YASKAWA Motoman UP6 Manuals

Manuals and User Guides for YASKAWA Motoman UP6. We have 1 YASKAWA Motoman UP6 manual available for free PDF download: Instructions Manual

YASKAWA Motoman UP6 Instructions Manual

YASKAWA Motoman UP6 Instructions Manual (561 pages)

Controller and Manipulator

Brand: YASKAWA | Category: Robotics | Size: 14.32 MB

Table of Contents

Table of Contents

3
Receiving

19
- 1 Receiving
  
  21
  - Checking Package Contents
    21
  - Checking the Order Number
    22
- 2 Transporting
  
  23
  - Transporting Method
    23
    
    Using the Crane
    23
    
    Using the Forklift
    24
  - Shipping Bolts and Jigs
    24
- 3 Installation
  
  25
- 4 Wiring
  
  31
  - Grounding
    32
  - Cable Connection
    32
    
    Connection to the Manipulator
    32
    
    Connection to the XRC
    33
- 5 Basic Specifications
  
  35
  - Part Names and Working Axes
    36
  - Baseplate Dimensions
    36
  - Dimensions and Working Range
    37
  - B-Axis Working Range
    38
  - Alterable Working Range
    38
- 6 Allowable Load for Wrist Axis and Wrist Flange
  
  39
  - Allowable Wrist Load
    39
  - Wrist Flange
    40
- 7 System Application
  
  41
  - Mounting Equipment
    41
    
    Allowable Load
    41
    
    Installation Position
    41
  - Incorporated Wire and Airduct
    42
- 8 Motoman Construction
  
  43
  - Position of S-Axis Limit Switch
    43
  - Internal Connections
    44
- 9 Maintenance and Inspection
  
  47
  - Inspection Schedule
    47
  - Notes on Maintenance Procedures
    52
    
    Battery Unit Replacement
    52
    
    Grease Replenishment/Replacement for S-Axis Speed
    53
    
    Reducer
    53
    
    Grease Replacement (Refer to " Fig. 26 S-Axis Speed Reducer Diagram ".)
    54
    
    Grease Replenishment
    54
    
    Reducer Diagram ".)
    54
    
    Grease Replenishment (Refer to " Fig. 27 L-Axis Speed Reducer Diagram ".)
    55
    
    Grease Replenishment/Replacement for L-Axis Speed
    55
    
    Reducer
    55
    
    Grease Replacement (Refer to " Fig. 27 L-Axis Speed Reducer Diagram ".)
    56
    
    Grease Replacement (Refer to " Fig. 28 U-Axis Speed Reducer Diagram ".)
    56
    
    Grease Replenishment
    56
    
    Grease Replenishment/Replacement for U-Axis Speed
    56
    
    Reducer
    56
    
    Grease Replenishment for R-Axis Speed Reducer
    58
    
    Grease Replenishment for B- and T-Axis Speed Reducers
    59
    
    Grease Replenishment for T-Axis Gear
    60
    
    Grease Replenishment for R-Axis Cross Roller Bearing
    61
    
    Encoder Connector (with CAUTION Label)
    62
    
    Notes for Maintenance
    62
    
    Wrist Axes
    62
- 10 Recommended Spare Parts
  
  63
- 11 Parts List
  
  65
  - 11.1 S-Axis Parts List
    65
  - 11.2 L.U-Axis Driving Unit
    67
  - 11.3 R-Axis Driving Unit
    69
  - 11.4 Wrist Unit
    71
Setup • Diagnosis 15

139
- Setup • Diagnosis
  147
- 1 Outline of Setting and Diagnosis
  
  149
- 2 Security System
  
  151
  - Protection through Security Mode Settings
    151
    
    Security Mode
    151
    
    Modification of Security Mode
    155
    
    Changing a User ID
    156
    
    User ID
    156
- 3 System Setup
  
  159
  - Home Position Calibration
    159
    
    Calibrating Operation
    161
    
    Registering All Axes at on Time
    161
    
    Registering Individual Axes
    162
    
    Changing the Absolute Data
    163
    
    Clearing Absolute Data
    164
    
    Home Position of the Robot
    165
  - Specified Point
    166
    
    Purpose of Position Check Operation
    168
    
    Specified Point Setting
    169
    
    Procedure after an Alarm
    170
  - Setting the Controller Clock
    171
  - Setting Play Speed
    172
  - Overrun / Shock Sensor Releasing
    176
  - Interference Area
    177
    
    Cubic Interference Area
    178
    
    Setting Method
    178
    
    Setting Operation
    179
    
    Axis Interference Area
    184
    
    Setting Operation
    184
    
    Clearing Interference Area Data
    187
    
    Operation Origin Point Display
    188
    
    Operation Origin Point Setting
    188
    
    Registering/Changing the Operation Origin Point
    188
    
    Setting Operation Origin Point
    188
    
    What Is the Operation Origin Point
    188
    
    Output of the Operation Origin Point Signal
    189
    
    Returning to the Operation Origin Point
    189
  - Tool Data Setting
    190
    
    Number of Tool Files
    190
    
    Registering Coordinate Data
    190
    
    Registering Tool Files
    190
    
    Registering Tool Pose
    192
    
    Setting the Tool Load Information
    193
    
    Teaching
    194
    
    Tool Calibration
    194
    
    Checking the Tool Center Point
    198
    
    Automatic Measurement of the Tool Load and the Center of Gravity
    199
    
    Measurement of the Tool Load and the Center of Gravity
    199
    
    What Is the Automatic Measurement of the Tool Load and the Center of Gravity
    199
    
    3.10 User Coordinates Setting
    203
    
    Definition of User Coordinates
    203
    
    User Coordinates
    203
    
    User Coordinates File
    203
    
    Selecting User Coordinates File
    204
    
    Teaching User Coordinates
    205
    
    Clearing User Coordinates
    206
  - ARM Control
    207
    
    ARM CONTROL Display
    207
    
    Robot Setup Condition
    208
    
    Setting
    210
    
    Tool Load Information Setting
    211
    
    How to Calculate Tool Load Information
    212
    
    Tool Load Information
    212
    
    Tool Load Information Registering
    219
    
    Shock Detection Function
    222
    
    Shock Detection Function Setting
    222
    
    Shock Detection Level Setting
    222
    
    Tool Load Information Setting
    225
    
    Instruction of Shock Detection Function
    226
    
    Reset Shock Detected
    231
    
    Alarm List
    232
  - 3.13 Instruction Level Setting
    233
    
    Instruction Set
    233
    
    Setting Contents
    233
    
    Learning Function
    234
    
    Setting Instruction Set Level Operation
    234
    
    3.14 Number Key Customize Function
    235
    
    Allocatable Functions
    235
    
    What Is the Number Key Customize Function
    235
    
    Key Allocation (EACH)
    236
    
    Key Allocation (SIM)
    236
    
    Allocating an Operation
    237
    
    Allocation Display
    237
    
    Instruction Allocation
    238
    
    Job Call Allocation
    239
    
    Display Allocation
    240
    
    Alternate Output Allocation
    241
    
    Momentary Output Allocation
    241
    
    Pulse Output Allocation
    242
    
    Analog Output Allocation
    243
    
    Group (4-Bit/8-Bit) Output Allocation
    243
    
    Allocation of I/O Control Instructions
    244
    
    Analog Incremental Output Allocation
    244
    
    Executing the Display Allocation
    246
    
    Executing the I/O Control Allocation
    246
    
    Executing the Instruction/Output Control Allocation
    246
    
    Executing the Job Call Allocation
    246
    
    Execution of Allocation
    246
    
    3.15 Changing the Output Status
    247
    
    3.16 Temporary Release of Soft Limits
    250
    
    3.17 File Initialize
    251
    
    Initialize Job File
    251
    
    Initialize Data File
    252
    
    Initialize Parameter File
    253
    
    Initializing I/O Data
    254
    
    Initializing System Data
    255
- 4 Modification of System Configuration
  
  257
  - Addition of I/O Modules
    257
  - Addition of Base and Station Axis
    259
    
    Base Axis Setting
    261
- 5 System Diagnosis
  
  279
  - System Version
    279
  - Input/Output Status
    279
    
    Universal Input
    279
    
    Universal Input Display
    279
    
    Universal Input Detailed Display
    280
    
    Universal Output
    280
    
    Universal Output Display
    280
    
    Modify the Output Status
    281
    
    Universal Output Detailed Display
    281
    
    Search the Signal Number
    284
    
    Specific Input
    286
    
    Specific Input Detailed Display
    286
    
    Specific Input Display
    286
    
    Specific Output
    287
    
    Specific Output Detailed Display
    287
    
    Specific Output Display
    287
    
    Rin Input
    288
    
    RIN INPUT Display
    288
    
    System Monitoring Time
    289
    
    System Monitoring Time Display
    289
    
    Individual Display of the System Monitoring Time
    290
    
    Clearing the System Monitoring Time
    291
  - Alarm History
    292
    
    Alarm History Display
    292
    
    Clearing the Alarm History
    292
  - I/O Message History
    293
    
    I/O Message History Display
    293
    
    Clearing the I/O Message History
    294
    
    Search
    294
  - Position Data When Power Is Turned ON/OFF
    295
    
    Power ON/OFF Position Display
    295
    
    Hardware
    297
    
    Specification List
    301
    
    Function List
    302
    
    Programming pendant
    303
    
    Arrangement of Units and Circuit Boards
    304
    
    Configuration
    304
    
    Equipment Configuration
    304
    
    Cooling System of the Controller Interior
    306
    
    Location
    306
- 7 Description of Units and Circuit Boards
  
  309
  - Power Supply Unit
    310
  - CPU Rack
    312
    
    Circuit Board in the CPU Rack
    312
    
    Control Power Supply Unit (CPS-150F)
    312
    
    CPU Rack Configuration
    312
    
    System Control Circuit Board (JANCD-XCP01)
    312
    
    WAGO Connector
    314
  - I/O Contactor Unit
    315
    
    Specific Input Circuit Board (JANCD-XIO01)
    316
    
    Safety Plug Input Signal
    319
    
    General I/O Circuit Board (JANCD-XIO02)
    320
    
    Connection Wire with General I/O (CN10, 11, 12, 13)
    321
    
    Specific I/O Signal Related to Start and Stop
    322
    
    Connection of Shock Sensor
    323
    
    Power-On Circuit Board (JANCD-XTU01)
    323
    
    Connection of External Power Supply for I/O
    324
    
    Method of Connecting External Axis Overrun Signal
    326
  - Servopack
    327
    
    Servopack Configuration
    327
    
    Amplifier
    331
    
    Converter
    331
    
    Description of each Unit
    331
    
    Servo Control Circuit Board (JASP-WRCA01)
    331
    
    Servo Control Power Supply (JUSP-RCP01AAB)
    331
  - General I/O Signal Assignment
    332
    
    Arc Welding
    332
    
    Handling
    338
    
    General Application
    344
    
    Spot Welding
    350
    
    Arc Welding Application
    358
    
    JANCD-XEW01 Circuit Board
    358
Alarm/Error Code Page

471

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