YASKAWA MOTOMAN YRC1000 - Page 154

System Setup
9 - 154
WARNING!
Danger of injury from crushing
This function does not protect the peripheral devices from damage completely and does not
guarantee the safety of the user.
 It is essential to take safety measures and use safety interlocks etc.
 For details on safety measures, refer to 2 "Safety" andExternalLink: Test of program
operation.
9.7.2.1 Robot type for high-sensitivity shock detection function
The robots for arc welding support the high-sensitivity shock detection function. To enable
this function, read the tool load information prepared by YASKAWA on the MAKER INITIAL
VALUE window.
For corresponding manipulator types, contact YASKAWA representative.
9.7.2.2 Setting high-sensitivity shock detection function
To enable the high-sensitivity shock detection function, perform the settings and as
show below. The function is enabled only with the setting , but perform both and
to make the shock detection more accurate .
Reading the tool load information from the MAKER INITIAL VALUE window
To enable the high-sensitivity shock detection function, read the tool load information
prepared by YASKAWA on the MAKER INITIAL VALUE window. Since this function works
on the assumption that the tool file is correctly set, read the tool load which is the same as
the actual load on the MAKER INITIAL VALUE window. When the tool other than the tool
for high-sensitivity indicated in 9.7.2.4 "Explanation of the default setting (tool load data)"
on page 154 is used, DO NOT use this function.
Setting the U-arm payload
To perform shock detection more accurately, set the U-arm payload by referring to chapter
9.4.1 "ARM control window"" on 110.
The U-arm payload prepared by YASKAWA can be read on the MAKER INITIAL VALUE
window. Read the same data as the actual U-arm payload on the MAKER INITIAL VALUE
window.
9.7.2.3 Reading the Tool Load Information on the MAKER INITIAL VALUE
Window
1. Change from SECURITY MODE to MANAGEMENT MODE and then select {ROBOT}
from the main menu.
2. Select {TOOL}.
– The TOOL window appears.
3. Select the desired tool number.
1
2
1
1
2
1
2