YASKAWA YRC1000micro Manuals

MANUAL NO. HW1484564 1 YRC1000micro OPTIONS PROFIBUS COMMUNICATION FUNCTION INSTRUCTIONS FOR INpact AND AB3602 MADE BY HMS, Inc. Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 1/60 188183-1CD 0 ii HW1484564 HW1484564 DANGER • This manual explains the INpact Profibus slave board and AB3602 board (manufactured by HMS, Inc.) of the YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000micro. Any matter not described in this manual must be regarded as “prohibited” or “improper”. • General information related to safety are described in “Chapter 1. Safety” of the YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read “Chapter 1. Safety” of the YRC1000micro INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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. 2/60 iii HW1484564 HW1484564 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards. WARNING Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER. CAUTION Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DAN- GER”, “WARNING” and “CAUTION”. 3/60

MANUAL NO. HW1485152 2 YRC1000micro OPTIONS PROFINET COMMUNICATION FUNCTION INSTRUCTIONS FOR SST-PN-2-PE MADE BY Molex, Inc. Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 1/47 186580-1CD 2 ii HW1485152 HW1485152 DANGER • This manual explains the SST-PN-2-PE board (manufactured by Molex, Inc.) of the YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000micro. Any matter not described in this manual must be regarded as “prohibited” or “improper”. • General information related to safety are described in “Chapter 1. Safety” of the YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read “Chapter 1. Safety” of the YRC1000micro INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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. 2/47 iii HW1485152 HW1485152 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards. WARNING Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER. CAUTION Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DAN- GER”, “WARNING” and “CAUTION”. 3/47

MANUAL NO. HW1485509 5 YRC1000/YRC1000micro INSTRUCTIONS FOR Smart Pendant (JZRCR-APP30-1) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) YRC1000/YRC1000micro INSTRUCTIONS FOR Smart Pendant (JZRCR-APP30-1) 184775-1CD 5 1 of 493 ii HW1485509 HW1485509 NOTE This instruction manual is applicable to both YRC1000 and YRC1000micro. The description of “YRC Controller” refers to both“YRC1000” and “YRC1000micro”, and the descriptions of “the INSTRUCTIONS of the YRC Controller” refers to both “YRC1000 INSTRUCTIONS (RE-CTO-A221)” and “YRC1000micro INSTRUCTIONS (RE-CTO-A222)” in this manual unless otherwise specified. DANGER • This manual describes the various components of the Smart Pendant the teaching device of the YRC Controller. Read this manual carefully and be sure to understand its contents before handling the YRC Controller. Any matter not described in this manual, including operation, usage, measures, and an item to use, must be regarded as “prohibited” or “improper”. • General information related to safety is described in “chapter 1. Safety” of the YRC CONTROLLER INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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 revision number next to 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. Representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover. 2 of 493 iii HW1485509 HW1485509 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC Controller. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Even items described with the word “CAUTION” may result in a serious accident in some situations. Be sure to follow the important guidelines below. DANGER Indicates an imminently hazardous situation which, if not avoided, may result in death or serious injury. WARNING Indicates a potentially hazardous situation which, if not avoided, may result in death or serious injury. CAUTION Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE “NOTICE” is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” may be used without the safety alert symbol to indicate a message not related to personal injury. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even those not designated as “DANGER”, “WARNING” and “CAUTION”. 3 of 493 iv HW1485509 HW1485509 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the Smart Pendant is turned OFF. – Press the Emergency Stop buttons on the front door of the YRC1000 (some models do not have this button), on the top of the Smart Pendant, on the external control device, etc. – Disconnect the safety plug of the safety fence, if in the play mode or in the REMOTE mode If the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result. Fig. : Emergency Stop Button • Before releasing the Emergency Stop Button, make sure to remove any obstacle or error caused the emergency stop and then turn the servo power ON. Failure to observe this instruction may cause unintended movement of the manipulator, which may result in personal injury. Fig. : Release of Emergency Stop Button TURN • Observe the following precautions when performing a teaching operation within the manipulator's operating range: – Be sure to perform lockout by putting a lockout device on the safety fence when going into the area enclosed by the safety fence. In addition, the operator of the teaching operation must display a sign indicating that an operation is being performed so that no other person closes the safety fence. – View the manipulator from the front whenever possible. – Always follow the predetermined operating procedure. – Always keep emergency response measures against unexpected movement from the manipulator’s unexpected movement in mind. – Ensure a safe place to retreat to in case of emergency. Failure to observe this instruction may cause improper or unintended movement of the manipulator, which may result in personal injury. • Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before: – Turning ON the YRC1000 power – Moving the manipulator by using the Smart Pendant – Running the system in the check mode – Performing automatic operations Personal injury may result if a person enters the manipulator's operating range during operation. Immediately press the Emergency Stop button whenever there is a problem. The Emergency Stop buttons are located on the front panel of the YRC1000 (some models do not have this button) and on the top of the Smart Pendant. 4 of 493

MANUAL NO. HW1486105 1 YRC1000/YRC1000micro OPTIONS INSTRUCTIONS FOR MUTUAL WAIT FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) 1/20 188357-1CD 1 ii HW1486105 HW1486105 DANGER • This manual explains the mutual wait function of the YRC1000/ YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000/ YRC1000micro. Any matter not described in this manual must be regarded as "prohibited" or "improper". • General information related to safety are described in "Chapter 1. Safety" of the YRC1000/YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read "Chapter 1. Safety" of the YRC1000/YRC1000micro INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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. 2/20 iii HW1486105 HW1486105 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000/YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards. WARNING Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER. CAUTION Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DAN- GER”, “WARNING” and “CAUTION". 3/20 iv HW1486105 HW1486105 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. – Press the emergency stop button on the front door of the YRC1000, on the programming pendant, or on the external control device, etc. – Disconnect the safety plug of the safety fence. (when in the play mode or in the remote mode) If operation of the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result. Fig. : Emergency Stop Button • Before releasing the emergency stop, make sure to remove the obstacle or error caused the emergency stop, if any, and then turn the servo power ON. Failure to observe this instruction may cause unintended movement of the manipulator, which may result in personal injury. Fig. : Release of Emergency Stop TURN • Observe the following precautions when performing a teaching operation within the manipulator's operating range: – Be sure to perform lockout by putting a lockout device on the safety fence when going into the area enclosed by the safety fence. In addition, the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safety fence. – View the manipulator from the front whenever possible. – Always follow the predetermined operating procedure. – Always keep in mind emergency response measures against the manipulator’s unexpected movement toward a person. – Ensure a safe place to retreat in case of emergency. Failure to observe this instruction may cause improper or unintended movement of the manipulator, which may result in personal injury. • Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before: – Turning ON the YRC1000 power – Moving the manipulator by using the programming pendant – Running the system in the check mode – Performing automatic operations Personal injury may result if a person enters the manipulator's operating range during operation. Immediately press an emergency stop button whenever there is a problem. The emergency stop buttons are located on the front panel of the YRC1000 and on the right of the programming pendant. • Read and understand the Explanation of the Warning Labels before operating the manipulator. 4/20

HW1484764 4 MANUAL NO. YRC1000/YRC1000micro Collaborative Operation Instructions Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-HC10 INSTRUCTIONS MOTOMAN-HC10DT INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC) YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) YRC1000/YRC1000micro INSTRUCTIONS FOR SmartPendant 1/105 181437-1CD 4 ii HW1484764 DANGER • This manual explains the collaborative operation function of the YRC1000/YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000/YRC1000micro. Any matter, including operation, usage, measures, and an item to use, not described in this manual must be regarded as "prohibited" or "improper". • General information related to safety are described in "Chapter 1. Safety" of the YRC1000/YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read "Chapter 1. Safety" of the YRC1000/YRC1000micro INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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. 2/105 iii HW1484764 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000/YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards. Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER. Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury. 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 “DANGER”, “WARNING” and “CAUTION”. 3/105 iv HW1484764 DANGER • Do not remove the motor, and do not release the brake. Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm. WARNING • 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. 4/105

MANUAL NO. HW1484566 YRC1000micro OPTIONS INSTRUCTIONS FOR GROUP CHANGE FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”. 1/18 181283-1CD 0 ii HW1484566 HW1484566 DANGER • This manual explains the group change function of the YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000micro. Any matter not described in this manual must be regarded as “prohibited” or “improper”. • General information related to safety are described in “Chapter 1. Safety” of the YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read “Chapter 1. Safety” of the YRC1000micro INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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. 2/18 iii HW1484566 HW1484566 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards. WARNING Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER. CAUTION Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DAN- GER”, “WARNING” and “CAUTION". 3/18 iv HW1484566 HW1484566 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. – Press the emergency stop button on the programming pendant or on the external control device, etc. – Disconnect the safety plug of the safety fence. (when in the play mode or in the remote mode) If operation of the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result. Fig. : Emergency Stop Button • Before releasing the emergency stop, make sure to remove the obstacle or error caused the emergency stop, if any, and then turn the servo power ON. Failure to observe this instruction may cause unintended movement of the manipulator, which may result in personal injury. Fig. : Release of Emergency Stop TURN • Observe the following precautions when performing a teaching operation within the manipulator's operating range: – Be sure to perform lockout by putting a lockout device on the safety fence when going into the area enclosed by the safety fence. In addition, the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safety fence. – View the manipulator from the front whenever possible. – Always follow the predetermined operating procedure. – Always keep in mind emergency response measures against the manipulator’s unexpected movement toward a person. – Ensure a safe place to retreat in case of emergency. Failure to observe this instruction may cause improper or unintended movement of the manipulator, which may result in personal injury. • Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before: – Turning ON the YRC1000micro power – Moving the manipulator by using the programming pendant – Running the system in the check mode – Performing automatic operations Personal injury may result if a person enters the manipulator's operating range during operation. Immediately press an emergency stop button whenever there is a problem. The emergency stop button is located on the right of the programming pendant. • Read and understand the Explanation of the Warning Labels before operating the manipulator. 4/18

MANUAL NO. HW1484458 YRC1000micro OPTIONS INSTRUCTIONS FOR PMT FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”. 1/27 181284-1CD 0 ii HW1484458 HW1484458 DANGER • This manual explains the PMT function (Position Modification Function for Tool Deformation) of the YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000micro. Any matter not described in this manual must be regarded as "prohibited" or "improper". • General information related to safety are described in "Chapter 1. Safety" of the YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read "Chapter 1. Safety" of the YRC1000micro INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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. 2/27 iii HW1484458 HW1484458 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards. WARNING Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER. CAUTION Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DAN- GER”, “WARNING” and “CAUTION". 3/27

MANUAL NO. HW1484528 1 YRC1000micro OPTIONS INSTRUCTIONS User’s Manual For New Language Environment MotoPlus Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”. 1/77 181269-1CD 1 ii HW1484528 HW1484528 DANGER • This manual explains MotoPlus of the YRC1000micro system. Read this manual carefully and be sure to understand its contents before handling the YRC1000micro. Any matter not described in this manual must be regarded as "prohibited" or "improper". • General information related to safety are described in "Chapter 1. Safety" of the YRC1000micro INSTRUCTIONS. To ensure correct and safe operation, carefully read "Chapter 1. Safety" of the YRC1000micro INSTRUCTIONS. CAUTION • In some drawings in this manual, protective covers or shields are removed to show details. Make sure that all the covers or shields are installed in place before operating this product. • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty. NOTICE • 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. 2/77 iii HW1484528 HW1484528 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards. WARNING Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the signal word DANGER. CAUTION Indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”. NOTICE NOTICE is the preferred signal word to address practices not related to personal injury. The safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”, the word “CAUTION” without the safety alert symbol may be used to indicate a message not related to personal injury. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DAN- GER”, “WARNING” and “CAUTION". 3/77 iv HW1484528 HW1484528 DANGER • Before operating the manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. – Press the emergency stop button on the programming pendant or on the external control device, etc. – Disconnect the safety plug of the safety fence. (when in the play mode or in the remote mode) If operation of the manipulator cannot be stopped in an emergency, personal injury and/or equipment damage may result. Fig. : Emergency Stop Button • Before releasing the emergency stop, make sure to remove the obstacle or error caused the emergency stop, if any, and then turn the servo power ON. Failure to observe this instruction may cause unintended movement of the manipulator, which may result in personal injury. Fig. : Release of Emergency Stop TURN • Observe the following precautions when performing a teaching operation within the manipulator's operating range: – Be sure to perform lockout by putting a lockout device on the safety fence when going into the area enclosed by the safety fence. In addition, the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safety fence. – View the manipulator from the front whenever possible. – Always follow the predetermined operating procedure. – Always keep in mind emergency response measures against the manipulator’s unexpected movement toward a person. – Ensure a safe place to retreat in case of emergency. Failure to observe this instruction may cause improper or unintended movement of the manipulator, which may result in personal injury. • Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before: – Turning ON the YRC1000micro power – Moving the manipulator by using the programming pendant – Running the system in the check mode – Performing automatic operations Personal injury may result if a person enters the manipulator's operating range during operation. Immediately press an emergency stop button whenever there is a problem. The emergency stop button is located on the right of the programming pendant. • Read and understand the Explanation of the Warning Labels before operating the manipulator. 4/77

Yaskawa YRC1000micro Startup Guide The documentation, best practices, and recommendations provided by READY Robotics do NOT constitute safety advice. Products sold through READY Robotics are not by themselves a fully integrated workcell. As required in ISO 10218-2, READY Robotics strongly recommends performing a complete risk assessment of the integrated workcell per ISO 12100. You may wish to use the methodology found in the ANSI/RIA TR R15.306 Task-based Risk Assessment Methodology. VERSION 1.0.0 © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED 2 Contents Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Back Up And Upgrade The Yaskawa Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 Confirming Your Yaskawa Safety I/O Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Installing The KEBA Pendant With A READY Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Connecting The YRC1000 And Forge/OS Through Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Setting Up Forge/OS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Getting Robot Files From Forge/OS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Changing Yaskawa Motoman Settings To Prepare For Forge/OS . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Transferring Configuration Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Adding Your Robot In Device Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Tool Loading Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 VERSION 1.0.0 © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED 3