To Next PageTo Next PageWhy does ALARM 1926, TRQ SENSOR RECEIVING ERROR occur repeatedly on my YASKAWA YRC1000micro Controller?
If ALARM 1926, TRQ SENSOR RECEIVING ERROR occurs repeatedly on your YASKAWA Controller, it could be due to a noise source near the manipulator. To resolve this, try to protect the manipulator from noise. For example, install the torque sensor cable and the manipulator cable away from each other.
What to do if a protective stop occurs when no force or a weak force is applied to my YASKAWA Controller?
If a protective stop occurs when no force or a weak force is applied to your YASKAWA Controller, first check if the tool mass is set correctly. If the problem continues, adjust the torque sensor home position over again.
How to fix the avoidance function if it does not work on YASKAWA YRC1000micro?
If the avoidance function on your YASKAWA Controller isn't working, you can try increasing the start threshold. Alternatively, check the tool file settings.
What to do if the tool is clamped during contacting work and the escape from clamping function does not work on YASKAWA Controller?
If the tool or other object is clamped (stuck) during contacting work with your YASKAWA Controller, causing continuous forces and the escape from clamping function isn't working, temporarily disable collaborative operation (muting). Then, use the escape from clamping function.
How to resolve protective stop against external forces near singularity on YASKAWA YRC1000micro Controller?
If a protective stop against external forces always occurs near a singularity on your YASKAWA Controller, making it impossible to operate the manipulator, temporarily disable the PFL function and move the manipulator away from near the singularity.
General| Brand | YASKAWA |
|---|---|
| Model | YRC1000micro |
| Category | Controller |
| Language | English |
Monitors external force and performs protective stop if limit is exceeded.
Limits manipulator operating speed within the safe range.
Temporarily stops or moves manipulator away from force.
Temporarily stops job when external force exceeds threshold.
Allows manipulator to escape from a stuck or clamped state.
Explains how different stop functions interact based on force.
Allows job creation by manually moving the manipulator.
Details output of estimated external force values and sensor data.
Sets controller to Safety or Management Mode for configuration.
Covers fundamental settings for collaborative operation.
Configures the force limits for the PFL function.
Controls collaborative operation using safety signals.
Procedure to disable collaborative operation via safety logic.
Uses external sensors to enable/disable collaborative operation.
Enables or disables the Power and Force Limiting (PFL) function.
Step-by-step guide to temporarily disable the PFL function.
Step-by-step guide to re-enable the PFL function.
Sets up the avoidance function parameters.
Adds avoidance function instructions within a job.
Activates the avoidance function through the GUI.
Defines force thresholds for avoidance function activation.
Configures the speed parameters for avoidance operations.
Verifies the interrupt job configuration for avoidance.
Adjusts thresholds for the force detection hold function.
Guides on teaching the robot using direct teach methods.
Details how to move the robot via hand guiding.
Adds job instructions using the direct teach button on HCxxDT.
Proper procedure for turning the controller off and on.
Essential checks before starting manipulator operation.
Describes manipulator behavior when approaching singularity points.
Covers tool configuration for safe operation.
Guide on setting up tool data for safety functions.
Details on configuring tool change monitoring.
Procedures to check torque sensor alignment and status.
Using the controller's self-check for torque sensor status.
Using the external force monitor for torque sensor status checks.
Steps to reset and configure the torque sensor's home position.
Lists and explains major alarm codes and their causes/solutions.
Lists and explains minor alarm codes and their causes/solutions.
Lists general output signals for the interface panel.
Details the auxiliary relay signals used.
Lists general output signals.
Lists general input signals.
Lists external outputs for models with direct teach button.
Lists external inputs for models with direct teach button.
Details control status signals for operation monitoring.
