YASKAWA YRC1000micro

HW1484764
Introduction
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HW1484764
1. Introduction
The robot controller YRC1000/YRC1000micro provides functions to ensure that robots do not harm
workers working close to them for the enablement of human-robot collaborative operation.
This instruction manual explains how to use those functions.
When using the Smart Pendant, refer also to "HW1485509 YRC1000/YRC1000micro
INSTRUCTIONS FOR SmartPendant".
DANGER
Enabling human-robot collaborative operation requires you to conduct risk assessment on the entire
robot system taking into account the safety for humans and then reduce the danger of harm to
humans to a permissible level or implement the ISO (International Organization for Standardization)
standards for industrial robots (i.e., ISO 10218-1: 2011 and ISO 10218-2: 2011).
2. Functional Overview
Collaborative operation is supported mainly by the following functions:
Function name
Description
PFL (Power and
Force Limiting)
function
This function monitors the external force acting on the manipulator and
performs a protective stop of the manipulator if the external force exceeds the
preset limit.
Protective stop belongs to Stop Category 2.
After protective stop, "stop position monitoring" is performed using the "speed
limit function", one of the YRC1000/YRC1000micro functional safety
functions.
Speed monitor
function
This function limits the manipulator operating speed (TCP speed) to thereby
limit the force applied by the manipulator to its surroundings, using the
"speed limit function", one of the YRC1000/YRC1000micro functional safety
functions.
Avoidance
function
This function moves the manipulator in the direction where no force is acting
before the PFL function performs a protective stop of the manipulator.
Escape from
clamping
function
This function lets the manipulator automatically escape from a protective stop
condition due to something clamped (stuck) between the manipulator and
surrounding environment or between the joints of the manipulator.
Force detection
hold function
(supported only
by YRC1000)
This function stops the manipulator before the PFL function performs a
protective stop of the manipulator.
Direct teach
function
This function allows you to directly apply a force to the manipulator to move it
to the teaching position when you create a job (or teach the manipulator).
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