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HW1484764
List of contents
1. Introduction ......................................................................................................... 1-1
2. Functional Overview ........................................................................................... 2-1
2.1. PFL Function ................................................................................................... 2-3
2.2. Speed Monitor Function .................................................................................. 2-4
2.3. Avoidance Function ......................................................................................... 2-4
2.4. Force Detection Hold Function (Supported Only by YRC1000 System
Version YAS2.41 or Later and YRC1000micro System Version YBS2.10
or Later) ........................................................................................................... 2-5
2.5. Escape from Clamping Function ..................................................................... 2-6
2.6. Relationships among Various Stop Functions ................................................. 2-8
2.7. Direct Teach Function ...................................................................................... 2-9
2.8. External Force Monitor Output ...................................................................... 2-10
3. Configuring Each Function .................................................................................. 3-1
3.1. Changing the Security Mode ........................................................................... 3-1
3.2. Basic Settings for Collaborative Operation ..................................................... 3-2
3.2.1. Changing the External Force Limits ........................................................ 3-2
3.2.2. Configuring the Speed Limit .................................................................... 3-6
3.3. Enabling or Disabling Collaborative Operation ............................................... 3-7
3.3.1. Disabling Collaborative Operation by Changing the Safety
Logic Circuit ............................................................................................ 3-8
3.3.2. Enabling or Disabling Collaborative Operation by Using
External Sensor Input ........................................................................... 3-10
3.4. Enabling or Disabling the PFL function ......................................................... 3-12
3.4.1. Steps for Disabling the PFL Function ................................................... 3-12
3.4.2. Steps for Enabling the PFL Function .................................................... 3-16
3.5. Configuring the Avoidance Function ............................................................. 3-20
3.5.1. Adding Instructions to a Job .................................................................. 3-20
3.5.2. Enabling the Avoidance Function .......................................................... 3-21
3.5.3. Setting the Start and End Thresholds ................................................... 3-23
3.5.4. Setting the Avoidance Speed ................................................................ 3-23
3.5.5. Checking the Interrupt Job Settings ...................................................... 3-24
3.6. Configuring the Force Detection Hold Function
(Supported Only by YRC1000 System Version YAS2.41 or Later and
YRC1000micro System Version YBS2.10 or Later) ...................................... 3-25
3.7. Teaching the Manipulator with the Direct Teach Function ............................. 3-26
3.7.1. Moving the Robot Using the Hand Guiding .......................................... 3-26
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