Download YRC Series CE marking Supporting Supplement Manual

Cat. No. I154E-EN-02
SCARA Robots
ZX-T Series
Series
YRC
CE marking
SUPPORTING
SUPPLEMENT MANUAL
General Contents
Introduction
i
Safety Guide
1. Safety information
1
2. Particularly important cautions
2
2.1
System design safety points …………………………………………………………… 2
2.2
Installation safety points ………………………………………………………………… 2
2.3
Wiring safety points ……………………………………………………………………… 3
2.4
Start-up and maintenance safety points …………………………………………… 3
2.5
Safety precautions during robot operation ………………………………………… 4
2.6
Precautions for disposal ………………………………………………………………… 4
3. Safety measures for robots
3.1
5
Safety measures for SCARA type robots …………………………………………… 5
4. Motor overload precautions
5
5. Warning labels and marks
5
5.1
Warning labels …………………………………………………………………………… 5
5.2
Warning marks …………………………………………………………………………… 6
6. Industrial robot operating and maintenance personnel
6
7. Make daily and periodic inspections
6
Chapter 1 CE MARKING
1. CE Marking
1-1
2. Safety standards
1-1
2.1
Cautions regarding compliance with EC Directives …………………………… 1-1
2.2
Applicable EC Directives and their related standards ………………………… 1-2
2.3
Robots subject to CE Marking ……………………………………………………… 1-2
2.4
Cautions regarding the official language of EU countries …………………… 1-2
3. Usage conditions
1-3
Chapter 2 YRC series
1. System overview
1.1
2-1
System overview ……………………………………………………………………… 2-1
1.1.1 Main system configuration ………………………………………………………………………… 2-1
1.2
Control system configuration ……………………………………………………… 2-2
1.2.1 Basic configuration ………………………………………………………………………………… 2-2
1.2.2 Power supply and emergency stop system circuit configuration ………………………… 2-3
1.3
Programming box (PB) ……………………………………………………………… 2-4
1.3.1 Part names and functions ………………………………………………………………………… 2-4
1.3.2 PB connector ………………………………………………………………………………………… 2-5
1.4
SERVICE mode ………………………………………………………………………… 2-6
1.4.1 What is SERVICE mode? …………………………………………………………………………… 2-6
1.4.2 Flow for enabling the SERVICE mode functions ……………………………………………… 2-7
1.4.3 SERVICE mode parameter settings ……………………………………………………………… 2-7
2. EMC countermeasure examples
2.1
2-9
YRC robot controller ………………………………………………………………… 2-9
2.1.1 Configuration ………………………………………………………………………………………… 2-9
2.1.2 Countermeasure components ………………………………………………………………… 2-10
3. External safety circuit examples
2-14
3.1
Performance level …………………………………………………………………… 2-14
3.2
Circuit examples for the YRC ……………………………………………………… 2-15
3.2.1
3.2.2
3.2.3
3.2.4
Category 4 …………………………………………………………………………………………
Category 3 …………………………………………………………………………………………
Category 2 …………………………………………………………………………………………
Overview of circuit operation …………………………………………………………………
2-17
2-18
2-19
2-20
Introduction
Thanks for purchasing the OMRON robot controller YRC.
This manual describes the CE marking for the YRC. When shipping the YRC to Europe or when using it in Europe,
always read this manual thoroughly to use the controller correctly.
This manual describes only the items related to CE marking. For operations and programming of the robot controller,
refer to the user's manuals that come with the robot controller. For information on the warranty, also refer to the user's
manual that come with the robot controller.
Even after reading this manual, keep it in a safe, easily accessible place so that it can be referred to when needed.
• Thismanualshouldbeusedwiththerobotandcontrollerandconsideredanintegralpartofthem.
• Whentherobotandcontrolleraremoved,transferred,orsold,sendthismanualtothenewuseralongwiththerobotandcontroller.
Be sure to explain to the new user the need to read through this manual.
• Specificationsoftherobotandcontrollermodelsotherthanstandardmodelsmaybeomittedinthismanual.Inthatcase,referto
the specifications of standard models.
• Fordetailsonspecificoperationoftherobotcontroller,refertotheuser'smanualsthatcomewiththerobotcontroller.
NOTES
• The contents of this manual are subject to change without prior notice.
• While every effort has been made to ensure the contents of this manual are correct, please
contact us if you find any part of this manual to be unclear, confusing or inaccurate.
• This manual does not serve as a guarantee of any industrial property rights or any other rights
and does not grant a license in any form. Please acknowledge that we bear no liability
whatsoever for any problems involving industrial property rights which may arise from the
contents of this manual.
OMRON EUROPE, B.V.
i
Safety Guide
Contents
1.
Safety information
1
2.
Particularly important cautions
2
2.1
System design safety points
2
2.2
Installation safety points
2
2.3
Wiring safety points
3
2.4
Start-up and maintenance safety points
3
2.5
Safety precautions during robot operation
4
2.6
Precautions for disposal
4
3.
3.1
Safety measures for robots
Safety measures for SCARA type robots
5
5
4.
Motor overload precautions
5
5.
Warning labels and marks
5
5.1
Warning labels
5
5.2
Warning marks
6
6.
Industrial robot operating and maintenance personnel
6
7.
Make daily and periodic inspections
6
1.
Safety information
Industrialrobotsarehighlyprogrammablemachinesthatprovidealargedegreeoffreedominmovement.Touse
OMRON robots and controllers safely and correctly, be sure to comply with the safety instructions and precautions
described in this chapter. Failure to take necessary safety measures or incorrect handling may result not only in trouble
or damage to the robot and controller, but also in serious accidents involving injury or death to personnel (robot
installer, operator, or service personnel).
This manual describes safety precautions and operating points using the following symbols and signal words.
DANGER
"DANGER"INDICATESANIMMINENTLYHAZARDOUSSITUATIONWHICH,IFNOTAVOIDED,WILLRESULTINDEATH
ORSERIOUSINJURY.
WARNING
"WARNING"INDICATESAPOTENTIALLYHAZARDOUSSITUATIONWHICH,IFNOTAVOIDED,COULDRESULTIN
DEATHORSERIOUSINJURY.
CAUTION
"CAUTION"indicatesapotentiallyhazardoussituationwhich,ifnotavoided,couldresultinminorormoderateinjuryordamagetothe
equipment or loss of data.
NOTE
Explains key points in the operation in a simple and clear manner.
Use any of the following approaches to this manual when installing, operating and adjusting the OMRON robot and/or
controller so that you can quickly refer to this manual when needed.
1. Keep the printed version of this manual (available for an additional fee) handy for ready reference.
2. View the CD-ROM version of this manual on your PC screen.
3. Print out the necessary pages of this manual from the CD-ROM and keep them handy for ready reference.
To use OMRON robots and controllers safely and correctly, always comply with the safety rules and instructions.
Pleasenote,however,thissupplementarymanualcannotcoverallitemsregardingsafety.Soitisextremelyimportant
that the operator or user have knowledge of safety and make correct decisions regarding safety.
1
Safety Guide
Before using the OMRON robot controller, be sure to read this manual and related manuals, and follow their
instructions to use the robot controller safely and correctly.
Warnings and cautions listed in this manual relate to OMRON robot controllers. To ensure safety of the user's final
system that includes OMRON robots and controllers, please take appropriate safety measures as required by the user's
individual system.
2.
Particularly important cautions
Particularly important cautions for handling and operating the robot and controller are described below. Additional
cautions are also described in each chapter. Be sure to comply with those instructions to ensure safety.
Safety Guide
2.1
System design safety points
DANGER
• OMRONROBOTCONTROLLERSANDROBOTSAREDESIGNEDANDMANUFACTUREDFORGENERAL-PURPOSE INDUSTRIALEQUIPMENT.THEYSHOULDNOTBEUSEDINTHEFOLLOWINGAPPLICATIONS:
•MEDICALEQUIPMENTORSYSTEMSWHICHWILLAFFECTHUMANLIFE
•EQUIPMENTDESIGNEDTOCARRYORTRANSPORTPERSONS
•EQUIPMENTORSYSTEMSWHICHWILLSERIOUSLYAFFECTSOCIETYORPUBLICPOLICY
•USEINENVIRONMENTSSUBJECTTOVIBRATION,SUCHASVEHICLESANDSHIPS
• EACHROBOTCONTROLLERHASANEMERGENCYSTOPINPUTTERMINALTOTRIGGEREMERGENCYSTOP.USING
THISTERMINAL,CONFIGUREASAFETYCIRCUITSOTHATTHESYSTEMINCLUDINGTHEROBOTCONTROLLER WILLWORKSAFELY.
WARNING
• TOCHECKTHEOPERATINGSTATUSOFTHEROBOTCONTROLLER,REFERTOTHISMANUALANDRELATED
USER'SMANUAL.BUILDTHESYSTEMINCLUDINGTHEROBOTCONTROLLERSOTHATITWILLALWAYSWORK SAFELY.
• INSTALLASIGNALLIGHT(SIGNALTOWER,ETC.)ATANEASY-TO-SEEPOSITIONSOTHATTHEOPERATORWILL KNOWTHESTOPSTATUSOFTHEROBOT(TEMPORARYSTOP,EMERGENCYSTOP,ERRORSTOP,ETC.).
CAUTION
• Donotbundlecontrollinesorcommunicationcablestogetherorinclosecontactwiththemainpowersupplycircuitorpowerlines. As a general rule, separate them by at least 100mm. Failure to follow this instruction may cause malfunctions due to noise.
2.2
2
Installation safety points
WARNING
• ALWAYSGROUNDTHEGROUNDTERMINALOFTHEPOWERTERMINALBLOCKTOAVOIDELECTRICALSHOCK.
• SECURELYINSTALLTHECONNECTORSINTOTHEROBOTCONTROLLER,ANDWHENWIRINGTHECONNECTORS, MAKETHECRIMP,PRESS-CONTACTORSOLDERCONNECTIONSCORRECTLY,USINGTHETOOLSPECIFIEDBYTHE
MANUFACTURER.
• ALWAYSSHUTOFFALLPHASESOFTHEPOWERSUPPLYEXTERNALLYBEFORESTARTINGINSTALLATIONOR
WIRINGWORK.FAILURETOSHUTOFFALLPHASESMAYCAUSEELECTRICALSHOCKORPRODUCTDAMAGE.
• OMRONROBOTSANDROBOTCONTROLLERSARENOTDESIGNEDTOBEEXPLOSION-PROOF.DONOTUSETHEM
INLOCATIONSEXPOSEDTOINFLAMMABLEGASES,GASOLINEORSOLVENTTHATCOULDCAUSEEXPLOSIONOR
FIREFAILURETOOBSERVETHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYORDEATH,
ORLEADTOFIRE.
• USETHEROBOTCONTROLLERWITHINTHEENVIRONMENTSPECIFICATIONSLISTEDINTHISMANUAL.USING THECONTROLLERINANENVIRONMENTOUTSIDETHESPECIFICATIONRANGEMAYCAUSEELECTRICALSHOCK,
MALFUNCTIONS,PRODUCTDAMAGEORDETERIORATEDPERFORMANCE.
• INSTALLTHEROBOTCONTROLLERANDPROGRAMMINGBOXATALOCATIONOUTSIDETHEROBOT'SWORKING
ENVELOPEYETWHEREITISEASYTOOPERATETHEROBOTANDVIEWITSMOTION.
• INSTALLTHECONTROLLERINLOCATIONSWITHENOUGHSPACETOPERFORMWORK(TEACHING,INSPECTION, ETC.)SAFELY.LIMITEDSPACENOTONLYMAKESITDIFFICULTTOPERFORMWORK,BUTCANALSOBEACAUSE OFINJURY.
• INSTALLTHEROBOTCONTROLLERINASTABLE,LEVELLOCATIONANDSECUREITFIRMLY.AVOIDINSTALLING THEROBOTCONTROLLERUPSIDEDOWNORINATILTEDPOSITION.
• PROVIDESUFFICIENTCLEARANCEAROUNDTHEROBOTCONTROLLERFORGOODVENTILATION.POOR
VENTILATIONMAYCAUSEMALFUNCTION,BREAKDOWNORFIRE.
• NEVERDIRECTLYTOUCHTHECONDUCTIVESECTIONSANDELECTRONICPARTSOTHERTHANTHE
CONNECTORS,ROTARYSWITCHES,ANDDIPSWITCHESONTHEOUTSIDEPANELOFTHEROBOTCONTROLLER.
• SECURELYTIGHTENTHESCREWSONTHEL-SHAPEDBRACKETSTOINSTALLTHEROBOTCONTROLLER.IFNOT SECURELYTIGHTENED,THESCREWSMAYBECOMELOOSECAUSINGTHECONTROLLERTODROP.
• SECURELYINSTALLEACHCONNECTIONCABLECONNECTORINTOTHERECEPTACLESORSOCKETS.POOR
CONNECTIONSMAYCAUSEEQUIPMENTMALFUNCTIONS.
2.3
Wiring safety points
WARNING
• ALWAYSSHUTOFFALLPHASESOFTHEPOWERSUPPLYEXTERNALLYBEFORESTARTINGINSTALLATIONOR
WIRINGWORK.FAILURETOSHUTOFFALLPHASESMAYCAUSEELECTRICALSHOCKORPRODUCTDAMAGE.
2.4
Start-up and maintenance safety points
DANGER
• NEVERENTERTHEROBOT'SWORKINGENVELOPEWHILETHEROBOTISOPERATINGORTHEMAINPOWERIS TURNEDON.FAILURETOFOLLOWTHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYOR
DEATH.INSTALLASAFETYENCLOSUREORAGATEINTERLOCKWITHANAREASENSORTOKEEPALLPERSONS AWAYFROMTHEROBOT'SWORKINGENVELOPE.
• WHENITISNECESSARYTOOPERATETHEROBOTWHILEYOUAREWITHINTHEROBOTMOVEMENTRANGE
SUCHASFORTEACHINGORMAINTENANCE/INSPECTIONTASKS,ALWAYSCARRYTHEPROGRAMMINGBOX
WITHYOUSOTHATYOUCANIMMEDIATELYSTOPTHEROBOTOPERATIONINCASEOFANABNORMALOR
HAZARDOUSCONDITION.INSTALLANENABLEDEVICEINTHEEXTERNALSAFETYCIRCUITISNEEDED.ALSO SETTHEROBOTMOVINGSPEEDTO3%ORLESS.FAILURETOFOLLOWTHESEINSTRUCTIONSMAYCAUSE
SERIOUSACCIDENTSINVOLVINGINJURYORDEATH.
• CHECKTHEFOLLOWINGPOINTSBEFOREOPERATINGTHEROBOT:
•NOONEISWITHINTHEROBOT'SWORKINGENVELOPE.
•THEPROGRAMMINGBOXISATTHESPECIFIEDPOSITION.
•THEREISNOABNORMALSTATEINTHEROBOTANDRELATEDDEVICES.
WARNING
• ONLYPERSONNELTRAINEDINSAFETYANDROBOTOPERATIONMAYOPERATETHEROBOT.OPERATIONBYANY
PERSONWHOHASNOTRECEIVEDTHEPROPERTRAININGISVERYDANGEROUSANDMUSTBEAVOIDED.
• THEROBOTANDROBOTCONTROLLERARENOTDESIGNEDTOBEEXPLOSION-PROOF.DONOTUSETHEMIN
LOCATIONSEXPOSEDTOINFLAMMABLEGASES,GASOLINEORSOLVENTTHATCOULDCAUSEEXPLOSIONOR FIRE.FAILURETOFOLLOWTHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYORDEATH,
ORLEADTOFIRE.
• DONOTTOUCHANYELECTRICALTERMINALOFTHEROBOTCONTROLLER.DOINGSOMAYCAUSEELECTRICAL
SHOCKOREQUIPMENTMALFUNCTIONS.
• ALWAYSCONNECTTHEROBOTANDROBOTCONTROLLERINTHECORRECTCOMBINATION.USINGTHEMINAN INCORRECTCOMBINATIONMAYCAUSEFIREORBREAKDOWN.
• ALWAYSSHUTOFFALLPHASESOFTHEPOWERSUPPLYEXTERNALLYBEFORECLEANINGORTIGHTENINGTHE TERMINALSCREWS.FAILURETOSHUTOFFALLPHASESMAYCAUSEELECTRICALSHOCK,PRODUCTDAMAGE ORMALFUNCTIONS.
• DONOTTOUCHTHEROBOTCONTROLLERANDROBOTDURINGOPERATION.SOMEPARTSINTHEROBOT
CONTROLLERORROBOTAREHOTDURINGOPERATION.TOUCHINGTHEMMAYCAUSEBURNS.
• DONOTHANDLEOROPERATETHEROBOTCONTROLLERORPROGRAMMINGBOXWITHWETHANDS.TOUCHING
THEMWITHWETHANDSMAYRESULTINELECTRICALSHOCKORBREAKDOWN.
• IMMEDIATELYTURNOFFPOWERIFUNUSUALODORS,NOISEORSMOKEARENOTICEDDURINGOPERATION.
CONTINUOUSOPERATIONUNDERSUCHACONDITIONMAYRESULTINELECTRICALSHOCK,FIREOR BREAKDOWN.STOPUSINGANDCONTACTOURSALESOFFICEORSALESREPRESENTATIVE.
3
Safety Guide
CAUTION
• Makesurethatnoforeignmattersuchascuttingchipsorwirescrapsentertherobotcontroller.Malfunctions,breakdownorfiremay
result if they have entered.
• Alwaysstorethecablesconnectedtotherobotcontrollerinaconduitorclampthemsecurelyinplace.Ifthecablesarenotstoredin
a conduit or properly clamped, excessive play or movement or mistakenly pulling on the cable may damage the connector or cables,
and poor cable contact may cause equipment malfunctions.
• Donotmodifythecablesanddonotplaceanyheavyobjectonthem.Handlethemcarefullytoavoiddamage.Damagedcablesmay cause malfunction or electrical shock.
• Ifthereisapossibilitythatthecablesconnectedtotherobotcontrollermaybedamaged,protectthemwithacover,etc.
• Donotapplyexcessiveloadsorimpactstotheconnectorswhenmakingcableconnections.Theconnectorpinsmaybecomebentor the internal PC board may be damaged.
• Whendisconnectingthecablefromtherobotcontroller,detachbygrippingtheconnectoritselfandnotbytuggingonthecable.
Loosenthescrewsontheconnector(iffastenedwiththescrews),andthendisconnectthecable.Detachingbypullingonthecable itself may damage the connector or cables, and poor cable contact may cause equipment malfunctions.
Safety Guide
•
•
•
•
•
DONOTDISASSEMBLEORMODIFYANYPARTINTHEROBOTCONTROLLERANDPROGRAMMINGBOX.DONOT OPENANYCOVER.FAILURETOFOLLOWTHISINSTRUCTIONMAYCAUSEELECTRICALSHOCK,BREAKDOWN, MALFUNCTION,INJURY,ORFIRE.
IFACOMPONENTUSEDINTHEROBOTORCONTROLLERNEEDSTOBEREPLACEDORREPAIRED,ALWAYS
FOLLOWTHEINSTRUCTIONSFROMOMRON.INSPECTIONANDMAINTENANCEOFTHECONTROLLERORROBOT
BYANYPERSONWHODOESNOTHAVETHEREQUIREDKNOWLEDGEANDEXPERTISEISDANGEROUSANDMUST
BEAVOIDED.
WHENPERFORMINGMAINTENANCEORINSPECTIONOFTHEROBOTCONTROLLERUNDEROURINSTRUCTIONS,
WAITATLEAST30MINUTESFORTHEYRCSERIESAFTERTURNINGTHEPOWEROFF.SOMECOMPONENTSINTHE
ROBOTCONTROLLERMAYBEHOTORSTILLRETAINAHIGHVOLTAGESHORTLYAFTEROPERATION,SOBURNS ORELECTRICALSHOCKMAYOCCURIFTHOSEPARTSARETOUCHED.
DURINGSTARTUPORMAINTENANCEWORK,DISPLAYANEASYTOUNDERSTANDSIGNORMESSAGEONTHE PROGRAMMINGUNITOROPERATIONPANELTOPREVENTANYONEOTHERTHANPERSONNELFORTHATWORK FROMMISTAKENLYOPERATINGASTARTORSELECTORSWITCH.IFNEEDED,TAKEOTHERMEASURESSUCHAS LOCKINGTHECOVERONTHEOPERATIONPANEL.
DECIDEON"WORKINSTRUCTIONS"INCASESWHEREPERSONNELMUSTWORKWITHINTHEROBOT'SWORKING
ENVELOPETOPERFORMSTARTUPORMAINTENANCEWORK.MAKESURETHEWORKERSKNOWTHESE"WORK INSTRUCTIONS"WELL.
CAUTION
• Whenusingferritecoresfornoiseelimination,fitthemtothepowercableasclosetotherobotcontrollerand/ortherobotas
possible, to prevent malfunctions due to noise.
• Backuptherobotcontrollerinternaldatainanexternalstoragedevice.Therobotcontrollerinternaldata(programs,pointdata,etc.)
may be lost or deleted for unexpected reasons. Always make a backup of the internal data.
• Donotusethinner,benzene,andalcoholtowipecleanthesurfaceoftheprogrammingbox.Thesurfacesheetmaybedamagedor printed letters or marks might be erased. Use a soft, dry cloth and gently wipe the surface.
• Donotuseahardorpointedobjecttooperatethekeysontheprogrammingbox.Malfunctionorbreakdownmayresultifthekeys aredamaged.Useyourfingerstooperatethekeys.
• DonotinsertanySDmemorycardotherthanspecifiedintotheSDmemorycardslotoftheprogrammingbox.Malfunctionor
breakdown may result if a wrong memory card is used.
• DonotleavetheSDmemorycardinsertedintotheprogrammingbox.Doingsomaycausemalfunctionorbreakdown.InserttheSD
memory card into the programming box only when making a data backup or loading the backup data.
2.5
Safety precautions during robot operation
DANGER
• NEVERENTERTHEROBOT'SWORKINGENVELOPEWHILETHEROBOTISOPERATINGORTHEMAINPOWERIS TURNEDON.FAILURETOFOLLOWTHISINSTRUCTIONMAYCAUSESERIOUSACCIDENTSINVOLVINGINJURYOR
DEATH.INSTALLASAFEGUARD(SAFETYENCLOSURE)ORAGATEINTERLOCKWITHANAREASENSORTOKEEP ALLPERSONSAWAYFROMTHEROBOT'SWORKINGENVELOPE.
• WHENITISNECESSARYTOOPERATETHEROBOTWHILEYOUAREWITHINTHEROBOTMOVEMENTRANGE,
SUCHASFORTEACHINGORMAINTENANCE/INSPECTIONTASKS,ALWAYSCARRYTHEPROGRAMMINGBOX
WITHYOUSOTHATYOUCANIMMEDIATELYSTOPTHEROBOTOPERATIONINCASEOFANABNORMALOR
HAZARDOUSCONDITION.INSTALLANENABLEDEVICEINTHEEXTERNALSAFETYCIRCUITASNEEDED.ALSO SETTHEROBOTMOVINGSPEEDTO3%ORLESS.FAILURETOFOLLOWTHESEINSTRUCTIONSMAYCAUSE
SERIOUSACCIDENTSINVOLVINGINJURYORDEATH.
WARNING
• ONLYPERSONNELTRAINEDINSAFETYANDROBOTOPERATIONMAYOPERATETHEROBOT.OPERATIONBYANY
PERSONWHOHASNOTRECEIVEDTHEPROPERTRAININGISVERYDANGEROUSANDMUSTBEAVOIDED.
2.6
Precautions for disposal
CAUTION
• Whendisposingofthisproductdiscarditasindustrialwaste.Takeappropriatemeasuresincompliancewithlegalregulationsinyour
countryorentrustitsproperdisposaltoacompanyauthorizedtohandleindustrialwaste.
4
3.
Safety measures for robots
3.1
Safety measures for SCARA type robots
Safety Guide
1. Safety measures during transportation:
To ensure safety, use the eyebolts that come with the robot.
Refer to the robot user's manual for details.
2. Protective measures against electrical shock:
Use the protective ground terminal to ensure safety.
Refer to the robot user's manual for details.
4.
Motor overload precautions
Sinceabnormaloperation(suchasoverload)ofthemotorisdetectedbysoftware,thecontrollerparametersmustbeset
correctly to match the motor type used in the robot connected to the controller.
Priortoshipping,thecontrollerparametersarepresettomatchtherobotmodeltobeused.However,pleasecheckthe
robot model again when connecting it to the controller.
5.
Warning labels and marks
5.1
Warning labels
The warning labels shown below are affixed to the controller. To use the OMRON robot and controller safely and
correctly, be sure to observe the instructions and caution on the labels.
1. "Read Instruction Manual" label
READ INSTRUCTION
MANUAL
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply to the controller, read this manual carefully
and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct direction.
5
5.2
Warning marks
The following warning marks are shown on the controller. To use the OMRON robot and controller safely and correctly,
be sure to observe the instructions and caution of the marks.
Safety Guide
1. "Electric Hazard" mark
This mark indicates that a high voltage is present.
This mark warns you of possible electrical shock. Do not touch the terminal block and connectors to avoid electrical shock.
2. "CAUTION" mark
!
This label means that important information you must know is described in the manual.
Before using the controller, be sure to read this manual carefully.
When in particular configuring an external safety circuit or connecting a power supply to the controller, read this manual carefully
and follow the instructions.
Connectors have a particular orientation, so insert each connector in the correct direction.
3. "High Temperature Hazard" mark
Indicatesthattheareaaroundthismarkmaybecomeveryhot.
Heatsinksandregenerativeunitbecomehotduringandshortlyafteroperation.Donottouchthemtoavoidburns.
6.
Industrial robot operating and maintenance personnel
Operators or persons who handle the robot such as for teaching, programming, movement check, inspection,
adjustment, and repair must receive appropriate training and also have the skills needed to perform the job correctly
and safely. They must read the user's manual carefully to understand its contents before attempting the robot operation.
Tasks related to industrial robots (teaching, programming, movement check, inspection, adjustment, repair, etc.) must
be performed by qualified persons who meet requirements established by local regulations and safety standards for
industrial robots.
7.
Make daily and periodic inspections
Always make sure that daily and periodic inspections are performed, and make a pre-work check to ensure there are
noproblemswiththerobotorrelatedequipment.Ifaproblemorabnormalityisfound,thenpromptlyrepairitortake
other measures as necessary.
6
Chapter 1 CE MARKING
Contents
1.
CE Marking
1-1
2.
Safety standards
1-1
2.1
Cautions regarding compliance with EC Directives
1-1
2.2
Applicable EC Directives and their related standards
1-2
2.3
Robots subject to CE Marking
1-2
2.4
Cautions regarding the official language of EU countries
1-2
3.
Usage conditions
1-3
1.
CE Marking
This section provides a basic description of how the YRC series comply with CE marking.
Differences in the basic specifications between CE marking compliant controllers and standard controllers are as
follows:
CE MARKING
■ Main specifications of CE Marking compliant controller
CE Marking compliant controller
Servicemode
Provided
Programming box
PB
(enable switch compatible specifications)
2.
Safety standards
2.1
Cautions regarding compliance with EC Directives
1
The OMRON robot (robot and controller) is not, in itself, a robot system. The OMRON robot is just one component
that is incorporated into the customer's system (built-in equipment), and we declare that OMRON robots conform to the
EC Directives only within the scope of built-in equipment. This does not therefore guarantee that OMRON robots
conform to EC Directives in cases where the robot is used independently. Customers who incorporate a OMRON robot
into their final system which will be shipped to, or used, in the EU, should therefore verify that the overall system is
compliant with EC Directives.
●Differences between OMRON robots (robot and controller) and robot systems
A OMRON robot (robot and controller) is just one component in a robot system, and is not, in itself, a robot
system.
This is because a OMRON robot does not include the "end effector(s)" or "any equipment, devices, or sensors
requiredfortherobottoperformitstasks",asdefinedin"IndustrialRobotsystem"oftheISO10218-1:2011
Standard-Clause3.11.
1-1
2.2
1
Applicable EC Directives and their related standards
The tables below show directives and related standards applied to OMRON robots.
■ YRC robot controller
EC Directive
CE MARKING
Machinery Directive
2006/42/EC
EMC Directive
2004/108/EC
2.3
Related Standards
ENISO12100
:Safetyofmachinery-Generalprinciplesfordesign-Riskassessmentandriskreduction
ENISO10218-1 :Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part1:Robots
EN60204-1
:Safetyofmachinery-Electricalequipmentofmachines-Part1:Generalrequirements
EN55011
EN61000-6-2
:Industrial,scientificandmedicalequipment-Radio-frequencydisturbancecharacteristics-
Limitsandmethodsofmeasurement
:Electromagneticcompatibility(EMC)-Part6-2:Genericstandards-Immunityforindustrial
environments
Robots subject to CE Marking
ThisCEmarkingmanualisappliedtothefollowingrobotseries:
Controller
YRC
2.4
Robot Name
SCARAtyperobots
:XGseries,Xseries,XC/XGtinyseries,XCseries,XSseries,XPseries
Cautions regarding the official language of EU countries
For equipment that will be installed in EU countries, the language used for the manuals, warning labels, operation
screen characters and CE declarations is English only.
WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase,messagesin
Japaneseorotherlanguagesmightbeadded.
1-2
3.
Usage conditions
1
The following description gives major operating conditions for OMRON robot series products.
● EMC (Electromagnetic compatibility)
InordertoconformtotheEMCDirective,thecustomermustevaluatethefinishedproduct(entiresystem)andtakenecessary
countermeasures. Refer to EMC countermeasures for single units of OMRON robots, which are described in the next chapter in
this manual.
● Installation conditions
• Protective structure
OMRON robots are classified as built-in equipment and have a "Class I" protective structure against electrical shock.
The robot and controller must therefore be grounded properly to prevent possible electrical shock. For details, refer to the
controller user's manual and the robot user's manual.
• Enclosure
TherobotcontrollercaseisnotdesignedasanenclosurethatconformstotheEN60204-1Standard.Suitableprotectionshould
therefore be provided to prevent the danger of electrical shock due to inadvertent contact and ambient environment problems
(dust, water, etc.).
• Insulation co-ordination
Regardinginsulationco-ordination,OMRONrobotsandcontrollersaredesignedtomeetthefollowingconditions:
Overvoltage category II
Pollution degree 2
Take proper countermeasures as needed if the robot or controller is used in environments more severe than these levels.
● Explosion-proof
• OMRON robots and robot controllers are not designed to meet explosion-proof specifications.
Do not use them in environments exposed to flammable gases, gasoline, or solvents which could cause explosion or fire.
1-3
CE MARKING
OMRON robot series products are designed for use in industrial environments.
(ApplicabledefinitionrelatingtotheEMCDirective:RefertotheEN61000-6-2Standard,Clause1"Scope".)
Chapter 2 YRC series
Contents
1.
System overview
2-1
1.1
System overview
1.1.1
Main system configuration
2-1
1.2
Control system configuration
2-2
1.2.1
1.2.2
Basic configuration
Power supply and emergency stop system circuit configuration
2-2
2-3
1.3
Programming box (PB)
2-4
1.3.1
1.3.2
Part names and functions
PB connector
2-4
2-5
1.4
SERVICE mode
2-6
1.4.1
1.4.2
1.4.3
WhatisSERVICEmode?
FlowforenablingtheSERVICEmodefunctions
SERVICEmodeparametersettings
2-6
2-7
2-7
2.
EMC countermeasure examples
2.1
YRC robot controller
2.1.1
2.1.2
Configuration
Countermeasure components
3.
External safety circuit examples
2-1
2-9
2-9
2-9
2-10
2-14
3.1
Performance level
2-14
3.2
Circuit examples for the YRC
2-15
3.2.1
3.2.2
3.2.3
3.2.4
Category 4
Category 3
Category 2
Overview of circuit operation
2-17
2-18
2-19
2-20
1.
System overview
1.1
System overview
TheYRCseriescontrollersaredesignedforusewithaSCARArobot.Applicationsalsoincludevariousinspection
instruments,sealersandsprayequipmentutilizinglinearandcircularinterpolation.
1.1.1
2
Main system configuration
■ YRC robot controller
YRC series
Example: R6YXG500
All the axes on the robot controller are used as the main robot axes.
System for controlling one robot
1
O P.
R
O TO
YRC
PB
PB
PWR
SRV
M
3
O P.
ERR
XM
ROB
I/O
XY
SE L
YM
T
B AT
XY
COM
ROB
I/O
2
O P.
4
O P.
P
N
ZR
ACIN
DIO
STD.
ZM
B AT
ZR
T
N
SAFE
RM
P
S TO 14
EX T.E- 13−
L
T Y
L1
N1
R
OM
ON
OMRON robot
OM
RO
N
External device
(PLC etc.)
PC
External emergency stop circuit
Emergency stop button
Safety relay
Safety door switch, etc.
(
2-1
1.2
Control system configuration
1.2.1
Basic configuration
The basic block diagram of the YRC robot controller system is shown below.
■ YRC basic block diagram
2
Basic block diagram
RGEN
ACIN
L
N
L1
N1
TB1
CN5
CN1
CN4
CN2
DRIVER POWER
TH1
(FG)
MOTOR
CN3
ZM
CN6
RM
CN7
CN12
CN14
CN2
DRIVER 1
CN2
CN7
CN13
CN10
CN13
CN7
CN26
CN16
CN10
CPU BOARD
CN8
CN1
2-2
CN5
CN16
CN3
PB SEL
STD.DIO
CN2
CN4
CN5
PB
COM
DRIVER 2
CN1
CN3
CN11
SAFETY
CN1
CN15
BATT ZR
CN2
CN1
CN8
ROB I/O ZR
CN7
AC/DC
5V, ±12V
YM
CN4
BATT XY
CN10
HEATSINK
XM
ROB I/O XY
CN3
AC/DC 24V
CN1
CN6
CN8
CN11
CN9
YRC series
TB2
CN4
CN5
OP.1
OP.2
OP.3
OP.4
1.2.2
Power supply and emergency stop system circuit configuration
The control system's power supply system and emergency stop system circuit block diagram are shown below.
Power supply and emergency stop circuit block diagram
Emergency stop button
ABS
BATTERY
+3.6V
Selector
switch
*2
2
PB
PB
YRC series
CONTROL
CIRCU IT BLOCK
Enable
switch
POSITION
BACKUP
CIRCUIT
ROBOT I/O
CPU
Position Data
SAFETY
*3
MOTOR
MOTOR
+24V
RELAY1
MOTOR
DRIVE
CIRCUIT
External
emergency stop
circuit
DC5V,12V,15V
(User equipment)
DC280V
REALY2
GND
AC200 to 230V IN
MAIN
MOTOR
POWER
CIRCUIT
L
N
FUSE
L1
CONTROL
N1
FUSE
*1
CONTROL
POWER
CIRCUIT
POWER CIRCUIT BLOCK
DC5V
DC12V
DC24V
*2
YRC robot controller
*1) The input power and each control power are insulated by the
insulated transformer.
*2) The 0V line for the 3.6VDC, 5VDC, 12VDC and 24VDC is not
connected to the protective earth.
*3) Refer to the PB connector input/output signal table for the
wiring diagram from the PB.
2-3
1.3
Programming box (PB)
The programming box (PB) is a hand-held unit specifically designed to connect to the controller, in order to perform
various operations. The PB allows all operations including manual operation of the robot, programming and editing,
teaching, and parameter setting.
1.3.1
2
Part names and functions
The PB has an emergency stop button and an enable switch. The contact outputs of these can be used to connect to the
emergencystopcircuitoftheentireequipmentviatheSAFETYconnectoronthecontroller.ThePBalsohasaselector
switch which can be used according to the customer's specifications and applications.
PB (Programming Box)
YRC series
1- Display (liquid crystal screen)
(rear side)
4- Selector switch
3- Emergency stop button
2- Sheet key
5- Enable
switch
6- PB Connector
Main Functions
No.
2-4
Part name
Function
1
Display (liquid
crystal screen)
Thisisaliquidcrystaldisplay(LCD)with40characters×15lines,showingvarioustypesofinformation.
The screen brightness is adjustable.
2
Sheetkeys
These keys are used to operate a robot or input programs.
Thesheetkeysareclassifiedinto3maintypes:functionkeys,controlkeysanddatakeys.
3
Emergency stop
button
Pressing this button during operation immediately stops robot movement. This is a contact B (normally
closed) type switch.
TheXA1E-BV302RmadebyIDECisused.
4
Selectorswitch
ThisswitchcanbeusedasneededbywiringtothePBSELconnectorontheYRC.
Turning on this switch opens the contact, and turning it off closes the contact. The switch ON/OFF function is
disabled if not wired.
5
Enable switch
This is a 3-position switch designed in consideration of safety. Pressing this switch to the middle position
only enables robot operation.
ThisswitchisdisabledwhenLOCKIN1to4oftheSAFETYconnectorarenotwired.
Configure an external safety circuit so that the state of this switch determines the robot operating state as
follows:
Switchreleased
:Emergencystopstate
Switchinmiddleposition
:Operablestate
Switchpressed
:Emergencystopstate
TheHE2B-M200PBmadebyIDECisused.
6
PB connector
Use this connector to connect the PB programming box to the robot controller.
1.3.2
PB connector
The PB has an emergency stop button and an enable switch. The contact outputs of these can be used to connect to the
emergencystopcircuitoftheentireequipmentviatheSAFETYconnectoronthecontroller.Thissectiondescribes
signal connections.
CAUTION
• Donotchangeormodifythecableandconnector.Alongwiththeinput/outputsignalsfortheprogrammingbox,thePBconnector includessignalsusedtoconfigureanexternalsafetycircuit,andsochangingormodifyingthecableandconnectorisverydangerous.
• AlwaysconfigureanexternalsafetycircuitbyusingtheSAFETYconnector.AlthoughthePBhasanemergencystopbuttonandan enable switch, they do not function independently because the controller is designed on the assumption that an external safety circuit
isconfigured.
EachpinofthePBconnectoronthePBisconnectedtoeachpinoftheSAFETYconnectorandPBSELconnector.
Pintopinconnectionsareasfollows:
PB connector
pin No.
PB
Connected connector
Connector
pin No.
Name
Emergencystopcontact:
Line1
13
3
E-STOPIN1
14
4
E-STOPIN2
Emergencystopcontact:
Line2
15
5
E-STOPIN3
6
E-STOPIN4
7
LCKIN1
18
8
LCKIN2
19
9
LCKIN3
20
10
LCKIN4
−
KEY1
−
KEY2
16
17
Enablecontact:Line1
Enablecontact:Line2
21
Selectorswitch
22
Connected to
SAFETYconnector
Connected to
PBSELconnector
Circuit diagram
PB
YRC
Emergency stop
Selector
PB
SAFETY
3
4
5
6
7
8
9
10
PB SEL
Enable
1 to 12
13
14
15
16
17
18
19
20
21
22
2-5
YRC series
■ YRC robot controller
2
1.4
SERVICE mode
ThissectiondescribesSERVICEmode.
1.4.1
2
What is SERVICE mode?
SERVICEmodeisusedtoperformworkusingthePBwithinthesafetyenclosureoftherobotsystem.
ThismodeisenabledonlywhenthecontrollerissettoSAFEmode.TheCEmarkingcompliantcontrollersaresetto
SAFEmodeatthetimewhentheyareshipped.
CAUTION
TheCEmarkingcompliantcontrollersarealwayssettoSAFEmode.
YRC series
Basic operation mode
Basic operation modes
"SERVICE" mode
"AUTO"
mode
"MANUAL"
mode
"PROGRAM"
mode
"SYSTEM"
mode
"DI/DO
monitor"
mode
"UTILITY"
mode
SERVICEmodeincludesAUTOandMANUALmodesinthebasicoperationmode,andisselectedbyopening(turning
OFF)theDI02contact(SERVICEmodeinput).NormalmodeismaintainedaslongastheDI02contactisclosed(ON).
IfaserialI/Ooptionboardisinstalled,SERVICEmodeisenteredwheneitheroneofSI02orDI02isopen(OFF).
(NormalmodeisenteredonlywhenbothSI02andDI02contactsareclosed.)
WhentheDI02contactisopen(OFF),thecontrollerisinSERVICEmodewiththeoperationlevel,operatingspeed
limit,andexclusivecontroloftheoperatingdevicesspecifiedbytheSERVICEmodeparameters.Thefollowing
functionscanbeselectedinSERVICEmode.
1. Robot is controlled only by PB operation.
2. Automatic operation is prohibited.
3.Robotoperatingspeedissettobelow3%ofthemaximumspeed.
4. Robot operation is possible only by hold-to-run control.
(TheHold-to-Runfunctionallowstherobottomove(includingprogramexecution)onlyduringthetimethatthePBoperation
key is kept pressed.)
InSAFEmodesetting,therefore,theoperationsinAUTOmodeandMANUALmodedifferfromthoseinnormalmode,
dependingontheSERVICEmodeparametersettings.
WARNING
RESTRICTIONONTHEROBOTMOVINGSPEEDISNOTASAFETY-RELATEDFUNCTION.TOREDUCETHERISKOF
COLLISIONBETWEENTHEROBOTANDWORKERS,THEUSERMUSTTAKETHENECESSARYPROTECTIVEMEASURES
SUCHASENABLEDEVICESACCORDINGTORISKASSESSMENTBYTHEUSER.
NOTE
• TherobotpauseswhentheSERVICEmodeinputischangedduringprogramoperationorjogmovement.
• TheNPN/PNPspecificationsforDI02aredeterminedasfollows:
YRC
DeterminedbySTD.DIOsetting.
• Currentcapacityofatleast7mAisrequiredforDI02input.
• WhentheYRCcontrollerissettoSAFEmode,italwaysenterstheSERVICEmodestateunlesspowerissuppliedtoSTD.DIO
fromtheexternal24Vpowersupply.Tocancelthisstatebysoftware,setthe"WatchonSTD.DIODC24V"parameterto
"INVALID".
2-6
1.4.2
Flow for enabling the SERVICE mode functions
•ControllerissettoSAFEmode.
•SERVICEmodeparametershavebeenset.
↓
•Open(turnOFF)theDI02contact.
(IfaserialI/Ooptionboardisinstalled,SERVICEmodeisenteredwheneitheroneofSI02or
DI02isopen(OFF).)
2
↓
•ControllerentersSERVICEmodewiththeoperationlevel,operatingspeedlimit,andexclusivecontrolof
theoperationdevicesspecifiedbytheSERVICEmodeparameters.
YRC series
RefertothenextsectionfortheSERVICEmodeparametersettings.
1.4.3
SERVICE mode parameter settings
TherearethefollowingthreeparametersforSERVICEmode.
1.SERVICEmodelevel
2.OperatingspeedlimitduringSERVICEmode
3.OperationdevicecontrolduringSERVICEmode
These parameter settings determine the operation level, operating speed limit, and exclusive control of the operation
devicesduringSERVICEmode.
EvenaftereditingtheSERVICEmodeparameters,thepresentsettingsstillremainenableduntilthecontrollerpoweris
turned off unless the edited parameters are saved.
ForhowtosettheSERVICEmodeparameters,refertothecontrolleruser'smanual.
WARNING
CHANGINGTHESERVICEMODEPARAMETERSFORMTHEIRDEFAULTSETTINGSISLIKELYTOINCREASETHERISK
TOPERSONNELOPERATINGORMAINTAININGTHEROBOT.THESEPARAMETERSCANBECHANGEDIFTHE
CUSTOMERASSUMESRESPONSIBILITY,BUTEXTRACAUTIONSHOULDBETAKENTOENSURESAFETY.
2-7
1. SERVICE mode level
TheSERVICEmodelevelcanbeselectedtoenableordisabletheHold-to-Runfunctionandtopermitorprohibittheoperationin
AUTO mode.
TheHold-to-Runfunctionallowstherobottomove(includingprogramexecution)onlyduringthetimethatthePBoperationkey
is kept pressed.
Description
Setting
2
*
Hold-to-Run function
AUTO mode operation
Level0
Disabled
Permitted
Level1
Enabled
Permitted
Level2
Disabled
Prohibited
Level3
Enabled
Prohibited
YRC series
* Default setting
2. Limitations on operating speed during SERVICE mode
The maximum robot operating speed can be specified.
Setting
*
Description
<3%
Robotoperatingspeedislimitedtobelow3%ofmaximumspeed.
<100%
Robot operating speed is not limited.
*Default setting
3. Operation device control during SERVICE mode
The operation device can be specified.
Setting
*
Description
PB
Only PB operation is enabled.
PB/DI
PB and dedicated input are enabled.
PB/COM
PB and online commands are enabled.
ALL
PB, dedicated input, and online command operation device are enabled.
*Default setting
CAUTION
DedicatedinputisSIwhenaserialboardisconnected.
2-8
2.
EMC countermeasure examples
Regarding EMC Directive, the customer's final product (entire system) including the OMRON robot must provide the
necessary countermeasures. We at OMRON determine a model for single units of OMRON robots (controller, robot,
and peripheral device) and verify that it complies with the relevant standards of EMC Directive.
Inordertoensurethecustomer'sfinalproduct(entiresystem)complieswithEMCDirective,thecustomershouldtake
appropriate EMC countermeasures. Typical EMC countermeasures for a single unit of OMRON robot are shown for
reference.
2.1
YRC robot controller
2.1.1
Configuration
CAUTION
Asshowninthefollowingfigure,theferritecoresandnoisefilteronthecontrollersideshouldbeplacedasclosetothecontrollerbody
as possible. The ferrite cores on the robot side should be placed as close to the robot body as possible.
Typical component layout for EMC countermeasures
L
N
L1
N1
Power supply
(200 to 230V)
Ground
YRC
ROB I/O
XY
ZR
MOTOR
XM
YM
ZM
RM
STD.DIO
OP.DIO
NETWORK
PB
COM
Robot series
SCARA
I/O circuit
network
PB
RS-232C
SAFETY
External safety circuit
RGEN
Regenerative unit
Meaning of symbols
: Noise filter
NF2020A-UP : SOSHIN ELECTRIC CO., LTD.
: Ferrite core
ZCAT3035-1330 : TDK
: Ferrite core
ZCAT2132-1130 : TDK
: Ferrite core
ZCAT2032-0930 : TDK
: Ferrite core
TFT-274015S : Takeuchi Kogyo Co., Ltd.
: Ferrite core
SFT-72SNB-026K : Takeuchi Kogyo Co., Ltd.
: Ferrite core
1 turn
: Ferrite core
2 turns
2-9
2
YRC series
CAUTION
The following description and circuits are typical countermeasures used when the robot and controller are tested under OMRON
installation conditions. When the robot and controller are used while installed in the customer's system, the actual test results may differ
depending on installation conditions.
2.1.2
Countermeasure components
■ Surge absorber
TheYRCcanbeusedwithoutanexternalsurgeabsorber.However,tofurtherenhancesurgeresistance,installasurgeabsorberon
the AC power line.
A recommended surge absorber is shown below.
Manufacturer :SOSHINELECTRICCO.,LTD.
TypeNo.
:LT-C12G801WS
YRC series
Dimensional outline
25 ±1.0
: Normal
: Abnormal
.3 +0
.
-0 3
.1
4
Green
Red
33.5 ±1.0
Status indicator
φ4
19 ±1.0
Wire (earth)
(Green/Yellow)
28 ±1.0
250 +25
-0
Wire (line)
(Black)
22.5 ±1.0
2-10
4 ±0.5
2
● Recommended surge absorber
38 ±1.0
unit: mm
■ Noise filter
Always install an external noise filter on the AC power line.
A recommended noise filter is shown below.
● Recommended noise filter
Manufacturer :SOSHINELECTRICCO.,LTD.
TypeNo.
:NF2020A-UP
2
Dimensional outline
85±1
(5)
40±1
(28.8)
70±0.5
R2.25, Length: 6
YRC series
(71.6)
10
50±1
34±0.5
(18)
40±0.5
6-M4
φ4.5
(1)
(5)
(2)
(3)
(4)
No.
Part name
Note
(1)
Inputterminal
M4
(2)
Case
PBT
(3)
Name plate
(4)
Output terminal
M4
(5)
Earth terminal
M4
unit: mm
2-11
■ Ferrite core
Installferritecoresaccordingtothecustomer'sfinalproduct(entiresystem).
Recommended ferrite cores are shown below.
● Recommended ferrite core 1
Manufacturer :TDK
2
TypeNo.
:ZCAT3035-1330
Dimensional outline
30.0±1
39.0±1
YRC series
34.0±1
13.0±1
unit: mm
● Recommended ferrite core 2
Manufacturer :TDK
TypeNo.
:ZCAT2132-1130
Dimensional outline
36.0±1
32.0±1
20.5±1
11.0±1
unit: mm
● Recommended ferrite core 3
Manufacturer :TDK
TypeNo.
:ZCAT2032-0930
Dimensional outline
36.0±1
19.5±1
32.0±1
9.0±1
unit: mm
2-12
● Recommended ferrite core 4
Manufacturer :TakeuchiKogyoCo.,Ltd.
TypeNo.
:TFT-274015S
Dimensional outline
20.7
2
YRC series
(90.1)
43.8
40.0
φ43.8
φ27.4
Ferrite
Plastic case
Clamped state
unit: mm
● Recommended ferrite core 5
Manufacturer :TakeuchiKogyoCo.,Ltd.
TypeNo.
:SFT-72SNB-026K
40.4
28.0
35.6
Dimensional outline
(61.3)
29.4
29.4
25.0
φ12.2
Ferrite
Plastic case
Clamped state
unit: mm
2-13
3.
External safety circuit examples
This section describes category-specific safety circuit configuration examples using the PB.
Customers should install the appropriate safety measures for their system by referring to the circuit example for each
controller, in order to use the robots more safely.
2
3.1
Performance level
Tocomplywiththemachinerydirectives,the"performancelevel(PL)"requiredofthesafetycircuitmustbeevaluated.
Performancelevels(PL)aredeterminedbythefollowingparameters:
● Major factors that determine performance levels
YRC series
1. Category
2. MTTFd (Mean Time To Dangerous Failure)
3. DCavg (Average Diagnostic Coverage)
4.CCF(CommonCauseFailure)
:Checklistscore>65?
(Please obtain the data on each component from the component manufacturer.)
Theperformancelevel(PL)ofasafetycircuitisdeterminedbythefollowingflow.
● Flow for determining performance levels
1.Determinethe"performancelevel(PLr)requiredofthesafetycircuit"bymeansofriskassessment.
2.ConfigurethesafetycircuitthatsatisfiestherequirementsofthecategorythatmeetsPLr.
3.Calculatethesafetycircuit's"performancelevel(PL)"fromtheMTTFd,DCavg,andCCFofthedevicesusedforthesafety
circuit,andthenmakesurethatthecalculatedPLisequaltoorhigherthanthe"performancelevel(PLr)requiredofthesafety
circuit"(PLr≤PL).
Inthecustomer'sfinalsystem,theperformancelevel(PLr)requiredofthesafetycircuitshouldbedetermined
bymeansofriskassessment,andthenthesafetycircuitwiththecorrespondingperformancelevel(PL)should
be configured.
● Safety parts subject to performance level calculation
The table below shows the safety parts and B10d reference values.
CAUTION
Please obtain the latest information from the parts manufacturers.
PB
2-14
Parts name
Model name
Maker
B10d
Emergency stop button
XA1E-BV302R
IDEC
1x10 5
Enable switch
HE2B-M200PB
IDEC
1x10 5
3.2
Circuit examples for the YRC
The following shows category-specific safety circuit configuration examples for the YRC.
Customers should install the appropriate safety measures for their system by referring to these safety circuit
configuration examples in order to use the robots more safely.
The example shown here provide the following input/output signals.
Input
2
Reset switch, maintenance mode switch, door switch, and external emergency stop
Output
Programming box emergency stop output and enable output
Overall connection diagram (with enable switch)
L1
N1
Safety circuit
AC IN
L1
N1
AC OUT
Controller
(PNP specifications)
PB
L
N
Emergency stop
PB
SAFETY
Reset
3
4
5
6
7
8
9
10
Maintenance
Door
External
emergency stop
OUT
13
14
15
16
17
18
19
20
1
SERVICE(DI02)
P.COMDI
+5V
11 P.COM
Safety output
Wiring to check whether controller
is normal when using alarm to shut
off main power
2
KA1
MPRDY
MPRDY
Status
12 N.COM
13 E-STOP24V
N.COMDI
Internal+24V
14 E-STOPRDY
Wiring to check whether controller is
normal when not using alarm to shut
off main power
KA1
Enable
+24V
GND
+24V
STD.DIO
27
29
47
48
49
50
+24V
GND
E-STOP
Status
GND
+24V_GND
COMMON
CPU_OK (contact A (normally open))
P.COMDI
N.COMDI
GND
To PLC
Input/output signals
2-15
YRC series
CAUTION
ThecontrollerstatusoutputsignalsoftheparallelI/OandserialI/O,suchasalarmsignals,shouldbemonitoredbythehostdevice.
Reference: Connection diagram without enable switch (category B)
L1
N1
Safety circuit
PB
L
N
External
emergency circuit
2
Controller
(PNP specifications)
Emergency stop
PB
SAFETY
3
4
13
14
AUTO SERVICE
Maintenance switch
YRC series
1
SERVICE(DI02)
P.COMDI
+5V
11 P.COM
2 MPRDY
MPRDY
Status
12 N.COM
13 E-STOP24V
N.COMDI
Internal+24V
14 E-STOPRDY
GND
+24V
STD.DIO
27
29
+24V
47
48
49
50
+24V
GND
+24V_GND
GND
COMMON
CPU_OK (contact A (normally open))
P.COMDI
N.COMDI
GND
To PLC
2-16
E-STOP
Status
Input/output signals
3.2.1
Category 4
A safety circuit configuration example of category 4 is shown below.
Category 4 safety circuit example
KM1
KM2
L1
N1
AC IN
L
N
AC OUT
Reset switch
S1
YRC series
AUTO SERVICE
Maintenance switch
GND
GND
+24V
Service 1
Service 2 SRL1
Input 1
S2 Input 2
M1
M2
Input 3
Door switch
S3
Input 1
Input 2
Enable 11
Enable 12
Enable 21
Enable 22
T11
T12
T21
T22
Y1
T61
T62
T71
T72
Y2
L2 L1
M1 M2 OUT
ON OFF B
OFF ON A
T31
T32
T33
A
S14
S24
S44
S54
+24V
KA1
KA2
KA3
B
GND
SAFETY
GND
E-STOP24V
E-STOPRDY
MPRDY *1
T41 T42
N.COM
Service 1
Service 2
+24V
SRL2
External emergency stop
S4
T11
T12
T21
T22
Y1
Input 1
Input 2
L2 L1 A2 T31 T32 T33
SAFETY
SRL3
PB emergency stop
T11
T12
T21
T22
Y1
Input 1
Input 2
SRL4
PB enable
Input 1
Input 2
+24V
+24V
GND
T11
T12
T21
T22
T23
A
B
SERVICE(DI02)
P.COM
S14
S24
S34
S44
S54
OUT
T41 T42
+24V
KA4
PB emergency stop
KA5
Output 1
L1 A2 T31 T32 T33
Output 2
S14
S24
GND
T31 T32
13
14
23
24
33
34
43
44
GND
PB enable
Output 1
Output 2
Enable 11
Enable 12
Enable 21
Enable 22
GND
*1: Wiring to check whether the controller is normal when using an alarm to shut off the main power
Parts list
Circuit No.
S1
S2
S3
S4
KM1, 2
KA1 to 5
SRL1
SRL2
SRL3
SRL4
Part name
Reset switch
Key selector switch
Safetydoorswitch
Emergency stop switch
Contactor (mirror contact)
Safetyrelay
Socketforsafetyrelay
Safetyrelayunit
Safetyrelayunit
Safetyrelayunit
Safetyrelayunit
Type No.
A22 series
A22 TK series
D4 series
A22E series
LC1-D18
G7SA-3A1B
P7SA-10F-ND
G9SX-GS226
G9SX-AD322
G9SX-BC202
G9SA-GS501
2
Manufacturer
OMRON
OMRON
OMRON
OMRON
SchneiderElectric
OMRON
OMRON
OMRON
OMRON
OMRON
OMRON
2-17
3.2.2
Category 3
A safety circuit configuration example of category 3 is shown below.
Category 3 safety circuit example
KM1
2
KM2
L1
N1
AC IN
L
N
AC OUT
Reset switch
S1
YRC series
AUTO SERVICE
Maintenance switch
GND
GND
+24V
Service 1
Service 2 SRL1
Input 1
S2 Input 2
M1
M2
Input 3
Door switch
S3
Input 1
Input 2
Enable 11
Enable 12
Enable 21
Enable 22
T11
T12
T21
T22
Y1
T61
T62
T71
T72
Y2
L2 L1
M1 M2 OUT
ON OFF B
OFF ON
A
T31
T32
T33
A
S14
S24
S44
S54
+24V
KA1
KA2
KA3
B
GND
GND
SAFETY
E-STOP24V
E-STOPRDY
MPRDY *1
T41 T42
N.COM
Service 1
Service 2
SERVICE(DI02)
P.COM
External emergency stop
S4
Input 1
Input 2
OUT
+24V
SAFETY
SRL2
PB emergency stop
T11
T12
T21
T22
Y1
Input 1
Input 2
SRL3
PB enable
Input 1
Input 2
+24V
+24V
GND
T11
T12
T21
T22
T23
A
B
KA4
PB emergency stop
KA5
Output 1
L1 A2 T31 T32 T33
Output 2
S14
S24
GND
T31 T32
13
14
23
24
33
34
43
44
GND
PB enable
Output 1
Output 2
Enable 11
Enable 12
Enable 21
Enable 22
GND
*1: Wiring to check whether the controller is normal when using an alarm to shut off the main power
Parts list
Circuit No.
S1
S2
S3
S4
KM1, 2
KA1 to 5
SRL1
SRL2
SRL3
2-18
Part name
Reset switch
Key selector switch
Safetydoorswitch
Emergency stop switch
Contactor (mirror contact)
Safetyrelay
Socketforsafetyrelay
Safetyrelayunit
Safetyrelayunit
Safetyrelayunit
Type No.
A22 series
A22 TK series
D4 series
A22E series
LC1-D18
G7SA-3A1B
P7SA-10F-ND
G9SX-GS226
G9SX-BC202
G9SA-501
Manufacturer
OMRON
OMRON
OMRON
OMRON
SchneiderElectric
OMRON
OMRON
OMRON
OMRON
OMRON
3.2.3
Category 2
A safety circuit configuration example of category 2 is shown below.
Category 2 safety circuit example
KM1
L1
N1
AC IN
L
N
AC OUT
Reset switch
S1
YRC series
AUTO SERVICE
Maintenance switch
GND
+24V
Service 1
Service 2 SRL1
Input 1
S2
Input 2
M1
M2
Input 3
+24V
Door switch
S3
T11
T12
T21
T22
Y1
T61
T62
T71
T72
Y2
Input 1
Enable 11
L2 L1
M1 M2 OUT
ON OFF B
A
OFF ON
T31
T32
T33
A
S14
S24
S44
S54
+24V
KA1
KA2
B
SAFETY
GND
E-STOP24V
E-STOPRDY
MPRDY *1
T41 T42
SRL2
External emergency stop
S4
T11
T12
T21
T22
Y1
Input 1
SAFETY
PB emergency stop
N.COM
+24V
+24V
Service 1
Service 2
L1 A2 T31 T32 T33
SERVICE(DI02)
P.COM
S14
S24
+24V
OUT
PB emergency stop
Output 1
Input 1
Input 2
PB enable
+24V
Input 1
Enable 11
PB enable
Output 1
Input 2
+24V
+24V
GND
GND
*1: Wiring to check whether the controller is normal when using an alarm to shut off the main power
Parts list
Circuit No.
S1
S2
S3
S4
KM1
KA1, 2
SRL1
SRL2
Part name
Reset switch
Key selector switch
Safetydoorswitch
Emergency stop switch
Contactor (mirror contact)
Safetyrelay
Socketforsafetyrelay
Safetyrelayunit
Safetyrelayunit
Type No.
A22 series
A22 TK series
D4 series
A22E series
LC1-D18
G7SA-3A1B
P7SA-10F-ND
G9SX-GS226
G9SX-BC202
2
Manufacturer
OMRON
OMRON
OMRON
OMRON
SchneiderElectric
OMRON
OMRON
OMRON
OMRON
2-19
3.2.4
Overview of circuit operation
This section describes an overview of the circuit operation for each safety circuit configuration example shown in the
previous sections.
1. During AUTO mode
The main power is supplied only when the enable switch is disabled, the controller is in a normal state (MPRDY is ON) with no
internalalarmsoccurring,andalsoallthefollowingconditionsaremet:
2
Conditions
•MaintenancemodeswitchisinAUTO(M1:open,M2:closed)
•Doorswitch'sNCcontactisclosed.
•Externalemergencystopbutton'sNCcontactisclosed.
YRC series
•PBemergencystopbutton'sNCcontactisclosed.
CAUTION
ConnectthePBterminatororPBtothePBconnectoronthecontrollerfrontpanel.IfthePBconnectoronthecontrollerfrontpanelis
open, an emergency stop occurs.
2. During maintenance
The main power is supplied only when the door switch is disabled, the controller is in a normal state (MPRDY is ON) with no
internalalarmsoccurring,andalsoallthefollowingconditionsaremet:
Conditions
•MaintenancemodeswitchisinSERVICE(M1:closed,M2:open)
•Externalemergencystopbutton'sNCcontactisclosed.
•PBemergencystopbutton'sNCcontactisclosed.
•PBenableswitch'sNOcontactisclosed.
CAUTION
Always disconnect the PB terminator from the PB connector on the controller front panel and connect the PB to the PB connector.
2-20
Revision history
Amanualrevisioncodeappearsasasuffixtothecatalognumberonthefrontcovermanual.
Cat. No. I156E-EN-01
Revision code
The following table outlines the changes made to the manual during each revision.
Revision code
Date
01
August 2010
02
December 2012
Description
Original production
Minor changes
Authorized Distributor:
Cat. No. I154E-EN-02
Note: Specifications subject to change without notice.
Printed in Europe