMAN
NOTES
ii
MOTOMAN
SECTION 1
INTRODUCTION
The Motoman EA1400 and XRC 2001 controller represent state-of-the-art
technology in robotics today. The Motoman EA1400 has a 3 kg payload. It has six
individual axes: Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist.
The XRC 2001 controller coodinates the operation of the EA1400 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 EA1400 robot and XRC 2001 controller.
1.1
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 EA1400 robot.
MOTOMAN
1-1
INTRODUCTION
1.2
1.3
1-2
MOTOMAN
SECTION 2
SAFETY
2.1
Introduction
.
MOTOMAN
2-1
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:
2-2
MOTOMAN
SAFETY
2.3
2.4
MOTOMAN
2-3
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.
2-4
MOTOMAN
SAFETY
2.7
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
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).
2-6
MOTOMAN
YASKAWA
MOTOMAN-EA1400
INSTRUCTIONS
YR-EA1400-A00
YR-EA1400-A01
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-YR-EA1400 INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATORS MANUAL
YASNAC XRC OPERATORS MANUAL for BEGINNERS
The YASNAC XRC operators manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
HW0481059
MANDATORY
This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-EA1400.
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 products warranty.
iivi
HW0481059
WARNING
CAUTION
MANDATORY
PROHIBITED
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.
viiii
HW0481059
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.
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
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 manipulators 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.
ivvi
HW0481059
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 manipulators 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:
Manual Designation
XRC
Playback Panel
Programming Pendant
viv
HW0481059
WARNING
MOTOMAN
TYPE
!!!!!!
PAYLOAD
!!
kg
ORDER NO.
!!!!!!
SERIAL NO.
!!!!!!
MASS
!!!
DATE
!!
WARNING
kg
Donotenter
robotworkarea
vivi
Movingpartsmay
causeinjury
HW0481059
Receiving
1.1 Checking Package Contents . . . . . . . . . . . . . . . . . . . . . . . -1-1
1.2 Checking the Order Number . . . . . . . . . . . . . . . . . . . . . . . -1-2
Transporting
2.1 Transporting Method
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Using the Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 Using the Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
Installation
3.1 Safeguard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2
Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Basic Specifications
5.1
5.2
5.3
5.4
5.5
Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Part Names and Working Axes . . . . . . . . . . . . . . . . . . . .
Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . .
Dimensions and Working Envelope . . . . . . . . . . . . . . . .
B-Axis Working Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
vii
5-1
5-2
5-2
5-3
5-4
HW0481059
System Application
7.1 Mounting Equipment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Motoman Construction
8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
viii
HW0481059
9.2.5
9.2.6
9.2.7
9.2.8
9.2.9
10
11
Parts List
11.1
11.2
11.3
11.4
ix
11-1
11-3
11-5
11-7
HW0481059
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
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
Power supply cables (2 cables) between the XRC and the Manipulator
1-1
HW0481059
1.2
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. !!!!!!
YASNACXRC
EA1400
RE
SE
OFF
TR
IP
ON
X+
S+
XS-
RR+
Y-
Y+
Z-
Z+
L-
U-
B-
L+
U+
T-
6
3
1
0
B+
T+
ORDERNO.
NJ1530
TYPE
ERCR-
POWERSUPPLY
200/220V
50/60Hz
3PHASE
KVA
SERIALNO.
DATE
P/N
MADEINJAPAN
NJ2063-1
1-2
HW0481059
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
2.1.1
Transporting Method
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 the shipping jigs before transporting, and lift it in the posture as shown in " Fig. 2 Transporting Position ".
ShippingJig
2-1
M10Eyeboltsprovidedat
factory(2bolts)
HW0481059
2.1.2
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.
M16Bolts(4bolts)
Pallet
ForkliftClawEntry
NOTE
2.2
The manipurator is provided with shipping bolts and jigs. (" Fig. 2 Transporting Position ").
The jigs are painted yellow.
The jigs are fixed by M10 hexagon socket head cap bolts (2 bolts).
NOTE
Before turning on the power, check to be sure that the shipping bolts and jigs have been
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
HW0481059
3 Installation
WARNING
Install the safeguards.
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, safeguards, 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 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
HW0481059
3.1
Safeguard Installation
To insure safety, be sure to install safeguards. 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
The manipulator should be firmly mounted on a common installation base 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 Maximum repulsion forces of the manipulator
".
During installation, if the flatness is not right, the manipulator shape may change and its functional ability may be compromised. Common installation base flatness must be kept at 0.5mm
or less. Mount the manipulator base in either of the following ways: " Fig. 3.2.1 When the
Manipulator and Mounting Fixture are Installed on a Common Installation Base " or " Fig. 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)
2000N m
(204kgf m)
3500N m
(357kgf m)
3-2
HW0481059
3.2.1
The common installation base should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. The thickness of the common installation base is 40mm or more
and an M16 size or larger anchor bolt is recommended. Affix the manipulator by fastening the
base with the M16 (mm) anchor bolts. There are 4 mounting holes on the manipulator base.
The base is tapped for M16 (50mm length) bolts. Tighten the bolts and anchor bolts securely
so that they will not work loose during operation. See " Fig. 4 Mounting the Manipulator on
Common Installation Base " for the method.
M16Bolts(4bolts)
SpringWasher
Washer
ManipulatorBase
CommonInstallationBase
20
40mm
or
More
ManipulatorBase
AnchorBolt(M16orMore)
CommonInstallationBase
3-3
HW0481059
3.2.2
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 Maximum repulsion forces of the manipulator ". As a rough standard,
when there is a concrete thickness (floor) is 150mm or more, the manipulator base 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
M16AnchorBolts(4bolts)
150mm
or
More
3-4
HW0481059
3.3
Types of Mounting
The manipulator can be mounted in two different ways: floor-mounted (standard), and wallmounted types are available. For wall-mounted type, the three points listed below are different
from the floor-mounted type.
The manipulator can not be mounted on ceiling.
S-Axis Working Range
Affixing the Manipulator Base
Precautions to Prevent the Manipulator from Falling
3.3.1
When performing a wall installation, the S-Axis working range must be 30.
3.3.2
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 tightening the bolts.
3.3.3
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.
Support
ManipulatorBase
M16HexagonSocketHeadCapBolts(4bolts)
TensileStlength:1200N/mm2orAbove
NOTE
3-5
HW0481059
3.4 Location
3.4
Location
3-6
HW0481059
4 Wiring
WARNING
Ground resistance must be 100 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
HW0481059
4.1 Grounding
4.1
Grounding
Follow local regulations for grounding line size. A line of 5.5mm2 or more is recommended.
Refer to " Fig. 7 Grounding Method " to connect the ground line directly to the manipulator.
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,
5.5mm2orMore
ViewA
M8Bolt(ForGrounding)
ProvidedatFactory
4.2
Cable Connection
There are two cables for the power supply; a signal cable for detection (1BC) and a power
cable (2BC). (Refer to " Fig. 8 Power Supply Cables ".) Connect these cables to the manipulator base connectors and the XRC. Refer to " Fig. 9 (a) Power Supply Cable Connection to the
Manipulator ", " Fig. 9 (b) Power Supply Cable Connection to the XRC ".
4.2.1
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
HW0481059
4.2.2
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
tighten bolts on the entrances.
Connect each cable to the boards. Be sure to verify the numbers on both the cable and board
connectors before connecting, and to tighten the bolts on 1BC connectors to prevent cables
from loosening.
ConnectiontotheXRC
Connectiontothemanipulator
Connector
1BC
WRCA01-CNPG123
Terminal
WRCA01-CNPG456
XIU01-CN25
Connector
SignalCable
ManipulatorBaseSide
SHOCK
1VUSHOCK
2BC
XIU01-CN29
1PWM-1-CN1
PowerCable
ManipulatorBaseSide
1PWM-1-CN2
1PWM-1-CN3
1PWM-1-CN4
1PWM-1-CN5
1PWM-1-CN6
3BC
ConnectorDetails
4-3
HW0481059
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 cable
Terminal No.: E
Power Cable
Connector
1PWM-1-CN1,2,3,4,5,6
(from left side)
4-4
HW0481059
5 Basic Specifications
5.1
Basic Specifications
Table. 2 Basic Specifications*1
Item
Model
MOTOMAN-EA1400
Operation
Mode
Vertically Articulated
Degree of Freedom
Payload
3kg
0.08mm
S-Axis (turning)
170
+155, -90
+190, -175
150
+180, -45
200
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
R-Axis
8.8Nm (0.9kgfm)
B-Axis
8.8Nm (0.9kgfm)
T-Axis
2.9Nm (0.3kgfm)
R-Axis
0.27kgm2
B-Axis
0.27kgm2
T-Axis
0.03kgm2
Motion
Range
Maximum
Speed
Allowable
Moment*3
Allowable
Inertia
(GD2/4)
Mass
Ambient
Conditions
130kg
Temperature
0 to 45C
Humidity
20 to 80% RH (non-condensing)
Vibration
Others
explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Capacity
*1
*2
*3
1.5kVA
5-1
HW0481059
5.2
UArm
U+
R+
B+
B-
R-
U-
T-
T+
WristFlange
LLArm
L+
SHead
S+
SManipulatorBase
300
260
4-18
1530.1
240
60
hw27230hw927089401hw721.0y
+0.018
120
hw27230hw927089401hw721.0y
hw27230hw927089401hw721.0y
1530.1
1000.1
ViewA
A
5-2
60
1300.1
98
165
260
300
hw27230hw927089401hw721.0y
20
5.3
HW0481059
5.4
170
91
R3
85
R2
170
R138
391
1388
PointP
WorkingEnvelope
640
40
200
86
190
81
150
1688
135
147.5
684
90
570
F100
0
450
268
312
175
230
1017
734
1088
210 170
2422
155
10
5-3
HW0481059
5.5
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 ".
135
5.6
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
S-Axis
Working
Range
Specifications
170(standard)
150
120
90
60
30
5-4
HW0481059
The allowable wrist load is 3kg. 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 Moment of
Inertia ". Contact your Yaskawa representative for further information or assistance.
Table. 4 Moment and Total Moment of Inertia
*1
Axis
Moment Nm (kgfm)*1
R-Axis
B-Axis
T-Axis
8.8 (0.9)
8.8 (0.9)
2.9 (0.3)
0.27
0.27
0.03
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment
Arm Rating ".
The allowable total moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only moment of inertia, or load moment is small and
moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative.
LoadGravityPosition
200
LB
LT(mm)
LT
200
100
W=3kg
B-AxisRotationCenterLine
100
200
LB(mm)
6-1
300
400
HW0481059
6.2
Wrist Flange
The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". It is recommended that the
attachment be mounted inside the fitting. Fitting depth must be 6mm or less. The attachment
must be mounted on the range of 90 or less with up to 5mm height from the flange face.
30
TramMark
UnavailbleRange
90
+0.025
M4Tappedholes(4holes)
Depth:10mmPitch:0.7mm
420
56
6+0.012
0dia.,depth:14mm
NOTE
Wash off anti-corrosive paint (solid color) on the wrist flange surface with thinner or light oil
before mounting the tools.
6-2
HW0481059
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 12kg, including the wrist load.
For instance, when the mass installed in the wrist point is 3kg, the mass which can be
installed on the upper arm becomes 9kg.
7.1.2
Installation Position
A
AvailableRange
M6Tappedhole(4holes)
Depth:16mmPitch:1.0mm
15
45
U-Axis
RotationCenter
10 50 10
ViewA
7-1
HW0481059
7.2
14 wires (8 x 0.22mm2, 2 x 0.75mm2, and 4 x 1.25mm2) and an air hose are used in the
manipulator for the drives of the peripheral devices mounted on the upper arm as shown in "
Fig. 17 Connectors for User Cable and Air Duct ". The connector pins 1 to 16 are assigned as
shown in Fig.19. Wiring must be performed by user.
The allowable current for cables: must be 3A or below for each cable.
(The total current value for pins 1 to 16 must be 40A or less).
The maximum pressure for the air hose: is 490 kPa (5 kgf/cm2) or less
(The air hose inside diameter: 6.5mm.)
ConnectorfortheusercableonU-axis
isTypeJL05-2A20-29SC(withCap)
MatingPlugTypeisJL05-6A20-29P
AirOutlet:PT3/8
withpressureplug
AirInlet:PT3/8
withpressureplug
2BC
1BC
3BC
ViewA
ConnectorfortheusercableonS-axis
isTypeJL05-2A20-29PC(withCap)
MatingplugTypeisJL05-6A20-29S
Pinsusednumber
2
4
7
9
13 11
15
1
5
3
6
8 10
12
14
16
11(0.75mm2)
12(0.75mm2)
13(1.25mm2)
14(1.25mm2)
15(1.25mm2)
16(1.25mm2)
The same pin number (1-16) of two connectors is connected in the lead line of single 0.2mm2,
0.75mm2, or 1.25mm2.
7-2
HW0481059
8 Motoman Construction
8.1
The limit switches for the S-, L-, and U-Axes are located as shown in " Fig. 19 Location of
Limit Switches ". The limit switch for the S-Axis is standard. The limit switch for the L- and UAxes are optional (type EA1400-A01). The inspection and adjustment of the limit switches
should be made after removing the cover.
L-andU-AxesInterferencelimitswitch
(Option)
L-AxisOverrunlimitswitch
(Option)
S-AxisOverrunlimitswitch
8-1
HW0481059
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. 20 Location and Numbers of Connectors ".
3BC(ForUserCable)
3BC(ForUserCable)
2BC
1BC
3BC
Type of Connector
JL05-2A20-29PC
(JL05-6A20-29S: Optional)
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
8-2
YASNAC-XRC
POWER CABLE
1BC(6x6)
WRCA01
CNPG123
24
22
19
45
21
47
P
P
CN 1- 1
CN 1-2
DATA+1
DATA-1
CN 1-3
CN 1-4
+5-1
0V-1
No. 1CN
-1
-2
-3
-4
P
P
16
14
11
37
13
39
P
P
CN2- 1
CN2-2
DATA+2
DATA-2
CN2-3
CN2-4
+5-2
0V-2
CN2-5
FG2
-5
-6
+5V
0V
-7
FG 1
No. 2CN
-1
-2
-3
-4
BAT1
0BT1
BATTERY
BAT1
BATTERY 0BT1
-5
-6
+5V
0V
-7
FG2
BAT4
P OBT4
LB2
LA3
WRCA01
CNPG456
CN3-3
CN3-4
+5-3
0V-3
24
22
CN4- 1
CN4-2
DATA+4
DATA-4
P
No.5CN
-1
-2
-3
-4
CN4-3
CN4-4
+5-4
0V-4
P
P
11
37
13
39
P
P
CN5- 1
CN5-2
CN5-3
CN5-4
-5
-6
+5V
0V
-7
FG3
-1
-2
-3
-4
No.7CN
P
P
16
14
DATA+3
DATA-3
BAT
OBT
No. 6CN
19
45
21
47
L-AXIS
LB3
3
29
5
31
FG
PG
BAT
OBT
A3
A2
P
P
S-AXIS
LA2
DATA+3
DATA-3
PG
BAT4
0BT4
CN3- 1
CN3-2
DATA+2
DATA-2
BAT
OBT
BAT
OBT
BAT1
P OBT1
BAT4
0BT4
8
6
DATA+ 1
DATA- 1
BAT
OBT
-1
-2
-3
No.8CN
DATA+5
DATA-5
-1
-2
-3
-4
+5-5
0V-5
-5
-6
DATA+4
DATA-4
BAT
OBT
BAT
OBT
PG
U-AXIS
PG
R-AXIS
BAT
OBT
+5V
0V
FG4
No.14CN
DATA+5
DATA-5
BAT
OBT
-1
-2
-3
-4
P
P
No.17CN
+5V
0V
P
P
8
6
3
29
5
31
FG
178214-1
(AMP)
B
P
P
XIU01-CN25
-A1
-B1
-D1
-A3
-C1
-D2
-C3
-D3
1.25-4
CN6- 1
CN6-2
DATA+6
DATA-6
CN6-3
CN6-4
+5-6
0V-6
CN6-5
FG6
No.9CN
-1
-2
-3
-4
-5
No.24CN
CN2-6
CN3-6
CN4-6
CN5-6
CN6-6
+24V
LB1
BC2
0V
SS2
20CN-1
-2
-3
-4
B1
SS1
BC1
LA1
E
P
-1
-2
-3
-4
+5V
0V
FG6
A1
B2
SS2
-1
-2
-3
BAT
OBT
B-AXIS
PG
+5V
0V
FG5
DATA+6
DATA-6
BAT
OBT
No.17CN
LB3
LA1
LB1
-1
-2
-3
No.16CN
DATA+6
DATA-6
B1
SS1
U
V
DATA+5
DATA-5
BAT
OBT
BAT
OBT
+5V
0V
FG6
For LAMP(OPTION)
T-AXIS
PG
POWER CABLE
-11
-12
-13
-14
-15
-16
Casing
E E E
Bace
3BC(20-29)
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
3BC(20-29)
1
2
3
4
5
6
7
8
9
E
1
2
3
4
5
6
7
8
9
P
P
P
P
11
12
13
14
15
16
11
12
13
14
15
16
2BC(6X6)
E
1.25-4
1PWM-1-CN1
-2
-3
-4
-1
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
4CN-1
-2
-3
-4
-5
-6
CN2- 1
CN2-2
CN2-3
CN2-4
CN2-5
MU2
MV2
MW2
ME2
BA2
4CN-1
-2
-3
-4
-5
-6
2PWM-1-CN1
-2
-3
-4
-1
No.4CN
3PWM-1-CN1
-2
-3
-4
-1
MU3
MV3
MW3
ME3
BA3
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
10CN-1
-2
-3
-4
-5
-6
No.11CN
No.12CN
6PWM-1-CN1
-2
-3
-4
-1
CN6- 1
CN6-2
CN6-3
CN6-4
CN6-5
No.13CN
MU6
MV6
MW6
ME6
BA6
SM
S-AXIS
YB
(OPTION)
SM
L-AXIS
YB
CN3- 1
CN3-2
CN3-3
CN3-4
CN3-5
5PWM-1-CN1
-2
-3
-4
-1
MU2
MV2
MW2
ME2
BA2
BB2
No.10CN
4PWM-1-CN1
-2
-3
-4
-1
MU1
MV1
MW1
ME1
BA1
BB1
MU3
MV3
MW3
ME3
BA3
BB3
SM
U-AXIS
YB
MU4
MV4
MW4
ME4
BA4
BB4
SM
R-AXIS
YB
(OPTION)
No.18CN
MU5
MV5
MW5
ME5
BA5
BB5
-1
-2
-3
MU6
MV6
MW6
-4
BA6
18CN-1
-2
-3
-4
-5
-6
No.19CN
19CN-1
-2
-3
-4
-5
-6
XIU01-CN29
-B1
-A1
-C1
-D1
-B2
-A2
-C2
-D2
XIU01-CN25
-A1
-B1
-D1
-A3
-C1
-D2
-C3
-D3
PE
MU6
MV6
MW6
ME6
BA6
BB6
SM
B-AXIS
YB
(OPTION)
SM
T-AXIS
YB
(OPTION)
B
When using the shock sensor
Notes
A2
A1
LA1
LB1
LA2
LA3
LB2
1.These drawings are applicable to EA1400 internal connection.
LB3
LB3
2. These drawings indicate the standard specification, and L-,U-Axis
L-U-Axis L.S.Specification
L.S. specification were changed as shown in right drawing A.
3.These drawings indicate the standard specification, and the drawings at using the shock sensor were changed as shown in right drawing B .
Fig.21 (b) Internal Connection Diagram
8-4
MU5
MV5
MW5
ME5
BA5
BB5
A3
HW0481059
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.
NOTE
The inspection interval must be based on the servo power supply on time.
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
HW0481059
Schedule
Items*4
Daily
1000
H
Cycle
Method
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Operation
Specified
Service
Licensee
Person
Company
$ Tram mark
Visual
Visual
Visual
Visual
'
Working area
and
manipulator
S,L,U-axes
( motor
Baseplate
Spanner
Wrench
Cover mount-
Screwdriver,
Wrench
Base connec-
Manual
Manual
bolts
* ing screws
+ tors
BT-axes tim-
, ing belt
Wire harness
in manipulator
- (SLURBT-
of protective spring*1
axes leads))
Replace*2
11
leakage.*5
) mounting
Wire harness
In manipulator
(BT-axes
leads)
Battery unit in
manipulator
Replace*2
9-2
%
%
HW0481059
Schedule
Items*4
Daily
1000
H
Cycle
Method
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Operation
Specified
Service
Licensee
Person
Company
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
RB-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
grease*3 (6000H
cycle).
See Par. " 9.2.6
Grease Replenishment for B-Axis
Speed Reducer "
Check for malfunction. (Replace if necessary.) Supply
16
R-axis cross
roller bearing
Grease
Gun
9-3
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 "
HW0481059
Schedule
Items*4
Daily
17
Overhaul
1000
H
Cycle
Method
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Operation
Specified
Service
Licensee
Person
Company
*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
9-4
HW0481059
13
14
15
16
Grease Used
Inspected Parts
Molywhite RE No. 00
Alvania EP Grease 2
The numbers in the above table correspond to the numbers in " Table. 6 Inspection Items ".
9-5
HW0481059
9.2
9.2.1
The battery units are attached in the two positions indicated in " Fig. 23 Battery Location "and
" Fig. 24 Battery Connection ". If the battery alarm occurs in the XRC, replace the battery
according to the following procedure:
Battery
Unit
Connector
BaseBolt
Connector
Base
Support
Seestep6nextpage
BatteryunitforSLU-axes
beforereplacement
Type:HW9470932-A
SeeTable8)
Seestep7nextpage
0BT1
BAT1
0BT1
BAT1
Seestep4below
Seestep6nextpage
a:Insertion-typepinterminal(Female)
b:Insertion-typepinterminal(Male)
b 0BT1
a BAT1
b 0BT1
a BAT1
Batteryunitfor
RBT-axes before
replacement
Seestep7nextpage
0BT4
BAT4
0BT4
BAT4
Seestep4below
Seestep5nextpage
b 0BT4
a BAT4
Newbatteryunit
b 0BT4
a BAT4
ConnectorBase
Support
Type:HW9470917-A
(SeeTable8)
1.
2.
3.
4.
9-6
HW0481059
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.
9.2.2
So:GreaseExhaustPlug
GNippleA-PT1/8
2BC
1BC
3BC
Si:GreaseInlet
S-AxisSpeedReducer
GNippleA-PT1/8
9-7
HW0481059
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the
motor and may damage it. It is absolutely necessary to remove the G Nipple.
2. Inject the grease into the Si grease inlet using a grease gun.
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. Wipe the So exhaust port with a cloth and reinstall the G Nipple. Spread the Three
Bond 1211 on the screw of the G Nipple.
Grease Replacement (Refer to " Fig. 25 S-Axis Speed Reducer Diagram ".)
1. Remove the So exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the
motor and may damage it. It is absolutely necessary to remove the G Nipple.
2. Inject the grease into the Si grease inlet using a grease gun.
Grease type: Molywhite RE No. 00
Amount of grease: 200cc
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 a few minutes to discharge the excess grease.
5. Wipe the So exhaust port with a cloth and reinstall the G Nipple. Spread the Three
Bond 1211 on the screw of the G Nipple.
9-8
HW0481059
9.2.3
LArm
Lo:GreaseExhaustPort
(GNippleA-MT6x1)
L-AxisSpeedReducer
Li:GreaseInlet
(GNippleA-MT6x1)
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the
motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. Move the L-Axis for a few minutes to discharge the excess grease.
5. Wipe the Lo exhaust G Nipple with a cloth and reinstall the G Nipple. Spread the Three
Bond 1211 on the screw of the G Nipple.
9-9
HW0481059
Grease Replacement (Refer to " Fig. 26 L-Axis Speed Reducer Diagram ".)
1. Make the L-arm vertical for ground.
2. Remove the Lo exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the
motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. The grease replacement is complete when new grease appears in the Lo exhaust port.
(The new grease can be distinguished from the old grease by color.)
5. Move the L-Axis for a few minutes to discharge the excess grease.
6. Wipe the Lo exhaust port with a cloth and reinstall the G Nipple. Spread the Three
Bond 1211 on the screw of the G Nipple.
9.2.4
U-AxisSpeedReducer
UArm
Ui:GreaseInlet
(GNippleA-MT6x1)
9-10
HW0481059
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the
motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. Move the U-Axes for a few minutes to discharge the excess grease.
5. Wipe the Uo exhaust port with a cloth and reinstall the G Nipple. Spread the Three
Bond 1211 on the screw of the G Nipple.
Grease Replacement (Refer to " Fig. 27 U-Axis Speed Reducer Diagram ".)
1. Make the U-arm horizontal for ground.
2. Remove the Uo exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the
motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. The grease replacement is complete when new grease appears in the Uo exhaust port.
(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 port with a cloth and reinstall the G Nipple. Spread the Three
Bond 1211 on the screw of the G Nipple.
9-11
HW0481059
9.2.5
Ri:Greaseinlet
(GNippleA-PT1/8)
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. Spread the Three Bond 1211 on the screw of the plug.
9-12
HW0481059
9.2.6
Bi:GreaseInlet
Bo:Plugforairflow
(GNippleA-MT6x1)
(Plug)
1. Remove the cover and remove the Bo plug for air flow.
2. Inject grease into the Bi grease inlet using a grease gun. (Refer to " Fig. 29 B-Axis
Speed Reducers Diagram ")
Grease type: Harmonic grease SK-1A
Amount of grease:
For B-axis (Bi): 10cc (20cc for 1st supply)
NOTE
The Bo exhaust port is used for air flow. Do not inject excessive grease into the Bi grease
inlet.
9-13
HW0481059
9.2.7
T1:GearGreaseInlet
(GNippleA-MT6x1)
T2:GearGreaseInlet
(GNippleA-MT6x1)
NOTE
The T1 exhaust port is used for air flow. Do not inject excessive grease into the gear
grease inlet.
3. Remove the T2 inlet G Nipple and install the T1 inlet G Nipple. Spread the Three Bond
1211 on the screw of the G Nipple.
4. Inject grease into the T1 gear grease inlet using a grease gun.
Grease type: Alvania EP grease2
Amount of grease: 10cc
NOTE
The T2 exhaust port is used for air flow. Do not inject excessive grease into the gear
grease inlet.
5. Reinstall the T2 inlet G Nipple. Spread the Three Bond 1211 on the screw of the G
Nipple.
9-14
HW0481059
9.2.8
R-AxisCrossRollerBearing
Ci:GreaseInlet
(GNippleA-MT6x1)
Co:Boltforairflow
(HexagonSocketHeadCapBoltM6)
NOTE
The Co exhaust port is used for air flow. Do not inject excessive grease into the grease
inlet.
3. Reinstall the Co bolt for air flow. Spread the Three Bond 1211 on the screw of the bolt.
9-15
HW0481059
9.2.9
#
Wrist Axis
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 YR-EA1400-A00,A01 ").
Cover
CoverJointingFace
CoverJointingFace
Cover
Connect the battery unit with reference to the following figure before removing the encoder
connector (with CAUTION label).
Encoder
Motor
Motorcable
etc
a:Insertion-typepinterminal(Female)
b:Insertion-typepinterminal(Male)
Powerconnector
b 0BT4
0BT
BAT
a BAT4
Encoderconnector
CAUTIONlabel
batteryunit
Connectiondiagram
WARNING
0BT
0BT4
BAT
BAT4
Batteryunittype:
HW9470917-A
(See"Table.8SparePartsfortheMotoman-EA1400")
Connectbatterytoencoder
tosavethedatabefore
removingconnector.
Fig. 33 Encoder Connector Diagram
9-16
HW0481059
NOTE
Parts
No.
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
16kg
Silicon Rubber
Compound Tube
Modifier Silicon
Caulk
Liquid Seal
Battery Unit
HW9470932-A
Yaskawa Electric
Corporation
Battery Unit
HW9470917-A
Yaskawa Electric
Corporation
60S4.5M950
60S4.5M801
10
S-Axis
Speed Reducer
HW9280729-A
Yaskawa Electric
Corporation
11
L-Axis
Speed Reducer
HW9280732-A
Yaskawa Electric
Corporation
12
U-Axis
Speed Reducer
HW9280738-A
Yaskawa Electric
Corporation
10-1
Remarks
for SLU-axes
for RBT-axes
HW0481059
Qty
Qty
per
Unit
HW0380504-A
Yaskawa Electric
Corporation
B-Axis
Speed Reducer
HW0380710-A
Yaskawa Electric
Corporation
15
HW0301289-A
Yaskawa Electric
Corporation
16
HW0301435-A
Yaskawa Electric
Corporation
17
HW0380721-A
Yaskawa Electric
Corporation
18
Internal Cable
HW0170471-A
Yaskawa Electric
Corporation
19
B- and T-Axes
Internal Cable
HW0370377-A
Yaskawa Electric
Corporation
20
S-and U-Axes
AC Servomotor
HW9381362-A
Yaskawa Electric
Corporation
L-Axis
AC Servomotor
HW9381363-A
HW9381370-A
With brake, no
key, lead terminal
treatment completion
Rank
Parts
No.
13
R-Axis
Speed Reducer
14
21
22
Name
Type
Yaskawa Electric
Corporation
Yaskawa Electric
Corporation
10-2
Remarks
HW0481059
11 Parts List
11.1 S-axis Driving Unit
1004
1020
1021
1012
1013
1030
1022
1027
1028
1031
1025
1008
1005
1017
1019
1018
1033
1034
1014
1016
1032
1015
1001
1035
1037
1036
1002
1003
1039
1038
11-1
1026
1023
1024
1011
1009
1006 1010
1007
1029
HW0481059
No.
DWG No.
Name
Pcs
1001
HW9100881-1
Base
1002
TSH6-01M
Union
1003
NB-0640-0.25
Tube
1004
HW9100941-1
S head
1005
HW9302222-1
M base
1006
A-MT6X1
G nipple
1007
LP-M5
Plug
1008
Socket screw
1009
Socket screw
1010
Socket screw
12
1011
23198-06A2A-YR24
Motor
1012
M8x50
Socket screw
1013
2H-8
Washer
3
1
1014
HW9280729-A
Reduction gear
1015
M4x80
Socket screw
1016
2H-4
Washer
1017
Socket screw
16
1018
HW9405026-1
Cover
1019
Bolt
1020
HW9405278-1
Dog
1021
M10x35
Socket screw
1022
2H-10
Washer
1023
HW9200962-1
Cover
1024
M5x12
APS Bolt
4
1
1025
HW9302270-1
Support
1026
Socket screw
1027
CD-31
Saddles
1028
M6x10
Socket screw
1029
TA1-S10
Clamp
1
1
1030
M5x10
APS Bolt
1031
T50R
Insulok
1032
HW0370350-A
Limit Switch
1033
M5x12
Socket screw
1034
2H-5
Washer
1035
M4 x 12
Round head
screw
1036
HW9470917-A
Battery
1037
HW9470932-A
Battery
1038
M5x10
APS Bolt
1039
HW0170470-A
internal wiring
11-2
HW0481059
2029
2027
2020
2021
2044
2042
2036
2041
2038
2039
2040
2039
2040
2043
2041
2035
2033
2037
2034
2024
2032
2022
2030
2031
2023
2026
2025
2028
2001
2002
2006
2003
2029
2011
2007
2008
2012
2010
2009
2014
2016
2013
2015
2017
2005
2004
2019
2018
11-3
HW0481059
No.
2001
DWG No.
23198-12A2A-YR13
Name
Motor
Pcs
1
2002
Socket screw
2003
HW9100942-1
L arm
2004
M14x35
Socket screw
2005
Washer
2006
A-MT6X1
G nipple
2007
HW9280732-A
Reduction gear
2008
Socket screw
12
2009
M6x60
Socket screw
2010
2H-6
Washer
2011
HW9302190-1
Cover
2012
M6x8
APS Bolt
2013
A-MT6X1
G nipple
2014
HW9405283-A
Stopper
2015
Socket screw
2016
M6
Washer
2017
HW9408284-A
Stopper
2018
Socket screw
2019
M6
Washer
2020
23198-06A2A-YR24
Motor
2021
Socket screw
2022
HW9280738-A
Reduction gear
2023
M4x50
Socket screw
2024
2H-4
Washer
2025
M6x35
Socket screw
12
2026
2H-6
Washer
12
2027
HW0100158-1
Casing
2028
Socket screw
2029
A-MT6X1
G nipple
2030
HW9405285-A
Stopper
2031
M5x20
Socket screw
2032
2H-5
Washer
2033
HW0302204-1
Cover
2034
Socket screw
2035
HW0401541-1
Cover
2036
HW0401540-1
Cover
2037
HW0401993-1
Plate
2038
CH-16
Saddles
2039
Bolt
2040
TA1-S8
Clamp
2041
T50R
Insulok
2042
M4x8
Round head
screws
2043
M4x10
Round head
screws
2044
HW0402292-1
Support
11-4
HW0481059
3023
3022
3024
3025
3021
3020
3017
3016
3018
3015
3019
3026
3027
3039
3028
3042
3001
3010
3012
3011
3013
3014
3009
3002
3035
3033
3032
3007 3006
3036
3034
3029
3008
3004
3038
3037
3030
3005
3036
3041
3040
3003
11-5
3031
HW0481059
No.
3001
DWG No.
Name
Pcs
HW0380504-A
Reduction gear
3002
Socket screw
3003
HW0300869-1
Cover
3004
Socket screw
3005
23184-01A1AYR21
Motor
3006
Socket screw
3007
HW9482404-A
Sheet
3008
HW0402672-1
Fly wheel
3009
TC13287
Oil seal
3010
HW0402673-1
M base
3011
M5x45
Socket screw
3012
2H-5
Washer
3013
M4x25
Socket screw
3014
2H-4
Washer
3015
RTW62
Washer
3016
6007LLU
Bearing
3017
HW0200169-1
Crank
3018
M6x25
Socket screw
6
6
3019
2H-6
Washer
3020
HW0380721-A
Bearing
3021
M6x30
Socket screw
3022
2H-6
Washer
3023
HW0302207-1
Shaft
3024
M5x20
Socket screw
3025
HW0401992-1
Cover
3026
HW0302205-1
Plate
3027
M5x12
APS Bolt
3028
HW0401991-1
Cover
3029
KQE10-03
Union
3030
PT 3/8
Plug
3031
PMF06-01
Union
3032
A-PT1/8
G nipple
3033
PT 1/8
Plug
3034
TP6(150mm)
Tube
3035
TP6(170mm)
Tube
3036
P0C6-M6M
Half union
3037
TU1065B
Tube
3038
KQ2L10-00
Elbow
3039
M4x12
APS Bolt
3040
M5x50
Socket screw
3041
2H-5
Washer
3042
Socket screw
11-6
HW0481059
4048
4031
4048
4054
4048
4013
4055
4019
4016
4030
4060
4045
4051
4048
4056
4021
4057
4027
4023
4003
4034
4043
4034
4006
4025
4012
4059
4007
4048
4044
4005
4020
4053
40294035
4015
4048
4007
4048
4052
4002
4026
4017
4050
4024
4014
4046
4050
4048
4037
4048
4028
4001
4004
4062
4061
4048
4036
4048
4041
4018
4059
4011
4058
4041
4063
4064
4050
4042
4032
4049
4022
4040
4008
4011
4058
4061
4033
4007
4049
4049
4039
4047
4062
4038
4048
4014
4048
11-7
HW0481059
No.
DWG No.
Name
Pcs
No.
4001
HW9482218-A
Bearing
4062
4002
HW0401551-1
B cover
4063
4003
HW0401552-1
B cover
4064
4004
HW0401553-1
B cover
4005
HW0401549-1
B nut
4006
RTW78
Washer
4007
A-MT6x1
G nipple
4008
HW0380710-A
Reduction gear
4011
HW0402670-1
M base
4012
TC60759
Oil seal
4013
TC72888
Oil seal
4014
HW0100290-1
Cover
4015
HW0402669-1
Cover
4016
HW0301289-1
Gear
4017
HW0301299-1
Gear
4018
HW0301300-1
Gear
4019
HW0301435-1
Gear
4020
HW0302208-1
Support
4021
WR12
Clip
4022
WR20
Clip
4023
SP006
Shim
4024
SP0120
Shim
4025
HW0301292-1
Shaft
4026
HW0301293-1
Shaft
4027
HW0302206-1
Housing
4028
HW0301310-1
Shaft
4029
M4x4
Screw
4030
IRTW-24
Washer
4031
HW0301291-1
Housing
4032
HW0401550-1
Housing
4033
HW0401554-1
Housing
4034
MS4-10
Pin
4035
LP-M5
Plug
4036
HW0480866-A
PulIey
4037
HW0480867-A
PulIey
4038
HW0481015-A
PulIey
4039
HW0481016-A
PulIey
4040
6804ZZ NS7
Bearing
4041
6811LLU
Bearing
4042
6901DD NS7
Bearing
4043
6812DBLU
Bearing
4044
6902DBLU
Bearing
4045
NA4901
Needle bearing
4046
60S4.5M950
Belt
4047
60S4.5M801
Belt
4048
Socket Screw
51
4049
Socket Screw
17
4050
Socket Screw
4051
M4x35
Socket Screw
4052
M4x10
Socket Screw
4053
2H-4
Washer
4054
M5x20
Socket Screw
4055
2H-5
Washer
4056
M5x25
Socket Screw
4057
2H-5
Washer
4058
23184-01A1AYR21
Motor
4059
HW0100288-1
Wrist
4060
HW0401758-1
Washer
4061
M4
Washer
11-8
DWG No.
HW0100298-1
Name
Pcs
U arm
M6x20
Socket Screw
2H-6
Washer
MOTOMAN-EA1400
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone
81-93-645-7745
Fax
81-93-645-7746
46-486-41410
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
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
1
MANUAL NO. HW0481059
Printed in Japan Janualy 2003 02-03
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 OPERATORS MANUAL
YASNAC XRC OPERATORS MANUAL FOR BEGINNERS
The YASNAC XRC operators manuals above correspond to specific usage.
Please be sure to use the appropriate manual.
YASKAWA
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 products warranty.
ii
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.
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.
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 manipulators 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 manipulators 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.
Manual Designation
Manipulator
Manipulator
Power Cable
Power Cable
XRC
Playback Panel
Programming Pendant
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
Symbol Keys
Playback Panel
Axis Keys
Number Keys
Keys pressed
simultaneously
Displays
Buttons
vi
vii
viii
Safety
1.1
1.2
1.3
1.4
1.5
Product Confirmation
2.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
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
Connection
4.1 Notes on Cable Junctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2.1
4.2.2
4.2.3
4.2.4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Final Notes
xi
xii
1 Safety
1.1
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 users 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
1-2
1.2
Special Training
1.3
1-3
1.4
Personnel Safety
1-4
1-5
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:
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
XRC equivalent
model
Approx.
weight
(kg)
SV3X,UP6,SK16X
70
SK45X,SK16MX
90
UP130,UP165,
UP200,UP130R,
SP100X
100
1-7
500
500
[650]
470
[650]
500
(550)
(420)
500
760
(860)
[860]
(630)
(420)
(550)
320
XRC
0]
550
[420]
320
[650]
470
(550)
20]
470
DOOR
XRC
1-8
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
1.5.2
Carelessness contributes to serious accidents in the work area. To ensure safety, enforce the
following precautions:
1-10
1.5.3
Operation Safety
RE
SE
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 manipulators 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
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 manipulators
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
1-13
1.6
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.
1-14
1.7
1-15
1-16
2 Product Confirmation
2.1
Contents Confirmation
2-1
2.2
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 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
3-1
XRC equivalent
model
Approx.
weight (kg)
SV3X,UP6, SK16X
70
SK16MX,SK45X
90
UP130,UP165,
UP200,UP130R,
SP100X
100
3.1.2
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 113F) during operation and -10 to 60C
(14 to 140F) 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
Install the controller at least 500mm from the nearest wall to allow maintenance access.
Shows the external dimensions.
760
20]
470
320
(550)
(420)
(860)
[860]
[650]
XRC
3-3
500
3.4
Attach the controller to the floor using user-supplied brackets made according to the specifications shown below.
3-4
4 Connection
4-1
4.1
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
4.2.1
Power Supply
Three-Phase Power Supply
4-3
4.2.2
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.
4.2.3
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.
Fuji Electric
Co., Ltd.
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.
4-4
4.2.4
Manipulator
Voltage
source
capacity
(kVA)
Switch
capacity
(A)
SV3X
2.0 (M5)
10
UP6
3.5 (M5)
15
SK16X
3.5 (M5)
15
SK16MX,
SK45X
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
A connection diagram for the manipulator, controller power cable, primary power cable and
programming pendant is shown below.
4.3.1
1.
(2) Rotate the main switch to the "OPEN RESET" position and open the door gently.
4-6
ON
SET
RE
OPE
N
OFF
ET
RES
TRIP
PED
OP
E
4-7
(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
2) Perform grounding in accordance with all relevant local and national electrical
codes. Grounding wire must be 8.0 mm2 or larger.
Exclusive Grounding
Dont 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
4.3.2
1. Remove the cover from the left side of the controller cabinet.
4-9
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.
For more information on connecting the power cables, please refer to the Instruction Manual which corresponds to the particular XRC model.
4-10
4.3.3
Connect the programming pendant cable to the connector on the left side of the controller
cabinet.
The manipulator, XRC, and the programming pendant connections are now complete.
4-11
4-12
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
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
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
5.1.2
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
When the safety guard is open, the servo power supply cannot be turned on.
5-2
5.2.2
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
5.3.1
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
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
OFF
TR
I
ED
PP
OP
EN
5-4
ON
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 manipulators 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
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
6-4
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
7-2
7.1
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}
Explanation
*1
Operation
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
B-AXIS
R-AXIS
U-AXIS
(opposite side)
T-AXIS
S-AXIS
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.
Operators Manual For Beginners
Operating procedures are clarified for beginning users.
The operations are explained carefully in order.
Operators 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 Robotics AB
Box 504 S38525 Torss, Sweden
Phone 46-486-48800
Fax 46-486-41410
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
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
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
1
MANUAL NO. RE-TA-A503
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
MOTOMAN- INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATORS MANUAL
YASNAC XRC OPERATORS MANUAL for BEGINNERS
The YASNAC XRC operators manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
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 products warranty.
ii
RE-CTO-A208
WARNING
CAUTION
MANDATORY
PROHIBITED
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.
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
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 manipulators 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 manipulators 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.
Manual Designation
XRC
Playback Panel
Programming Pendant
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
Symbol Keys
Playback Panel
Axis Keys
Number Keys
Keys pressed
simultaneously
Displays
Buttons
vi
RE-CTO-A208
. . . . . . . . . . . . . . . . . . . . . . . .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
2.6 SERVOPACK
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-30
2.6.1 SERVOPACK Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .2-30
2.6.2 Description of Each Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-39
vii
RE-CTO-A208
Inspections
3.1 Regular Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 XRC Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3
3.4
3.5
3.6
3.7
3.8
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
viii
RE-CTO-A208
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
Controller
Configuration
Dimensions
Refer to following
Cooling System
Indirect cooling
Ambient Temperature
Relative Humidity
Power Supply
Grounding
Digital I/O
Positioning System
Drive Unit
Acceleration/
Deceleration
Programming
Capacity
Playback Panel*1
*1
Dimensions
Buttons Provided
Mode change
Start / Hold, Emergency stop
Dimensions
1-3
RE-CTO-A208
1.2
Function List
Programming
Pendant
Operation
Safety
Feature
Maintenance
Function
Coordinate System
Modification of
Teaching Points
Inching Operation
Possible
Locus Confirmation
Speed Adjustment
Timer Setting
Short-cut Function
Interface
Application
Running Speed
Limit
User definable
Deadman Switch
Collisionproof
Frames
Self-Diagnosis
Machine Lock
Door Interlock
Operation Time
Display
Alarm Display
I/O Diagnosis
T.C.P. Calibration
1-4
RE-CTO-A208
Programing
Functions
1.3
Programming
Interactive programming
Language
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
Variable
Variable Type
I/O Instructions
Programming Pendant
Material
Dimensions
Displayed
Units
40 characters 12 lines
Multilingual function (English, Japanese, Hankul)
Backlight
Others
1-5
RE-CTO-A208
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 GND3/G
16 SAF_F2-
16 24V3
CN43
CN04
CN41
CN25
CN23
CN24
JZRCR-XSU02
15 SAF_F2+
CN03
CN40
CN21
CN22
OFF
9 DSWOUT+
0 1 2 3 4
3 EXNCM+
7 PPESPIN+
8 PPESPIN-
CN13
CN12
4 EXNCM-
6 PPESPOUT-
6XT
CN02/PP
5 G3
5 PPESPOUT+
10 DSWOUT11 RDY+
12 RDY13 GND2/G
14 24VIN
CN11
CN10
6 EXTUDIN
1 24V3
CN26
6 G3
5 24V3
4 EXOT23 24V3
2 EXOT1-
12 EXHOLD2-
CN04/CARD
CN29
7 EXSVON2+
8 EXSVON2-
11 EXHOLD2+
13 SAF_F1+
14 SAF_F1-
CN42
7 ON_EN1+
CN02
QS1
8 ON_EN1-
CN06/SV
5 EXSVON1+
9 EXHOLD1+
9 ON_EN2+
8 EX0VIN
7 EX24VIN
1XT
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 EXESP2-
6 EXSVON1-
10 ON_EN2-
9 24V2
CPS-150F
CPS-150F
1 EXESP1+
3 EXESP-2
10 EXHOLD1-
CN28
10 G2
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP1-
CN27
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
CPU unit
JZNC-XRK01B-1
1FU
10A 250V
Playback panel
ZY1C-SS3152
CN5
CN01/IO
CN2
NJ2096-
2KM
1KM
DATE
SER NO.
TYPE
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
8830-032-170SD
CNPB05
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
CONV
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
CNPB01
8830-032-170SD
3-175475-6
CNPB02
CNPB03
8830-032-170SD
Transformer 1KVA
HB9480046
240-480-575V/208V
Class H
CNPB06
8830-032-170SD
2CN
CN50
8830-032-170SD
GRIP
A'
Sectional view A-A'
SERVOPACK
Refer to the follwing table.
Fuse
QS1
QS2
3A
10A
SV3X ERCR-SV3-RB07 CACR-SV3AAA
* : Time delay fuses of class CC are used for QS1, QS2, and QS3.
Type
YASNAC XRC
SERVOPACK
1-6
QS3
5A
RE-CTO-A208
JARCR-XCO02B
CN32
CN07
CPS-150F
2 PPESPOUT3 PPESPIN+
4 PPESPIN-
CN43
7 ON_EN1+
6 EXTUDIN
5 24V3
5 G3
9 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
8 PPESPIN-
10 DSWOUT-
12 EXHOLD213 SAF_F1+
CN42
4 EXOT2-
5 PPESPOUT+
6 PPESPOUT7 PPESPIN+
CN04/CARD
8 EXSVON2-
8 ON_EN1-
7 EX24VIN
CN06/SV
CN29
6 EXSVON17 EXSVON2+
11 EXHOLD2+
9 ON_EN2+
8 EX0VIN
6 G3
1XT
1 PPESPOUT+
1 EXESP1+
4 EXESP25 EXSVON1+
10 EXHOLD1-
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
BAT
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
CN2
2KM
1KM
DATE
SER NO.
TYPE
NJ2096-
CN1
CN4
CN3
CN01
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS3
(EV1)
(EV2)
GRIP
CNPB04
8830-032-170SD
CNPB05
CNPB06
8830-032-170SD
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
8830-032-170SD
CNPB02
CNPB03
8830-032-170SD
8830-032-170SD
GRIP
A'
Sectional view A-A'
SERVOPACK
Refer to the follwing table
* Fuse
QS1
QS2
10A
SV3X ERCR-SV3-RB08 CACR-SV3AAA
* : Time delay fuses of class CC are used for QS1, and QS3.
Type
YASNAC XRC
SERVOPACK
QS3
5A
CN32
JARCR-XCO02
CN07
XCP01
CN31
4 PPESPIN-
1 EXBRK+
CN43
16 24V3
CN04
CN41
CN25
JZRCR-XSU02
CN03
CN23
CN24
CN40
CN21
CN22
OFF
16 SAF_F2-
0 1 2 3 4
2 EXBRK-
15 GND3/G
6XT
CN02/PP
3 EXNCM+
7 PPESPIN+
8 PPESPIN-
13 GND2/G
14 24VIN
15 SAF_F2+
CN13
CN12
4 EXNCM-
6 PPESPOUT-
12 RDY-
14 SAF_F1-
CN11
CN10
5 G3
1 24V3
CN02
5 24V3
4 EXOT23 24V3
2 EXOT1-
5 PPESPOUT+
9 DSWOUT+
10 DSWOUT11 RDY+
12 EXHOLD213 SAF_F1+
CN04/CARD
CN29
7 EXSVON2+
8 EXSVON2-
11 EXHOLD2+
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
10 EXHOLD1-
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.
CPU unit
JZNC-XRK01B-1
1FU
10A 250V
Playback panel
ZY1C-SS3152
CN5
CN01/IO
CN2
1KM
2KM
SER NO.
TYPE
1KM
DATE
YASKAWA ELECTRIC CORPORATION
JAPAN
CN1
CN4
CN3
CN01
DATE
SER NO.
TYPE
CN20
2KM
QS2 QS3
(EV2)
(EV1)
GRIP
CNPB04
8830-032-170SD
CNPB05
CNPB06
8830-032-170SD
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
CNPB01
8830-032-170SD
3-175475-6
CNPB02
CNPB03
8830-032-170SD
SERVOPACK
Refer to the
following table.
CNPG123
PWM
178323-2
CN50
JUSPRCP01AAA
CN40
Disconnecting switch
194R-NC030P3
Fuse : Refer to the
following table.
8830-032-170SD
GRIP
A'
Transformer 4.5KVA
HB9480042
240-480-575V/208V
Class H
1-7
QS3
5A
10A
15A
15A
RE-CTO-A208
JARCR-XCO02
CN32
CN07
XCP01
CN31
3 PPESPIN+
4 PPESPIN5 PPESPOUT+
8 PPESPIN9 DSWOUT+
10 DSWOUT11 RDY+
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/CARD
CN29
6 EXTUDIN
5 G3
1 EXBRK+
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
7 PPESPIN+
9 EXHOLD1+
10 EXHOLD111 EXHOLD2+
12 EXHOLD2-
4 EXNCM-
3 24V3
CN26
QS1
CN43
8 ON_EN17 ON_EN1+
4 EXOT2-
1XT
1 PPESPOUT+
2 PPESPOUT-
6 PPESPOUT-
8 EXSVON2-
9 ON_EN2+
7 EX24VIN
5 24V3
CPS-150F
CPS-150F
1 EXESP1+
4 EXESP25 EXSVON1+
7 EXSVON2+
CN28
10 ON_EN2-
9 24V2
8 EX0VIN
6 G3
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP13 EXESP-2
6 EXSVON1-
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
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
CN2
1KM
DATE
SER NO.
TYPE
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
CNPB06
8830-032-170SD
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
8830-032-170SD
SERVOPACK
Refer to following
table.
CNPB03
8830-032-170SD
8830-032-170SD
GRIP
A'
* Fuse
QS1
QS2
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
ZY1C-SS3152
I/O unit
JZRCR-XCO02B
CPU unit
JZNC-XRK01B-1
Power ON unit
JZNC-XSU02
CN32
CN07
XCP01
CN31
3 PPESPIN+
4 PPESPIN-
6 EXTUDIN
5 24V3
5 G3
6 PPESPOUT7 PPESPIN+
12 RDY13 GND2/G
14 24VIN
15 SAF_F2+
15 GND3/G
16 SAF_F2-
16 24V3
0 1 2 3 4
CN04
6XT
CN02/PP
CN25
CN41
CN02
CN21
CN22
CN40
CN03
CN23
CN24
JZRCR-XSU02
CN13
CN12
1 EXBRK+
CN11
CN10
2 EXBRK-
1 24V3
CN42
3 EXNCM+
2 EXOT1-
CN26
3 24V3
CN06/SV
9 DSWOUT+
11 RDY+
14 SAF_F1-
CN04/CARD
8 PPESPIN-
10 DSWOUT-
13 SAF_F1+
4 EXNCM-
4 EXOT2-
OFF
5 PPESPOUT+
9 EXHOLD1+
10 EXHOLD111 EXHOLD2+
12 EXHOLD2-
SW
CN29
6 G3
QS1
7 EXSVON2+
8 EXSVON2-
CN43
8 ON_EN17 ON_EN1+
1XT
1 PPESPOUT+
2 PPESPOUT-
6 EXSVON1-
9 ON_EN2+
7 EX24VIN
CPS-150F
CPS-150F
1 EXESP1+
4 EXESP25 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
CN2
CN20
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
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
Type
YASNAC XRC
SERVOPACK
Converter
QS1
15A
15A
15A
15A
15A
* Fuse
QS2
20A
20A
20A
20A
20A
1-8
QS3
20A
20A
20A
20A
20A
RE-CTO-A208
CN32
CN07
CPS-150F
2 PPESPOUT3 PPESPIN+
4 EXESP2-
4 PPESPIN-
5 EXSVON1+
5 PPESPOUT+
6 PPESPOUT7 PPESPIN+
8 PPESPIN-
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+
BAT
6 EXTUDIN
0 1 2 3 4
7 ON_EN1+
CN43
8 ON_EN1-
CN42
9 ON_EN2+
8 EX0VIN
7 EX24VIN
9 DSWOUT+
10 DSWOUT11 RDY+
CN11
CN10
QS1
10 ON_EN2-
9 24V2
6 G3
5 24V3
CN04/CARD
8 EXSVON29 EXHOLD1+
CN06/SV
7 EXSVON2+
10 EXHOLD111 EXHOLD2+
SW
CN29
6 EXSVON1-
CN28
10 G2
1XT
1 PPESPOUT+
1 EXESP1+
3 EXESP-2
1X
CPS-150F
XCP01
CN06 CN05
2 EXESP1-
CN27
CN03/RS232C
2FU
10A 250V
CN5
CN01/IO
5X
1FU
10A 250V
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
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
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'
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
JARCR-XCO02
CN32
CN07
CPS-150F
1 EXESP1+
3 PPESPIN+
4 PPESPIN-
5 G3
4 EXNCM3 EXNCM+
2 EXBRK-
1 24V3
1 EXBRK+
9 DSWOUT+
12 RDY13 GND2/G
14 24VIN
15 GND3/G
16 24V3
CN13
CN12
CN03
CN11
CN10
CN02
CN40
6XT
CN02/PP
CN41
CN25
CN23
CN24
JZRCR-XSU02
8 PPESPIN-
11 RDY+
12 EXHOLD2-
16 SAF_F2-
CN04
CN26
5 24V3
4 EXOT23 24V3
2 EXOT1-
5 PPESPOUT+
6 PPESPOUT7 PPESPIN+
10 DSWOUT-
11 EXHOLD2+
13 SAF_F1+
14 SAF_F115 SAF_F2+
0 1 2 3 4
6 EXTUDIN
CN04/CARD
5 EXSVON1+
CN29
7 ON_EN1+
CN43
8 ON_EN1-
CN42
9 ON_EN2+
8 EX0VIN
7 EX24VIN
CN06/SV
4 EXESP2-
10 ON_EN2-
9 24V2
6 G3
CN21
CN22
OFF
QS1
1XT
1 PPESPOUT+
2 PPESPOUT-
3 EXESP-2
8 EXSVON2-
10 EXHOLD1-
CN28
10 G2
1X
CPS-150F
XCP01
CN06 CN05
2 EXESP1-
6 EXSVON17 EXSVON2+
9 EXHOLD1+
CN27
SW
2FU
10A 250V
BAT
5X
1FU
10A 250V
JZNC-XRK01
XCP01
CN31
4X
2FU
10A 250V
CN30
5X
CN44
4X
CN03/RS232C
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
CN2
CN20
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
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
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
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
8830-032-170SD
8830-032-170SD
8830-032-170SD
SERVOPACK
Refer to the
following table.
A'
Transformer 8KVA
HB9480043
240-480-575V/208V
Class H
YASNAC XRC
SERVOPACK
1-9
QS3
30A
30A
30A
30A
RE-CTO-A208
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+
8 PPESPIN9 DSWOUT+
6 EXTUDIN
5 G3
4 EXNCM3 EXNCM+
2 EXBRK-
1 24V3
1 EXBRK+
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
CN25
CN41
CN11
CN10
CN02
CN40
CN03
CN23
CN24
JZRCR-XSU02
11 RDY+
12 EXHOLD2-
CN04
CN26
6 G3
5 24V3
4 EXOT23 24V3
2 EXOT1-
10 DSWOUT-
11 EXHOLD2+
0 1 2 3 4
7 ON_EN1+
CN43
8 ON_EN1-
CN42
9 ON_EN2+
8 EX0VIN
7 EX24VIN
CN04/CARD
CN29
6 PPESPOUT7 PPESPIN+
8 EXSVON2-
10 EXHOLD1-
CN28
10 ON_EN2-
9 24V2
CN21
CN22
OFF
1XT
1 PPESPOUT+
2 PPESPOUT-
3 EXESP-2
7 EXSVON2+
9 EXHOLD1+
QS1
CPS-150F
XCP01
CN06 CN05
2 EXESP1-
6 EXSVON1-
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
Fuse holders
(QS3)
USCC3I
Brake release control board Fuse : Refer to the
following table.
JZRCR-XFL02B
CN03/RS232C
Power ON unit
JZNC-XSU02
CN5
CN01/IO
CN2
1KM
DATE
SER NO.
TYPE
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
CNPB04
CNPB05
8830-032-170SD
CNPB06
8830-032-170SD
8830-032-170SD
CN10
14
FRC5-C14S52T
-OL(D20)
CN60
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
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
8830-032-170SD
SERVOPACK
Refer to the
following table.
A'
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
CN32
CN07
XCP01
CN31
4 PPESPIN-
5 G3
4 EXNCM3 EXNCM+
2 EXBRK-
1 24V3
1 EXBRK+
16 24V3
CN04/CARD
6XT
CN13
CN12
CN02/PP
CN25
CN41
CN11
CN10
CN02
CN40
CN03
CN23
CN24
JZRCR-XSU02
11 RDY+
12 RDY13 GND2/G
14 24VIN
15 GND3/G
16 SAF_F2-
CN04
CN26
4 EXOT23 24V3
2 EXOT1-
12 EXHOLD213 SAF_F1+
14 SAF_F115 SAF_F2+
0 1 2 3 4
6 EXTUDIN
SW
CN29
7 ON_EN1+
CN43
8 ON_EN1-
9 DSWOUT+
CN42
9 ON_EN2+
8 EX0VIN
7 EX24VIN
8 PPESPIN-
10 DSWOUT-
11 EXHOLD2+
10 ON_EN2-
9 24V2
6 G3
5 24V3
5 PPESPOUT+
6 PPESPOUT7 PPESPIN+
9 EXHOLD1+
10 EXHOLD1-
CN06/SV
5 EXSVON1+
8 EXSVON2-
CN21
CN22
OFF
QS1
1XT
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 EXESP2-
7 EXSVON2+
CN28
10 G2
CPS-150F
CPS-150F
1 EXESP1+
3 EXESP-2
1X
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP1-
6 EXSVON1-
CN27
BAT
2FU
10A 250V
CN03/RS232C
5X
1FU
10A 250V
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
NJ2096-
2KM
1KM
DATE
SER NO.
TYPE
CN1
CN4
CN3
CN01
1KM
DATE
SER NO.
TYPE
CN20
2KM
QS2 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)
CN60
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
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)
(EV1)
8830-032-170SD
8830-032-170SD
8830-032-170SD
SERVOPACK
Refer to the
following table.
A'
Transformer 12KVA
HB9480044
240-480-575V/208V
Class H
* Fuse
QS1
QS2
QS3
30A
40A
40A
UP130R
ERCR-UP130R-RB02 CACR-UP130AABY18
30A
40A
40A
UP130RL ERCR-UP130RL-RB02 CACR-UP130AABY21
30A
CACR-SK300AAB
40A
40A
SK300X
ERCR-SK300-RB02
30A
CACR-SK300AAB
40A
40A
SR200X
ERCR-SR200-RB02
40A
40A
CACR-SP100AAB
30A
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
1-10
RE-CTO-A208
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
CN32
CN07
XCP01
CN31
4 PPESPIN-
3 EXNCM+
2 EXOT1-
2 EXBRK-
1 24V3
1 EXBRK+
CN04/CARD
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
CN11
CN10
JZRCR-XSU02
9 DSWOUT+
0 1 2 3 4
4 EXNCM-
8 PPESPIN-
12 RDY-
SW
CN29
5 G3
CN26
7 ON_EN1+
6 EXTUDIN
CN43
8 ON_EN1-
7 EX24VIN
6 G3
5 24V3
4 EXOT23 24V3
5 PPESPOUT+
6 PPESPOUT7 PPESPIN+
10 DSWOUT11 RDY+
12 EXHOLD2-
CN06/SV
5 EXSVON1+
11 EXHOLD2+
CN42
9 ON_EN2+
CN21
CN22
OFF
1XT
1 PPESPOUT+
2 PPESPOUT3 PPESPIN+
4 EXESP2-
8 EXSVON29 EXHOLD1+
QS1
CPS-150F
CPS-150F
1 EXESP1+
3 EXESP-2
7 EXSVON2+
10 EXHOLD1-
CN28
10 ON_EN2-
9 24V2
8 EX0VIN
JZNC-XRK01
XCP01
CN06 CN05
2 EXESP1-
6 EXSVON1-
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
NJ2096-
2KM
1KM
DATE
SER NO.
TYPE
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)
8830-032-170SD
8830-032-170SD
8830-032-170SD
SERVOPACK
Refer to the
following table.
A'
* Fuse
QS1
QS2
QS3
40A
40A
UP130R ERCR-UP130R-RB03 CACR-UP130AABY18
40A
40A
UP130RL ERCR-UP130RL-RB03 CACR-UP130AABY21
40A
40A
SK300X
CACR-SK300AAB
ERCR-SK300-RB03
40A
40A
SR200X
CACR-SK300AAB
ERCR-SR200-RB03
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
1-11
RE-CTO-A208
1.4.2
1KM
Air Inlet
Servopack
Air Outlet
Air Inlet
Servopack
Backside Duct Fan
Air Output
Cooling System (Except for SV3X (Small Capacity type))(Right side view)
1-12
RE-CTO-A208
2-1
RE-CTO-A208
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
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
JZRCR-XPU05B
JZRCR-XPU10B
2-2
RE-CTO-A208
(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
NJ2096-1
2-3
RE-CTO-A208
2.2
A Switch to release the robot brake is provided on the door of the XRC for North America
(ANSI) spesification.
Brake Release Switch
Display LED
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
2.3.1
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
2.3.2
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
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
POWER
ON
Green
+5V
Red
+24V
Red
OHT
Red
2-6
RE-CTO-A208
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
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
Attachment hole
A part
WAGO connector
2. Insert or pull out the wire while pushing the wiring tool downward (Direction of the
arrow).
Wiring tool for WAGO connector
Push
2-8
RE-CTO-A208
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)
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
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
(CN44)
Direct IN (PHOENIX connector)
(Refer to "Wiring PHOENIX Connector".)
CN44
CN43
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
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".)
EXESP1+
PPESPOUT-
CN42
(CN42)
Input Connector for Emergency Stop
from the playback panel
CN05
PPESPOUT+
CN41
(CN43)
Deadman Switch and Input Connector
for Emergency Stop from programming pendant
CN06
CN06
1
PPESPOUT+
PPESPOUTPPESPIN+
PPESPINPBESPOUT+
PBESPOUTPBESPIN+
PBESPINDSWOUT+
DSWOUTRDY+
RDY024V
+24V
EX0VIN
EX24VIN
16
(CN01)
Power Supply Input
SUPPLEMENT
2-10
RE-CTO-A208
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
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
EXESP1+
EXESP1EXESP2+
EXESP2EXVON1+
EXVON1EXVON2+
EXVON2EXHOLD1+
EXHOLD1EXHOLD2+
EXHOLD2SAF-F1+
SAF-F1SAF-F2+
SAF-F2-
024VU
2-11
RE-CTO-A208
Direct IN
+24V
DIN1
DIN2
DIN3
DIN4
+24VU
CN44
1 EXDIN1+
2 EXDIN13 EXDIN2+
4 EXDIN25 EXDIN3+
6 EXDIN37 EXDIN4+
8 EXDIN4-
Direct IN
024VU
2-12
RE-CTO-A208
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
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
PPESPOUT+
PPESPOUTPPESPIN+
PPESPINPBESPOUT+
PPESPOUTPBESPIN+
PBESPINDSWOUT+
DSWOUTRDY+
RDY024V
+24V
EX0VIN
EX24VIN
2-13
RE-CTO-A208
+24VU
024VU 024VU
CN06
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
PPESPOUT+
PPESPOUTPPESPIN+
PPESPINPBESPOUT+
PPESPOUTPBESPIN+
PBESPINDSWOUT+
DSWOUTRDY+
RDY024V
+24V
EX0VIN
EX24VIN
+24VU
Deadman Switch
Signal Output
PP
CN43
B1 DSW1+
2 DSW13
4 DSW2+
5 DSW2-
Deadman Switch
JARCR-XCU01 024VU
2-14
RE-CTO-A208
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
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
PPESPOUT+
PPESPOUTPPESPIN+
PPESPINPBESPOUT+
PPESPOUTPBESPIN+
PBESPINDSWOUT+
DSWOUTRDY+
RDY024V
+24V
EX0VIN
EX24VIN
Remove
0V
024VU
+24VU
+24V
024VU 024V
2-15
RE-CTO-A208
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
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
FORCE1+
FORCE1FORCE2+
FORCE2FST1+
FST1FST2+
FST2S-SP1+
S-SP1S-SP2+
S-SP2HSW1+(TEACH1+)
HSW1-(TEACH1-)
HSW2+(TEACH2+)
HSW2-(TEACH2-)
Turn ON simultaneously
Switch with key
*CAUTION
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
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
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
FORCE1+
FORCE1FORCE2+
FORCE2FST1+
FST1FST2+
FST2S-SP1+
S-SP1S-SP2+
S-SP2HSW1+(TEACH1+)
HSW1-(TEACH1-)
HSW2+(TEACH2+)
HSW2-(TEACH2-)
Turn ON
simultaneously.
2-17
RE-CTO-A208
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
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
FORCE1+
FORCE1FORCE2+
FORCE2FST1+
FST1FST2+
FST2S-SP1+
S-SP1S-SP2+
S-SP2HSW1+(TEACH1+)
HSW1-(TEACH1-)
HSW2+(TEACH2+)
HSW2-(TEACH2-)
Turn ON simultaneously
024VU
2-18
RE-CTO-A208
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
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
FORCE1+
FORCE1FORCE2+
FORCE2FST1+
FST1FST2+
FST2S-SP1+
S-SP1S-SP2+
S-SP2HSW1+(TEACH1+)
HSW1-(TEACH1-)
HSW2+(TEACH2+)
HSW2-(TEACH2-)
2-19
RE-CTO-A208
Terminal
EXESP1
CN05 -1
-2
EXESP2
Factory
Setting
Disabled by
jumper lead
CN05 -3
-4
EXSVON1
Servo ON
CN05 -5
-6
EXSVON2
CN05 -7
-8
EXHOLD1
External hold
CN05 -9
-10
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
DIN2
Direct-in 2
CN44 -3
-4
DIN3
Direct-in 3
CN44 -5
-6
Open
Open
Open
2-20
RE-CTO-A208
Terminal
DIN4
Direct-in 4
CN44 -7
-8
FORCE1
CN40 -1
-2
FORCE2
CN40 -3
-4
Factory
Setting
Open
RDY
CN06-11
-12
FST1
Full-speed test
CN40 -5
-6
Open
Disabled by
Jumper lead
Open
FST2
CN40 -7
-8
S-SP1
CN40 -9
-10
S-SP2
CN40-11
-12
HSW1
Hanger switch
CN40-13
-14
HSW2
Open
Open
Open
CN40-15
-16
2-21
RE-CTO-A208
Safeguard
Servo ON Lamp
Abnormal
Teach
Operating
R
Y
G
YASNAC
XRC
Controller
Door
Safety Plug
Signal Tower
R: Red
Y: Yellow
G: Green
Taked Plug
Emergency
Stop
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
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
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
CN13 CN12
CN11 CN10
I/O Cable (from XIU01 to
Terminal)
CN10,CN11,CN12,CN13,
Connector B detailed
Connector B
B1
B20
A1
A20
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
2-23
RE-CTO-A208
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
Operating
External Hold
Ext. E-Stop
T
T
ON
OFF
ON
OFF
ON
OFF
2-24
RE-CTO-A208
X4
Servo ON
Command
X1
X4
Servo ON
Command
X2
X1
X2
I/O Unit
(JZRCR-XCO02B)
CN05 +24VU
Servo ON
Command
X1
-5
-6
Servo ON
Command
X2
-7
-8
Servo Power ON
Servo Power ON Confirmation
X3
X4
024VU
+24VU
CN12
-A18
X3
PL
-A8
Servo ON Output
3011
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 (
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
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
024V
+24VU
EXOT2EXOT2+
EXOT1-
CN29
10
ON_EN2ON_EN2+
ON_EN1ON_EN1+
EXTUDIN
024VU
EXNCMEXNCM+
EXBRKEXBRK+
1
(CN23)
Interface to I/O Unit
(JZRCR-XCO02B)
(CN21)
Interface to Servo Control
Circuit Board (JASP-WRCA01)
EXNCM+
(CN26)
Shock Sensor, Lamp
CN20
EXBRK+
1
(CN22, CN24)
Back-stage, Interface to Power ON Unit
0V
+24VU 0VU
0V
(CN20)
Power Supply Input
2-26
EXBRK-
(CN25)
Interface to Speed Monitor Board
(JANCD-XFC01), Fan Alarm
CN20
+24V
ON_EN1+
EXNCM-
+24VU 0VU
+24V
ON_EN1-
024VU
CN26
EXOT1+
1
ON_EN2-
EXTUDIN
CN28
CN27
10
024V
+24V
EX0VIN
EX24VIN
024VU
+24VU
EXOT2EXOT2+
EXOT1EXOT1+
1
CN25
024VU
(CN29)
Contactor Control
CN23
CN24
EX24VIN
CN28
10
ON_EN2+
CN21
CN22
EX0VIN
(CN27, CN28)
Overrun, Switch to External Power Supply,
External Brake, External Direct IN,
Servo Area Input
JZRCR-XSU02
+24V
(CN30)
FAN, AC Output
RE-CTO-A208
2.5.1
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
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
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
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
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 dosnt 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
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
-8
-7
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
2-29
RE-CTO-A208
2.6 SERVOPACK
2.6
SERVOPACK
2.6.1
SERVOPACK Configuration
SERVOPACK Configuration (Small Capacity Type)
SV3X
Component
Type
SERVOPACK
Capacity
CACR-SV3AAA
Converter
UP6
JUSP-ACP05JAA
5A
Type
CACR-UP6AAC
JUSP-ACP05JAA
Capacity
5A
JUSP-WS02AA
200W
JUSPWS05AAY17
500W
JUSP-WS02AA
200W
JUSPWS10AAY17
1kW
JUSP-WS01AA
100W
JUSPWS05AAY17
500W
JUSP-WSA5AA
50W
JUSP-WS01AA
100W
JUSP-WSA5AA
50W
JUSP-WS01AA
100W
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
Amplifier
2-30
RE-CTO-A208
2.6 SERVOPACK
SK16X
Component
UP20
Type
SERVOPACK
Converter
Capacity
Type
Capacity
CACR-SK16AAC
CACR-UP20AAA
JUSP-ACP05JAA
5A
JUSP-ACP05JAA
5A
JUSPWS10AAY17
1kW
JUSP-WS10AA
1kW
JUSPWS10AAY17
1kW
JUSPWS20AAY22
2kW
JUSPWS10AAY17
1kW
JUSPWS10AAY17
1kW
JUSP-WS02AA
200W
JUSP-WS02AA
200W
JUSP-WS02AA
200W
JUSP-WS02AA
200W
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
SK45X
Component
Type
SERVOPACK
SK16MX
Capacity
CACR-SK45AAB
Type
CACR-SK16MAAB
Capacity
-
JUSP-WS30AA
3kW
JUSP-WS30AA
3kW
JUSP-WS20AA
2kW
JUSP-WS20AA
2kW
JUSP-WS20AA
2kW
JUSP-WS20AA
2kW
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
Servo control
curcuit board
JASP-WRCA01
JASP-WRCA01
Speed monitor
board
JANCD-XFC01
JANCD-XFC01
Amplifier
Converter
Servo control
power supply
JUSP-ACP25JAA
JUSPRCP01AA
2-31
25A
JUSP-ACP25JAA
25A
JUSP-RCP01AA
RE-CTO-A208
2.6 SERVOPACK
UP50
Component
Type
SERVOPACK
UP20M
Capacity
CACR-UP50AAB
Type
CACR-UP20MAAB
Capacity
-
JUSP-WS44AA
4.4kW
JUSP-WS44AA
4.4kW
JUSP-WS60AA
6kW
JUSP-WS60AA
6kW
JUSP-WS20AA
2kW
JUSP-WS20AA
2kW
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
JUSP-WS10AA
1kW
JUSP-WS02AA
200W
Servo control
curcuit board
JASP-WRCA01
JASP-WRCA01
Speed monitor
board
JANCD-XFC01
JANCD-XFC01
JUSPACP25JAAY11
25A
Amplifier
Converter
Servo control
power supply
JUSP-RCP01AA
JUSP-ACP25JAAY11
JUSP-RCP01AA
SP70X
Component
Type
SERVOPACK
Amplifier
CACR-SP70AAB
Capacity
-
JUSP-WS20AA
2kW
JUSP-WS15AA
1.5kW
JUSP-WS44AA
4.4kW
JUSP-WS05AA
500W
Servo control
curcuit board
JASP-WRCA01
Speed monitor
board
JANCD-XFC01
Converter
Servo control
power supply
JUSP-ACP25JAA
JUSPRCP01AA
2-32
25A
-
25A
-
RE-CTO-A208
2.6 SERVOPACK
Component
SERVOPACK
Amplifier
UP130R, UP200
UP165-100
UP130, UP165
Type
Capacity
Type
Capacity
CACR-UP130AAB
CACR-UP130AABY18
JUSP-WS60AA
6kW
JUSP-WS60AAY18
6kW
JUSP-WS60AA
6kW
JUSP-WS60AAY18
6kW
JUSP-WS60AA
6kW
JUSP-WS60AA
6kW
JUSPWS20AAY13
2kW
JUSP-WS20AAY13
2kW
JUSPWS15AAY13
1.5kW
JUSP-WS15AAY13
1.5kW
JUSPWS15AAY13
1.5kW
JUSP-WS15AAY13
1.5kW
Servo control
curcuit board
JASP-WRCA01
JASP-WRCA01
Speed monitor
board
JANCD-XFC01
JANCD-XFC01
Converter
JUSP-ACP35JAA
Servo control
power supply
JUSPRCP01AA
35A
JUSP-ACP35JAA
35A
JUSP-RCP01AA
UP130RL
Component
SERVOPACK
Amplifier
Type
Capacity
CACR-UP130AABY21
JUSP-WS60AAY18
6kW
JUSP-WS60AAY18
6kW
JUSP-WS60AAY18
6kW
JUSP-WS20AAY13
2kW
JUSP-WS15AAY13
1.5kW
JUSP-WS15AAY13
1.5kW
Servo control
curcuit board
JASP-WRCA01
Speed monitor
board
JANCD-XFC01
Converter
Servo control
power supply
JUSP-ACP35JAA
35A
JUSP-RCP01AA
2-33
RE-CTO-A208
2.6 SERVOPACK
SK300X, SR200X
Component
SERVOPACK
SP100X
Type
Capacity
Type
Capacity
CACR-SK300AAB
CACR-SP100AAB
JUSPWS60AAY18
6kW
JUSP-WS60AAY18
6kW
JUSPWS60AAY18
6kW
JUSP-WS60AAY18
6kW
JUSPWS60AAY18
6kW
JUSP-WS60AAY18
6kW
JUSPWS30AAY18
3kW
JUSPWS30AAY18
3kW
JUSPWS30AAY18
3kW
Amplifier
JUSP-WS20AAY19
2kW
Servo control
curcuit board
JASP-WRCA01
JASP-WRCA01
Speed monitor
board
JANCD-XFC01
JANCD-XFC01
Converter
Servo control
power supply
JUSP-ACP35JAA
JUSPRCP01AA
2-34
35A
JUSP-ACP35JAA
35A
JUSP-RCP01AA
RE-CTO-A208
2.6 SERVOPACK
Grip (top)
Converter
Amplifier (6 pcs)
Servo Control Power Supply
Servo Control Board
G R I
6AMP
+5 V Display LED
CNS
2CN
+5V
JUSPRCP01AAB
-OL(D20)
1CN
1GS
1CV
1AMP
G R I
Grip (bottom)
Converter
Amplifier (6 pcs)
8830-032-170SD
CNPB04
8830-032-170SD
CNPB05
8830-032-170SD
CNPB06
C249
CNPG456
CN20
CNPG123
CN40
FRC5-C14S52T-OL(D20)
CN50
CN30
1CN
178323-2
JUSPRCP01AAA
FRC5-C14S52T-OL(D20)
+5V
10220-6202JL
2CN
CNS
CN10
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)
2-35
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK
Speed Monitor Board
Grip (top)
Converter
Servo Control Power Supply
CNPG456
2CN
CNS
G R I
Amplifier (6 pcs)
+5V
CNPG123
JUSPRCP01AAB
1CN
CN1
CN2
CN3
GRIP
CN4
CN5
CN6
Grip (bottom)
Grip (top)
Converter
Amplifier (6 pcs)
Servo Control Board
CNS
2CN
+5V
JUSPRCP01AAB
1CN
Grip (bottom)
2-36
RE-CTO-A208
2.6 SERVOPACK
SERVOPACK
Speed Monitor Board
G R I
2CN
CNPG456
CNS
Amplifier (4pcs)
Grip (top)
Converter
+5V
JUSPRCP01AAB
CNPG123
YASKAWA
1CN
CN2
CN1
CN3
GRIP
CN4
Grip (bottom)
Converter
Speed Monitor Board
Amplifier (6 pcs)
Grip (top)
CNS
2CN
+5V
JUSPRCP01AAB
CNE
1CN
4CN
G R I
5CN
6CN
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)
Grip (top)
G R I
CNS
2CN
+5V
JUSPRCP01AAB
CNE
1CN
6CN
G R I
V21 V22 W21 W22 E31 E32 U31 U32 V31 V32 W31 W32
1GS
Grip (bottom)
2-38
RE-CTO-A208
2.6 SERVOPACK
2.6.2
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.
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
200 to 220VAC
Frequency
+ 5V
5A
+ 7V
2.5A
15V
1.3A(+15V), 0.6A(-15V)
+5V
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.
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
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
EMERGENCY
STOP Button
EDIT LOCK
(OFF)
(ON)
REMOTE
ALARM
HOLD
START Button
START
Starts playback.
EDIT LOCK
HOLD Button
REMOTE Button
Switches to remote
mode.
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
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
2014 B3
IN
B2
B2
Alarm/Error Reset
IN
IN
A2
B3
A2
2015 A3
A3
B4
A3
2016 B4
2017 A4
IN
IN
IN192
IN
A4
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
B5
A4
B5
IN
A5
Work Prohibited
IN
B6
A5
B6
Work Response
IN
A6
A6
B7
A7
B7
A7
2022 B6
2023 A6
B7
A7
024VU
024VU
OUT
B8
B8
Servo is ON
OUT
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
-16
+24VU
024 VU
B4
Running
-15
B3
3011 A8
3012 B9
CN06 Internal
Power Supply
-14
+24 V
024 V
-13
(24V,1A)
B1
3010 B8
JARCR-XCI01
Terminal
Number
Signal
2010 B1
2020 B5
2021 A5
Each Point
24VDC
50mA max.
+24 VE
024 VE
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
2-41
RE-CTO-A208
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
2032 B4
2034 B5
2035 A5
2036 B6
2037 A6
B7
A7
IN
3026 B9
3027 A9
A3
A3
B4
B4
A4
IN
A4
IN
B5
A5
B5
A5
IN
IN
B6
B6
IN
A6
A6
B7
A7
B7
A7
B8
B8
A8
A8
B9
A9
A9
024 VU
024 VU
3030 B10 -
OUT
B10
A10
B10
OUT
OUT
B11
B11
OUT
A11
B12
A12
B12
OUT
OUT
OUT
OUT
-15
024 VU
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
+24VU
B9
-16
A2
+24 V
024 V
(24V,1A)
B1
IN
IN
CN06 Internal
Power Supply
-14
+24 VE
024 VE
2024 B1
2033 A4
JARCR-XCI01
Terminal
Number
Signal
Each Point
24VDC
50mA max.
-13
A18 +24VU
B16
A17
A18
A19
2-42
RE-CTO-A208
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN10 Connector
Logical Connec t or
Number Num ber
JARCR-XCI03
Each Point
24VDC
8mA max.
-13
+24 VE
024 VE
IN
B1
2041 A1
IN02
IN
A1
A1
2042 B2
2043 A2
2044 B3
IN03
IN
B2
IN04
IN
IN05
IN
A2
B3
B2
A2
2045 A3
IN06
A3
A3
2046 B4
2047 A4
IN07
IN
IN
B4
B4
IN08
IN
A4
A4
B5
A5
B5
B5
A5
A5
B6
A6
B6
B6
A6
A6
B7
A7
B7
A7
024VU
024VU
OUT01- General Output OUT
B8
B8
OUT01+
OUT
OUT02-
OUT
A8
B9
RLY
3041 B9
A9
A8
B9
OUT02+
OUT
A9
A9
RLY
OUT
OUT
B10
A10
B10
A10
RLY
OUT
B11
B11
OUT
OUT
A11
B12
A12
B12
OUT
OUT
B13
A13
OUT
B14
A14 OUT07+
3047 B15 OUT08A15 OUT08+
OUT
A14
A14
OUT
B15
B15
OUT
A15
A15
B16
A16
B16
B17
A17
B17
A17
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
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
B3
A8
B16 024VU
CN06 Internal
Power Supply
-14
B1
3040 B8
JARCR-XCI01
Terminal
Number
Signal
2040 B1
B7
A7
Each Point
24VDC
500mA max.
A18 +24VU
A11
RLY
A12
B13
RLY
A13
RLY
B14
RLY
RLY
A16
A19
2-43
RE-CTO-A208
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
2054 B3
IN11
IN
B2
B2
IN12
IN
IN13
IN
A2
B3
B3
2055 A3
IN14
A3
IN15
IN
IN
A3
2056 B4
2057 A4
B4
B4
IN16
IN
A4
A4
B5
B5
A5
A5
B6
A6
B6
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
A9
A8
B9
RLY
OUT10+
OUT
A9
A9
OUT
B10
OUT
B10
A10
OUT
B11
B11
OUT
OUT
A11
B12
A12
B12
A12
RLY
OUT
B13
A13
B13
A13
RLY
B14
B14
OUT
+24VU
024VU
A10
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
B17
A17
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
A18 +24VU
RLY
A11
B18 +24VU
-16
A2
B5
A5
A17 024VU
-15
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
RLY
RLY
RLY
A16
A19
*
RLY
2-44
RE-CTO-A208
Logical
Number
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
2013
2014
2015
Logical
Number
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.
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
2023
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
Logical
Number
2016
*1
*2
Logical
Number
2027
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.
Logical
Number
3010
3011
3012
Logical
Number
3021
3022
3023
2-46
RE-CTO-A208
Logical
Number
Logical
Number
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
3025
3026
2027
2-47
RE-CTO-A208
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
IN
B2
B2
Alarm/Error Reset
IN
2014 B3
IN
A2
B3
B3
2015 A3
2016 B4
2017 A4
IN
IN
A3
B4
IN192
IN
A4
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
B5
B5
IN
A5
A5
IN
B6
B6
IN
A6
A6
B7
A7
B7
A7
B7
A7
024VU
024VU
OUT
B8
B8
OUT
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
-15
024 VU
B4
A4
Servo is ON
+24VU
A3
Running
-16
A2
3011 A8
3012 B9
+24 V
024 V
(24V,1A)
B1
3010 B8
CN06 Internal
Power Supply
-14
Terminal
Number
Signal
External Start
2022 B6
2023 A6
JARCR-XCI01
+24 VE
024 VE
Name
2010 B1
2020 B5
2021 A5
Each Point
24VDC
50mA max.
-13
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
2-48
RE-CTO-A208
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN13 Connector
Logical Connec t or
NumberNum ber
Each Point
24VDC
8mA max.
JARCR-XCI03
CN06 Internal
Power Supply
-14
-13
+24 VE
024 VE
IN
B1
2025 A1
IN
A1
A1
IN
B2
B2
IN
2030 B3
IN
A2
B3
A2
B3
A3
+24 V
024 V
(24V,1A)
2031 A3
IN02
IN
IN
A3
IN03
B4
B4
2033 A4
IN04
IN
A4
A4
2034 B5
2035 A5
IN05
IN
B5
B5
IN06
A5
A5
2036 B6
2037 A6
IN07
IN
IN
B6
B6
IN08
IN
A6
A6
B7
A7
B7
A7
024 VU
3024 B8
024 VU
-
OUT
B8
B8
3025 A8
OUT
3026 B9
3027 A9
OUT
A8
B9
A8
B9
OUT
A9
A9
OUT
OUT
B10
A10
A10
OUT
B11
B11
OUT
A11
OUT
B12
OUT
A11
B12
A12
B13
A13
B13
A13
OUT
OUT
+24VU
-15
024 VU
B10
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
B1
2032 B4
B7
A7
JARCR-XCI01
Terminal
Number
Signal
2024 B1
2026 B2
2027 A2
Each Point
24VDC
50mA max.
A18 +24VU
B20
A18
A19
B20
A20
2-49
RE-CTO-A208
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN10 Connector
Logical Connector
Number Number
2040 B1
Each Point
24VDC
8mA max.
JARCR-XCI03
2041 A1
-13
+24 VE
024 VE
IN
B1
IN
A1
A1
Sensor Input 3
IN
B2
B2
A2
B3
A2
IN
Sensor Input 5
IN
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
A5
B5
B5
A5
A5
B6
A6
B6
B6
A6
A6
B7
A7
B7
A7
024VU
024VU
Hand Valve 1-1Hand Valve 1-1+
OUT
B8
B8
OUT
OUT
A8
B9
RLY
3041 B9
A9
A8
B9
OUT
A9
A9
RLY
OUT
B10
OUT
B10
A10
OUT
B11
B11
OUT
OUT
A11
B12
A12
A11
B12
RLY
A12
RLY
OUT
OUT
B13
A13
B13
A13
RLY
OUT
B14
B14
OUT
A14
A14
OUT
B15
B15
OUT
A15
A15
B16
A16
B16
A16
B17
A17
B17
A17
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
A16 024VU
B17 024VU
A17 024VU
+24 V
024 V
(24V,1A)
B18 +24VU
-16
+24VU
-15
024 VU
B3
A8
B16 024VU
CN06 Internal
Power Supply
-14
B1
Sensor Input 1
Sensor Input 2
Sensor Input 4
3040 B8
JARCR-XCI01
Terminal
Number
Signal
2042 B2
2043 A2
2044 B3
B7
A7
Each Point
24VDC
500mA max.
A18 +24VU
OUT
A10
A19
RLY
RLY
RLY
*
RLY
2-50
RE-CTO-A208
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
IN
B1
B1
2051 A1
IN10
IN
A1
A1
2052 B2
2053 A2
2054 B3
IN11
IN
B2
IN12
IN
B2
A2
IN13
IN
A2
B3
2055 A3
IN14
A3
A3
2056 B4
2057 A4
IN15
IN
IN
B4
B4
IN16
IN
A4
A4
+24 V
024 V
(24V,1A)
B5
B5
A5
A5
B6
A6
B6
B6
A6
A6
B7
A7
B7
A7
024VU
024VU
OUT09- General Output OUT
B8
B8
A8
OUT09+
OUT
OUT10-
OUT
A8
B9
RLY
3051 B9
A9
A8
B9
RLY
OUT10+
OUT
A9
A9
OUT
B10
OUT
B10
A10
OUT
B11
B11
OUT
OUT
A11
B12
A12
B12
A12
RLY
OUT
B13
A13
B13
A13
RLY
B14
B14
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
B17
B18
A18
B18
A18
-15
024VU
B19 +24VU
A19 +24VU
B20 FG
B19
A19
A19
B20
B20
A20
A20
A20
A18 +24VU
RLY
RLY
A11
OUT
OUT
B18 +24VU
+24VU
A10
A17 024VU
-16
B3
B5
A5
3050 B8
JARCR-XCI01
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
RLY
RLY
A16
A17
B19
*
RLY
2-51
RE-CTO-A208
Logical
Number
2010
2012
2013
2014
2015
2016
Logical
Number
2-52
RE-CTO-A208
*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.
Logical
Number
3010
3011
Logical
Number
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
2-53
RE-CTO-A208
Logical
Number
Logical
Number
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
2-54
RE-CTO-A208
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
2014 B3
IN
B2
B2
Alarm/Error Reset
IN
IN
A2
B3
A2
B3
2015 A3
2016 B4
2017 A4
IN
IN
A3
B4
B4
IN192
A4
B7
A7
A4
IN
B5
B5
IN
A5
A5
Work Prohibited
IN
B6
B6
IN
A6
A6
B7
A7
B7
A7
024VU
024VU
3010 B8
Running
OUT
B8
B8
3011 A8
3012 B9
Servo is ON
OUT
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
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
IN
+24 V
024 V
(24V,1A)
B1
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
JARCR-XCI01
Terminal
Number
Signal
2011 A1
2022 B6
2023 A6
CN06 Internal
Power Supply
-14
+24 VE
024 VE
Name
2010 B1
2020 B5
2021 A5
Each Point
24VDC
50mA max.
-13
A10
B12
B17
B19
2-55
RE-CTO-A208
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN13 Connector
Logical Connector
NumberNumber
Each Point
24VDC
8mA max.
2024 B1
JARCR-XCI03
2025 A1
-13
+24 VE
024 VE
A1
A1
IN
B2
B2
A2
B3
B3
IN
IN
2031 A3
A3
IN
IN
A3
2032 B4
2033 A4
B4
B4
IN
A4
A4
IN
B5
B5
IN
IN
A5
A5
B6
B6
IN
A6
A6
B7
A7
B7
A7
024 VU
024 VU
+24VU
-15
024 VU
A2
3024 B8
In Cube 3
OUT
B8
B8
3025 A8
3026 B9
In Cube 4
OUT
A8
B9
A8
B9
Work Command
3027 A9
3030 B10 3031 A10 3032 B11 -
OUT
OUT
A9
A9
OUT
B10
OUT
B10
A10
OUT
B11
B11
OUT
OUT
A11
B12
A12
B12
OUT
B13
A13
B13
A13
OUT
OUT
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
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
A19
B20
B20
A20
A20
A20
A17 024VU
B18 +24VU
-16
B1
3033 A11
+24 V
024 V
(24V,1A)
B1
IN
B7
A7
CN06 Internal
Power Supply
-14
IN
2030 B3
2036 B6
2037 A6
JARCR-XCI01
Terminal
Number
Signal
Interference3 Entrance
Prohibited
Interference4 Entrance
Prohibited
2026 B2
2027 A2
2034 B5
2035 A5
Each Point
24VDC
50mA max.
A18 +24VU
A16
A18
2-56
RE-CTO-A208
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
2044 B3
IN03
IN
B2
B2
IN04
IN
IN05
IN
A2
B3
A2
B3
2045 A3
IN06
A3
IN07
IN
IN
A3
2046 B4
2047 A4
B4
IN08
IN
A4
B5
A5
B5
B5
A5
A5
B6
A6
B6
B6
A6
A6
B7
A7
B7
A7
024VU
024VU
OUT01- General Output OUT
B8
B8
A8
OUT01+
OUT
OUT02-
OUT
A8
B9
RLY
3041 B9
A9
A8
B9
OUT02+
OUT
A9
A9
RLY
OUT
OUT
B10
A10
B10
A10
RLY
OUT
B11
B11
OUT
OUT
A11
B12
A12
B12
OUT
OUT
A15
A15
B16
A16
B16
B17
A17
B17
A17
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
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
B4
A4
B16 024VU
CN06 Internal
Power Supply
-14
-13
3040 B8
JARCR-XCI01
Terminal
Number
Signal
2040 B1
B7
A7
Each Point
24VDC
500mA max.
A18 +24VU
A11
RLY
RLY
A12
B13
OUT
B13
A13
OUT
B14
B14
OUT
A14
A14
OUT
B15
B15
RLY
A13
RLY
RLY
A16
A19
*
RLY
2-57
RE-CTO-A208
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
2054 B3
IN11
IN
B2
B2
IN12
IN
IN13
IN
A2
B3
B3
2055 A3
IN14
A3
IN15
IN
IN
A3
2056 B4
2057 A4
B4
B4
IN16
IN
A4
A4
B5
-15
024VU
A2
B5
B6
A6
B6
A5
B6
A6
A6
B7
A7
B7
A7
A5
024VU
024VU
3050 B8
OUT09-
OUT
B8
B8
A8
OUT09+
OUT
OUT10-
OUT
A8
B9
RLY
3051 B9
A9
A8
B9
RLY
OUT10+
OUT
A9
A9
OUT
B10
OUT
B10
A10
OUT
B11
OUT
OUT
A11
B12
A12
B12
A12
RLY
OUT
B13
A13
B13
A13
RLY
B14
B14
OUT
A10
B11
RLY
A11
RLY
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
B18
A18
B18 +24VU
+24VU
B1
B5
A5
A17 024VU
-16
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
A18 +24VU
RLY
RLY
A16
B17
A17
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
A19
*
RLY
2-58
RE-CTO-A208
Logical
Number
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
2013
2014
2015
Logical
Number
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.
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
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
Logical
Number
2016
*1
*2
Logical
Number
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
3021
3022
3023
2-60
RE-CTO-A208
Logical
Number
3013
Logical
Number
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
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
2.8.4
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
2014 B3
IN
B2
B2
Alarm/Error Reset
IN
IN
A2
B3
B3
IN
IN
A3
B4
A3
B4
IN
A4
A4
2020 B5
2021 A5
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
B5
B5
IN
A5
A5
Welding ON/OFF
IN
B6
B6
Welding Pause
IN
A6
A6
B7
A7
B7
A7
024VU
024VU
3010 B8
Running
OUT
B8
B8
3011 A8
3012 B9
Servo is ON
OUT
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
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
+24 V
024 V
(24V,1A)
B1
2016 B4
2017 A4
CN06 Internal
Power Supply
-14
Terminal
Number
Signal
2011 A1
B7
A7
JARCR-XCI01
+24 VE
024 VE
Name
2010 B1
2022 B6
2023 A6
Each Point
24VDC
50mA max.
-13
A10
A12
A16
A17
A18
A19
2-62
RE-CTO-A208
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
2031 A3
IN2
A3
IN3
IN
IN
A3
2032 B4
2033 A4
B4
B4
IN4
IN
A4
A4
2036 B6
2037 A6
B7
A7
IN5
IN
B5
B5
IN6
IN7
IN
IN
A5
A5
B6
B6
IN8
IN
A6
A6
B7
A7
B7
A7
024 VU
024 VU
3024 B8
In Cube 3
OUT
B8
B8
3025 A8
3026 B9
In Cube 4
OUT
A8
B9
A8
B9
OUT
3027 A9
3030 B10 OUT01 General Output
3031 A10 OUT02
CN06 Internal
Power Supply
-14
-13
IN
2025 A1
2034 B5
2035 A5
JARCR-XCI01
+24 V
024 V
(24V,1A)
+24VU
-15
024 VU
OUT
A9
A9
OUT
B10
OUT
B10
A10
OUT
B11
OUT
OUT
A11
B12
A12
OUT
OUT
A10
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.
A18 +24VU
A17
A18
A19
2-63
RE-CTO-A208
YASNAC-XRC
JZRCR-XCO02B
+24VU
CN10 Connector
Logical Connector
Number Number
IN
B1
IN
A1
A1
*** IN
*** IN
B2
B2
A2
B3
A2
B3
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
2044 B3
2045 A3
2046 B4
2047 A4
B7
A7
A8
3041 B9
A9
**
**
024VU
024VU
Weld ON/OFF (OUT09)
A9
A9
B10
OUT
B11
B11
OUT
A11
B12
A12
A11
A10
3043 B11
A11
OUT
Weld Condition 3 (OUT13)**
024 VU
B14
B14
A15
A15
B16
A16
B16
A16
B17
A17
B17
A17
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
A20
A20
B20
A20
A18 +24VU
RLY
RLY
A13
OUT
**
B18 +24VU
+24VU
OUT
A14
A16 024VU
B17 024VU
A17 024VU
-16
OUT
B15
B16 024VU
-15
B13
B15
Tip Replacement
Request (OUT16)
RLY
A12
B13
A13
A14
**
RLY
B12
OUT
A15
+24 V
024 V
(24V,1A)
A10
OUT
3047 B15
CN06 Internal
Power Supply
-14
OUT
OUT
3045 B13
A13
3046 B14
B1
B10
A10
3044 B12
JARCR-XCI01
IN
OUT
A14
+24 VE
024 VE
3042 B10
A12
-13
3040 B8
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
2-64
RE-CTO-A208
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
2054 B3
IN19
IN
B2
B2
IN20
IN
IN21
IN
A2
B3
A2
B3
2055 A3
IN22
A3
IN23
IN
IN
A3
2056 B4
2057 A4
B4
B4
IN24
IN
A4
A4
B5
B5
A5
A5
B6
A6
B6
B6
A6
A6
B7
A7
B7
A7
024VU
024VU
3050 B8
OUT17-
OUT
B8
B8
A8
OUT17+
OUT
OUT18-
OUT
A8
B9
RLY
3051 B9
A9
A8
B9
RLY
OUT18+
OUT
A9
A9
OUT
B10
OUT
B10
A10
OUT
B11
B11
OUT
OUT
A11
B12
A12
B12
OUT
OUT
+24VU
024VU
A10
RLY
RLY
A12
B13
A13
B13
B14
B14
RLY
A13
OUT
OUT
A14 OUT23+
3057 B15 OUT24-
OUT
A14
A14
OUT
B15
B15
A15 OUT24+
OUT
A15
A15
B16 024VU
A16 024VU
B16
A16
B16
B17 024VU
B17
A17
B17
A17
B18
A18
B18
A18
B19 +24VU
A19 +24VU
B20 FG
B19
A19
B19
B20
B20
A20
A20
A20
A18 +24VU
RLY
A11
B18 +24VU
-16
B1
B5
A5
A17 024VU
-15
Terminal
Number
Signal
2050 B1
B7
A7
Each Point
24VDC
500mA max.
RLY
RLY
A16
A19
*
RLY
2-65
RE-CTO-A208
Logical
Number
2010
2012
Logical
Number
2022
2023
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.
2013
2014
2015
2-66
2040
*4
RE-CTO-A208
Logical
Number
2016
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.
Logical
Number
2-67
2041
*4
2042
*4
2043
*4
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.
RE-CTO-A208
Logical
Number
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 welders error.
Alarm occurs and the manipulator
stops if this signal is input during
welding.
*3
*3
*1
*2
*3
*4
Logical
Number
2046
*3
STICK DETECTION
This signal indicates an abnormal
welding result or welders error.
Alarm occurs and the manipulator
stops if this signal is input during
welding.
2047
*3
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
Logical
Number
3010
3011
3012
Logical
Number
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
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.
BATTERY ALARM
This signal turns ON to notify that the
battery requires replacing when the voltage 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.
REMOTE/PLAY/TEACH MODE
SELECTED
This signal notifies the current mode setting. These signals are synchronized
3042 to
3015 to
with the lamps [REMOTE] and [MODE]
3045
3017
in the playback panel. The signal corre*3
sponding to the selected mode turns ON.
2-69
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.
RE-CTO-A208
Logical
Number
3020
3021
3022
3047
*3
*1
*2
*3
*4
Logical
Number
*3
*3
3046
*3
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
2.8.5
YASNAC-XRC
MR Connector
Logical Conn e cto r
NumberNumb e r
JANCD-XEW01-1
Each Point
24VDC
5mA max.
D/A 14V
24VDC
5mA max.
24VDC
0.5A max.
Name
CN03-1
2300 CN03-2 +GASOF (Gas Shortage)
Signal
1
IN
IN
2
3
IN
IN
2303 CN03-6 +ARCACT (Arc Generation Confirm)IN
CN03-8
8
OUT
OUT
10
CN03-11
2302 CN03-13 +ARCOFF (Arc Shortage)
CN03-14 -ARCOFF (Arc Shortage)
IN
D/A 14V
24VDC
0.5A max.
T
P
13
IN
14
OUT
15
OUT
16
OUT
17
OUT
18
OUT
19
OUT
20
OUT
OUT
21
22
23
24
CN03-25
2304 CN03-26 STICK (Wire Sticking)
IN
26
IN
27
25
CN03-28
28
CN03-29 +24VU
29
30
31
OUT
32
33
OUT
34
CN03-30 024VU
D/A 14V
11
12
CN03-12
CN03-24
Detector
MS Connector
CN03-31 CH1
CN03-32 CH1-G
CN03-33 CH2
CN03-34 CH2 -G
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 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.
Inspection Equipment
Inspection Item
Inspection
Frequency
Comments
Daily
Monthly
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
As required
Battery
XRC Controller
3-1
RE-CTO-A208
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
T
EDIT LOCK
(OFF)
(ON)
ALARM
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+
U+
T-
B+
T+
Door Lock
NJ1530
TYPE
ERCR-
POWER SUPPLY
200/220V
50/60Hz
3PHASE
KVA
SERIAL NO.
DATE
P/N
MADE IN JAPAN
NJ2063-1
3.2.2
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
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.
Air Inlet
SERVOPACK
Backside Duct Fan
Air Outlet
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
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
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.
NOTE
If the [SERVO ON READY] lamp does not light in previous operation (2), check the following:
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
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
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
About 0V
3(S)
5(T)
2(U) 4(V)
6(W)
1(R)
OFF
Measuring Items
3-5
RE-CTO-A208
3.8
Check Item
Contents
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.
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).
R
1
T
5
Disconnecting Switch
QS1
2
U
4
V
6
W
Transfomer (575-480-240V/208V)
T1
Fuse Holder
QS2
1KM
Power Supply Unit
Converter
2KM
Fuse Holder
QS3
L1
3-6
L2
L3
RE-CTO-A208
Replacing Parts
4.1
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
4.1.1
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
ATDR
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
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.
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
Fuse Type
Robot Model
SV3X
UP6
SK16X, UP20
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
4.1.2
The power supply unit (JZRCR-XPU05B, 06B, and 10B) is equipped with the following fuses.
Parts No.
1F, 2F
Fuse Name
Specification
4X
5X
1FU
10A 250V
2FU
10A 250V
(1F,2F)
Fuse
250V 10A
326010 (LITTEL)
1X
2KM
1KM
DATE
SER NO.
TYPE
NJ2096-1
Type
JZRCR-XPU06B
JZRCR-XPU05B
JZRCR-XPU10B
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
No.
Name
Model
6 Axis type
SERVOPACK
*1
CPU rack
JZNC-XRK01B-
Backboard
JANCD-XBB01
JANCD-XCP01
JANCD-XIF03
CPS-150F
I/O unit
JZRCR-XCO02B
JARCR-XCI01
JARCR-XCU01B
JARCR-XCI03
Power ON unit
Power ON circuit board
JZRCR-XSU02
JARCR-XCT01
JARCR-XFL02B
Transformer
*4
*2
Playback pannel
ZY1C-SS3152
3610PS-22T-B30-B00
10
11
Power ON circuit board fuse
Comment
4715PS-22T-B30-B00
5915PS-22T-B30-B00
Alarm fuse
12
LY2 24 VDC
13
Battery
ER6VC3N 3.6V
14
*3
4-6
RE-CTO-A208
*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.
SV3X
UP6
SK16X
UP20
Type
Type
Type
Type
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
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
CACR-SV3AAA
4-7
RE-CTO-A208
SK16MX
SK45X
UP50
Type
Type
Type
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
CACRSK16MAAB
Amplifier
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
4-8
RE-CTO-A208
UP130, UP165
UP130R, UP200
UP165-100
UP130RL
Type
Type
Type
component
SERVOPACK
Amplifier
CACR-UP130AAB
CACRUP130AABY18
CACRUP130AABY21
JUSP-WS60AA
JUSPWS60AAY18
JUSPWS60AAY18
JUSP-WS60AA
JUSPWS60AAY18
JUSPWS60AAY18
JUSP-WS60AA
JUSP-WS60AA
JUSPWS60AAY18
JUSPWS20AAY13
JUSPWS20AAY13
JUSPWS20AAY13
JUSPWS15AAY13
JUSPWS15AAY13
JUSPWS15AAY13
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
SK300X, SR200X
SP100X
Type
Type
CACR-SK300AAB
CACR-SP100AAB
JUSPWS60AAY18
JUSPWS60AAY18
JUSPWS60AAY18
JUSPWS60AAY18
JUSPWS60AAY18
JUSPWS60AAY18
JUSPWS30AAY18
JUSPWS30AAY18
JUSPWS30AAY18
JUSPWS20AAY19
JASP-WRCA01
JASP-WRCA01
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-RCP01AAC
JUSP-RCP01AAC
Component
SERVOPACK
Amplifier
Type
Robot Type
JZRCR-XPU06B
JZRCR-XPU05B
JZRCR-XPU10B
4-10
RE-CTO-A208
Transformer Type
Robot Type
Transformer Type
SV3X
HB9480046
1.0KVA 575-480-240V/208V
HB9480042
4.5KVA 575-480-240V/208V
HB9480043
8.0KVA 575-480-240V/208V
HB9480044
12.0KVA 575-480-240V/208V
Fuse Type
Robot Type
SV3X
UP6
SK16X, UP20
QS1
QS2
QS3
3A
10A
5A
Without transformer
10A
5A
5A
10A
10A
Without transformer
10A
10A
10A
15A
15A
Without transformer
15A
15A
15A
20A
20A
Without transformer
20A
20A
20A
30A
30A
Without transformer
30A
30A
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
No
Parts Name
Dimensions
Class CC
(30 or less)
1
Time Delay
Fuse
Power Supply
Fuse
Class J
(40 or more)
3.15A
Glass-Tube
fuse
*1
*1
218005
5A 250V
(LITTEL)
JARCR-XSU02
FU3, 4, 7, 8
2183.15
3.15A
250V
(LITTEL)
JARCR-XSU02
FU1, 2, 9, 10
326010
10A
250V
(LITTEL)
JZRCRXPU05B, 06B,
10B
1F,2F
GP40
4.0A
250V
(Daito
Tsushin)
JANCD-XSU02
FU5, 6
30
10A
Ceramic fuse
30
32
20.5
WAGO
Connector wiring
tool
*1
Application
30
11.5
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
Fuse Type
Robot Model
SV3X
UP6
SK16X, UP20
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
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
4-14
RE-CTO-A208
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
Type
ER6VC3N 3.6V
Manufa
cturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
JZNC-XZU02
4715PS-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR3 3A
GOULD
6
7
8
9
A
A
A
A
GOULD
GOULD
LITTEL
LITTEL
3
3
10
10
3
3
2
2
10
LITTEL
11
10
12
13
14
15
A
B
B
B
3
1
1
1
3
1
1
1
16
17
18
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
20
21
22
23
24
25
26
27
28
29
30
B
B
B
B
B
B
C
C
C
C
C
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
ATDR 5 5A
ATDR 10 10A
218005 5A 250V
2183.15 3.15A
250V
326010 10A 250V
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
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
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
10
11
12
13
14
A
B
B
B
15
16
17
Manufa
cturer
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
LITTEL
3
10
10
6
2
2
LITTEL
10
3
1
1
1
3
1
1
1
For L axis
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
18
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
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
ATDR10 10A
218005 5A 250V
2183.15 3.15A
250V
326010 10A 250V
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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
A
B
B
B
15
16
Type
ER6VC3N 3.6V
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
10
3
1
1
1
3
1
1
1
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
18
19
20
21
22
23
24
25
26
27
28
29
B
B
B
B
B
B
C
C
C
C
C
C
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
ATDR15 15A
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-SK16AAC Yaskawa
JZNC-XRK01B-1 Yaskawa
JZRCR-XCO02B Yaskawa
JZNC-XSU02
Yaskawa
JZRCR-XPU06B Yaskawa
JZNC-XPP02B
Yaskawa
Remark
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
JZNC-XZU02
4715PS-22TB30-B00
3610PS-22TB30-B00
ATDR10 10A
6
7
A
A
10
11
12
13
14
A
B
B
B
15
16
B
B
17
18
Manufacturer
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
10
3
1
1
1
3
1
1
1
1
1
1
1
For S axis
For L axis
For U axis
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
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
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
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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
15
16
17
Type
ER6VC3N 3.6V
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
10
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
3
1
1
1
1
1
1
3
1
1
1
1
2
3
18
19
20
21
22
23
24
25
B
B
B
B
B
B
C
1
1
1
1
1
1
1
1
1
1
1
1
1
1
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
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
ATDR20 20A
218005 5A 250V
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
JANCD-XCP01
JANCD-XIF03
JARCR-XCI01
JARCR-XCI03
JARCR-XCU01B
JARCR-XCT01
CACRSK16MAAB
JZNC-XRK01B-1 Yaskawa
JZRCR-XCO02B Yaskawa
JZNC-XSU02
Yaskawa
JZRCR-XPU05B Yaskawa
JZNC-XPP02B
Yaskawa
Remark
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
Type
ER6VC3N 3.6V
Manufacturer
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
10
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
Daito Communication
Apparatus
LY2 DC24V
Omron
JUSP-ACP25JAA Yaskawa
JUSP-RCP01AAC SANRITZ
JASP-WRCA01
Yaskawa
JUSP-WS30AA
Yaskawa
JUSP-WS20AA
Yaskawa
JUSP-WS10AA
Yaskawa
3
1
1
1
1
1
1
3
1
1
1
1
2
3
18
19
20
21
22
23
24
25
26
27
28
29
30
B
B
B
B
B
B
C
C
C
C
C
C
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
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
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
A
B
Control Relay
Converter
13
14
B
B
15
16
17
18
Manufacturer
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
10
3
1
3
1
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
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
1
1
1
1
1
1
1
1
1
1
1
1
1
1
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
1
1
1
1
1
1
1
1
1
1
JZNC-XZU02
5915PS-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR15 15A
ATDR20 20A
218005 5A 250V
Daito Communication
Apparatus
Omron
Yaskawa
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
JANCD-XCP01
JANCD-XIF03
JARCR-XCI01
JARCR-XCI03
JARCR-XCU01B
JARCR-XCT01
CACRUP20MAAB
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.
4-21
RE-CTO-A208
No Rank
Name
Type
ER6VC3N 3.6V
Manufacturer
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
A
B
Control Relay
Converter
13
14
B
B
15
16
17
18
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
19
20
21
22
23
24
25
26
27
28
29
30
31
B
B
B
B
B
B
C
C
C
C
C
C
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
10
3
1
3
1
1
1
1
1
For Servo
1
1
1
1
1
1
2
3
For S axis
For L axis
For Uaxis
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
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
ATDR20 20A
218005 5A 250V
Daito Communication
Apparatus
Omron
Yaskawa
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
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
Type
ER6VC3N 3.6V
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
LITTEL
250V
326010 10A 250V LITTEL
10
10
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
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR15 15A
Manufacturer
ATDR20 20A
218005 5A 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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
A
B
B
B
15
Type
ER6VC3N 3.6V
Manufacturer
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
ATDR30 30A
218005 5A 250V
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
LITTEL
10
3
1
1
1
3
1
1
1
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
Amplifier
Yaskawa
17
Yaskawa
For B, T axes
18
JUSPWS20AAY13
Amplifier
JUSPWS15AAY13
Control Power Supply Unit CPS-150F
For S, L, U
axes
For R axis
19
20
21
22
23
24
25
B
B
B
B
B
B
C
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
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
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
ATDR20 20A
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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
A
B
B
B
15
16
B
B
17
18
19
20
21
22
23
24
25
26
B
B
B
B
B
B
C
27
28
29
30
31
C
C
C
C
C
Type
ER6VC3N 3.6V
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
ATDR30 30A
218005 5A 250V
GOULD
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
LITTEL
10
3
1
1
1
3
1
1
1
1
1
1
2
For U axis
For S, L axes
For R axis
For B, T axes
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
ATDR20 20A
Manufacturer
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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
A
B
B
B
15
16
B
B
17
18
19
20
21
22
23
24
25
26
B
B
B
B
B
B
C
27
28
29
30
31
C
C
C
C
C
Type
ER6VC3N 3.6V
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
LPJ-40SP 40A
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
LITTEL
10
3
1
1
1
3
1
1
1
1
1
1
2
For U axis
For S, L axes
For R axis
For B, T axes
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
ATDR30 30A
Manufacturer
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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
A
B
B
B
15
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
B
C
26
27
28
29
30
C
C
C
C
C
Type
ER6VC3N 3.6V
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
LPJ-40SP 40A
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
LITTEL
10
3
1
1
1
3
1
1
1
For S, U, L
axes
For R axis
For B, T axes
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
ATDR30 30A
Manufacturer
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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
A
B
B
B
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
B
B
B
B
B
B
C
C
C
C
C
C
Type
ER6VC3N 3.6V
Qty
Qty per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
LPJ-40SP
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
LITTEL
10
3
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
1
1
1
1
1
JZNC-XZU02
5915PC-22TB30-B00
In-panel Fan on upper part 3610PS-22Tof Servo
B30-B00
Power Supply Fuse
ATDR30 30A
Manufacturer
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
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
No Rank
Name
Battery
2
3
A
A
Rack fan
Backside Duct Fan
6
7
A
A
10
11
12
13
14
A
B
B
B
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
B
B
B
B
B
B
C
C
C
C
C
C
Type
ER6VC3N 3.6V
Qty
Qty per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
GOULD
LPJ-40SP
218005 5A 250V
BUSSMAN
LITTEL
3
10
6
2
2183.15 3.15A
250V
326010 10A
LITTEL
10
LITTEL
10
3
1
1
1
3
1
1
1
For S, L, U
axes
For T axis
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
ATDR30 30A
Manufacturer
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
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
46-486-41410
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
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.RE-CTO-A208 1
Printed in Japan July 2002 01-03
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
MOTOMAN- INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATORS MANUAL
YASNAC XRC OPERATORS MANUAL for BEGINNERS
The YASNAC XRC operators manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
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 products warranty.
ii
RE-CTO-A203
WARNING
CAUTION
MANDATORY
PROHIBITED
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.
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
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 manipulators 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 manipulators 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.
Manual Designation
XRC
Playback Panel
Programming Pendant
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
Symbol Keys
Playback Panel
Axis Keys
Number Keys
Keys pressed
simultaneously
Displays
Buttons
vi
RE-CTO-A203
Setup Diagnosis xv
1
Security System
2.1 Protection Through Security Mode Settings . . . . . .2-1
System Setup
3.1 Home Position Calibration . . . . . . . . . . . . . . . . . . . .3-1
3.3
3.4
3.5
3.6
3.7
RE-CTO-A203
RE-CTO-A203
3.15
3.16
3.17
3.18
3.18.1
3.18.2
3.18.3
3.18.4
3.18.5
System Diagnosis
ix
RE-CTO-A203
RE-CTO-A203
Hardware 26
6
RE-CTO-A203
7.7.1
7.7.2
7.7.3
7.7.4
7.7.5
xii
RE-CTO-A203
Maintenance 59
8
Inspections
8.1 Regular Inspections . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.2 XRC Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
8.3
8.4
8.5
8.6
8.7
8.8
Replacing Parts
9.1 Replacing XRC Parts . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
xiii
RE-CTO-A203
Alarm Error 32
10
Alarm
10.1 Outline of Alarm . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.2 Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
11
Error
11.1 Error Message List . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.1.1
11.1.2
11.1.3
11.1.4
11.1.5
11.1.6
xiv
RE-MTO-A203
Setup Diagnosis
-xv
RE-MTO-A203
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
1-1
RE-CTO-A203
2 Security System
2.1
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
Editing Mode
This mode allows the operator to teach and edit jobs and
robot settings.
Managememt
Mode
2-1
RE-CTO-A203
Top Menu
JOB
Sub Menu
DISPLAY
EDIT
JOB
Operation
Edit
SELECT JOB
Operation
Operation
Edit
Edit
MASTER JOB
Operation
Edit
JOB CAPACITY
Operation
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
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
IN/OUT
2-2
RE-CTO-A203
Top Menu
ROBOT
Sub Menu
DISPLAY
EDIT
CURRENT POSITION
Operation
COMMAND POSITION
Operation
SERVO MONITOR
Management
Operation
Edit
Operation
Edit
Management
Management
Operation
Edit
Edit
Management
Management
Operation
Management
USER COORDINATE
Edit
Edit
HOME POSITION
Management
Management
MANIPULATOR TYPE
Management
ROBOT CALIBRATION
Edit
Edit
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
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
ANALOG MONITOR
SYSTEM INFO
FD/PC CARD
2-3
RE-CTO-A203
Top Menu
Sub Menu
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
Edit
Edit
USER ID
Edit
Edit
SET SPEED
Management
Management
KEY ALLOCATION
Management
Management
Management
Management
Operation
Edit
Operation
Edit
Operation
Edit
WELDER CONDITION
Operation
Edit
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
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)
WELD DIAGNOSIS
2-4
RE-CTO-A203
Top Menu
GENERAL
Sub Menu
DISPLAY
EDIT
Management
Management
WELDER CONDITION
Management
Management
GENERAL DIAGNOSIS
Operation
Edit
Press [ENTER]
Input the
*3
Explanation
*1
The current security mode is displayed in menu title of the top menu.
CYCLE
SECURITY
R1
EDITING MODE
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
JOB
OUT
IN
IN/OUT
ROBOT
!Turn on servo power
SUPPLE
-MENT
SYSTEM INFO
*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
2.1.2
User ID
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
Explanation
*1
DISPLAY
R1
UTILITY
L
MANAGEMENT MODE
*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
RE-CTO-A203
*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
RE-CTO-A203
3 System Setup
3.1
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:
-
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
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
NOTE
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.
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
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
Select YES*5
Explanation
*1
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
DISPLAY
R1
UTILITY
L
ABSOLUTE DATA
*
*
*
*
*
*
*2
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-
RE-CTO-A203
*3
DISPLAY
R1
UTILITY
L
ABSOLUTE DATA
*
*
*
*
*
*
*4
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
*2
Select {DIS-
*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
ABSOLUTE DATA
-278
30154
*
-217
*
*
3-4
RE-CTO-A203
*2
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
PLAY}
tered
*2
Select {DIS-
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
DISPLAY
R1
ABSOLUTE DATA
-278
30154
-29912
-217
7745
15881
>3000
!
*3
UTILITY
L
3-5
RE-CTO-A203
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
EDIT
HOME POSITIONING
SELECT
R1:S
L
U
R
B
T
DISPLAY
R1
UTILITY
L
ABSOLUTE DATA
*
*
*
*
*
*
3-6
RE-CTO-A203
3.1.3
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
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:
-
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
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
3.2.1
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
Position checking
NG
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
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
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
*2
3-11
Press
RE-CTO-A203
Explanation
*1
*2
The group axes by which the specified point is set is selected when there are two or
more group axes.
*3
*4
3.2.3
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
Operation
*2
Press [FWD]*3
Press
Select
{CONFIRM POSITION}*4
Explanation
*1
*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
3.3
Select {DATE/TIME}*1
Press [ENTER]*4
Explanation
*1
DISPLAY
R1
DATE
1998 . 10 . 20
CLOCK
10 : 20
*2
3-13
UTILITY
L
Select DATE or
RE-CTO-A203
*3
For instance, to make the date May 1, 1998, input [1998.5.1]. To set the time at exactly
ten oclock, enter [10.00].
> 1998.5.1
*4
DISPLAY
R1
DATE
1998 . 05 . 01
CLOCK
10 : 20
UTILITY
L
3.4
Operation
Press
Input
[ENTER]*5
Explanation
*1
UTILITY
C
*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
EDIT
DISPLAY
R1
R1:1
2
3
4
5
6
7
8
UTILITY
L
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
*5
3-15
UTILITY
L
RE-CTO-A203
3.5
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
NOTE
Contents
Mechanical Limit
L-U Interference
Software Limit
Cube Interference
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
*2
3-16
Select ALL
RE-CTO-A203
Explanation
*1
DISPLAY
R1
UTILITY
L
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
3-17
R1
UTILITY
L
INVALID
VALID
RE-CTO-A203
3.6
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
Explanation
*1
EDIT
DISPLAY
OVERRUN&SHOCK SENSOR
R1
UTILITY
L
RELEASE
!
3-18
ALM RST
RE-CTO-A203
*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
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
3.7.2
Cubic
interference
area
Cubic
interference
area
UserCoordinates
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:
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
Z-axis
Maximum
value
X-axis
Minimum
value
Y-axis
Center
point
Z-axis
X-axis
Y-axis
Setting Operation
Operation
Select {INTERFERENCE}*1
Select METHOD*3
Explanation
*1
3-21
Select the
RE-CTO-A203
*2
*3
*4
*5
3-22
RE-CTO-A203
*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 >
NOTE
To stop the manipulator movement using the interference signal (use the cube interference
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.
Select METHOD*1
Input number for MAX and MIN data and press [Enter]*2
Explanation
*1
*2
3-23
RE-CTO-A203
Teaching Corner
Operation
Select METHOD*1
<MIN>*3
Press [MODIFY]*2
Press [ENTER]*5
Explanation
*1
*2
*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
3-24
RE-CTO-A203
Select METHOD*1
Press [MODIFY]*3
Press [Enter]*5
Explanation
*1
*2
*3
*4
Move the manipulator to the center point of the cube using the axis keys.
*5
3-25
RE-CTO-A203
3.7.3
Minvalue
-side
ON
OFF
Setting Operation
Number Input of Axis Data
Operation
*4
number*2
Select {INTERFERENCE}*1
Select
*5
METHOD*3
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
[Enter]*6
*1
Select the
RE-CTO-A203
*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
*4
*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
3-27
RE-CTO-A203
Press [MODIFY]*2
Select {INTERFERENCE}
Select METHOD
Select the
Select CONTROL
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
3-28
RE-CTO-A203
3.7.4
Operation
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
*3
3-29
RE-CTO-A203
3.8
3.8.1
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
Press the
*2
Explanation
*1
Operation origin point display is shown. For spot application or handling application.
DATA
DISPLAY
EDIT
OPERATION ORIGIN
R1
[APPL 1]
HOME POS
S
0
L
0
U
0
R
0
B
0
T
0
UTILITY
L
CUR POS
2240
32
342
-21
0
-3239
*2
When two or more manipulators exist in the system, the control group is changed using
the page key
*1
3-30
RE-CTO-A203
*2
NOTE
When the operation origin point is changed, the operation origin cube is automatically set
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: m). By changing this
parameter setting, the size of the cube can be changed.
S3C412 : The operation origin cube length of its sides( m)
a
a
*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.
3-31
RE-CTO-A203
3.9
3.9.1
TOOL FILE 0
TOOL FILE 23
XF
Tool
YF
Controlpoint
ZF
Operation
Select {TOOL}*1
*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.
3-32
RE-CTO-A203
DATA
EDIT
DISPLAY
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
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
UTILITY
L
DISPLAY
Rx
Ry
Rz
UTILITY
L
R1
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
LISTR1
Rx
Ry
Rz
*3
*4
3-33
UTILITY
L
0.00 deg.
0.00 deg.
0.00 deg.
RE-CTO-A203
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
0.00 deg.
0.00 deg.
0.00 deg.
0.000 kg
0.000 mm
<SettingExample>
260mm
Control
Point
260mm
Control
Point
ZF
Control
Point
ZF
ToolC
Case of Tool A, B
0.000 mm
0.000 mm
260.000 mm
145mm
ToolB
ToolA
X
Y
Z
260mm
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.
XT
Tool
coordinates
ZT
3-34
YT
RE-CTO-A203
Operation
Select {TOOL}
*3
*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
*3
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
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
YF
Z F
NOTE
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
If tool data is registered in the tool file by tool calibration, the old data will be deleted.
3-35
RE-CTO-A203
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
<Flangecoordinates>
XF:Verticallyupwarddirectionwhenthecurrent
positionontheT-axisofthemanipulatoris"0"
YF:Y-axiscomplementingXFandZF
ZF:Directionperpendiculartotheflangeface
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
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 {TOOL}
Select {CALIBRATION}*2
Select POSITION*4
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
0.00 deg.
0.00 deg.
0.00 deg.
0.000 kg
0.000 mm
*2
DISPLAY
R1
UTILITY
L
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
DATA
EDIT
TOOL CALIBRATION
TOOL NO. :
00
**:S
*
L
*
R1:ROBOT1
U
*
R2:ROBOT2
R
*
B
*
T
*
DISPLAY
R1
UTILITY
L
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
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
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
COMPLETE
TC1
CANCEL
*5
DISPLAY
R1
UTILITY
L
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
COMPLETE
TC4
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
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
0.00 deg.
0.00 deg.
0.00 deg.
Select YES*2
Explanation
*1
CANCEL
*2
DISPLAY
R1
UTILITY
L
POSITION :
<STATUS>
TC1
TC2
TC3
TC4
TC5
COMPLETE
TC1
CANCEL
NOTE
Only tool coordinate data are calculated using tool calibraton. If tool pose data is required,
input the data number in the tool coordinate display.
Refer to " Registering Tool Pose " for the operation.
3-39
RE-CTO-A203
Control
point
Operation
Press [COORD]*1
the axis key
*3
Explanation
*1
EDIT
TOOL
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm
R1
Rx
UTILITY
C
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.
Controlpoint
error
SUPPLE
-MENT
For details on TCP fixed operation, see the Operator's Manual (Application)
3-40
or
RE-CTO-A203
3.9.3
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 its center of gravity are measured and registered in a tool
file.
NOTE
This function is available for the models listed below. Contact your Yaskawa representative 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.
U+
R-axis
B-axis
B+
L-axis
U-
B- T-
T+
T-axis
HomePosition
(HorizontaltotheU-,
B-andR-axes)
S-axis
Zero-degreeInstallationontheGround
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
Operation
Select {TOOL}*1
Press [NEXT]*5
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.
DATA
EDIT
DISPLAY
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
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
UTILITY
L
DISPLAY
R1
Rx
Ry
Rz
3-42
UTILITY
L
0.00 deg.
0.00 deg.
0.00 deg.
RE-CTO-A203
*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
LISTR1
Rx
Ry
Rz
UTILITY
L
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
*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 .
3-43
RE-CTO-A203
NOTE
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
User Coordinates
ORG
Usercoordinatedefinitionpoint
ORG:Homeposition
XX:PointontheX-axis
XY:PointontheY-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
3-45
RE-CTO-A203
3.10.2
Select
*2
Explanation
*1
DISPLAY
R1
NAME
[WORK1
[WORK2
[
[
[
[
[
[
UTILITY
L
]
]
]
]
]
]
]
]
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
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
*3
3-47
RE-CTO-A203
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
]
]
]
]
]
]
]
]
Explanation
*1
*2
3-48
Select YES*2
RE-CTO-A203
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
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
Z
X
Robot
installation
Angle
<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 -.
NOTE
Only rotation angle around Y axis of the robot coordinates can be set in the robot installation angle.
Contact YASKAWA representative when robots is installed to incline Y axis of the robot
coordinates relative to ground.
3-50
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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
Saxiscenter
-Y
+Y
(Xposition,Yposition)
+X
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
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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(FromU-Axis)
(-)
(+)
Uaxis
rotation
center
CenterofGravity
Position
EIGHT
FromU-Axis)
Setting
NOTE
ARM CONTROL display is shown only when the security mode is set as management
mode.
Operation
*2
3-52
RE-CTO-A203
Explanation
*1
*2
Select the desired group axis when there are two or more group axes.
3.11.3
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
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
3-54
RE-CTO-A203
case of about twice or more the distance from the flange to the center of gravity position), this
setting is needed.
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
<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
Total W eight
A pprox. 6.3 [kg]
7.00 [kg]
100
ZF
<Setting>
W
Xg
Yg
Zg
Ix
Iy
Iz
7.000 kg
: 100.000 mm
:
0.000 mm
70.000 mm
0.000 kg.m2
0.000 kg.m2
0.000 kg.m2
3-56
RE-CTO-A203
SUPPLE
-MENT
Z
Ly
r
Lx
Iz
Iz
Iy
Lz
Ix
H
Iy
Ix
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
*W
* Unit of Length
: [m]
3-57
*W
RE-CTO-A203
<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
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
Xg
Yg
Zg
Ix
Iy
Iz
: 100.000 kg
:
0.000 mm
:
0.000 mm
: 250.000 mm
: 10.000 kg.m2
:
3.500 kg.m2
10.500 kg.m2
3-58
RE-CTO-A203
How to calculate "Center of gravity position" and "moment of inertia at center of gravity"
SUPPLE
-MENT
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 =
+
+
3-59
RE-CTO-A203
<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
* 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
Xg
Yg
Zg
Ix
Iy
Iz
10.000 kg
: 100.000 mm
: -83.333 mm
:
: 60.000 mm
: 0.100 kg.m2
:
0.010 kg.m2
0.100 kg.m2
*2
Select {TOOL}*1
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
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
DATA
EDIT
TOOL
TOOL NO. : 00
NAME:TOACH1
X
0.000 mm
Y
0.000 mm
Z
0.000 mm
W
Xg
UTILITY
L
DISPLAY
R1
Rx
Ry
Rz
0.000 kg
0.000 mm
3-61
UTILITY
L
0.00 deg.
0.00 deg.
0.00 deg.
RE-CTO-A203
*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
Inertia Moment at
Center of Gravity
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
*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
NOTE
In this case, when an actual tool load is not too heavy, the manipulator cant 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
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
3.12.2
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.
3-64
RE-CTO-A203
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.
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.
Explanation
*1
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
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.
NOTE
Set the level 20% or more greatly than the maximum disturbance force for the mis-detection 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
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SUPPLE
-MENT
Refer to " 3.11.3 Tool Load Information Setting " for details concerning the tool load information setting.
Select {TOOL}*1
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
TOOL COORDINATE
R1
NO.
NAME
00
[TORCH1
]
01
[TORCH2
]
02
[
]
03
[
]
04
[
]
05
[
]
06
[
]
07
[
]
!
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
UTILITY
L
DISPLAY
R1
Rx
Ry
Rz
UTILITY
L
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
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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
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].
SHCKSET R1 SSL#(1)
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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
Instruction Registration
The instruction is registered when the cursor is in the address area in the job content display
in teach mode.
Operation
Address Area
Select {JOB}
JOB
EDIT
DISPLAY
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
UTILITY
L
Instruction Area
RE-CTO-A203
SHCKSET
Operation
Move the cursole to the line just before the location where SHCKSET instruction is desired
to register
Change
[ENTER]*4
Explanation
*1
*2
..
SHCKSET
SHCKRST
*3
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.
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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
DETAIL EDIT
R1
SHCKSET
ROBOT/STATION UNUSED
S-DETECT. FILE SSL#( ) 1
UTILITY
L
UTILITY
L
When the addition of robot/station ends, press [ENTER]. The detail edit display shuts
and the job content display is shown.
*4
SHCKRST
Operation
Move the cursole to the line just before the location where SHCKRST instruction is desired
to register
*3
Explanation
*1
..
SHCKSET
SHCKRST
3-71
Change
RE-CTO-A203
*2
*3
UTILITY
L
=> SHCKRST
!
UTILITY
L
=> 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
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OCCUR TIMES : 1
UTILITY
L
RESET
The shock detection alarm in teach mode and play mode can be reset by the following operation.
Operation
Press [SELECT]*1
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.
NOTE
When manipulator was stopped instantaneously while having contact with the object and
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
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3.12.3
Alarm
Number
4315
Alarm List
Message
COLLISION DETECT
Robot/Station
[Axis Data]
Cause
Remedy
3-74
RE-CTO-A203
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.
All instructions
3-75
RE-CTO-A203
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
3.13.2
Operation
Explanation
*1
EDIT
DISPLAY
TEACHING CONDITION
R1
RECT/CYLINDRICAL
LANGUAGE LEVEL
MOVE INSTRUCTION SET
STEP ONLY CHANGING
3-76
UTILITY
L
RECT
SUBSET
LINE
PROHIBIT
Select LAN-
RE-CTO-A203
*2
EDIT
DISPLAY
TEACHING CONDITION
R1
RECT/CYLINDRICAL
LANGUAGE LEVEL
MOVE INSTRUCTION
SET
SUBSET
STEP ONLY
CHANGING
STANDARD
EXPANDED
UTILITY
L
RECT
SUBSET
LINE
PROHIBIT
*3
EDIT
DISPLAY
TEACHING CONDITION
R1
RECT/CYLINDRICAL
LANGUAGE LEVEL
MOVE INSTRUCTION SET
STEP ONLY CHANGING
UTILITY
L
RECT
STANDARD
LINE
PROHIBIT
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
3-77
RE-CTO-A203
Function
Description
Manufacturer
allocation
Allocated by Yaskawa. Allocating another function invalidates the function allocated by the manufacturer.
Instruction allocation
Display allocation
Function
Description
Alternate output
allocation
Momentary output
allocation
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
3.14.3
Allocating an Operation
Allocation Display
Operation
Select {DIS-
Explanation
*1
*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
3-79
RE-CTO-A203
Instruction Allocation
Use this function in the key allocation (EACH) display.
Operation
Press [SELECT]*1
Select INSTRUCTION*2
Explanation
*1
*2
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
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
!
Press [SELECT]*1
*1
*2
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
Display Allocation
Use this function is used in the key allocation (EACH) display.
Operation
Press [SELECT]*1
Press
[ENTER]*3
Open the
Explanation
*1
*2
*3
*4
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
Press [SELECT]*1
*1
*2
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].
3-83
Press [SELECT]*1
RE-CTO-A203
Explanation
*1
*2
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].
Press [SELECT]*1
*1
*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
Press [SELECT]*1
*1
*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].
Press [SELECT]*1
*1
*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
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].
Press [SELECT]*1
*1
*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
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
3-86
RE-CTO-A203
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
Explanation
*1
*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
!
3-87
RE-CTO-A203
3.14.5
Execution of Allocation
Press the key allocated for instruction allocation or output control allocation*1
Press
*2
*1
*2
Explanation
*1
*2
*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
Press [INTERLOCK] and the key allocated for I/O control allocation at the same time*1
Explanation
*1
3-88
RE-CTO-A203
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
*3
Explanation
*1
*2
or
3-89
RE-CTO-A203
*3
: 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
LIMIT RELEASE*2
Explanation
*1
DISPLAY
3-91
R1
UTILITY
L
INVALID
INVALID
Select SOFT
RE-CTO-A203
*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
VALID
INVALID
When SOFT LIMIT RELEASE is set to INVALID, the message Soft limits have been
released" is displayed for three seconds.
NOTE
*2
*1
EDIT
R1
S2C000
S2C001
S2C002
S2C003
S2C004
S2C005
S2C006
S2C007
UTILITY
DISPLAY
L
1
2
4
8
16
32
64
89
3-92
0000_0000
0000_0000
1000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
Binary Data
Decimal Data
Move
RE-CTO-A203
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.
DATA
EDIT
PARAMETER
S2C055
S2C056
S2C057
S2C058
DISPLAY
R1
128
256
512
875
UTILITY
L
1000_0000
0000_1000
1100_0000
0000_0000
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
128
256
512
0
0
0
0
0
0
R1
1000_0000
0000_1000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
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
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
1000_0000
0000_1000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
RE-CTO-A203
3.18.1
Operation
{INITIALIZE}*1
Select YES*3
Select JOB*2
Change the
Select
Explanation
*1
INITIALIZE
Item marked by
selected.
JOB
FILE/GENERAL DATA
PARAMETER
I/O DATA
SYSTEM DATA
!Maintenance Mode
*2
INITIALIZE
JOB
FILE/GENERAL DATA
Initialize?
PARAMETER
I/O DATA
SYSTEM DATA
NO
YES
!Maintenance Mode
*3
3-95
can not be
RE-CTO-A203
3.18.2
Operation
Change the
Select
Select YES*4
Explanation
*1
INITIALIZE
TOOL DATA
TOOL
.CND
WEAVING DATA
WEAV
.CND
UFRAME
.CND
VARIABLE DATA
VAR
.DAT
ARCSRT
.CND
ARCEND
.CND
ARCSUP
.DAT
WELDER
.DAT
!Maintenance Mode
*2
INITIALIZE
TOOL DATA
TOOL
.CND
WEAVING DATA
WEAV
.CND
UFRAME
.CND
VARIABLE DATA
VAR
.DAT
ARCSRT
.CND
ARCEND
.CND
ARCSUP
.DAT
WELDER
.DAT
!Maintenance Mode
*3
INITIALIZE
TOOL DATA
WEAVING DATA
Initialize?
.CND
.CND
UFRAME
.CND
VARIABLE DATA
VAR
.DAT
ARCSRT
.CND
YES
NO
ARCEND
.CND
ARCSUP
.DAT
WELDER
.DAT
!Maintenance Mode
*4
TOOL
WEAV
3-96
File/Data marked by
can not be selected.
RE-CTO-A203
3.18.3
Operation
Change the
Select {PARAMETER}*1
Select
Select YES*4
Explanation
*1
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
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
*4
3-97
RC
SD
RO
SC
CIO
FD
AP
RS
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
Parameter marked by
can not be selected.
RE-CTO-A203
3.18.4
Operation
Change the
Select
Press
*4
Select YES
Explanation
*1
INITIALIZE
C IO PRGM
IO NAME DATA
SIMULATED IN DATA
CIOPRG .LST
IONAME .LST
PSEUDOIN.DAT
!Maintenance Mode
*2
CIOPRG .LST
IONAME .LST
PSEUDOIN.DAT
!Maintenance Mode
*3
NO
YES
!Maintenance Mode
*4
CIOPRG .LST
IONAME .LST
PSEUDOIN.DAT
3-98
Parameters marked by
can not be selected.
RE-CTO-A203
3.18.5
Operation
Press [ENTER]*3
Change the
Select
Select YES*4
Explanation
*1
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
OPEORG
.DAT
!Maintenance Mode
*2
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
OPEORG
.DAT
!Maintenance Mode
*3
!Maintenance Mode
*4
3-99
OPEORG
.DAT
Parameter marked by
can not be selected.
RE-CTO-A203
SUPPLE
-MENT
Operation
*2
Select {SETUP}
Select {SYS-
Press [ENTER]*5
Press [ENTER]*6
Select YES*7
Explanation
*1
SETUP
VERSION
!Maintenance Mode
*2
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
*3
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 modules actual mounting status.
The following information is displayed for each station.
ST#
DI
DO
AI
AO
BOARD
*5
NOTE
Confirm the statuses of the mounted I/O modules for the other stations.
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
*6
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.
For addition of base and station axis, mount all hardware correctly and then execute maintenance mode.
SUPPLE
-MENT
Operation
{SETUP}*2
*1
SETUP
VERSION
!Maintenance Mode
4-3
Select {SYS-
RE-CTO-A203
*2
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
4.2.1
Explanation
*1
CONTROL GROUP
R1
B1
R2
S1
:UP6-A0*
:RECT-XYZ
:NONE
:NONE
!Maintenance Mode
4-5
RE-CTO-A203
*2
MACHINE LIST
NONE
RECT-Y
RECT-XY
RECT-YZ
RECT-X
RECT-Z
RECT-XZ
RECT-XYZ
!Maintenance Mode
*3
After the type selection, the display returns to control group display.
*4
RECT-X
RECT-Z
RECT-Y
CARTESIAN
X-AXIS
Base axis advancing direction coincides
with robot coordinate X-Axis.
CARTESIAN
X-AXIS
RECT-XZ
RECT-YZ
RECT-XY
CARTESIAN
Y-AXIS
CARTESIAN
Z-AXIS
CARTESIAN
Y-AXIS
CARTESIAN
Y-AXIS
CARTESIAN
Z-AXIS
4-6
CARTESIAN
Z-AXIS
CARTESIAN
X-AXIS
RE-CTO-A203
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
*3
Explanation
*1
CONNECTION
SV CONTACT
R1 :#1
1
B1 :#1
2
CN< 1 2 3 4 5 6 7 8 9 >
[123456- - -]
[- - -- - -123]
!Maintenance Mode
Note: # is the SERVOPACK number. This number is set by the rotary switch on the
WRCA01 board.
4-7
RE-CTO-A203
*2
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
The setting in the connection display is completed and the display moves to the axes
form display.
4-8
RE-CTO-A203
In the axes configuration display, the axis type and motor type are specified.
Operation
Select desired
Explanation
*1
AXES CONFIG
B1 : RECT-XYZ
AXIS AXIS TYPE
1
: BALL-SCREW
2
: BALL-SCREW
3
: BALL-SCREW
!Maintenance Mode
*2
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
Press
Select
[ENTER]*2
Explanation
*1
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
!Maintenance Mode
MOTION RANGE
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
!Maintenance Mode
MOTION RANGE
4-10
RE-CTO-A203
*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.
item
Select desired
Input the value and press [ENTER] (Or move cursor to alternative and press
[ENTER].)*3
Explanation
*1
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
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*
!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
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
4-12
RE-CTO-A203
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
Operation
*4
*1
CONTROL GROUP
R1
B1
R2
S1
S2
:UP6-A0*
:NONE
:NONE
:TURN-2
:NONE
!Maintenance Mode
4-13
RE-CTO-A203
*2
MACHINE LIST
NONE
TURN-2
UNIV-2
UNIV-4
UNIV-6
TURN-1
UNIV-1
UNIV-3
UNIV-5
!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
TURN-2
OFFSET
STATION 1ST AXIS (INCLINATION AXIS)
4-14
RE-CTO-A203
*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
*3
Explanation
*1
CONNECTION
SV CONTACT
R1 :#1
1
S1 :#1
2
CN< 1 2 3 4 5 6 7 8 9 >
[123456 - - -]
[- - - - - -12 -]
!Maintenance Mode
*2
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
S1(Station)
1st axis
2nd axis
3rd axis
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
Explanation
*1
AXES CONFIG
S1 : TURN-2
AXIS AXIS TYPE
1
: TURN
2
: TURN
!Maintenance Mode
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
*2
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.
Press
Select
[ENTER]*2
Explanation
*1
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
!Maintenance Mode
MOTION RANGE
4-17
RE-CTO-A203
TURN-2
OFFSET
STATION 1ST AXIS (INCLINATION AXIS)
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
!Maintenance Mode
MOTION RANGE
AXIS:2
0.000 mm
0.000 mm
1.000
120.000
100.000 mm
!Maintenance Mode
MOTION RANGE
4-18
RE-CTO-A203
REDUCTION RATIO
*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.
Select desired
Explanation
*1
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
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*
!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
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
4-20
RE-CTO-A203
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 System Diagnosis
5.1
System Version
Select {VERSION}*1
*1
SYSTEM ROM
1.00
1.00
1.00-00
UTILITY
L
BOOT ROM
1.00
1.00
1.00
5.2
Robot Model
Operation
Explanation
*1
5-1
RE-CTO-A203
5.3
Input/Output Status
5.3.1
Universal Input
Explanation
*1
UTILITY
L
Select {DETAIL}*1
Explanation
*1
5-2
RE-CTO-A203
5.3.2
Universal Output
The status of the output signal set by the output instruction can be confirmed and modified.
Explanation
*1
UTILITY
L
Select {DETAIL}*1
Explanation
*1
5-3
RE-CTO-A203
Explanation
*1
*2
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
5.3.3
Specific Input
*1
UTILITY
L
Select {DETAIL}*1
Explanation
*1
DISPLAY
R1
UTILITY
L
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
5.3.4
Specific Output
*1
UTILITY
L
Select {DETAIL}*1
Explanation
*1
DISPLAY
R1
UTILITY
L
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
5.3.5
RIN INPUT
Select {RIN}*1
*1
EDIT
DISPLAY
R1
5-7
UTILITY
L
DIRECT IN1
DIRECT IN2
DIRECT IN3
DIRECT IN4
RE-CTO-A203
5.3.6
SIGNAL NAME
Move the cursor to the signal name to be modified in the detailed display, and press
[SELECT].*1
Press [ENTER]*3
Explanation
*1
*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
*3
Move the cursor to the signal name to be modified in the detailed display.
{EDIT} under the menu*1
[ENTER]
Select {RENAME}*2
*3
Explanation
*1
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
*3
UTILITY
DISPLAY
R1
123:DEC.
[
[
[
[
[
[
[
[
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
5.3.7
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
[
]
!
Move the cursor to a signal number in the detail display, and press [SELECT]*1
the number of the signal *2
Explanation
*1
*2
5-10
Type
RE-CTO-A203
*3
5-11
RE-CTO-A203
Explanation
*1
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
*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
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
Move the cursor to a relay number in the detail display, and press [SELECT]*1
the number of the relay
*2
*3
Explanation
*1
*2
*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
Explanation
*1
DISPLAY
L C S
SIGNAL NO.
R1
SEARCH
GROUP
IG#01
123:DEC. 7b:HEX.
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
*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
5.4.1
The status of system operation, e.g. power supply time, can be checked.
Operation
Explanation
*1
5-15
RE-CTO-A203
5.4.2
is pressed, servo power time by each robot axis, playback time, moving
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
5.4.3
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 YES*2
Explanation
*1
*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
5.5.1
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
Press
Explanation
*1
*2
5.5.2
The history of the minor alarms and the user alarms (system and user ) can be cleared.
Operation
*1
Select YES
5-18
RE-CTO-A203
Explanation
*1
*2
5.6
5.6.1
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
Explanation
*1
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
Search
Use the following operation to search for the I/O message history.
Operation
Select {SEARCH}*1
Press [ENTER]*2
Explanation
*1
*2
The search for the input history number begins, and the I/O message is displayed.
5.6.2
Explanation
*1
*2
5-20
Select YES*2
RE-CTO-A203
5.7
5.7.1
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
Explanation
*1
5-21
RE-CTO-A203
5.8
5.8.1
Operation
coordinate
system*3
Explanation
*1
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
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
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
RE-CTO-A203
5.9
Servo Monitoring
5.9.1
The servo monitor display shows the servo-related data of each axis.
Monitor Items
Description
FEEDBACK PULSE
ERROR PULSE
SPEED DEVIATION
SPEED INST
FEEDBACK SPEED
TORQUE SPEC
MAX. TORQUE
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.
Select a menu *4
5-23
RE-CTO-A203
Explanation
*1
*2
*3
R
123
0
B
237
0
T
2432
0
*4
5-24
RE-CTO-A203
Explanation
*1
*2
5-25
Hardware
RE-CTO-A203
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
Controller
Configuration
Dimensions
Refer to following
Cooling System
Indirect cooling
Ambient Temperature
Relative Humidity
Power Supply
Grounding
Digital I/O
Positioning System
Drive Unit
Acceleration/
Deceleration
Programming
Capacity
Playback Panel*1
*1
Dimensions
Buttons Provided
Mode change
Start / Hold, Emergency stop
External Dimensions
A-type
panel
Small
capacity
Medium
capacity
Large
capacity
6-3
RE-CTO-A203
External Dimensions
B-type
panel
New Atype
panel
New Btype
panel
Small
capacity
Medium
capacity
Large
capacity
Small
capacity
Medium
capacity
Large
capacity
Small
capacity
Medium
capacity
Large
capacity
6-4
RE-CTO-A203
6.2
Function List
Programming
Pendant
Operation
Safety
Feature
Maintenance
Function
Coordinate System
Modification of
Teaching Points
Inching Operation
Possible
Locus Confirmation
Speed Adjustment
Timer Setting
Short-cut Function
Interface
Application
Essential Measures
Running Speed
Limit
User definable
Deadman Switch
Collisionproof
Frames
Self-Diagnosis
Machine Lock
Door Interlock
Operation Time
Display
Alarm Display
I/O Diagnosis
T.C.P. Calibration
6-5
RE-CTO-A203
Programing
Functions
6.3
Programming
Interactive programming
Language
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
Variable
Variable Type
I/O Instructions
Programming Pendant
Material
Dimensions
Displayed
Units
40 characters 12 lines
Multilingual function (English, Japanese, Hankul)
Backlight
Others
6-6
RE-CTO-A203
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
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
oo
Playback Panel
ZY1C-SS3152
A
XCP01
JZNC-XRK01
CPS-150F
NJ2096-1
BAT
SW
1X
(EV2)
(EV1)
1
B 0 0
GRIP
CNPB04
8830-032-170SD
CNPB05
CNPB06
8830-032-170SD
8830-032-170SD
DUSB-ARB8X-T11
C249
CN10
102
CONV
PWM
10250-52A2JL
CN30
10250-52A2JL
FRC5-C14S52T-OL(D20)
CN40
CNE
CNPB01
8830-032-170SD
3-175475-6
CNPB02
CNPB03
8830-032-170SD
345
89A
67
FRC5-C14S52T-OL(D20)
PWM
1CN
CNPG123
PWM
178323-2
CN50
JUSPRCP01AAA
012
EF
CN20
+5V
CNPG456
10220-6202JL
2CN
BCD
(EV4)
Servopack
Ascending Fan
3610PS-22T
-B30-B00
(Air flows up)
1KM
2X
1X
(EV3)
CPS-150F
JAPAN
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
XCP01
8830-032-170SD
GRIP
Servopack
Refer to the following table.
A'
(Note 1)
Welding Board
JANCD-XEW02
Note 1: Standard feature only for UP6 (welding specifications). Available as an option for other models.
Model
YASNAC XRC
Servopack
Converter (Integrated)
QF1
SV3X
ERCR-SV3-RA00
CACR-SV3AAA
JUSP-ACP05JAA
SA33B 15A
UP6
ERCR-UP6-RA00
CACR-UP6AAC
JUSP-ACP05JAA
SA33B 15A
CACR-SK16AAC
JUSP-ACP05JAA
SA33B 15A
SK16X
ERCR-SK16-RA00
ENCM-RX6003
6-7
o
o
JZRCR-XPU03o
JZNC-XPW03o
JZRCR-XPU03
JZRCR-XPU03
RE-CTO-A203
2. B-type panel
I/O-Power-On Unit
JZNC-XIU01
A
CN29
NJ2096-1
CN28
CN06
CN04/CARD
CN02/PP
01 2
EF
345
CN10
CN11
CN01/IO
CN21
CN03
CN22
CN23
CN03/RS232C
CN12
CN13
CN04
CN06/SV
CN05
AN
CN26
DATE
CN07
CN30
CN01
(EV2)
(EV1)
GRIP
CNPB04
CNPB05
8830-032-170SD
CNPB06
8830-032-170SD
8830-032-170SD
C249
DUSB-ARB8X-T11
102
CN10
(EV4)
1
B 0 0
CPS-150F
1X
CN20
(EV3)
CPS-150F
XCP01
CN02
2X
1X
JZNC-XRK01
XCP01
CN24 CN25
SER NO.
TYPE
4X
3X
CN27
5X
DATE
4X
3X
Playback Panel
ZY1C-SS3152
89 A
67
oo
BCD
5X
CPU Rack
JZNC-XRK01 -
1KM
CONV
PWM
CNPG456
CN20
+5V
10250-52A2JL
Servopack
Ascending Fan
3610PS-22T
-B30-B00
(Air flows up)
10220-6202JL
2CN
10250-52A2JL
CNE
CN40
CN30
FRC5-C14S52T-OL(D20)
1CN
FRC5-C14S52T-OL(D20)
PWM
CNPG123
PWM
178323-2
CN50
JUSPRCP01AAA
CNPB01
3-175475-6
CNPB02
8830-032-170SD
CNPB03
8830-032-170SD
8830-032-170SD
GRIP
A'
Servopack
Refer to the following table.
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
o
o
o
I/O-Power-On Unit
JZNC-XIU01
CPU Rack
JZNC-XRK01 -
oo
Playback Panel
ZY1C-SS3152
JZNC-XRK01
XCP02/OPT
CPS-150F
XCP01
NJ2096-
CN05/SV
DATE
CN05
SER NO.
TYPE
4X
JAPAN
5X
3X
YASNAC
POWER SUPPLY
CPS-150F
CN04
CN03
SOURCE
PWR ON
+5V
+24V
CN02
OHT
CN01
1KM
2X
1X
1
B 0 0
(EV2)
GRIP
CNPB04
8830-032-170SD
CNPB05
CNPB06
8830-032-170SD
8830-032-170SD
CN10
CNPG456
PWM
10250-52A2JL
CN20
+5V
178323-2
PWM
01 2
EF
345
FRC5-C14S52T-OL(D20)
CNPG123
10250-52A2JL
FRC5-C14S52T-OL(D20)
PWM
CNE
CN40
1CN
CN30
Servopack
Ascending Fan
4715PS-22T-B30-B00
BCD
(EV4)
89 A
67
CN50
JUSPRCP01AAA
(EV3)
DUSB-ARB8X-T11
C249
102
CONV
2CN
10220-6202JL
(EV1)
CNPB01
8830-032-170SD
3-175475-6
CNPB02
CNPB03
8830-032-170SD
8830-032-170SD
GRIP
Servopack
Refer to the following table.
(Note 1)
Welding Board
JANCD-XEW01
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)
QF1
o
o
JZRCR-XPU03o
JZNC-XPW03o
JZRCR-XPU03o
JZRCR-XPU03o
JZNC-XPW03o
JUSP-ACP05JAA
SA33B/5A
JZRCR-XPU03
CACR-SV3AAA
JUSP-ACP05JAA
SA33B/5A
JZRCR-XPU03
CACR-UP6AAC
JUSP-ACP05JAA
SA33B/15A
CACR-SK16AAC
JUSP-ACP05JAA
SA33B/15A
CACR-UP20AAA
JUSP-ACP05JAA
SA33B/15A
6-8
RE-CTO-A203
Playback Panel
ZY1C-SS3152
I/O-Power-On Unit
JZNC-XIU01
CPU Rack
JZNC-XRK01 -
Servopack
Ascending Fan
4715PS-22T
-B30-B00
(Air flows up)
1KM
oo
A'
Servopack
Refer to the following table.
Note 1: Standard feature only for UP6 (welding specifications). Available as an option for other models.
Model
SV035X
SV3X
UP6
SK16X
UP20
YASNAC XRC
ERCR-SV035-RA11
ERCR-SV3-RA11
ERCR-UP6-RA11
ERCR-SK16-RA11
ERCR-UP20-RA11
Servopack
CACR-SV035AAA
CACR-SV3AAA
CACR-UP6AAC
CACR-SK16AAC
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
6-9
o
o
o
o
o
RE-CTO-A203
Medium Capacity
1. A-type panel
Power Supply Unit
JZRCR-XPU02
I/O-Power-On Unit
JZNC-XIU01
CPU Rack
JZNC-XRK01 -
Playback Panel
ZY1C-SS3152
oo
A'
Model
YASNAC XRC
SK45X
ERCR-SK45-RA00
Servopack
Refer to the following table.
Servopack
ERCR-SP70-RA00
QF1
Converter (Separated)
CACR-SK45AAB
CACR-SP70AAB
o
o
JZRCR-XPU02o
JUSP-ACP25JAA
EA53B/30A JZRCR-XPU02
JUSP-ACP25JAA
EA53B/30A JZRCR-XPU02
JUSP-ACP25JAA
EA53B/30A
2. B-type panel
Power Supply Unit
JZRCR-XPU02
oo
Playback Panel
ZY1C-SS3152
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
6-10
o
o
o
JZRCR-XPU02
JZRCR-XPU02
JZRCR-XPU02
RE-CTO-A203
CPU Rack
JZNC-XRK01 -
oo
Playback Panel
ZY1C-SS3152
A'
Converter
Refer to the follwing table.
Model
UP50
SK45X
SK16MX
SP70X
UP20M
Servopack
Refer to the following table.
Servopack
YASNAC XRC
ERCR-UP50-RA10
ERCR-SK45-RA10
ERCR-SK16M-RA10
ERCR-SP70-RA10
ERCR-UP20M-RA10
CACR-UP50AAB
CACR-SK45AAB
CACR-SK16MAAB
CACR-SP70AAB
CACR-UP20MAAB
Converter (Separated)
JUSP-ACP25JAAY11
JUSP-ACP25JAAY
JUSP-ACP25JAAY
JUSP-ACP25JAAY
JUSP-ACP25JAAY11
Non-fuse Breaker
(QF1) SA33B/20A
I/O-Power-On Unit
JZNC-XIU01
Servopack
Ascending Fan
4715PS-22T
-B30-B00
(Air flows up)
Converter
Refer to the following table.
Model
UP50
SK45X
SK16MX
SP70X
UP20M
CPU Rack
JZNC-XRK01 -
oo
JZNC-XRK01
DATE
SER NO.
TYPE
NJ2096-1
(EV1)
A'
(EV2)
(EV3)
Servopack
Refer to the following table.
YASNAC XRC
ERCR-UP50-RA11
ERCR-SK45-RA11
ERCR-SK16M-RA11
ERCR-SP70-RA11
ERCR-UP20M-RA11
Servopack
Converter (Separated )
CACR-UP50AAB
JUSP-ACP25JAAY11
CACR-SK45AAB
JUSP-ACP25JAAY
CACR-SK16MAAB JUSP-ACP25JAAY
CACR-SP70AAB
JUSP-ACP25JAAY
CACR-UP20MAAB JUSP-ACP25JAAY11
6-11
RE-CTO-A203
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 -
oo
A'
Converter
JUSP-ACP35JAA
Heat Exchanger
Servopack
Sectional view A-A'
Refer to the following table. YD5-1042A
UP130
ERCR-UP130-RA00
CACR-UP130AAB
Converter (Separated)
JUSP-ACP35JAA
EA53B/40A
UP165
ERCR-UP165-RA00
CACR-UP130AAB
JUSP-ACP35JAA
EA53B/40A
ERCR-UP165-RA03
ERCR-UP200-RA00
CACR-UP130AABY18
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
EA53B/40A
EA53B/40A
JUSP-ACP35JAA
EA53B/40A
JUSP-ACP35JAA
EA53B/40A
Model
UP165-100
UP200
UP130R
YASNAC XRC
Servopack
CACR-UP130AABY18
SK300X
ERCR-UP130R-RA00 CACR-UP130AABY18
ERCR-SK300-RA00 CACR-SK300AAB
SP100X
ERCR-SP100-RA00
CACR-SP100AAB
QF1
o
o
JZRCR-XPU02o
JZRCR-XPU02o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU01o
JZRCR-XPU02
JZRCR-XPU02
EA53B/40A
2. B-type panel
I/O Power On Unit
JZNC-XIU01
CPU Rack
JZNC-XRK01 -
oo
Playback Panel
ZY1C-SS3152
SER NO.
TYPE
(EV6)
JAPAN
(EV5)
DATE
SER NO.
TYPE
(EV7)
NJ2096-1
JAPAN
(EV1)
NJ2096-1
(EV3)
(EV2)
(EV4)
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
Servopack
CACR-UP130AAB
CACR-UP130AAB
CACR-UP130Y18
CACR-UP130AABY18
CACR-UP130AABY18
CACR-SK300AAB
CACR-UP130AABY18
CACR-SP100AAB
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-ACP35JAA
QF1
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
EA53B/40A
6-12
o
o
o
o
o
o
o
o
RE-CTO-A203
I/O-Power-On Unit
JZNC-XIU01
oo
Playback Panel
ZY1C-SS3152
JZNC-XRK01
DATE
SER NO.
TYPE
DATE
NJ2096-1
NJ2096-1
(EV1)
(EV3)
(EV2)
G R I
Servopack
Ascending Fan
4715PS-22T-B30-B00
(Air flows up)
Converter
JUSP-ACP35JAA
A'
Servopack
Refer to the following table.
Model
YASNAC XRC
Converter (Separated)
QF1
UP130
ERCR-UP130-RA10
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
UP165
ERCR-UP165-RA10
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
UP165-100 ERCR-UP165-RA13
Servopack
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
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
JZRCR-XPU02
RE-CTO-A203
A
I/O-Power-On Unit
JZNC-XIU01
QF1
ET
RES
OFF
TRI
ON
CPU Rack
JZNC-XRK01 -
Servopack
Ascending Fan
4715PS-22T
-B30-B00
(Air flows up)
oo
JZNC-XRK01
DATE
SER NO.
TYPE
NJ2096-1
(EV1)
(EV2)
(EV3)
G R I
A'
Converter
JUSP-ACP35JAA
Servopack
Refer to the following table.
Model
YASNAC XRC
Converter (Separated)
QF1
UP130
ERCR-UP130-RA11
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
UP165
ERCR-UP165-RA11
CACR-UP130AAB
JUSP-ACP35JAA
SA33B/30A
Servopack
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
JUSP-ACP35JAA
SA53B/40A
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
JZRCR-XPU02
RE-CTO-A203
Location
Section
Unit
Playback panel(ZY1C-SS3125)
Door
Front
section
Amplifier(JUSP-WS
JAA)
AA)
6.4.2
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
Servopack
Ascending Fan
Air Intake
Air Outlet
Servopack
Cooling Configuration (Small and medium capacity XRC in A and B type panel)
Heat Exchange
Air Intake
Air Intake
Air Outlet
Air Outlet
Servopack
6-16
RE-CTO-A203
Air Intake
Air Outlet
Servopack
Air Intake
Air Outlet
Servopack
6-17
Refer to XRC 2001 Supplement, section 2, for description of units and circuit boards.
7-1
7-2
Maintenance
RE-CTO-A203
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.
Inspection Equipment
Inspection Item
Inspection
Frequency
Comments
Daily
Monthly
Check operation
As required
While power ON
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
As required
Battery
XRC Controller
8-1
RE-CTO-A203
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
8.2.2
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
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.
Air Intake
Air Outlet
Servopack
8-3
RE-CTO-A203
Heat Exchanger
Air Intake
Air Intake
Air Outlet
Air Outlet
Servopack
Air Intake
Air Outlet
Servopack
8-4
RE-CTO-A203
Air Intake
Air Outlet
Servopack
8-5
RE-CTO-A203
8.4
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
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.
NOTE
If the [SERVO ON READY] lamp does not light in previous operation (2), check the following:
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
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
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
Between R and G, T
and G
Between S and G
About 0V
T
G
ON
OFF
8-7
RE-CTO-A203
8.8
Check Item
Contents
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.
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
T
CIRCUIT
BREAKER
(QF1)
W CONTACTER
(1KM)
R
U
S
V
T
W
8-8
CONVERTER
RE-CTO-A203
Replacing Parts
9.1
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
9.1.1
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
Replacement Procedure
1. Disconnect the battery connector (BAT) and remove the battery.
2. Mount the new battery and connect the battery connector.
NOTE
Although the CMOS memory is backed up by super capacitor, the battery must be
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
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.
NOTE
The JANCD-XCP01 circuit board contains important file data (CMOS memory) for the
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
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
9.1.2
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
Separated Type
Medium capacity
Large capacity
9-5
RE-CTO-A203
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
9-6
RE-CTO-A203
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
CNPG123
N
PN
Wiring
Servo Control
Board
7CN
8CN
Bottom Grip
Ground
Wiring
4CN to 6CN
Bottom
1CN to 3CN
Grip
9-7
RE-CTO-A203
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
9.1.3
Fuse Name
Specification
FU1, 2
FU3, 4
DC24V Fuse
FU5, 6
Brake Fuse
9-8
RE-CTO-A203
(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
No.
Name
Model
6 Axis type
Servopack
*1
CPU rack
JZNC-XRK01 -
Backboard
JANCD-XBB01
JANCD-XCP01
JANCD-XIF03
CPS-150F
Comment
JZNC-XIU01
JANCD-XTU01
JANCD-XIO01
JANCD-XIO02
*2
Playback panel
ZY1C-SS3152
3610PS-22T-B30-B00
4715PS-22T-B30-B00
4715PS-22T-B30-B00
Small capacity
5915PS-22T-B30-B00
Heat exchanger
YD5-1042A
Alarm fuse
10
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
*2
SV3X
UP6
SK16X
Type
Type
Type
Component
Servopack
CACR-SV3AAA
CACR-UP6AAC
CACR-SK16AAC
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-WS02AA
JUSP-WS05AAY17
JUSP-WS10AAY17
JUSP-WS02AA
JUSP-WS10AAY17
JUSP-WS10AAY17
JUSP-WS01AA
JUSP-WS05AAY17
JUSP-WS10AAY17
JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
JUSP-WSA5AA
JUSP-WS01AA
JUSP-WS02AA
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
SV035X
UP20
Type
Type
Component
Servopack
CACR-SV035AAA
CACR-UP20AAA
JUSP-ACP05JAA
JUSP-ACP05JAA
JUSP-WS04AA
JUSP-WS10AA
JUSP-WS04AA
JUSP-WS20AAY22
JUSP-WS04AA
JUSP-WS10AAY17
Converter
Amplifier
JUSP-WS02AA
JUSP-WS01AA
JUSP-WS02AA
JUSP-WS01AA
JUSP-WS02AA
Servo control
circuit board
JASP-WRCA01
JASP-WRCA01
Control power
supply
JUSP-RCP01
JUSP-RCP01
SK16MX
SK45X
UP50
Type
Type
Type
Component
Servopack
Amplifier
Servo control
circuit board
Converter
Control power
supply
CACR-SK16MAAB
CACR-SK45AAB
CACR-UP50AAB
JUSP-WS30AA
JUSP-WS30AA
JUSP-WS44AA
JUSP-WS20AA
JUSP-WS20AA
JUSP-WS60AA
JUSP-WS20AA
JUSP-WS20AA
JUSP-WS20AA
JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
JUSP-WS02AA
JUSP-WS10AA
JUSP-WS10AA
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
UP20M
SP70X
Type
Type
Component
Servopack
Amplifier
Servo control
circuit board
Converter
Control power
supply
CACR-UP20MAAB
CACR-SP70AAB
JUSP-WS44AA
JUSP-WS20AA
JUSP-WS60AA
JUSP-WS15AA
JUSP-WS20AA
JUSP-WS44AA
JUSP-WS02AA
JUSP-WS05AA
JUSP-WS02AA
JUSP-WS02AA
JASP-WRCA01
JASP-WRCA01
JUSP-ACP25JAAY11
JUSP-ACP25JAA
JUSP-RCP01
JUSP-RCP01
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
JUSP-WS60AAY18
JUSP-WS60AA
JUSP-WS60AAY18
JUSP-WS60AAY18
JUSP-WS60AA
JUSP-WS60AAY18
JUSP-WS60AA
JUSP-WS60AA
JUSP-WS60AAY18
JUSP-WS20AAY13
JUSP-WS20AAY13
JUSP-WS20AAY13
JUSP-WS15AAY13
JUSP-WS15AAY13
JUSP-WS15AAY13
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
SK300X, SR200X
SP100X
Type
Type
Component
Servopack
Amplifier
Servo control
circuit board
Converter
Control power
supply
CACR-SK300AAB
CACR-SP100AAB
JUSP-WS60AAY18
JUSP-WS60AAY18
JUSP-WS60AAY18
JUSP-WS60AAY18
JUSP-WS60AAY18
JUSP-WS60AAY18
JUSP-WS30AAY18
JUSP-WS30AAY18
JUSP-WS30AAY18
JUSP-WS20AAY19
JASP-WRCA01
JASP-WRCA01
JUSP-ACP35JAA
JUSP-ACP35JAA
JUSP-RCP01
JUSP-RCP01
Type
Robot Type
JZNC-XPW03 or
JZRCR-XPU03
JZRCR-XPU02
JZRCR-XPU01
9-14
RE-CTO-A203
9.3
No
Parts Name
5A
Glass-Tube fuse
3A
Glass-Tube fuse
4.0A
Alarm fuse
Dimensions
Pcs
312003
3A 250V
(LITTEL)
JANCD-XTU01
FU3, 4
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
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
NOTE
No Rank
Name
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
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
2
2
2
2
Minebea
Minebea
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
5
6
7
A
A
A
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
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
CPS-150F
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
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
With Cable
8m
*Specify application (Arc, General, Spot, Handling) of key sheet when No.25 Programming
Pendant is ordered.
9-16
RE-CTO-A203
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
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
2
2
2
2
Minebea
10
10
10
2
2
2
3
1
1
3
1
1
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
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
No Rank
Name
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
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
2
2
2
2
Minebea
Minebea
10
10
10
2
2
2
3
1
1
3
1
1
For Servo
1
1
1
2
For L axis
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
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
13
Amplifire
14
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
CPS-150F
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
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
No Rank
Name
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
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
2
2
2
2
Minebea
Minebea
10
10
10
2
2
2
3
1
1
3
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
5
6
7
A
A
A
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
13
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
CPS-150F
15
16
17
18
19
20
21
22
23
24
B
B
B
B
B
C
C
C
C
C
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
No Rank
Name
Battery
2
3
A
A
Rack Fan
Backside Duct Fan
5
6
7
A
A
A
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
13
B
B
B
14
Amplifier
15
16
Type
ER6VC3N 3.6V
Manufacturer
Qty
Qty
per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
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
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
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
JZNC-XZU02
4715PS-22TB30-B00
Servopack Ascending Fan 4715PS-22TB30-B00
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
JANCD-XCP01
JANCD-XIF03
JANCD-XIO01B
JANCD-XIO02
JANCD-XTU01B
JARCR-XFL01
Fuji Electric
Hi-Tech
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
Yaskawa
1
1
1
1
1
1
1
1
1
1
1
1
CACR-UP20AAA
JZNC-XRK01 -1
JZNC-XIU01B
JZRCR-XPU03
JZNC-XPP02
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
Manufacturer
Toshiba
Battery
Yaskawa
Minebea
Minebea
4715PS-22TB30-B00
Minebea
5
6
7
A
A
A
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
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
CPS-150F
16
17
18
19
20
21
B
B
B
B
B
C
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
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
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
5
6
7
A
A
A
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
A
B
Control Relay
Converter
10
11
12
13
14
15
B
B
B
B
B
LY-2-DC24V
JUSPACP25JAAY11
JUSPRCP01
JASP-WRCA01
JUSP-WS44AA
JUSP-WS60AA
JUSP-WS20AA
JUSP-WS02AA
16
CPS-150F
17
18
19
20
21
22
B
B
B
B
B
B
JANCD-XCP01
JANCD-XIF03
JANCD-XIO01
JANCD-XIO02
JANCD-XTU01
JARCR-XFL01
23
24
25
26
27
C
C
C
C
CPU Unit
I/O Power On Unit
Power Unit
Programming Pendant
JZNC-XZU02
5915PC-22TB30-B00
Servopack Ascending Fan 4715PS-22TB30-B00
CACRUP20MAAB
JZNC-XRK01 -1
JZNC-XIU01
JZRCR-XPU02
JZNC-XPP02
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
Littel fuse
Littel fuse
Daito Communication
Apparatus
OMRON
Yaskawa
10
10
10
2
2
2
3
1
3
1
SANRITZ
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
Yaskawa
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
Manufacturer
Toshiba
Battery
Yaskawa
Minebea
Minebea
4715PS-22TB30-B00
Minebea
5
6
7
A
A
A
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
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
CPS-150F
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
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
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
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
5
6
7
A
A
A
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
8
9
A
B
Control Relay
Converter
10
11
12
13
14
15
B
B
B
B
B
LY-2-DC24V
JUSPACP25JAAY11
JUSPRCP01
JASP-WRCA01
JUSP-WS44AA
JUSP-WS60AA
JUSP-WS20AA
JUSP-WS10AA
16
CPS-150F
17
18
19
20
21
22
23
24
25
26
B
B
B
B
B
C
C
C
C
C
JZNC-XZU02
5915PC-22TB30-B00
Servopack Ascending Fan 4715PS-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
Littel fuse
Littel fuse
Daito Communication
Apparatus
OMRON
Yaskawa
10
10
10
2
2
2
3
1
3
1
SANRITZ
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
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
Manufacturer
Toshiba
Battery
Yaskawa
Minebea
Minebea
4715PS-22TB30-B00
Minebea
5
6
7
A
A
A
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
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
CPS-150F
17
18
19
20
21
22
23
24
25
26
B
B
B
B
B
C
C
C
C
C
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
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
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
3
4
3
4
Minebea
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
4710PS-22T-B30 Minebea
6
7
8
A
A
A
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
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
Amplifire
Yaskawa
15
Amplifire
Yaskawa
16
JUSPWS20AAY13
JUSPWS15AAY13
CPS-150F
For S,L,U
axes
For R axis
17
18
19
20
21
22
B
B
B
B
B
C
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
3
4
3
4
Minebea
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
4710PS-22T-B30 Minebea
6
7
8
A
A
A
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
1
1
1
2
14
15
B
B
Amplifire
Amplifire
1
1
1
1
For U axis
For R axis
16
Amplifire
17
18
19
20
21
22
23
B
B
B
B
B
C
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
3
4
3
4
Minebea
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
4710PS-22T-B30 Minebea
6
7
8
A
A
A
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
1
1
1
2
14
15
B
B
Amplifire
Amplifire
1
1
1
1
For U axis
For R axis
16
Amplifire
17
18
19
20
21
22
23
B
B
B
B
B
C
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
5
6
7
A
A
A
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
B
B
13
Amplifire
14
Amplifire
15
16
17
18
19
20
21
B
B
B
B
B
C
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
2
2
2
2
Minebea
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
3
For S, L, U
axes
For R axis
For B, T axes
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
Manufacturer
Qty
Qty
per
unit
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
3
4
3
4
Minebea
4710PS-22T-B30 Minebea
6
7
8
A
A
A
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
1
1
1
3
14
Amplifire
15
16
17
18
19
20
21
22
23
24
25
B
B
B
B
B
C
C
C
C
C
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
No Rank
Name
Type
Battery
ER6VC3N 3.6V
2
3
A
A
Rack Fan
Backside Duct Fan
JZNC-XZU02
5915PC-22TB30-B00
5
6
7
A
A
A
8
9
10
A
B
B
Control Relay
Converter
Control Power Unit
11
12
B
B
13
Amplifire
14
15
16
17
18
19
20
21
22
23
24
B
B
B
B
B
C
C
C
C
C
313005 5A 250V
312003 3A 250V
GP40 4.0A 250V
Manufacturer
Qty
Qty
per
unit
Remark
Toshiba
Battery
Yaskawa
Minebea
2
2
2
2
Minebea
3
4
3
4
Minebea
10
10
10
2
2
2
3
1
1
3
1
1
1
1
1
3
For S,L,U
axes
For T axis
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 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
Alarm Level
1
3
4
8
10-1
RE-CTO-A203
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
ALARM
R1
ALARM
4000
MEMORY ERROR(TOOL FILE)
[1]
OCCUR TIMES:1
UTILITY
L
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
10.2.2
[SLURBT]
[123]
10-3
RE-CTO-A203
10-4
RE-CTO-A203
0010
Message
Cause
Remedy
Check whether the circuit board is correctly inserted.
Replace the circuit board.
CPU
COMMUNICATION
ERROR
[Decimal Data]
10-5
RE-CTO-A203
0021
Message
COMMUNICATION
ERROR(SERVO)
[Decimal Data]
Cause
Remedy
ROM ERROR
[Decimal Data]
10-6
RE-CTO-A203
0040
Message
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]
10-7
RE-CTO-A203
0060
Message
COMMUNICATION
ERROR(I/O MODULE)
[Decimal Data]
Cause
An error occured in communication of I/O
module.
Defective 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)
Remedy
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.
(Note)
WRCA01 circuit board (# )
The setting value of rotary switch on the
WRCA circuit board is ( -1)
0100
COMMUNICATION
ERROR (WRCA#1)
[Decimal Data]
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]
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
Message
Cause
Remedy
0102
COMMUNICATION
ERROR (WRCA#3)
[Decimal Data]
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]
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]
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]
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]
10-9
RE-CTO-A203
Message
Cause
Remedy
0210
MEMORY ERROR
(SYSTEM CONFIGDATA)
Needs investigation.
Consult a YASKAWA representative.
0220
MEMORY ERROR
(JOB MNG DATA)
0230
MEMORY ERROR
(LADDER PRG FILE)
0300
VERIFY ERROR
(SYSTEM CONFIGDATA)
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
0310
VERIFY ERROR
(CMOS MEMORY
SIZE)
0320
VERIFY ERROR
(I/O MODULE)
[Decimal Data]
VERIFY ERROR
(APPLICATION SETTING)
10-10
RE-CTO-A203
Message
Cause
Remedy
0340
VERIFY ERROR
(SENSOR FUNCTION)
0400
PARAMETER
TRANSMISSION
ERROR
[Decimal Data]
MODE CHANGE
ERROR
[Decimal Data]
<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
10-11
RE-CTO-A203
Message
Cause
Remedy
0510
0900
WATCHDOG TIMER
ERROR
(XCP01)
[Decimal Data]
0901
WATCHDOG TIMER
ERROR
(XCP02#1)
[Decimal Data]
0902
WATCHDOG TIMER
ERROR
(XCP02#2)
[Decimal Data]
0910
CPU ERROR(XCP01)
[Decimal Data]
0911
CPU ERROR
(XCP02#1)
[Decimal Data]
0912
CPU ERROR
(XCP02#2)
[Decimal Data]
0920
BUS ERROR
(XCP01)
[Decimal Data]
0921
BUS ERROR
(XCP02#1)
[Decimal Data]
0922
BUS ERROR
(XCP02#2)
[Decimal Data]
10-12
RE-CTO-A203
Message
Cause
Remedy
0930
CPU HANG UP
ERROR
(XCP01)
[Decimal Data]
0931
CPU HANG UP
ERROR
(XCP02#1)
[Decimal Data]
0932
CPU HANG UP
ERROR
(XCP02#2)
[Decimal Data]
0940
WATCHDOG TIMER
ERROR
(WRCA#1)
[Decimal Data]
0941
WATCHDOG TIMER
ERROR
(WRCA#2)
[Decimal Data]
0942
WATCHDOG TIMER
ERROR
(WRCA#3)
[Decimal Data]
0943
WATCHDOG TIMER
ERROR
(WRCA#4)
[Decimal Data]
0944
WATCHDOG TIMER
ERROR
(WRCA#5)
[Decimal Data]
0945
WATCHDOG TIMER
ERROR
(WRCA#6)
[Decimal Data]
10-13
RE-CTO-A203
Message
Cause
Remedy
0950
CPU ERROR
(WRCA#1)
[Decimal Data]
0951
CPU ERROR
(WRCA#2)
[Decimal Data]
0952
CPU ERROR
(WRCA#3)
[Decimal Data]
0953
CPU ERROR
(WRCA#4)
[Decimal Data]
0954
CPU ERROR
(WRCA#5)
[Decimal Data]
0955
CPU ERROR
(WRCA#6)
[Decimal Data]
0960
CPU HANG UP
ERROR
(WRCA#1)
[Decimal Data]
0961
CPU HANG UP
ERROR
(WRCA#2)
[Decimal Data]
0962
CPU HANG UP
ERROR
(WRCA#3)
[Decimal Data]
10-14
RE-CTO-A203
Message
Cause
Remedy
0963
CPU HANG UP
ERROR
(WRCA#4)
[Decimal Data]
0964
CPU HANG UP
ERROR
(WRCA#5)
[Decimal Data]
0965
CPU HANG UP
ERROR
(WRCA#6)
[Decimal Data]
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.
1000
ROM ERROR
(XCP01)
The error was found by sum check of system program for the XCP01 circuit board.
1001
ROM
ERROR(WRCA01)
[Decimal Data]
The error was found by sum check of system program for the XCP01 circuit board.
1002
ROM ERROR
(XFC01)
The error was found by sum check of system program for the XFC01 circuit board.
1003
ROM (XCP02)
The error was found by sum check of system program for the XCP02 circuit board.
1030
MEMORY ERROR
(PARAMETER FILE)
[Decimal Data]
1031
MEMORY ERROR
(MOTION1)
[Decimal Data]
1032
MEMORY ERROR
(MOTION2)
[Decimal Data]
10-15
RE-CTO-A203
Message
Cause
Remedy
1050
SET-UP PROCESS
ERROR
(SYSCON)
[Decimal Data]
1051
SETUP INITIALIZE
ERROR
(MOTION)
[Decimal Data]
1100
SYSTEM ERROR
C: B: C:
[Decimal Data]
1101
SYSTEM ERROR
(SYSTEM1)
[Decimal Data]
1102
SYSTEM ERROR
(SYSTEM2)
[Decimal Data]
1103
SYSTEM ERROR
(EVENT)
[Decimal Data]
1104
SYSTEM ERROR
(CIO)
[Bit Pattern]
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.
SYSTEM ERROR
(SERVO)
[Decimal Data]
1106
SYSTEM ERROR
(SPEED MONITOR)
[Decimal Data]
1200
1201
OVERRUN LIMIT
SWITCH RELEASED
1202
FAULT
[Decimal Data]
10-16
RE-CTO-A203
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
1204
COMMUNICATION
ERROR (I/O Module)
[Binary Data]
1206
SPEED ERROR
(XCP01)
Robot/Station
[Axis Data}
10-17
RE-CTO-A203
Message
Cause
Remedy
1300
1301
COMMUNICATION
ERROR
(SERVO)
[Decimal Data]
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.
1303
ARITHMETIC
ERROR
(SERVO)
[Decimal Data]
The error occured on check of interior control for the WRCA circuit board.
1304
EX-AXIS BOARD
NOT INSTALLED
10-18
RE-CTO-A203
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
1306
AMPLIFIER TYPE
MISMATCH
Robot/Station
[Axis Data]
1307
ENCORDER TYPE
MISMATCH
Robot/Station
[Axis Data]
(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
1308
Message
OVER SPEED
Robot/Station
[Axis Data]
Cause
Remedy
10-20
RE-CTO-A203
1309
Message
OVERLOAD
(CONTINUE)
Robot/Station
[Axis Data]
Cause
Remedy
10-21
RE-CTO-A203
1310
Message
OVERLOAD
(MOMENT)
Robot/Station
[Axis Data]
Cause
Remedy
10-22
RE-CTO-A203
1311
Message
AMPLIFIER OVERLOAD
(CONTINUE)
Robot/Station
[Axis Data]
Cause
Remedy
10-23
RE-CTO-A203
Message
Cause
Remedy
1312
AMPLIFIER OVERLOAD
(MOMENT)
Robot/Station
[Axis Data]
1313
MOTOR ERROR
Robot/Station
[Axis Data]
10-24
RE-CTO-A203
Message
Cause
Remedy
1314
SERVO TRACKING
ERROR
Robot/Station
[Axis Data]
1315
POSITION ERROR
Robot/Station
[Axis Data]
1316
BROKEN PG LINE
Robot/Station
[Axis Data]
10-25
RE-CTO-A203
Message
Cause
Remedy
1317
SPEED WATCHER
BOARD ERROR
1318
OVERVOLTAGE
(CONVERTER)
[Bit Pattern]
1319
GROUND FAULT
Robot/Station
[Axis Data]
1320
OPEN PHASE
(CONVERTER)
[Bit Pattern]
10-26
RE-CTO-A203
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
1322
REGENERATIVE
TROUBLE
(CONVERTER)
[Bit Pattern]
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
1323
INPUT POWER
OVER VOLTAGE
(CONV)
[Bit Pattern]
1324
TEMPERATURE
ERROR
(CONVERTER)
[Bit Pattern]
10-27
RE-CTO-A203
Message
Cause
Remedy
1325
COMMUNICATION
ERROR
(ENCODER)
Robot/Station
[Axis Data]
1326
DEFECTIVE
ENCODER ABSOLUTE DATA
Robot/Station
[Axis Data]
1327
ENCODER OVER
SPEED
Robot/Station
[Axis Data]
1328
DEFECTIVE SERIAL
ENCODER
Robot/Station
[Axis Data]
1329
DEFECTIVE SERIAL
ENCODER COMMAND
Robot/Station
[Axis Data]
1330
MICRO PROGRAM
TRANSMIT ERROR
Robot/Station
[Axis Data]
10-28
RE-CTO-A203
Message
Cause
Remedy
1331
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
1332
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
1335
ENCODER NOT
RESET
Robot/Station
[Axis Data]
1336
XFC01 NOT
INSTALLED
1337
SPEED MONITOR
LEVEL NOT SAME
1338
SPEED MONITOR
LEVEL ERROR
1339
SPEED MONITOR
LEVEL ERR (XFC01)
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
1341
BROKEN SPEED
MONITOR LINE
(XFC01)
10-29
RE-CTO-A203
Message
Cause
Remedy
1342
OVER SPEED
(XFC01)
Robot/Station
[Axis Data]
1343
COMMUNICATION
ERROR
(XFC01)
Robot/Station
[Axis Data]
10-30
RE-CTO-A203
Message
Cause
Remedy
1344
COMMUNICATION
ERR
(ENCODER) (XFC01)
Robot/Station
[Axis Data]
4000
MEMORY ERROR
(TOOL FILE)
[Decimal Data]
4001
MEMORY ERROR
(USER COORD FILE)
4002
MEMORY ERROR
(SV MON SIGNAL
FILE)
4003
MEMORY ERROR
(WEAVING FILE)
4004
MEMORY
ERROR(HOME POS
FILE)
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)
4006
MEMORY ERROR
(WELDER COND
FILE)
[Decimal Data]
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.
Alarm
Number
10-31
RE-CTO-A203
Message
Cause
Remedy
4008
MEMORY ERROR
(ARC END COND
FILE)
[Decimal Data]
4009
MEMORY ERROR
(ARC AUX COND
FILE)
[Decimal Data]
4010
MEMORY ERROR
(COM-ARC COND
FILE)
[Decimal Data]
4012
MEMORY ERROR
(LINK
SERVOFLOAT )
[Decimal Data]
4013
MEMORY ERROR
(LINEAR
SERVOFLOAT)
[Decimal Data]
4014
MEMORY ERROR
(ROBOT CALIB FILE)
[Decimal Data]
4017
MEMORY ERROR
(WELDER
USER-DEF FILE)
[Decimal Data]
4018
MEMORY ERR
(LADDER PRG FILE)
[Decimal Data]
4020
MEMORY ERROR
(OPERATION ORIGIN FILE)
[Decimal Data]
4021
MEMORY ERROR
(CONVEYOR COND
FILE)
[Decimal Data]
4022
MEMORY ERROR
(PAINT SPECIAL
FILE)
[Decimal Data]
4023
MEMORY ERROR
(PAINTING COND
FILE)
[Decimal Data]
4025
MEMORY ERROR
(INTERRUPT JOB
FILE)
10-32
RE-CTO-A203
Message
Cause
Remedy
4028
MEMORY ERROR
(SENSOR MON
COND FILE)
[Decimal Data]
4031
MEMORY ERROR
(GUN COND FILE)
[Decimal Data]
4032
MEM ERROR
(SPOT WELDER
COND FILE)
[Decimal Data]
4033
MEMORY ERROR
(GUN PRESSURE
FILE)
[Decimal Data]
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]
4035
MEMORY ERROR
(ANTICIPATION OG
FILE)
[Decimal Data]
4036
MEMORY ERROR
(WEARING FILE)
[Decimal Data]
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]
4038
MEMORY ERROR
(PRESSURE FILE)
[Decimal Data]
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]
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]
4041
MEMORY ERROR
(SPOT IO ALLOCTE
FL)
[Decimal Data]
4042
MEMORY ERROR
(VISION FILE)
[Decimal Data]
10-33
RE-CTO-A203
Message
Cause
Remedy
4043
MEMORY ERROR
(VISION CALIBRATION)
[Decimal Data]
4044
MEMORY ERROR
(WELDING PULSE
COND FILE)
[Decimal Data]
4045
MEMORY ERROR
(WELDING PULSE
SELECTION FILE)
[Decimal Data}
4046
MEMORY ERROR
(CONVEYOR CALIBRATION)
[Decimal Data]
4047
MEMORY ERROR
(MACRO DEFINITION FILE)
[Decimal Data]
4048
MEMORY ERROR
(SERVO S-GUN
FILE)
4049
MEMORY ERROR
(PASTE QUAN COMPENSATION FILE)
[Decimal Data]
4050
MEMORY ERROR
(AXIS I/O ALLOCATION FILE)
4051
MEMORY ERROR
(GUN COND AUX
FILE
[Decimal Data]
4052
MEMORY ERROR
(TOOL INTERFERENCE FILE)
[Decimal Data]
4053
MEMORY ERROR
(PAINTING SYSTEM
CONFIGURATION)
[Decimal Data]
4054
MEMORY ERROR
(PAINTING SPECIAL)
[Decimal Data]
4055
MEMORY ERROR
(CCV-PAINT TABLE)
[Decimal Data]
10-34
RE-CTO-A203
Message
Cause
Remedy
4056
MEMORY ERROR
(PLUG VOLUME
FILE)
[Decimal Data]
4057
MEMORY ERROR
(EVB GUN SPECIAL
FILE)
[Decimal Data]
4058
MEMORY ERROR
(EVB TURBINE
SPECIAL FILE)
[Decimal Data]
4059
MEMORY ERROR
(EVB PAINT
SPECIAL FILE)
[Decimal Data]
4060
MEMORY ERROR
(CLEARANCE FILE)
[Decimal Data]
4061
MEMORY ERROR
(GAGING SENSOR
FILE)
[Decimal Data]
4062
MEMORY ERROR
(LINEAR SCALE
FILE)
[Decimal Data]
4063
MEMORY ERROR
(CONVEYOR COND
SUPP.)
[Decimal Data]
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.
4100
OVERRUN IN
ROBOT AXIS
[Bit Pattern]
4101
OVERRUN IN
EXTERNAL AXIS
[Bit Pattern]
4102
10-35
RE-CTO-A203
Message
Cause
Remedy
4103
PARALLEL START
INSTRUCTION
ERROR
[Decimal Data]
4104
4105
4106
4107
OUT OF RANGE
(ABSO DATA)
Robot/Station
[Axis Data]
10-36
RE-CTO-A203
Message
Cause
Remedy
4109
DC 24V POWER
SUPPLY FAILURE
4110
SHOCK SENSOR
ACTION
[Bit Pattern]
4111
BRAKE FUSE
BLOWN
[Bit Pattern]
4112
DATA SENDING
ERROR
[Decimal Data]
4113
DATA RECEIVING
ERROR
[Decimal Data]
4114
TRANSMISSION
HARDWARE ERROR
[Decimal Data]
4115
TRANSMISSION
SYSTEM BLOCK
[Decimal Data]
4116
TRANSMISSION
SYSTEM ERROR
[Decimal Data]
10-37
RE-CTO-A203
Message
Cause
Remedy
4117
SERVO POWER
INPUT SIGNAL
ERROR
4119
FAN ERROR
(IN CONTROL BOX)
4120
IMPOSSIBLE TO
DISCONNECT
SERVO
[Control Group]
4121
COOLING FAN 1
ERROR
[Binary Data]
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]
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]
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
4200
SYSTEM ERROR
(FILE DATA)
[Decimal Data]
4201
SYSTEM
ERROR(JOB)
[Decimal Data]
4202
SYSTEM
ERROR(JOB)
[Decimal Data]
4203
SYSTEM ERROR
(POSITION DATA)
[Bit Pattern]
When acess to the position data was executed, the error occured.
(During playback and operation)
10-38
RE-CTO-A203
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)
4206
SYSTEM ERROR
(TRANSMISSION)
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4207
SYSTEM
ERROR(MOTION)
[Decimal Data]
4208
SYSTEM ERROR
(ARITH)
[Decimal Data]
4209
OFFLINE SYSTEM
ERROR
(ARITH)
[Decimal Data]
4220
4221
4222
4223
4300
VERIFY ERROR
(SERVO PARAMETER)
[Decimal Data]]
Needs investigation.
Consult a YASKAWA representative.
10-39
RE-CTO-A203
Message
Cause
Remedy
4301
CONTACTOR
ERROR
[Bit Pattern]
4302
BRAKE CIRCUIT
ERROR
[Bit Pattern]
4303
CONVERTER
READY SIGNAL
ERROR
[Bit Pattern]
10-40
RE-CTO-A203
Message
Cause
4304
CONVERTER INPUT
POWER ERROR
[Bit Pattern]
4305
Alarm
Number
10-41
Remedy
RE-CTO-A203
Message
Cause
Remedy
4306
AMPLIFIER READY
SIGNAL ERROR
[Bit Pattern]
4307
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
4309
DEFECTIVE
ENCODER INTERNAL DATA
Robot/Station
[Axis Data]
4310
ENCODER OVERHEAT
Robot/Station
[Axis Data]
10-42
RE-CTO-A203
Message
Cause
Remedy
4311
ENCODER BACK-UP
ERROR
Robot/Station
[Axis Data]
4312
4313
SERIAL ENCODER
OVER HEAT
Robot/Station
[Axis Data]
4314
SERIAL ENCODER
BATTERY ERROR
Robot/Station
[Axis Data]
4315
COLLISION DETECT
Robot/Station
[Axis Data]
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.
4400
Alarm
Number
10-43
RE-CTO-A203
Message
Cause
Remedy
4401
SEQUENCE TASK
CONTR ERROR
[Decimal Data]
4402
UNDEFINED COMMAND(ARITH)
4404
ARITHMETIC
ERROR
[Decimal Data]
4405
SELECT ERROR
(PARAMETER)
[Decimal Data]
4406
4407
4408
4409
4410
4411
TEACH ERROR
(SPLINE)
4412
IMPOSSIBLE LINEAR
MOTION
(L/U)
4413
IMPOSSIBLE LINEAR
MOTION
(S/L)
4414
EXCESSIVE SEGMENT
(LOW SPEED)
Robot/Station
[Axis Data]
10-44
RE-CTO-A203
Message
Cause
Remedy
4415
EXCESSIVE SEGMENT
(HIGH SPEED)
Robot/Station
[Axis Data]
4416
4417
4418
4419
4420
SPECIAL SOFTLIMIT
(MIN.)
Robot/Station
[Axis Data]
4421
SPECIAL SOFTLIMIT
(MAX.)
Robot/Station
[Axis Data]
4422
MECHANICAL
INTERFERENCE
(MIN.)
Robot/Station
[Axis Data]
4423
MECHANICAL
INTERFERENCE
(MAX.)
Robot/Station
[Axis Data]
4424
4425
4426
4427
10-45
RE-CTO-A203
Message
Cause
Remedy
4428
4429
WRONG SPECIFIED
CONTROL GROUP
[Decimal Data]
4430
4431
JHM ERROR
[Decimal Data]
4432
INSTRUCTION
INTERPRETER
ERROR
[Decimal Data]
4433
4434
VAR-SCOREBOARD
CONTROL ERROR
[Decimal Data]
4435
UNDEFINED LOCALVARIABLE
[Bit Pattern]
4436
LESS THAN 3
STEPS(CIRCULAR)
[Decimal Data]
Reset the alarm. Teach at least 3 consecutive points for the circle step.
4437
LESS THAN 3
STEPS(SPLINE)
Reset the alarm. Teach at least 3 onsecutive points for the spline interpolation designation step.
10-46
RE-CTO-A203
Message
Cause
Remedy
4438
UNDEFINED JOB
[Decimal Data]
4439
UNDEFINED LABEL
[Decimal Data]
4440
UNDEFINED
RETURN JOB
[Decimal Data]
4441
Reset the alarm and reduce the use number of the local variables
4442
LOCAL-VARIABLE
CONTROL ERROR
[Decimal Data]
4443
4444
UNSUCCESSFUL
FINE POSITIONING
[Binary Data]
4445
DATA PRESET
ERROR
[Decimal Data]
4446
OVER VARIABLE
LIMIT
[Decimal Data]
The range of the numerical value of the variable for storage destination was exceeded.
4447
DEFECTIVE TAUGHT
POINT
(CIRC)
10-47
RE-CTO-A203
Message
Cause
Remedy
4448
4449
UNMATCHED POSN
VAR DATA TYPE
[Bit Pattern]
4450
4451
4452
4453
OVER VARIABLE
NO.
[Bit Pattern]
4454
UNDEFINED
WELDER CONDITION FILE
[Decimal Data]
4455
UNDEFINED ARC
START COND FILE
[Decimal Data]
4456
UNDEFINED ARC
END COND FILE
[Decimal Data]
4457
WRONG WELDER
SELECTION
[Decimal Data]
4458
When executing equation of SET instruction, the item of the equation which couldn't
be executed was attempted.
10-48
RE-CTO-A203
Message
Cause
Remedy
4459
EXCESSIVE
INSTRUCTION
EQUATION
[Decimal Data]
4460
ZERO DIVIDED
OCCURRENCE
[Decimal Data]
4461
UNDEFINED AUTO
WELD RELEASE
COND
[Decimal Data]
4462
4463
PARITY ERROR
4464
4465
OVER BINARY
RANGE
(PARITY CHECK)
4466
Undefined instruction was required for software for off-line path arithmetic of the
XCP01 circuit board.
4468
4469
4471
CALIBRATION DATA
ERROR
[Decimal Data]
4472
TOOL CALIBRATION
DATA ERROR
[Decimal Data]
10-49
RE-CTO-A203
Message
Cause
4473
ARITHMETIC ALARM
RESET ERROR
[Decimal Data]
System data didn't corrspond with reset process after the alarm occurred in arithmetic
section.
4474
WRONG CONTROL
GROUP AXIS
[Bit Pattern]
4475
CANNOT EXECUTE
JOB(NO ROBOT)
[Decimal Data]
When executing ARCON, WVON instruction, the robot was not in the prescribed job
control group.
4476
4477
SELECT ERROR
(APPLICATION )
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4480
SELECT
ERROR(SENSOR )
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4484
4485
Needs investigation.
Consult a YASKAWA representative.
4486
PATH OVER
[Decimal Data]
4487
WRONG MECH
PARAMETER FILE
[Decimal Data]
4488
INCOMPLETE PT
FRAME
[Decimal Data]
4489
DEFECTIVE TAUGHT
POINT(CUTTING)
[Decimal Data]
Alarm
Number
10-50
Remedy
RE-CTO-A203
Message
Cause
Remedy
4490
DEFECTIVE TAUGHT
POINT(ENDLESS)
[Decimal Data]
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]
4492
4493
4494
DEFECTIVE TAUGHT
POINT(WEAV)
[Decimal Data]
4495
UNDEFINED ROBOT
CALIBRATION
[Bit pattern]
4496
PARAMETER
ERROR
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4497
DEFECTIVE TAUGHT
POINT(CALIB)
[Decimal Data]
4498
CANNOT EXECUTE
JOB(NO GRP AXIS)
[Decimal Data]
4499
4500
UNDEFINED USER
FRAME
[Decimal Data]
Alarm
Number
10-51
RE-CTO-A203
Message
Cause
Remedy
4501
OUT OF
RANGE(PARALLEL
PROCESS)
[Decimal Data]
4502
SL BOARD ON-LINE
ERROR
4504
MEASURE INST
EXECUTE ERROR
[Decimal Data]
4505
Retry was possible with ARC RETRY execution only if a step existed before the
ARCON instruction.
4506
UNDEFINED POS
FOR RESTART
RETURN
[Decimal Data]
4507
4508
PECIFIED ERROR
(COORDINATE)
[Decimal Data]
4509
MFRAME ERROR
[Decimal Data]
4510
CANNOT EXECUTE
INSTRUCTION
(SQRT)
[Decimal Data]
4511
OUT OF RANGE
(DROP-VALUE)
[Control Group]
4512
The three points for creating the user coodinates or three or more taught points for
robot calibration lie on the same line.
4513
EXCESSIVE
SEGMENT
(SAFETY 1): LOW
Robot/Station
[Axis Data]
10-52
RE-CTO-A203
Message
Cause
Remedy
4514
EXCESSIVE
SEGMENT
(SAFETY 1): HIGH
Robot/Station [Axis
Data]
4515
EXCESSIVE
SEGMENT
(SAFETY 2): LOW
Robot/Station
[Axis Data]
4516
EXCESSIVE
SEGMENT
(SAFETY 2): HIGH
Robot/Station
[Axis Data]
4517
SEARCH MONITOR
SET ERROR
(SERVO)
[Decimal Data]
4518
SEARCH MON
RELEASE ERROR
(SERVO)
[Decimal Data]
4519
SPHERE INTRF
ERR(ROBOT)
[Decimal Data]
4520
AXIS BLOCKING
[Control Group]
4521
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.
4522
4524
CANNOT EXECUTE
INST
(CONCUR JOB)
4526
SYNTAX ERROR IN
EQUATION INST
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4527
UNDEFINED PORT
NO.
(AOUT)
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4528
SYNTAX ERROR
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
10-53
RE-CTO-A203
Message
Cause
Remedy
4529
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.
4534
TORQUE INTERFERENCE
4540
4543
4564
INTERNAL STATUS
ERR
(SEARCH HALT)
[Decimal Data]
4565
SOFTWARE
UNMATCH
[Decimal Data]
4567
CANNOT MONITOR
DISTANCE
4572
UNDEFINED MOTOR
GUN CONTROL GRP
Configulate again on customer maintenance mode, set the motor gun axis correctly.
4574
Welding completed signal from timer conductor or welding error signal doesn't enter
even if waiting set time.
4575
ERROR IN WELD
START TIMING SET
4576
Needs investigation.
Consult a YASKAWA representative.
4577
Needs investigation.
Consult a YASKAWA representative.
4578
4581
10-54
RE-CTO-A203
Message
Cause
Remedy
4583
CANNOT EXECUTE
GUN TYPE
4584
4585
SERVO PG ON
ERROR
4587
MOTOR GUN
CHANGE ERROR
4588
COMPENSATION
DIRECTION UNSETTING
4589
ABRASION BASIS
POS UNSETTING
[Decimal Data]
4601
UNDEFINED GUN
COND FILE
[Decimal Data]
4603
WIRE STICKING
[Decimal Data]
4612
TSYNC ERROR
[Decimal Data]
4617
SU AXIS MOTION
DISABLED (LR AXIS
POSITION ERROR)
[Decimal Data]
10-55
RE-CTO-A203
4623
Message
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
Registration No.
9000
00
9010
01
9020
02
ARC SHORTAGE
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
10-57
RE-CTO-A203
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
System Section
User Section
10-58
RE-CTO-A203
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
10-59
RE-CTO-A203
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
RE-CTO-A203
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
11.1.1
Error NO.
Data
Message
10
20
Depress TEACH
30
31
40
50
60
Depress MODIFY
Undefined points (ORG, XX, XY)
70
80
90
100
110
120
130
140
150
TEACH-LOCK mode
170
180
190
200
210
211
212
Contents
220
230
11-2
RE-CTO-A203
Error NO.
Data
Message
240
Undefined robot
250
260
Undefined file
270
280
290
300
310
320
330
340
350
Cannot initialize
360
370
No SYNCHRO operatrion
380
390
400
410
420
430
440
450
460
470
480
490
500
510
Undefined axis
Contents
11-3
RE-CTO-A203
Error NO.
Data
Message
520
530
540
550
560
570
580
590
600
610
620
630
640
650
660
670
Defined data
680
XXX
Contents
File No.
690
700
710
720
730
740
750
760
770
780
11-4
RE-CTO-A203
Error NO.
Data
Message
790
800
810
820
830
840
Unregistered key
850
860
870
880
890
900
910
920
930
940
950
11-5
Contents
RE-CTO-A203
11.1.2
Editing
Error No.
Data
1010
1020
1030
Unauthorized ID No.
1040
1050
1060
1070
11.1.3
Message
Contents
Error No.
Data
Error Message
2010
Incorrect character
2020
2030
2040
2050
2060
Select master
2070
2080
2090
2100
2110
2120
2130
2150
2160
2170
2180
11-6
Error Contents
RE-CTO-A203
Error No.
Data
2190
2200
2210
2220
2230
2240
2250
2260
2270
2280
2290
2291
2292
2293
Error Message
Error Contents
Sub-master 1
Sub-master 2
Sub-master 3
Sub-master 4
Sub-master 5
Sub-master 1
Sub-master 2
Sub-master 3
Sub-master 4
Sub-master 5
11-7
RE-CTO-A203
Error No.
Data
2300
2310
Error Message
XXX
Error Contents
Line No.
2320
2330
2340
2350
2360
2370
2380
2390
2400
2410
2420
2430
2440
2450
2460
2470
2480
2490
2500
2510
2520
2530
2540
2550
2560
11-8
Lazer cutting
RE-CTO-A203
Error No.
Data
Error Message
2570
2580
2590
2600
2610
2620
2630
2640
2650
2660
2670
2680
2690
2700
2710
2720
2730
2740
2750
2760
2761
Axis is separated.
Cannot add, modify, or delete.
2770
2780
Arithmetic error
11-9
Error Contents
RE-CTO-A203
11.1.4
Error No.
Data
Message
3010
3020
3030
3040
3050
3060
3070
3080
3090
Framing error
Overrun error
Parity error
3100
3110
Syntax error
3120
Contents
3130
Verify error
3140
11-10
RE-CTO-A203
Error No.
Data
*
3150
3160
3170
3180
Message
Contents
Format error
Format error
11-11
RE-CTO-A203
Error No.
Data
*
3190
Message
Error in JOB data record
10
11
12
13
3200
3210
3220
Contents
Undefined instruction/tag
Instruction/tag shortage
Disuse instruction/tag
Sub instruction
Non instruction
11-12
RE-CTO-A203
Error No.
3220
Data
Message
Contents
Invalid instruction
Invalid tag
10
Invalid character
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
System error
27
28
29
30
35
36
37
38
11-13
RE-CTO-A203
Error No.
3220
Data
Message
Contents
39
[BINARY/HEXADECIMAL WORD
TYPE] data error
40
41
[BINARY/HEXADECIMAL WORD
TYPE] data error
42
43
44
JCL text
45
Invalid text
46
47
48
49
58
3230
3240
Undefined application
3250
3260
3270
3280
3290
3300
3310
3320
3330
3340
3350
3360
Invalid directory
3370
11-14
RE-CTO-A203
Error No.
Data
3380
3390
3400
3410
3420
3430
3440
3450
3460
Message
Contents
3470
3480
3490
3500
3510
3520
11-15
RE-CTO-A203
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
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
*
XXX
*
Contents
XXX
4110
4120
4130
4140
4150
*
XXX
4160
Line No.
Cannot edit system section
11-16
RE-CTO-A203
Error No.
Data
4170
Cannot modify/delete
4180
4190
4200
4210
4220
4230
11.1.6
Message
Contents
Maintenance Mode
Error No.
Data
Message
8010
8020
8030
8040
8050
11-17
Contents
Dwg.No.
MACHINE
HE0300333-1/31
Revisions:
CUSTOMER :
2
: (PAGE2)
PAGE
4
5
NOTE
NAME
1/
CONTENTS
2/
LIST OF REFERENCE
3/
/
5/
6/
7/
8/
9/
10/
11/
12/
13/
14 /
15/
16/
17 /
18/
19/
20 /
21 /
22 /
23 /
24 /
25 /
26 /
27 /
28 /
29 /
30 /
31 /
10
11
12
13
Draw.
Appr.
Check.
14
15
16
17
YASNAC XRC
ELEMENTARY DIAGRAM
CONTENTS
18
19
20
21
22
23
24
REVISION
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.
HE0300333-2/31
Revisions:
No.
3
DRAW No.
NAME
HB9280
REVISION
3
4
5
6
6
7
8
9
10
9
10
OPTION LIST
11
No.
12
NAME
PAGE
1
3
13
Draw.
Appr.
Check.
4
5
14
6
7
15
8
16
9
10
17
TYPE LIST
19
FU7 9
UP6-RB10
UP6
1.5kVA
194R-NC030P3
5A
USCC3I
10A
USCC3I
10A
UP6-RB11
UP6
1.5kVA
194R-NC030P3
10A
USCC3I
10A
UP20-RB10
UP20
2.8kVA
194R-NC030P3
10A USCC3I
15A
USCC3I
15A
UP20-RB11
UP20
2.8kVA
194R-NC030P3
15A
USCC3I
15A
39
21
22
QS1
40
20
41
YASNAC XRC
ELEMENTARY DIAGRAM
LIST OF REFERENCE
18
1KM,2KM
SC-5-1 Z845
SZ-A11
SC-5-1 Z845
SZ-A11
SC-5-1 Z845
SZ-A11
SC-5-1 Z845
SZ-A11
SERVO PACK
CACR-UP6AAC
CACR-UP6AAC
CACR-UP20AAA
CACR-UP20AAA
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
38
42
43
44
45
46
47
48
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.
QS1
FUSED
DISCONNECT
SWITCH
QS1
FUSED
DISCONNECT
SWITCH
XSR01
(OPTION)
CNC1
T1
TRANSFORMER
I/O UNIT
JZRCR-XCO02
JARCR-XCI01
CN07
CN05 EXESP,EXSVON
QS2
FUSED
HOLDER
to
XPU06B
-1KM
ONLY UP20
1XT
1KM
POWER UNIT
JZRCR-XPU06B
1Z
LF
FU
BRAKE
R0
CONTROL
RESISTOR
(FAN,GS) CN30
(AC CONTROL) CN29
(EXT.OUT) CN28
(OT,SHOCK) CN26
2KM
CBL-RC031
2XT
4X
RB
1X
CN3
AC200V
QS3
CN2
CN5
TM1
PN
FUSED
HOLDER
AC200V L1C,L2C
AC200V L1,L2,L3
RY
JARCR-XFL02B
SERVOPACK
(PAGE.2)
CNPB03
CNPB02
CNPB01
CN30
JASP-WRCA01
CN50
XFC01
CNSCU
CN20
CNPB04
5A
JUSP-WS**AA
1AMP
2AMP
JUSP-WS**AA
CN1
CN1
CN1
CN1
CN1
CN1
JUSP-ACP05JAA
1CV
CN8
JUSP-RCP01AAC
1GS
R1
REGENERATIVE RESISTOR
1CN
CN2
CN7
CN1
CN3
CN4
CN6
CN3
PN
CN3
3AMP
JUSP-WS**AA
JUSP-WS**AA
CN6
CN3
CN6
CN3
JUSP-WS**AA
CONDENSER
6AMP
JUSP-WS**AA
5AMP
4AMP
CN6
CN3
CN6
CN3
CN1
6XT
1CN
2CN
3CN
4CN
5CN
6CN
EV1
EV2
FAN
FAN
EV3
2BC
SERVO
COOLING FAN
SERVO DUCT
COOLING FAN
MANIPULATOR
FAN
26
3
AC480V
50/60Hz
3
AC200/220V
50/60Hz
DC24V,DC5V
DC24V
DC24V
ON/OFF
DC 24V FAN
WITH
SENSOR
CND1
(SPEED) CN25
CBL-RC007
17
HE0300333-3/31
CN04
CN03
CN02
CN01
CN05
CPS-150F
2GS
CNP
FAN
AC200V
CPU RACK
JZNC-XRK01B-1
JANCD-XBB01
CNP
CN FAN1
FAN
NEXT CT CN24
NEXT CT CN22
CN20
(CONTROL) CN21
CBL-RC007
(DC IN/OUT)
CN23
CNPB05
CNPB06
21
CN FAN2
RS232C
CNA1 CNA2
JARCR-XCI03
CN10,11 CN12,13
I/O
=24/24
16
CNS1
CNS2
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
CNPG123
CNPG456
(OPTION)
25
19
JASP-WRCF01
EXCNPB01
EXT.MOTOR(AXES)
S-AXIS
MOTOR
L-AXIS
MOTOR
U-AXIS
MOTOR
R-AXIS
MOTOR
B-AXIS
MOTOR
T-AXIS
MOTOR
30
EXCNPB02
OT
SHOCK, LAMP(OPTION)
29
TO WELDER
1BC
28
HE0300333
27
TO WELDER
24
EXCNPB03
EXCNPG123
23
CN03
18
YASNAC XRC
ELEMENTARY DIAGRAM
SYSTEM CONNECTION DIAGRAM
22
CN02
Draw.
Appr.
20
JANCD
-XEW01
14
Check.
15
CBL-RC001
CN01
13
CN04
(OPTION)
12
CBL-RC034-1
11
CBLRC011-1
PLAYBACK PANEL
ZY1C-SS3152
PBESP
CN1
PBESP
10
CNBAT
CBL-RC018
BATTRY
CBL-RC032
CBL-RC032
CBL-RC032
(OPTION
X81
CNMM CNMM
JANCD
-XMM01
CBL
-XR005-1
JANCD
-XCP02
(OPTION
CNS1
CBLRC011-1
2XT
PROGRAMMNIG PENDANT
X82
CN01
JZNCXPP02
RS
-232C
Revisions:
CNT1-1
FC2
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.
PE
3
(PAGE2)
FU1
3
(PAGE2)
35
FU1
QS1 (PAGE2)
FU1 FU2 FU3
36
PE
QS1 (PAGE2)
FU1 FU2 FU3
HE0300333-4/31
AC 480V
50/60Hz
L1 L2 L3 PE
(R) (S) (T)
Dwg.No.
T1
3 4.5kVA
PRIMARY:575/480/240V
SECONDARY:208V
QS2 (PAGE2)
10
L1 L2 L3
XPU06B-1KM
11
5
1
12
r1
13
Draw.
Appr.
Check.
t1
XFL02B
CN4
6
25
14
15
16
17
18
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
38
39
40
41
42
43
44
45
46
47
48
49
4
31
QS1
4
24
4
10
JZRCR-XPU06B
3
FU1
4
FU2
FN2010-10/06
(SCHAFFNER)
P
N
1Z
AC250V
10A
1XT
5X
1
2
P
N
E
1KM
A2
A1
6
1FV
SZ-Z5
2KM
A1 A2
-B2
-A2
r
t
-B1
-A1
PS1
PS2
-B3
-A3
SVM1B
SVM2A
-A6
24
23
10
54
11
1
54
53
53
1KM
12
62
(PAGE2)
61
-A8
4X
-B2
-A2
-B1
-A1
62
SVM1
2KMMA+
2KMMA1KMMA+
1KMMA-
-B4
61
Draw.
Appr.
Check.
2KMMB+
2KMMB1KMMB+
1KMMB-
-A4
13
SVM2B
SVM2
-B8
24
-B3
P
-A3
14
5X
-B4
15
16
19
3
AC2
-B6
23
2GS(CPS)
CN05
SVM1A
-A5
7
12
XSU02 7
CN30 27
-B5
2FV
SZ-Z5
XSU02
CN32
AC1
HE0300333-5/31
Revisions:
NOTE
FU1,FU2
AC250V 10A
TIME LAG FUSE
L1 L2 L3
Dwg.No.
QS2
RKFAN1
RKFAN2
-A4
2KM
XSU02 10
CN29 11
XSU02 7
CN32 22
XSU02
CN29
10
19
XSU02 7
CN30 26
(PAGE2)
17
YASNAC XRC
ELEMENTARY DIAGRAM
MAIN POWER:JZRCR-XPU06B,QS3
1X
-B1
18
2XT
-A1
19
20
-B2
RKFAN1
-A2
RKFAN2
21
r2
22
t2
XFL02B
CN3
6
21
23
1
-A3
RKFAN2
-B4
-A4
4715PS-22T-B30-B00 X1
(MINEBEA)
EV2
3
EV3
-B5
QS3
RKFAN1
24
-B3
EV1
6XT
4715PC-22T-B30-B00 X2
(MINEBEA)
-A5
(PAGE2)
25
-B6
-A6
RB
26
-B7
HE0300333
-A7
27
-B8
L1 L2 L3
28
1CV
11
9
29
L1C(r)
-A8
30
L2C(t)
1GS
1CN
11
24
RB:MF20N3R5JU(MICRON)
3.5
20W
FG
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
5
31
JARCR-XFL02B
BA1
BB4
BB1
-2
BRCOM
7
17
D11
D10
NOTE
FOR EXTERNAL AXIS.
(NOT MOUNT)
1
D13
D14
D15
D16
TM1
1
10 [K2]
10
14
13
D12
6
CN2
SB8
CN6
-1
9
[K2]
BR
XSU02
CN31
HE0300333-6/31
Revisions:
BA4
Dwg.No.
CN1
1
BA7
[K2]
EXTERNAL
AXIS
MOTOR
BRAKE
7SUP
BB7
11
10
CN2
SB2
13
11
13
12
13
13
Draw.
Appr.
Check.
13
14
13
15
SB3
SB4
SB5
SB6
SB7
13
14
4
14
12
[K1]
3SUP
4SUP
5SUP
BA3
BA4
BA5
-D2
12
[K1]
16
BA2
-C2
11
BA1
-B2
[K1]
7
[K1]
10
14
12
-D1
[K1]
6
[K1]
2SUP
14
11
-C1
[K1]
5
[K1]
1SUP
12
14
10
CN5
-B1
[K2]
14
[K2]
11
[K2]
[K2]
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
12
9
15
9
CN3
FU3
1
r2
13
14
[K2]
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
14
13
28
FU2
24
D1
9
[K3]
2BA
D2
-A1
12
BB1
[K3]
-A2
WHITE
BB4
29
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
14
9
17
9
[K1]
21 QS3
5
22
13
6
16
9
024V
4P
-B3
-A3
-B4
-A4
NCM
NCM
[K25]
[K24]
B6
+24VU
A6
024VU
4
3
DUMMY
CONNECTOR
+24VU
F9
Z(L)
250V 3.15A
NEXT I/O
NOTE
A5
024V
6
5
2
1
F9,F10
AC250V 3.15A
TIME LAG FUSE
B5
+24V
NEXT
XSU02
+24V
GND
A2
DUMMY
CONNECTOR
6
7
B2
024VU
PS
A1
+24VU
Z(L)
024V
NCM [K25]
LY2-DC24V
(OMRON)
D1
NCM
(GREEN)
F10
Z(L)
250V 3.15A
CN27
7
024VU
EX24VIN
EX0VIN
10
+24V
10
024V
11
13
XPU06B
5X
Draw.
Appr.
Check.
16
17
YASNAC XRC
CN30 -D1
-C1
5
4
NOTE
F3.F4
AC250V 5A
TIME LAG FUSE
F3
F4
250V
5A
250V
5A
+24V
BRK-R
CN31
-B1
-C1
[K3]
[K7]
-D1
-D2
+24VU
024VU
USER
+24V
-A2
-B3
KEYIN PLUG
NCM
21
BRCOM
KEYIN PLUG
CN32
-D3
-C3
[K25]
SVM1
SVM2
-D2
XPU06B
5X
RBRAKE2
-A1
-A3
KEYIN PLUG
KEYIN PLUG
CN30
-B1
SVM-1
25
[K14]
-B3
HE0300333
RKFAN1
RKFAN2
-A3
-D3
27
AC1
AC2
-C3
-B2
KEYIN PLUG
28
FAN1
FAN2
-A1
26
ONLY UP20
R0
-B1
24
5
9
RBRAKE1
-C2
23
6
3
BR
-A3
XX4
XE475
XFL02B
CN1
BB4
-C3
-D3
FUCUT
(INDATA)
19
BB1
BA4
-C2
F6
250V
4A
SYSTEM
+24V
BA1
-A1
-B2
XX3
XE475
F5,F6
AC250V 4A
GP40(DAITO)
INDICATION FUSE
20
BRK
F5
250V
4A
NOTE
+24V
024V
PS1
PS2
-C1
22
ELEMENTARY DIAGRAM
JZRCR-XSU02(1/4 ):JARCR-XCT01(1/4 )
18
024V
CN32
-D1
14
15
DC
SELECT
+24V
12
HE0300333-7/31
Revisions:
19
7
+5V
CN20
B1
+24V
2GS
(CPS150F)
3
NOTE
CN20 I/O DC SUPPLY
DUMMY CONNECTION
JARCR-XCT01(1/4)
Dwg.No.
JZRCR-XSU02(1/4)
1
XPU06B
5X
XPU06B
5X
5
15
5
6
KEYIN PLUG
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
7
31
JARCR-XCT01(2/4)
CN21
-4
S_ON1+
FU1
-14
S_ON1-
+24V
ON_EN1 OVER_SPEED1
OT
EXOT1
SVMAIN1 SVMX1
SVM-1
250V 3.15A
[K10]
[K9]
[K12]
[K11]
[K13]
[K5]
[K14]
[K15]
S_ON1+
9
7
S_ON1-
9
14
[K1]
INDATA
S_ON1
GND
024V
024V
+24V
[K16]
INDATA
024V
+24V
CN21
-5
S_ON2+
-13
S_ON2-
10
+24V
11
CN21
-1
+24V
ON_EN2
OVER_SPEED2
[K17]
[K18]
S_ON2+
9
8
S_ON2-
9
13
024V
[K19]
1KMMMA 2KMMMA
+5V
-2
SVMXOK1
OT
ON
ON
ON
OFF
OFF
OFF
ON
OFF
EXOT2
SVMAIN2
[K20]
SW2
1-2
2-3
[K21]
SVMX2
SVM-2
[K8]
SVMXOK1 SVMXOK2
ON
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
-3
12
[K2]
Draw.
Appr.
Check.
14
WRCA01
CN20
DIN3
15 18
DIN2
22
TUDIN
CN24
9
9
DIN3
-9
DIN2
-10
DIN1
-11
+24V
CN22
-1
-2
1
GND
S_ON1
[K22]
10
15
-5
S_ON21+
-6
-9
9
15
-10
-11
SVMXOK21+
-12
YASNAC XRC
-13
-14
+5V
024V
S_ON21S_ON11-
-15
SVMAIN11+
-16
OVSPD1
9
18
20
SVMAIN11-
-17
21
SVMAIN21+
-18
OVSPD2
9
20
22
ELEMENTARY DIAGRAM
JZRCR-XSU02(2/4):JARCR-XCT01(2/4)
024V
SVMXOK21-
024V
SVMXOK2
19
S_ON11+
[K15]
-7
-12
18
-3
-4
-8
+5V
SVMXOK2
17
EXTUDIN
-8
DIN1
16
+5V
S_ON2
-7
TUDIN
[K23]
SW2
-6
DINCOM
[K22]
+24VU
+24V
024V
S_ON2
10
1KMMA
18
10
2KMMA
19
SVMXOK1
13
FU2
250V 3.15A
GND
7
HE0300333-8/31
Revisions:
CBL-RC007
Dwg.No.
JZRCR-XSU02(2/4)
SVMAIN21-
INDATA
23
024V
0V
-19
24
TUSIG
-20
CN21
25
-15
SVMAIN1+
26
-17
SVMAIN2+
[K13]
HE0300333
SVMAIN2
-18
SVMAIN2-
27
SVMAIN1
-16
SVMAIN1-
TUSIC*
+24V
[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
JARCR-XCT01(3/4)
HE0300333-9/31
Revisions:
Dwg.No.
JZRCR-XSU02(3/4)
1
+24V
CBL-RC007
3
CN23
-1
SPMOD1
+24V
-2
CN24
-1
-3
-2
4
SPMOD2
SPMOD1OUT
5
SPMOD3
6
7
-4
S_ON1+
S_ON2+
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
TUDIN
NEXT
XSU02
DIN3OUT
11
DIN1
12
SPMOD COM
13
-12
-13
S_ON2-
S_ON2-
Draw.
Appr.
Check.
-14
S_ON1-
S_ON1-
-15
14
15
-18
8
15
-19
CBL-RC031
-13
DIN3
-15
DIN2
-16
-19
YASNAC XRC
-A3
OVSPD2
8
OVSPD2 22
024V
[K18]
-A5
SPMODE2
21
[K10]
OVER_SPEED2
-A4
SPMODE1
-B1
SPMODE3
-B2
024V
22
ELEMENTARY DIAGRAM
JZRCR-XSU02(3/4):JARCR-XCT01(3/4)
XFC01
CNSCU
18
27
-20
OVER_SPEED1
8
OVSPD1 20
19
-17
+24V
-A2
OVSPD1
18
S_ON22+
S_ON12+
-18
CN25
-A1
+24V
SPMODCOM
-12
024V
DIN1
-20
16
DIN1OUT
-11
-14
-17
20
-10
8
10
8
5
-16
17
DIN2OUT
-11
-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)
CN27
-1
EXOT1+
EXOT1
SVM-1
OT_R
[K20]
-4
EXOT2-
[K2]
EXOT2
-3
EXOT2+
SVM-2
[K1]
[K12]
4
5
CN26
-A1
[K4]
-2
EXOT1-
+24VU
OT_R
-6
024VUT
7
INDATA
+24VU
LP1
1BC
CN4-6
-D1
+24VU
CN2-6
-C2
KEYIN PLUG
-D2
OT
-A3
024VU
INDATA
-C1
(OPTION)
LAMP
+24VU
-B2
-5
6 24VUT
LP2
-A2
INDATA
(BATTERY ALARM)
[K4]
024VU
-B1
HE0300333-10/31
Revisions:
+24VU
Dwg.No.
JZRCR-XSU02(4/4)
KEYIN PLUG
024VU
CN5-6
OT-
CN3-6
SHOCK-
CN6-6
SPARE(0V)
OT-
-B3
[K11]
8
[K19]
GND
INDATA
024VU
024VU
INDATA
-C3
-D3
SHOCK1
SHOCK2
10
024VU
GND
SVM-1
F7
250V 5A
11
[K1]
CN28
-1
12
EXBRK+
13
-2
EXBRK-
SVM-1 SVM-2
Draw.
Appr.
Check.
[K1]
-5
024VU
GND
KEYIN PLUG
-B3
+24V
YASNAC XRC
-C4
20
8
9
2KMMB+
XPU06B
4X
5
12
2KMMB-
-C5
2KMMA+
-D5
INDATA
GND
1KMMA-
-B5
INDATA
2KMMA
1KMMA+
-A5
GND
INDATA
1KMMB+
1KMMB-
-D4
INDATA
2KMMA-
+24V
024VU
Z(L)
+5V
BRK-R
22
ELEMENTARY DIAGRAM
JZRCR-XSU02(4/4):JARCR-XCT01(4/4)
1KMMA
8
8
-D3
-A4
-B4
INDATA
INDATA
18
21
SVM2B
-C3
024VU
19
XPU06B
5X 5
-D2
[K17]
-10
ON_EN2-
-B2
KEYIN PLUG
-C2
[K9]
ON_EN2
-9
SVM2A
-D1
ON_EN1
-8
ON_EN2+
17
-C1
-A3
8
14
EXTUDIN
-7
ON_EN1-
024V
SVM1B
-A2
INDATA
(SVMX_ER)
[K2]
+24VU
-6
15 EXTUDINE
ON_EN1+
[K2]
[K24]
-4
14 EXNCM-
+24V
NCM
-3
EXNCM+
16
BRK
[K6]
SVM1A
-B1
SVM-2
F8
250V 5A
CN29
-A1
SHOCK(OPTION)
NOTE
BRK-R [K3]
BRK
[K7]
LY2-DC24V
(OMRON)
[K3]
OT_R
23
24
[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
HE0300333-11/31
Revisions:
Dwg.No.
ONLY UP20
CONDENSER UNIT
JASP-WCCA162
CN1
-A3,B3
3
+
CN1
-A1,B1
4
5
CONVERTER
JUSP-ACP05JAA (5A)
6
7
1 CV
L1
9
5
28
L2
QS3
L3
CN7
-1
-2
-3
CN3,4
-A3
P
1AMP 6AMP
JUSP-WS**AA
CHARGE
CN3,4
-A1
10
FG
12 15
2 2
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
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
25
CHARGE
FG
GND
2CN
-A1
+5V
-B1
ALM
-A2
+7V
-B2
-15V
-A3
GND
+5V
POWER LOST
PG7V
26
18
13
-15V
+15V -B3
WRCA01
CN50
+15V
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
5
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*
NV_1
PW_1*
PW_1
NW_1*
Draw.
Appr.
Check.
14
NW_1
POS15V
GND
IUCT_1
GND
PBRDY_1*
PU*
-4
PU
NU*
-1
-2
MV1
-2
MW1
-4
-3
MW1
-3
ME1
-1
-4
ME1
-4
-5
BA1
-5
-6
BB1
GND
GND
DBON
16
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
-6
R2
-5
-3
GND
BRAKE
R1
-3
-2
GND
RDY*
A11
A12
CN1
-1
CN2
-1
GND
IPMFLT*
SM
BB1
13 14
5 8
BB1
XFL02B
CN29
6
17
NW
+15V
GND
IU
AXEN_1*
ID1_1
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(2/8): S-AXIS 1AMP,JASP-WRCA01(1/7)
19
-3
PW
NW*
GND
18
MV1
BA1
15
-1
MU1
NV
PW*
IV
S-AXIS
CN1
-1
MU1
1CN
-2
NU
PV*
PV
NV*
A3
A4
17
-3
CN3
PU_1
13
CN1
-2
B1
CNPB01
12
2BC
CASE FG
B3
S-AXIS
1AMP
JASP-WRCA01(1/7)
11
A1
13
2AMP-CN6
2
10
CN6
A3
11 1CV-CN3
9
MANIPULATOR
HE0300333-12/31
Revisions:
Dwg.No.
DB-RESISTOR BOARD
ROBOT 1AMP(JUSP-)
20
DB-RESISTOR(R1,R2)
UP6
WS05AAY17
33 , 20
UP20
WS10AA
11 , 20W
MOTOR S-AXIS
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
DATA+
DATA+5V
-1
-2
-5
0V
-6
BAT
OBT
-3
-4
FG
-7
-4
P
26
HE0300333
BATTERY
CASE
FG FG2
27
13
27
13
28
16
27
29
PG
21
47
28
S-AXIS
BATTERY
14 15
27 27
17
28
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
12 1AMP
3 -CN6
14 2AMP
2 -CN6
12 1AMP
3 -CN6
4
5
IN CASE
OF UP20
A1
B1
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
NW_2*
NW_2
12
13
Draw.
Appr.
Check.
16
17
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(2/7): L-AXIS 2AMP,JASP-WRCA01(2/7)
18
POS15V
GND
IUCT_2
GND
PBRDY_2*
-2
MV2
-4
-3
MW2
-1
-4
ME2
-5
BA2
NU*
CN1
-2
NV
PW*
-4
-3
-1
CN2
-1,6
MU2
-A2
CN2-2
CN3-6
MV2
-B2
CN2-3
CN5-6
MW2
-A1
CN2-4
CN6-6
ME2
BA2
CN2
-5
PW
NW*
NW
+15V
GND
IU
BA2
GND
IPMFLT*
CN1
-1
CN2
-1
GND
DBON
24
PG5V_2
GND
GND
25
R2
-5
-3
GND
DB-RESISTOR BOARD
DB-RESISTOR
IN CASE
OF UP20
R1
ROBOT 2AMP(JUSP-)
16
14
37
11
WS10AAY17
33 , 20W
SGMDH-12A2A-YR1*
1150
UP20
WS20AAY22
5 , 60W
SGMDH-14A2A-YR1*
1400
DATA+
DATA+5V
C 1
D 2
H 5
0V
G 6
BAT
OBT
T 3
S 4
FG
J 7
L-AXIS
PG
-4
13
39
26
-5
HE0300333
CASE FG
FG2
27
UP6
UP20
12 14
28 27
28
UP6
1BC
CN2
-1
-2
-3
CNPG123
PS_2
PS_2*
PG5V_2
BRAKE
R1
-3
-2
GND
RDY*
(2/3)
23
SM
IV
21
22
L-AXIS
BB1
12
8
XFL02B
CN29
6
17
GND
BRAKE
IN CASE OF UP20
2BC
CN2
-B1
SM
PU
NU
PV*
PV
NV*
L-AXIS
BB1
12
8
XFL02B
CN29
6
17
CN3
A1
A2
11
PU*
B1
B2
NV_2
PW_2*
PW_2
-3
BA2
NU_2*
NU_2
10
JASP-WRCA01(2/7)
CNPB02
PU_2
MU2
A7
A8
CN2
-1
B7
B8
2BC
CN2
2
CN1
-2
B3
14 3AMP
2 -CN6
PU_2*
L-AXIS
2AMP
HE0300333-13/31
Revisions:
CN6
A3
Dwg.No.
EXT.(MANIPULATOR)
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
13
2AMP-PN
3
MANIPULATOR
P
A1
2BC
B3
U-AXIS
3AMP
CN1
-2
B1
4
5
6
7
JASP-WRCA01(3/7)
CNPB03
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
-3
-2
MV3
-2
MW3
-4
-3
MW3
-3
ME3
-1
-4
ME3
-4
-5
BA3
-5
MV3
NV
PW*
XFL02B
CN29
6
17
PW
NW*
NW
+15V
GND
IU
SM
BRAKE
-6
BB1
12
8
BA3
GND
IV
GND
IPMFLT*
GND
RDY*
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
A3
A4
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(4/8): U-AXIS 3AMP,JASP-WRCA01(3/7)
19
-1
3CN
-2
GND
18
U-AXIS
CN3
-1
MU3
MU3
NU
PV*
PV
NV*
15
17
-3
CN3
PU_3
HE0300333-14/31
Revisions:
Dwg.No.
R1
R2
-3
-2
GND
-5
-3
DB-RESISTOR BOARD
ROBOT 3AMP(JUSP-)
20
DB-RESISTOR(R1,R2)
UP6
WS05AAY17
33 , 20W
UP20
WS10AAY17
33 , 20W
MOTOR U-AXIS
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
GND
GND
25
8
6
29
3
26
HE0300333
27
U-AXIS
PG
0V
-6
BAT
OBT
-3
-4
FG
-7
FG2
12
28
28
-1
-2
-5
-4
5
31
DATA+
DATA+5V
13
27
29
BAT
30
0BT
12
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
14
31
4
5
11
1CV-CN4
9
16 5AMP-CN6
2
CN6
A3
CNPB04
B1
B2
A1
A2
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
NV_4
PW_4*
PW_4
NW_4*
12
13
Draw.
Appr.
Check.
14
NW_4
POS15V
GND
IUCT_4
GND
PBRDY_4*
PU*
NU*
-1
-1
MU4
-1
-3
-2
MV4
-2
MW4
-4
-3
MW4
-3
ME4
-1
-4
ME4
-4
-5
BA4
-5
-6
NV
PW*
BA4 BB4
NW
+15V
GND
IU
BB4
SM
BRAKE
-6
BB4
16 17
9 9
XFL02B
CN29
6
17
PW
NW*
GND
IV
GND
IPMFLT*
(CN2)
-1
GND
DBON
GND
RDY*
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
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(5/8): R-AXIS 4AMP,JASP-WRCA01(4/7)
19
-4
R-AXIS
CN4
NU
PV*
PV
NV*
15
18
MV4
PU
A3
A4
17
4CN
-2
-3
CN3
NU_4*
NU_4
PU_4*
MU4
CN1
-2
JASP-WRCA01(4/7)
11
2BC
B1
A7
A8
10
R-AXIS
4AMP
B3
B7
B8
A1
PU_4
MANIPULATOR
HE0300333-15/31
Revisions:
Dwg.No.
-2
GND
-3
ROBOT 4AMP(JUSP-)
20
DB-RESISTOR(R1,R2)
MOTOR R-AXIS
UP6
WS01AA
-(SHORT)
SGMPH-01A1A-YR2*
100
UP20
WS02AA
-(SHORT)
SGMPH-02A1A-YR3*
200
21
22
CNPG456
1BC
CN4
-1
-2
-3
(1/3)
23
24
PS_4
PS_4*
PG5V_4
PG5V_4
GND
GND
25
24
22
45
19
P
P
DATA+
DATABAT
0BT
-1
-2
-3
-4
+5V
0V
-1
-2
FG
-3
R-AXIS
PG
-4
21
47
26
HE0300333
27
BATTERY
FG6
12
28
28
17
27
29
30
BAT 0BT
16 17
30 30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
15
31
4
5
MANIPULATOR
CN6
A3
15 4AMP-CN6
3
A1
CNPB05
CN3
PU_5
NU_5*
NU_5
B1
B2
A1
A2
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
PU_5*
NV_5
PW_5*
PW_5
NW_5*
10
11
12
13
Draw.
Appr.
Check.
14
CN1
-2
JASP-WRCA01(5/7)
NW_5
POS15V
GND
IUCT_5
GND
PBRDY_5*
A7
A8
PU
-4
NU*
NU
PV*
PV
NV*
-1
MV5
-3
-2
MV5
-2
MW5
-4
-3
MW5
-3
ME5
-1
-4
ME5
-4
-5
BA5
-5
PW
NW*
BA5
NW
+15V
GND
IU
XFL02B
CN29
6
17
GND
DBON
BB4
15
8
-2
GND
RDY*
16
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
GND
-3
YASNAC XRC
ELEMENTARY DIAGRAM
1SV(6/8): B-AXIS 5AMP,JASP-WRCA01(5/7)
ROBOT 5AMP(JUSP-)
20
21
PG5V_5
GND
GND
25
MOTOR B-AXIS
UP6
WS01AA
-(SHORT)
SGMPH-01A1A-YR2*
100
UP20
WS02AA
-(SHORT)
SGMPH-02A1A-YR3*
200
DB-RESISTOR(R1,R2)
1BC
CNPG456
(2/3)
24
-6
(CN2)
-1
GND
IPMFLT*
A11
A12
PS_5
PS_5*
PG5V_5
BRAKE
IV
AXEN_5*
ID1_5
23
SM
GND
B3
B4
22
-1
MU5
A3
A4
19
B-AXIS
CN5
-1 MU5
5CN
-2
NV
PW*
GND
18
-3
PU*
15
17
2BC
B1
B7
B8
B-AXIS
5AMP
B3
17
6AMP-CN6
2
HE0300333-16/31
Revisions:
Dwg.No.
16
14
37
11
CN5
-1
-2
-3
P
P
DATA+
DATABAT
0BT
-1
-2
-3
-4
+5V
0V
-1
-2
FG
-3
B-AXIS
PG
-4
13
39
26
HE0300333
27
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)
16
5AMP-CN6
3
MANIPULATOR
CN6
A3
A1
T-AXIS
6AMP
B3
2BC
B1
4
5
CN3
A7
A8
PU_6
B7
B8
NU_6*
NU_6
B1
B2
A1
A2
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
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
NW_6
POS15V
GND
IUCT_6
GND
PBRDY_6*
PU
-4
NU*
NU
PV*
PV
NV*
-1
6CN
-2
MV6
T-AXIS
CN6
-1
MU6
-1
-3
-2
MV6
-2
MW6
-4
-3
MW6
-3
ME6
-1
-4
ME6
-4
-5
BA6
PW
NW*
BRAKE
-6
BB4
15
8
BA6
NW
+15V
GND
IU
SM
-5
P
XFL02B
CN29
6
17
GND
IV
GND
IPMFLT*
(CN2)
-1
GND
DBON
-2
GND
RDY*
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
19
MU6
NV
PW*
15
18
-3
PU*
A3
A4
17
HE0300333-17/31
Revisions:
SERVO PACK
Dwg.No.
GND
-3
ROBOT 6AMP(JUSP-)
20
DB-RESISTOR(R1,R2)
MOTOR T-AXIS
UP6
WS01AA
-(SHORT)
SGMPH-01A1A-YR2*
100
UP20
WS02AA
-(SHORT)
SGMPH-02A1A-YR3*
200
21
22
23
24
CNPG456
1BC
(3/3)
PS_6
PS_6*
PG5V_6
PG5V_6
GND
GND
25
8
6
29
3
CN6
-1
-2
-3
P
P
DATA+
DATABAT
0BT
-1
-2
-3
-4
+5V
0V
-1
-2
FG
-3
PG
-4
5
31
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
-6
RGFLT*
SIG
-B3
CBL-RC001
-12
ACOVFLT*
-13
THM
-14
THMCOM
SIG*
CN10
-A2
SIG
-A3
11
GND
Draw.
Appr.
Check.
14
1 GS
2CN
GND
-B2
-A3
-15V
SIG
-B3
-5V
FG
SIG*
CASE FG
FG
JASP-WRCF01 (OPTION)
(EXTERNAL MOTOR AXIS)
REGULATOR
REGULATOR
+15V
PG_5V
15
CBL-RC007
+24V
SVMXOK1
17
ELEMENTARY DIAGRAM
YASNAC XRC
1SV(8/8):JASP-WRCA01(7/7),JANCD-XFC01
DINCOM
DIN3
22
23
SVMXOK2
-10
JANCD-XFC01
-12
-13
-14
CNS
-15
SVMAIN1+
SVMAIN1SVMAIN2+
26
-8
(S_ON-)
25
CNPG789
-11
+24V
(024V)
24
-6
DIN1
8
14
-9
DIN2
XSU02
CN21
-4
-7
TUDIN
21
CNPB09
-5
(NC)
20
CNPB08
-2
(S_ON+)
19
CNPB07
CNE
-3
(024V)
18
CNE
CN20
-1
16
NEXT
SERVO UNIT
FOR EXTERNAL
AXES CONTROL
SIG
-15V
-B3
+15V
-B2
HE0300333
SVMAIN2-
CNS
+24V
-16
SVMAIN1
-17
SVMAIN2
-18
CNSCU
-1
SPMODE1
SPMODE2
27
SPMODE3
28
TUSIG
TUSIG*
29
20
4
3.3V
-A2
PG7V
SIG*
XCP01
CN05
SIG
REGULATOR
-B1
POWER LOST
11
25
+5V
CN50
-A1
+5V
13
SIG*
CASE FG
10
12
120
-11
REGON*
-B2
-10
AXRUN*
8
SIG*
NOTE
-9
AXRUN
20
4
TERMINATION
CONNECTOR
-8
COM
XCP01
CN05
SIG
FG
-7
UVFLT*
SIG*
CBL-RC015-1
-5
OPHFLT*
11
15
-A3
CASE FG
-4
OVFLT*
1 CV
CN1
SIG
-3
CONRDY*
SIG*
-2
CONRDY2*
4
OUTDATA
CN30
-1
CONRDY1*
JL040
CN10
-A2
HE0300333-18/31
Revisions:
INDATA
CBL-RC001
JASP-WRCA01(7/7)
Dwg.No.
-19
TUSIG
-20
TUSIG*
024V
INDATA
JL012
CBL-RC031
+24V
-2
OVSPD1
-3
OVSPD2
-4
SPMODE1
-5
SPMODE2
-6
XSU02
CN25
9
19
SPMODE3
-7
024V
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
2GS
CPS-150F
XPU06B
3 5X
5
5
CN05
-4
PS1
PS2
-3
CNP
+5V
-2
0V
CN02
-3
024V
POWER ON/OFF
CONTROL
+24V
XCO02
CN01
024V
+24V
-2
21
6
+24V
024V
CN04
-1
EOF
PCOM
XCO02
CN01
0V
024V
CN03
-3
+24V
-1
024V
CNP
6
-2
+24V
JANCD-XBB01(1/2)
+5V
-4
0V
-1
CN01
-5
+5V
HE0300333-19/31
Revisions:
Dwg.No.
JZNC-XRK01B-1(1/2)
1
21
4
X81
30
7
CBL-RC032
XSU02
CN20
7
2
-2
DC POWER ON/OFF
10
JANCD-XCP01(1/2)
11
CNS2
12
CNJ2
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+
ERRCPUDINCOM
XCO02
CN03
DIN4
21
5
DIN2
P
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
20
JL012
OUTDATA
21
CNS1
PPSIG*
CN02
-2
PPSIG
-3
PPSIG*
PPSIG
CASE
FG
CNJ1
22
23
24
25
+5V
+5V2
26
CD
CN03
-1
RD
-2
SD
-3
ER
-4
232SG
-5
DR
-6
RS
-7
CS
-8
FG
X81 30
10
CBL-RC032
CD
RD
SD
ER
RS232C
232SG
DR
RS
CS
HE0300333
LED4:BETTERY
ALARM(RED)
-5V
27
28
BATALM*
PWOFF
29
BAT
BATTERY
VOLTAGE
CHECK
+5V
CNBAT
-3
GND/G
-1
GND/G
-5
ER6VC3N
3.6V
(TOSHIBA)
30
GND
GND
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
19
31
JANCD-XCP01(2/2)
JZNC-XRK01B-1 (2/2)
JANCD-XIF03
3
CNIF
CNIF
CN05
-2
SIG*
JL040
4
5
INDATA
SIG
OUTDATA
SIG*
-3
SIG
CASE
FG
WRCA01
CN10
HE0300333-20/31
Revisions:
JANCD-XBB01(2/2)
Dwg.No.
18
3
FG
CBL-RC001
CN04
PCMCIA
(PC CARD)
10
11
CNMM
CNMM
JANCD-XMM01
(OPTION)
12
13
Draw.
Appr.
Check.
14
15
16
JANCD-XCP02
(OPTION)
17
YASNAC XRC
ELEMENTARY DIAGRAM
JZNC-XRK01B-1(2/2):JANCD-XBB01(2/2),XCP01(2/2)
18
CNT1-1
19
CNS1
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
6
7
IOSIG
31
3
IOSIG*
-3
IOSIG
CBL-RC001
+24V
CN01
P
+24V
JL012
024V
(OPTION)
XEW01
CN04
9
+24V
31
22
HOLD
Draw.
Appr.
Check.
REMOTE
EDITLOCK
-13
-B5
-14
+24VU
024V
DIN1
-A2,B2
INDATA
-A4,B4
024VU
-10
INDATA
-12
INDATA
-14
INDATA +24VU
024VU
0V
024VU
GND 024V
-A7
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
OUTDATA
DSW
OUTDATA
-34
DIN4
DIN3
DIN2
-A10
OUTDATA
-32
SVONLED
024V
-A9
OUTDATA
-30
ALMLED
+24VU
-A8
OUTDATA
-28
REMOTELED
+5V
-A6,B6
SVON-
-26
HOLDLED
+24V
-A3,B3
INDATA
-24
STARTLED
OUTDATA
K12
CBL-RC018
PPESP
22 23
9 6
23
4
K5
22 23
4 2
024VU
21
23
24
K5
EXESP ERRCPU
K6
K7
+24V
+5V
HE0300333
23
SAF1
18
K10
IORDY2
27
SAF2
024V
PPESP2+
RDY
K9
K10
K11
SYSRDY
IORDY2
RDY
K4
K3
K2
LED2
-B 9
LED3
-B10
LED4
-B11
LED5
-B12
SPMOD1
IORDY1
LED1
-B 8
LED5
SYSRDY
PPESP2-
-B 7
LED4
SPMOD3
PPESP2+
-A23
PPESP2-
SPMOD2
PPESP1-
-A22
LED3
PBESP
DSW2+
-A21
PPESP1-
SPMOD1
-B13
SPMOD2
-B14
SPMOD3
-B15
-B16
S_ON1+
S_ON1-
-B17
-B18
-B19
-B20
PBESP2+
PBESP2-
24
14
DSW1-
-A20
DSW2+
XCU01
CND1
HSW2+
-A19
DSW1-
22
17
HSW1-
-A18
HSW2+
LED2
K3
S_SP2+
-A17
HSW1-
024V
IORDY1
S_SP1-
-A16
S_SP2+
K4
FST2+
-A15
S_SP1-
K9
K8
FST1-
-A14
FST2+
SYSRDY
FORCE2+
-A13
FST1-
LED1
PPESP PBESP
FORCE1-
-A12
FORCE2+
+24V
DIN1
-A11
FORCE1-
22
14
024V
22
28
P
CBL-RC006
INDATA
INDATA
-22
TEACHLED
23
27
DIN2
DIN3
-A5,B5
-20
OPTIONLED
25
DIN4
+24V
024VU
-18
(PBESP-)
PLAYLED
26
+5V
024V
CND1
-16
SVON-
20
GND
15,17,19,21,23
25,27,29,31,33
+24VU
19
19
15
-A5
-8
START
18
-9
-10
-11
-6
TEACH
17
XCP01
CN01
-12
-4
PLAY
16
-8
KEYIN PLUG
-2
OPTION
P.PANEL
CN1
15
OUTDATA
024V
1,3,5,7
9,11,13
024VU
14
-7
-B4
CN04
13
ERRCPU-
-A1,B1
10
12
ERRCPU+
-6
-B6
+24VU
11
-5
024V
-A6
024VU
IOSIG
-4
+24V
ERRCPU
P/S
IOSIG*
-3
-A4
KEYIN PLUG
INDATA
-B3
+5V
19
3
29
15
P/S
-A3
P
IOSIG
K8
KEYIN PLUG
-B2
2GS
(CPS-150F)
CN01
-1
-2
22 23
10 5
-A2
0V
IOSIG*
ERR_CPU-
+24VU
-B1
KEYIN PLUG
19
4
+5V
-A1
024V
2GS
4 (CPS-150F)
CN01
5
-2
HE0300333-21/31
Revisions:
CN03
CN02
IOSIG*
(OPTION)
XEW01
2
CN01
S_ON2+
S_ON2PBESP2+
PBESP2-
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
4
5
EXESP1+
-1
EXESP1-
-2
EXESP2+
-3
EXESP2-
-4
EXSVON1+
-5
10
-A1
EXSVON1-
23
5
-8
EXHOLD1+
-9
EXHOLD1-
-10
EXHOLD2+
-11
EXHOLD2-
-12
SAF_F1+
-13
SAF_F1-
-14
SAF_F2+
-15
SAF_F1SAF_F2+
SAF_F1-
-B2
TLK
-B3
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-
PBESP1-
-B1
KEYIN PLUG
+24V
23
EXHOLD1- 11
23
EXHOLD2+ 7
EXESPPPESP1-
-A5
23
10 TLK
23
8 PM
23
9 TM
23
EXSVON2+ 3
-A3
-A4
21
21 PPESP121 PBESP129
EXSVON1-
-7
EXSVON2+
024VU
-6
024VU
024V
K7
EXESP1- 3
EXESP2+ 23
024V
-A2
EXESP
23
EXSVON2-
+24VU
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
Draw.
Appr.
Check.
14
CN06
PPESPOUT+
-1
PPESPOUT-
-2
PPESP2+
SW9
21
21
PPESP2-
23
2 PPESP1
3
2
+24VU
15
PPESPIN+
-3
PPESPIN-
-4
PBESPOUT+
-5
PBESPOUT-
-6
GND
PBESP2+
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (2/8):JARCR-XCI01(2/3),XCI03(1/5)
21
3
2
DSWOUT+
-9
DSWOUT-
-10
DSW
JARCR-XCI03(1/5)
GND
CNA2
+24VU
K12
GND
IO2
GND
IO1
GND
OE0*
GND
LC0*
GND
SCLKO
GND
INDATA31
GND
OUTDATA20
GND
SAMPO*
GND
RSTO*
-11
22
RDY-
-12
024V
-13
RDY
K2
+24V
K11
-14
24 DC
+24V
SELECT
-15
024VU
25
-16
+24VU
23
23
INDATA
-8
PBESPIN-
PBESP2
-7
RDY+
23
SW8
23
1 PBESP1
+24VU
PBESPIN+
20
21
28
PBESP2-
18
19
23
23
INDATA
16
17
PPESP2
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
PBESP1
INDATA
21
PPESP121
PPESP1
INDATA
22
EXESP13
EXESP1
INDATA
22
SAF_F19
SAF_F1
INDATA
21
ERR_CPU3
ERR_CPU
INDATA
22
EXSVON15
EXSVON1
INDATA
21
DSW120
DSW1
INDATA
21
FORCE115
FORCE1
INDATA
21
SVON15
SVON
INDATA
21
FST117
10
11
EXHOLD1
INDATA
024V
12
22
10 SAF_F2+
23
15
22
6 EXSVON2+
23
16
21
20 DSW2+
23 23
15 24
21
18 S_SP2+
23
18
21
HSW2+
19
23 23
17 26
22
EXHOLD2+
8
Draw.
Appr.
Check.
14
OUTDATA*
23
21
15
16
17
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (3/8):JARCR-XCI01(3/3);SAFTY CIRCUIT:CPU1,CPU2
18
19
20
21
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
TM*
TLK*
TLK*
TM*
SAFETY CIRCUIT
PPESP1
EXSVON2
PM*
PM*
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
23
26
GND
CPU1
13
SAF_F2
+5V
GND
024VU
23
24
23
21
FST2+
17
23
16
EXESP2
FORCE2 27
21
FORCE2+
16
23
17
23
20
HSW1
INDATA
22
EXHOLD17
23 22
14 14
23
20
S_SP1
INDATA
21
HSW119
22
EXESP2+
3
23
19
FST1
INDATA
21
S_SP118
23 22
14 18
HE0300333-23/31
Revisions:
Dwg.No.
JARCR-XCI01(3/3)
PBESP1
TM*
SYSRDY1
DSW1
SVON
SAF_F1
EXSVON1
23
19
23
15
23
18
23
28
23
25
23
27
024VU
EXESP1
ERR_CPU
PPESP1
TM*
PBESP1
EXESP1
ERRCPU
SYSRDY1
DSW1
SAF_F1
FORCE1
SVON
SAFRDY1
IORDY1
SYSRDY1
EXSVON1
SAF_F1
FORCE1
PM*
PM*
HE0300333
SAF1
21
26
SAF2
21
28
SAFRDY1
TLK*
DSW1
FST1
S_SP1
TM*
TLK*
DSW1
HSW1
EXHOLD1
RDY
CPU2
22
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
23
24
25
26
27
28
29
30
PPESP2
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
47
48
49
23
31
JZRCR-XCO02
(4/8)
FORCE1+
FORCE1-
FST1-
SAFETY
5 SIGNAL
FST2-
10
12
024VU
Draw.
Appr.
Check.
EXT.
DIN
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (4/8):JARCR-XCU01
19
DSW2-
-B5
-A21
S_SP2
HSW1
HSW2
DSW1
DSW2
PPESP1-
-A22
-A1
-A2
PPESP2+
-A23
024VU
PPESP2-
-A24
-A25
-A3
XCI01
CND1
-A4
PPESP2+
21
18
-A5
+24VU
+24V
-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
+24VU
024VU
LED
YELLOW
-1
SPMOD1
22
LED
YELLOW
CN41
SPMOD2
30
S_SP1
CN44
17
29
FST2
-A18
-A20
16
18
FST1
-A17
-B4
PPESP2-
15
FORCE2
-A16
DSW2+
X81
30
12
FORCE1
-A19
PPESP114
DIN1
-A15
-B2
PPESP1+
13
DIN2
-A14
X81
30
2
DIN3
-A13
+24VU
-B3
11
DIN4
-A12
-B1
DSW1-
-A 7
-A11
CN43
DSW1+
024VU
-A10
-16
CBL-RC032
+24VU
-A 9
-15
HSW2-
-A5,B5
-A 8
-14
HSW2+
024VU
-13
HSW1-
0V
-A6,B6
-12
HSW1+
0V
-10
-11
S_SP27
+5V
+24VU
-9
S_SP2+
-A3,B3
-A4,B4
-8
S_SP16
024V
-7
S_SP1+
024V
+5V
-6
FST2+
+24V
-A2,B2
-5
FST1+
CBL-RC034-1
-A1,B1
-3
-4
FORCE2-
CND1
+24V
-2
FORCE2+
3
+24VU
-1
HE0300333-24/31
Revisions:
CN40
Dwg.No.
JARCR-XCU01
LED1
-B 8
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
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
JARCR-XCI03(2/5)
+24VU
INDATA
4
GND
5
6
7
024VU
8
+24V
OUT00
+5V
10
OUT01
OUTDATA
11
024V
Draw.
Appr.
Check.
12
OUT02
13
OUT03
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
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
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
25
31
(6/8)
HE0300333-26/31
Revisions:
Dwg.No.
JZRCR-XCO02
JARCR-XCI03(3/5)
+24VU
INDATA
4
GND
5
6
7
024VU
8
+24V
OUT10
+5V
10
OUT11
OUTDATA
11
024V
Draw.
Appr.
Check.
12
OUT12
13
OUT13
14
OUT14
15
OUT15
16
OUT16
17
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (6/8):JARCR-XCI03(3/5)
18
OUT17
19
20
21
22
+24VU
024VU
23
24
25
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
OUT13+
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
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
26
31
JZRCR-XCO02
(7/8)
+24VU
INDATA
3
GND
4
5
6
7
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)
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
18
19
20
21
22
024VU
23
24
HE0300333-27/31
Revisions:
Dwg.No.
JARCR-XCI03(4/5)
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)
+24VU
INDATA
3
GND
4
5
6
7
10
+5V
11
OUTDATA
12
024VU
13
Draw.
Appr.
Check.
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
EXOUT21
-A10
EXOUT22
-B11
14
15
16
17
+24VU
YASNAC XRC
ELEMENTARY DIAGRAM
JZRCR-XCO02 (8/8):JARCR-XCI03(5/5)
18
19
20
21
22
024VU
23
24
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
HE0300333-28/31
Revisions:
Dwg.No.
JARCR-XCI03(5/5)
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
CN1
15
+24VU
3
33
+24VU
SVON-
STARTLED
START
26
START_LED
LED
Draw.
Appr.
Check.
SA6
HOLDLED
10
HOLD
28
HOLD_LED
EMERGENCY STOP
ORANGE
L11
LED
11
024VU
HL1
ALARM_LED
32
ALARMLED
GREEN
LED
31
+24VU
29
+24VU
PBESP2+
R12
PBESP2-
WHITE
REMOTE_LED
30
YASNAC XRC
ELEMENTARY DIAGRAM
PLAYBACK PANEL(ZY1C-SS3152)
REMOTELED
PBESP-
17
ESP_COM
18
ESP1
(024VU)
1 (024VU)
OPTION
2 OPTION
(+24VU)
19 (+24VU)
OPTIONLED
20 OPTION_LED
CN2
1
EDITLOCK
L21
24
28
PBESP3+
L22
PBESP3-
R21
PBESP4+
R22
PBESP4-
EXPBESP
(OPTION)
RED
4
LED
23
024VU
XCO02
CN42
2XT
LED
+24VU
24
PBESP1-
R11
REMOTE
12
REMOTE
PBESP1+
SA1 L12
SA7
17
22
LED
27
HOLD
21
TEACH_LED
+24VU
20
24
WHITE
024VU
19
TEACH
SA5
START
18
25
11
16
LED
+24VU
XCO02
CN04
PLAY_LED
WHITE
TEACHLED
024VU
21
15
22
SA2
TEACH
14
PLAY
23
+24VU
13
024VU
12
LED
WHITE
PLAYLED
10
SVON LED
SA3
PLAY
34
SA4
21
+24VU
6
SERVO ON READY
024VU
16
GREEN
SVONLED
5
HE0300333-29/31
Revisions:
PLAYBACK PANEL(P.PANEL)
CBL-RC018
15
Dwg.No.
ZY1C-SS3152(IZUMI)
13
EDIT_LOCK_COM
14
EDIT_LOCK
CN3
1
SA8
2
NC(3)
25
EDIT LOCK(OPTION)
NC(4)
NC(5)
FG
26
HE0300333
NC(6)
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-
XCO02
CN43
DSW2+
24
11
DSW2-
X82
-5
1CN
-1
-4
-4
-2
-1
-1
-3
-2
-2
-4
X81
-5
DSW1
HA1B-M1(IZUMI)
SB2
1
2
DSW2
HA1B-M1(IZUMI)
SB3
SERVOPACK
BEHAVIOR
GRIP POSITION
CYCLE
MAIN POWER ON
HARD GRIP
PANIC OR
EMERGENCY
SHUTOFF
4
5
GRIP
STRENGTH
FREE
(GRIP RELEASED)
SOFT GRIP
(1CLICK)
HE0300333-30/31
Revisions:
DSW1+
JANCD-XSP01
CNKEY
(NC) -1
+24V
6
7
Dwg.No.
CBL-RC032
JZNC-XPP02
2GS
(CPS-150F)
CN03
19
6
+24V
024V
X82
-9
X81
-9
-10
CNIF
-3
+24V
DC/DC
-4
-10
024V
PPSIG*
10 XCP01
CN02
19
20
PPSIG
FG
PPESP1+
12
XCO02
CN43
13
GND
024V
11
+5V
-24V
Draw.
Appr.
Check.
24
14
PPESP1PPESP2+
PPESP2-
-12
-12
-1
-13
-13
-2
-11
-11
-3
-3
-6
-6
-7
-7
-8
-8
JL012
INDATA
OUTDATA
(NC)
-2
KEYD0
-3
KEYD1
-4
KEYD2
-5
KEYD3
-6
KEYD4
-7
KEYD5
-8
KEYD6
-9
KEYD7
-10
KEYL0
-5 (PPESP+)
-11
KEYL1
-6 (PPESP-)
-12
KEYL2
-13
KEYL3
-7 (EXPPESP+)
-14
KEYL4
-8 (EXPPESP-)
-15
KEYL5
-16
KEYL6
14
15
-17
LEDD0
-18
LEDD1
SHEET KEYBOARD
WITH CABLE
FP5-YKD4-A
(JAE)
-19
-20
16
FG
CBL-XRO05-1
17
YASNAC XRC
ELEMENTARY DIAGRAM
PROGRAMMING PENDANT : JZNC-XPP02
CNLCD
-1
18
FLM
-2
19
+5V
CN01
-2
RD
20
-3
SD
21
RS-232C
(FC2)
RS
RS
-8
CS
FG
HOOD
CASE
FG
23
GND
CS
-5
GND
22
SD
-7
CL2
-3
-5
GND G
-6
D_OFF*
-7
VD3
-8
VD2
-9
VD1
VD0
-10
GND
24
25
-11
LCNEG24V
-12
VCON
CNCFL
-2
CFL5V
-1
GND/G
CNESP
-1
26
HE0300333
27
28
BACK
LIGHT
SB1
PPESP+
-2
PPESP-
-3
EXPPESP+
-4
EXPPESP-
CNBZ
-1
29
LU4833
(STANLAY)
VCC G
-4
RD
LCD MODULE
CL1
NC1
NC1
NC2
NC2
HA1
BUZZ+
BUZZER
BUZZ-
-2
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
30
31
IOSIG
21
2
IOSIG*
-6
-B3
IOSIG
-7
XCO02
CN02
21
2
-3
IOSOG*
IOSIG
ARCON*
/WELDING
(INDATA)
ARCACT_A
ARCACT_B
ARCOFI_A
-2
IOSOG*
-3
IOSIG
STICK*
-23
CUP14V
-25
+24VU
CUP14*
ARCON*
CASE FG
FG
STICK
-27
CUP SENSOR
+5V
ARCOFI_B
-26
STICK
DETECTOR
IOSIG
CASE FG
FG
NEXT
I/O
(XEW01)
WIRCUT_B
-14
IOSIG
WIRCUT_A
-13
CN01
-2
IOSIG*
IOSIG*
GASOF_B
-4
-B2
CBL-RC001
11
OUTDATA
NOTE
IN CASE OF CONNECTED NEXT I/O CONNECTION
GASOF_A
-3
TERMINATION
CONNECTOR
10
IOSIG
INDATA
-5
CBL-RC015-1
120
-A3
JL012
Z( L)
IOSIG*
XCO02
CN02
CN03
-2
CN01
IOSIG*
-A2
ARCON
ARCON
TO
WELDER
-15
ARCON_A
-16
12
WIRINCH
WIRINCH
13
ARCON_B
-17
WIRINCH_A
Draw.
Appr.
Check.
-18
WIRRTR
14
HE0300333-31/31
Revisions:
CBL-RCO01
Dwg.No.
JANCD-XEW01-1 (OPTION)
WIRRTR
WIRINCH_B
-19
WIRRTR_A
-20
15
FLOW
FLOW
WIRRTR_B
-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
20
CN04
-B1
21
+24V
22
23
024V
XCO02
CN01
+24VU
21
9
024VU
024V
NEXT
I/O
+24V
-A1
-B2
FU1
-A2
FU2
12bit
D/A
-31
12bit
D/A
-33
-9
CH3_A
(ANALOG OUT)
CH3_G
-10
+24VU
024VU
CH2_A
(ANALOG OUT)
CH2_G
-34
12bit
D/A
024V
CH1_A
(ANALOG OUT)
CH1_G
-32
-1
024VU
FG
-B5
+24
24
25
024VU
OUT DATA
18
-A5
+24VU
-B6
+24VU
024VU
-A6
SEARCH
SEARCH
26
CN02
-1
+24VU
-2
SEARCH_A
-4
HE0300333
+24VU
NOTE
27
FU1,FU2
250V 1A
QUICK ACTING
28
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
4466
4468
Message
Cause
Remedy
OFFLINE UNDE
FINED COMMAND(ARITH)
[Decimal Data]
Undefined instruction was required for software for off-line path arithmetic of the
XCP01 circuit board. MCP02 circuit board
or the contact was defective.The control of
software was abnormal.
tion.
If the error occurs again, contact you
YASKAWA representative.
tion.
If the error occurs again, contact you
YASKAWA representative.
4469
4471
CALIBRATION DATA
ERROR
[Decimal Data]
4472
TOOL CALIBRATION
DATA ERROR
[Decimal Data]
4473
ARITHMETIC ALARM
RESET ERROR
[Decimal Data]
4474
WRONG CONTROL
GROUP AXIS
[Bit Pattern]
4475
CANNOT EXECUTE
JOB(NO ROBOT)
[Decimal Data]
When executing ARCON, WVON instruction, the robot was not in the prescribed job
control group.
4476
4477
SELECT ERROR
(APPLICATION)
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4480
SELECT
ERROR(SENSOR)
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4484
10-45
Message
Cause
Remedy
4485
Needs investigation.
Consult a YASKAWA representative.
4486
PASS OVER
[Decimal Data]
4487
WRONG MECH
PARAMETER FILE
[Decimal Data]
4488
INCOMPLETE PT
FRAME
[Decimal Data]
4489
DEFECTIVE TAUGHT
POINT(CUTTING)
[Decimal Data]
4490
DEFECTIVE TAUGHT
POINT(ENDLESS
[Decimal Data]
4491
CORRECTIONAL
DIRECTION ERROR
[Decimal Data]
4492
tion.
If the error occurs again, contact your
YASKAWA representative.
4493
10-46
Message
Cause
4494
DEFECTIVE TAUGHT
POINT(WEAV)
[Decimal Data]
4495
UNDEFINED ROBOT
CALIBRATION
[Bit pattern]
4496
PARAMETER
ERROR
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4497
DEFECTIVE TAUGHT
POINT(CALIB)
[Decimal Data]
4498
CANNOT EXECUTE
JOB(NO GRP AXIS)
[Decimal Data]
4499
4500
UNDEFINED USER
FRAME
[Decimal Data]
4501
OUT OF
RANGE(PARALLEL
PROCESS)
[Decimal Data]
SL BOARD ON-LINE
ERROR
4502
4504
MEASURE INST
EXECUTE ERROR
[Decimal Data]
Remedy
tion.
If the error occurs again, contact you
YASKAWA representative.
tion.
If the error occurs again, contact you
YASKAWA representative.
4505
4506
UNDEFINED POS
FOR RESTART
RETURN
[Decimal Data]
4507
10-47
Message
Cause
Remedy
4508
PECIFIED ERROR
(COORDINATE)
[Decimal Data]
4509
MFRAME ERROR
[Decimal Data]
4510
CANNOT EXECUTE
INSTRUCTION
(SQRT)
[Decimal Data]
4511
OUT OF RANGE
(DROP-VALUE)
[Control Group]
4512
The three points for creating the user coodinates or three or more taught points for
robot calibration lie on the same line.
4513
EXCESSIVE
SEGMENT
(SAFETY 1): LOW
Robot/Station
[Axis Data]
4514
EXCESSIVE
SEGMENT
(SAFETY 1): HIGH
Robot/Station [Axis
Data]
4515
EXCESSIVE
SEGMENT
(SAFETY 2): LOW
Robot/Station
[Axis Data]
4516
EXCESSIVE
SEGMENT
(SAFETY 2): HIGH
Robot/Station
[Axis Data]
4517
SEARCH MONITOR
SET ERROR
(SERVO)
[Decimal Data]
4518
SEARCH MON
RELEASE ERROR
(SERVO)
[Decimal Data]
10-48
Message
Cause
Remedy
4519
SPHERE INTRF
ERR(ROBOT)
[Decimal Data]
4520
AXIS BLOCKING
[Control Group]
4521
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.
4522
4524
CANNOT EXECUTE
INST
(CONCUR JOB)
4526
SYNTAX ERROR IN
EQUATION INST
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4527
UNDEFINED PORT
NO.
(AOUT)
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4528
SYNTAX ERROR
[Decimal Data]
Needs investigation.
Consult a YASKAWA representative.
4529
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.
4534
TORQUE INTERFERENCE
4540
4543
4564
4565
INTERNAL STATUS
ERR
(SEARCH HALT)
[Decimal Data]
SOFTWARE
UNMATCH
[Decimal Data]
10-49
tion.
If the error occurs again, contact you
YASKAWA representative.
Message
Cause
Remedy
4567
CANNOT MONITOR
DISTANCE
4572
UNDEFINED MOTOR
GUN CONTROL GRP
Configulate again on customer maintenance mode, set the motor gun axis correctly.
4574
Welding completed signal from timer conductor or welding error signal doesn't ente
even if waiting set time.
4575
ERROR IN WELD
START TIMING SET
4576
Needs investigation.
Consult a YASKAWA representative.
4577
Needs investigation.
Consult a YASKAWA representative.
4578
4581
4583
CANNOT EXECUTE
GUN TYPE
4584
4588
COMPENSATION
DIRECTION UNSET
TING
4589
ABRASION BASIS
POS UNSETTING
[Decimal Data]
4601
UNDEFINED GUN
COND FILE
[Decimal Data]
4603
WIRE STICKING
[Decimal Data]
10-50
Registration No.
9000
00
9010
01
9020
02
ARC SHORTAGE
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
10-51
"
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
System Section
User Section
10-52
"
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
10-53
"
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
10-54
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 (computer, 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).
N OT E
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
11.1.1
Error NO.
Data
Message
Contents
10
20
Depress TEACH
30
31
40
50
60
Depress MODIFY
Undefined points (ORG, XX, XY)
70
80
90
100
110
120
130
140
150
TEACH-LOCK mode
170
180
190
200
210
220
230
240
Undefined robot
250
11-2
Error NO.
Data
Message
260
Undefined file
270
280
290
300
310
320
330
340
350
Cannot initialize
360
370
No SYNCHRO operation
380
390
400
410
420
430
440
450
460
470
480
490
500
510
Undefined axis
520
530
Contents
11-3
Error NO.
Data
Message
540
550
560
570
580
590
600
610
620
630
640
650
660
670
Defined data
Contents
680
XXX
File No.
690
700
710
720
730
740
750
760
770
780
790
800
11-4
Error NO.
Data
Message
810
820
830
840
Unregistered key
850
860
870
880
890
900
910
920
930
11-5
Contents
11.1.2
Editing
Error No.
Data
1010
1020
1030
Unauthorized ID No.
1040
1050
1060
1070
11.1.3
Message
Contents
Error No.
Data
Error Message
2010
Incorrect character
2020
2030
2040
2050
2060
Select master
2070
2080
2090
2100
2110
2120
2130
2150
2160
2170
2180
11-6
Error Contents
Error No.
Data
2190
2200
2210
2220
2230
2240
2250
2260
2270
2280
2290
Error Message
Error Contents
Sub-master 1
Sub-master 2
Sub-master 3
Sub-master 4
Sub-master 5
2291
2292
Sub-master 1
Sub-master 2
Sub-master 3
Sub-master 4
Sub-master 5
2293
11-7
Error No.
Data
Error Message
2300
Error Contents
2310
XXX
2320
Line No.
2330
2340
2350
2360
2370
2380
2390
2400
2410
2420
2430
2440
2450
2460
2470
2480
2490
2500
2510
2520
2530
2540
2550
2560
11-8
Laser cutting
Error No.
Data
Error Message
2570
2580
2590
2600
2610
2620
2630
2640
2650
2660
2670
2680
2690
2700
2710
2720
11-9
Error Contents
11.1.4
Error No.
Data
3010
3020
3030
3040
3050
3060
3070
3080
3090
Message
Framing error
Overrun error
Parity error
3100
3110
Syntax error
3120
Contents
3130
Verify error
3140
11-10
Error No.
Data
*
Message
Contents
Format error
3150
3160
3170
3180
Format error
11-11
Error No.
Data
*
3190
Message
Error in JOB data record
10
11
12
13
3200
3210
3220
Contents
Undefined instruction/tag
Instruction/tag shortage
Disuse instruction/tag
Sub instruction
Non instruction
11-12
Error No.
3220
Data
Message
Contents
Invalid instruction
Invalid tag
10
Invalid character
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
System error
27
28
29
30
35
36
37
38
11-13
Error No.
3220
Data
Message
Contents
39
[BINARY/HEXADECIMAL WORD
TYPE] data error
40
41
[BINARY/HEXADECIMAL WORD
TYPE] data error
42
43
44
JCL text
45
Invalid text
46
47
48
49
58
3230
3240
Undefined application
3250
3260
3270
3280
3290
3300
3310
3320
3330
3340
3350
3360
Invalid directory
3370
11-14
Error No.
Data
Message
3380
3390
3400
3410
3420
3430
3440
11-15
Contents
11.1.5
Error No.
Concurrent I/O
Data
*
Message
Contents
4010
XXX
*
Line No.
Illegal block No.
4020
XXX
*
Line No.
Illegal instruction
4030
XXX
*
4040
Line No.
Relay/register No. duplicated in OUT/
GOUT or arithmetic instruction
XXX
*
4050
XXX
*
Line No.
Excess STR-[-NOT] instructions
4060
XXX
*
Line No.
Excess AND [OR] STR instructions
4070
XXX
*
Line No.
Syntax error in CNT instructions
4080
XXX
*
Line No.
Enter STR [-NOT] at head of block
4090
XXX
*
Line No.
Relay No. duplicated in TMR and CNT
4100
XXX
4110
4120
4130
4140
*
4150
XXX
4160
Line No.
Cannot edit system section
11-16
Error No.
Data
4170
Cannot modify/delete
4180
4190
4200
4210
4220
11.1.6
Message
Contents
Maintenance Mode
Error No.
Data
Message
8010
8020
11-17
Contents
11-18
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
46-486-41410
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
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.