YASKAWA YRC1000 - Page 15

Table of Contents
xv
HW1485509
HW1485509
5.1.2 Test/Run Job Panel.............................................................................................. 5-3
5.1.2.1 Operation Buttons ................................................................................... 5-3
5.1.2.2 Operation Cycle ...................................................................................... 5-4
5.1.2.3 Playback Speed ...................................................................................... 5-4
5.1.2.4 Time Indicators........................................................................................ 5-5
5.2 Playback ............................................................................................................................ 5-6
5.2.1 Playback Operation .............................................................................................. 5-6
5.2.1.1 Selecting the Start Mode......................................................................... 5-6
5.2.1.2 Servo ON ................................................................................................ 5-6
5.2.1.3 Run Operation ......................................................................................... 5-6
5.3 Stop and Restart................................................................................................................ 5-7
5.3.1 Pause ................................................................................................................... 5-7
5.3.1.1 Using the Smart Pendant ........................................................................ 5-7
5.3.1.2 Using an External Input Signal (System Input)........................................ 5-7
5.3.2 Emergency Stop................................................................................................... 5-7
5.3.2.1 Emergency Stop...................................................................................... 5-8
5.3.2.2 Release ................................................................................................... 5-8
5.3.2.3 Restart After an Emergency Stop............................................................ 5-8
5.3.3 Stop by Alarm....................................................................................................... 5-8
5.3.4 Others................................................................................................................... 5-9
5.3.4.1 Temporary Stop by Mode Change .......................................................... 5-9
5.3.4.2 Temporary Stop by the PAUSE Instruction............................................. 5-9
5.4 Job Stack......................................................................................................................... 5-10
6 Robot Settings ................................................................................................................................ 6-1
6.1 Tool Settings...................................................................................................................... 6-1
6.1.1 Tool Files.............................................................................................................. 6-2
6.1.2 Tool Name............................................................................................................ 6-3
6.1.3 Tool Mass Properties............................................................................................ 6-3
6.1.3.1 Weight ..................................................................................................... 6-4
6.1.3.2 Center of Gravity ..................................................................................... 6-5
6.1.3.3 Moment of Inertia .................................................................................... 6-5
6.1.3.4 Automatic Estimation of Tool Mass Properties........................................ 6-6
6.1.4 Tool Frame ......................................................................................................... 6-11
6.1.4.1 Tool Center Point .................................................................................. 6-11
6.1.4.2 Orientation of Tool Tip........................................................................... 6-11
6.1.4.3 Tool Center Point (TCP) Calibration...................................................... 6-12
6.1.5 Setting Tool with FSU......................................................................................... 6-17
6.2 I/O for Tool....................................................................................................................... 6-19
6.3 User Frames.................................................................................................................... 6-21
6.3.1 Example Usage of User Frames ........................................................................ 6-21
15 of 493