YASKAWA YRC1000micro - Page 12

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HW1484764
3.7.2. Adding Operation Instructions to a Job by Using the Direct
Teach Button (for Only the MOTOMAN-HCxxDT (Equipped
with the Direct Teach Button)) .............................................................. 3-29
4. Safety Precautions .............................................................................................. 4-1
4.1. How to Restart the Controller .......................................................................... 4-1
4.2. Check Items before Operating the Manipulator .............................................. 4-1
4.3. About the Behavior near Singularity ................................................................ 4-2
4.4. Settings Related to the Tool ............................................................................ 4-3
4.4.1. How to Configure the Tool File ................................................................ 4-4
4.4.2. How to Configure the Tool Change Settings ........................................... 4-5
5. Daily Inspection Items ......................................................................................... 5-1
5.1. Checking the Torque Sensor Status ................................................................ 5-1
5.1.1. Checking the Torque Sensor Status Using the Self-check Function
(Supported Only by YRC1000 System Version YAS2.52 or Later and
YRC1000micro System Version YBS2.10 or Later) ............................... 5-1
5.1.2. Checking the Torque Sensor Status Using the External Force
Monitor.................................................................................................... 5-3
5.2. How to Reconfigure the Torque Sensor Home Position .................................. 5-4
6. Troubleshooting .................................................................................................. 6-1
7. Alarm List ............................................................................................................ 7-1
7.1. Major Alarms.................................................................................................... 7-1
7.2. Minor Alarms.................................................................................................... 7-9
8. Variable List ......................................................................................................... 8-1
9. I/O List ................................................................................................................. 9-1
9.1. Interface Panel Output .................................................................................... 9-1
9.2. Auxiliary Relay ................................................................................................. 9-2
9.3. General Output ................................................................................................ 9-3
9.4. General Input ................................................................................................... 9-4
9.5. External Outputs (used by the MOTOMAN-HC10xxDT
(equipped with the direct teach button)) .......................................................... 9-5
9.5.1. YRC1000 ................................................................................................. 9-5
9.5.2. YRC1000micro ........................................................................................ 9-5
9.6. External Inputs (used by the MOTOMAN-HCxxDT
(equipped with the direct teach button)) .......................................................... 9-5
9.6.1. YRC1000 ................................................................................................. 9-5
9.6.2. YRC1000micro ........................................................................................ 9-5
9.7. Control Status Signal ....................................................................................... 9-6
10. Register List ...................................................................................................... 10-1
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