YASKAWA Smart Series Manual de usuario

Part Number: 188791-1

Revision: 0

YASKAWA SMART SERIES

HC10DT COLLABORATIVE ROBOT

QUICK START GUIDE

WITH SMART PENDANT AND YRC1000micro

Upon delivery of the product and prior to operation, read all included instructions thoroughly, and

retain for future reference.

188791-1

Smart Series HC10DT

Collaborative Robot

YASKAWA customers to assist in the operation of the Motoman robots,

related equipment and software This manual is copyrighted property of

YASKAWA and may not be sold or redistributed in any way. You are

welcome to copy this document to your computer or mobile device for

easy access but you may not copy the PDF files to another website, blog,

cloud storage site or any other means of storing or distributing online

content.

Printed in the United States of America

First Printing, 2019

YASKAWA America, Inc.

Motoman Robotics Division

100 Automation Way

Miamisburg, OH 45342

Phone: 937-847-6200

www.motoman.com

Notes for Safe Operation

Read all included manuals carefully before installing, operating,

maintaining, or inspecting the system.

In this instruction, Safe Operations are classified as “DANGER”,

“WARNING”, “CAUTION” or “NOTICE”.

Registered Trademark

In this manual, names of companies, corporations, or products are

trademarks, registered trademarks, or bland names for each company or

corporation. The indications of ® and TM are omitted.

DANGER Indicates an imminently hazardous

situation which, if not avoided, WILL

result in death or serious injury.

WARNING Indicates a potentially hazardous

situation which, if not avoided, MAY

result in death or serious injury.

CAUTION Indicates a hazardous situation,

which if not avoided, MAY result in

minor to moderate injury.

CAUTION Indicate a situation which if not

avoided may result in equipment

damage.

NOTICE Indicates practices not related to

personal injury.

1-1

188791-1

1 General Information

1.1 Introduction

Smart Series HC10DT

Collaborative Robot

1 General Information

1.1 Introduction

This is a YASKAWA Smart Series HC10DT Collaborative Robot Quick

Start Guide for Robots that have Smart Pendant Version 1.3.5 and newer.

This document is intended to guide the user through a basic installation

and setup of the Robot and the user to perform basic moves to confirm

setup was successful. A complete set of manuals is provided and are to

be reviewed by all working with or near the Robot.

1.2 Safety

Before installing and powering on the Robot, be sure to read and

understand all safety information. Refer to the safety sections of all

included manuals. All YASKAWA manuals are included on a USB.

1.3 Robot Assembly

Fig. 1-1: Robot Assembly Includes:

1.4 Training

YASKAWA recommends users complete the free online courses listed

below before proceeding to the next sections:

– HC10 w/wo DT YRC1000micro Controller w/ Smart Pendant

– Intro to Robotics

– Yaskawa Safety Principles

1.4.1 How to Access Free Online Training

1. Go to “YASKAWA Academy Catalog”

https://yaskawaacademy.myabsorb.com/#/catalog/

2. Press the {$0.00} located underneath each of the desired courses to

add them to the “Cart”

3. Review the items in the Cart and press {Proceed to Checkout}

4. Follow instructions to “Sign In” or “Sign Up”

• An activation link is sent to the email address on file, if signing up for

the first time

5. Enrolled courses can be found in “My Courses” on the dashboard, or

at https://yaskawaacademy.myabsorb.com/#/courses

6. Use {Start} to begin the course

Smart Pendant

Manipulator

YRC1000micro

USB

ＲｏｂｏｔＭａｎｕａｌ

READ ONLY MEMORY

Ｒ

ｂ

Ｍ

ｌ

ＲｏｂｏｔＭａｎｕａｌ

Ｒ

ｂ

ｔ

Ｍ

ｌ

Base I/O

Cable

1 2 3 4 5 6 7 8 9 10 11 12 13

XXXXXX

CN3

1 2 3 4 5 6 7 8 9 1011 12 13 14 15 16 17 18 2021 22 23 24

XXXXXX

2526

CN4

Terminal Blocks for Safety I/O (Left)

General Purpose I/O (Right)

CN3 Safety Cable

CN4 GPIO Cable

Switch/Lamp

Cable

Torque Sensor

Cable

Manipulator

Cable

2-1

188791-1

2 Setup HC10DT Smart Series Robot

2.1 Transportation

Smart Series HC10DT

Collaborative Robot

2 Setup HC10DT Smart Series Robot

2.1 Transportation

2.1.1 Manipulator

2.1.1.1 Using Crane

Remove the plastic cover between the R and U axis to install the included

hardware to lift and transport.

Refer to Chapter 2 Transporting in the MOTOMAN-HC10DT

INSTRUCTIONS, for transportation instructions.

Fig. 2-1: Lift Connections with Crane

2.1.2 Controller

The Controller can be moved manually with a forklift or a platform truck.

Refer to Chapter 3 Installation in the YRC1000micro INSTRUCTIONS, for

detailed instructions for transporting.

CAUTION

• Use at least two people to transport and unpack the Manipulator

and Controller to the installation location

• Do not transport the Manipulator and Controller at the same time.

Not following these CAUTIONs can result in injury and/or equipment

damage.

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

0°

indicates the position of

the center of gravity.

Hexagon socket head cap screw M8

(length: 25 mm)(2 screws)

Conical spring washer M8 (2 washers)

Tightening torque: 24.5 N•m (2.5 kgf•m)

(130)

(454)

(34)

(541)

(301)

HW1307411-1 (shipping bolts and brackets)

(265)

Casing cover

Screw (provided with the cover)

Tightening torque:

1.2 N•m (0.12 kgf•m)

(1125)

CAUTION

• Hold the Controller firmly from the bottom if moving manually.

Not holding the Controller firmly from the bottom can damage the

Controller.

2-2

188791-1

2 Setup HC10DT Smart Series Robot

2.2 Manipulator Installation

Smart Series HC10DT

Collaborative Robot

2.2 Manipulator Installation

Attach the Manipulator base to the baseplate using four hexagon socket

head cap screws M12 (Tensile strength: 1200 N/mm2 or more,

recommended length: 45 mm) by tightening to 84 Nm. The hexagon

socket head cap screws and the anchor bolts must be tightened firmly so

they do not loosen over time.

Refer to section 3.2 Mounting Procedures for Manipulator Base in the

MOTOMAN-HC10DT INSTRUCTIONS.

Fig. 2-2: Installing Manipulator Base and Baseplate

Anchor bolt (M12 or larger)

Baseplate

67.5 ±0.1

195 ±0.1

67.5 ±0.1

97.5 ±0.197.5 ±0.1

195 ±0.1

(Reference hole)

Baseplate

8 dia. (2 holes)

+ 0.015

14 dia. hole for mounting (4 holes)

1632 or longer

Hexagon socket head cap

screw M12 (4 screws)

Conical spring washer

Washer

measurements in mm

2-3

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2 Setup HC10DT Smart Series Robot

2.3 Controller Installation

Smart Series HC10DT

Collaborative Robot

2.3 Controller Installation

The Controller can be installed in a 19 inch server rack with compatible

hardware (not included).

Refer to chapter 3 Installation in the YRC1000micro INSTRUCTIONS for

detailed instructions on Controller installation.

Fig. 2-3: Controller Dimensions

CUSTOMER

SUPPORT

(Back View) (Front View)

(Top View)

425W x 188H x 405D

2-4

188791-1

2 Setup HC10DT Smart Series Robot

2.4 Wiring Robot

Smart Series HC10DT

Collaborative Robot

2.4 Wiring Robot

2.4.1 Reference Material

Refer to the following manuals for detailed wiring instructions:

–READ FIRST!! YRC1000micro GPIO and Direct IN Connections

–Section 1.5.2 Connecting to the YRC1000micro of the YRC1000/

YRC1000micro INSTRUCTIONS FOR Smart Pendant

–Chapter 2 Connections of the YRC1000micro SUPPLEMENTARY

INSTRUCTIONS FOR HC10/HC10DT

–Chapter 4 Wiring of the MOTOMAN-HC10DT INSTRUCTIONS

2.4.2 Basic Wiring Overview

Fig. 2-4: Basic Wiring

2-5

188791-1

2 Setup HC10DT Smart Series Robot

2.4 Wiring Robot

Smart Series HC10DT

Collaborative Robot

2.4.2.1 Controller Detailed Connectors

– The Pendant connects to the bottom section of the Controller as shown

in Fig. 2-4.

– General Purpose I/O (GPIO) connects to the top section of the

Controller and the Safety I/O connects to the bottom section of the

Controller (see Fig. 2-4). Refer to the READ FIRST!! YRC1000micro

GPIO and Direct IN Connections for more details.

Fig. 2-5: Controller Connections

2.4.2.2 Manipulator Detailed Connectors

– Uses four cables:

• 1BC - encoder and axis (Manipulator) cable.

• SW - switch/lamp (collaborative button power & signal) cable.

• TQ - torque sensor (Torque sensor power & data) cable.

• S - Base I/O (using I/O through the arm) cable. For more information,

refer to Fig. 2-7.

Fig. 2-6: Manipulator Connections

1BC TQ

2-6

188791-1

2 Setup HC10DT Smart Series Robot

2.4 Wiring Robot

Smart Series HC10DT

Collaborative Robot

Fig. 2-7: Base I/O Cable Assembly

WIRE SIDE SHOWN

2:1

XXXXXX

16 16

WHT22

RED22

ORN22

BLK22

BRN22

BLK22

YEL22

BLK22

BLU22

BLK22

GRN22

BLK22

WHT22

BLK22

RED22

BLK22

2-7

188791-1

2 Setup HC10DT Smart Series Robot

2.5 Power ON

Smart Series HC10DT

Collaborative Robot

2.5 Power ON

The main power supply is turned ON when the Controller’s [POWER]

switch is flipped to the “ON” position. After a few seconds, the startup

screen appears on the Pendant.

Fig. 2-8: Controller Power Switch

Fig. 2-9: Pendant Startup Screen

If the Pendant does not complete the startup sequence due to an error

(e.g. Controller Software incompatibility), an {Export Logs} button

appears. Use the {Export Logs} button to save internal logs to a USB

storage device that is inserted in the Smart Pendant to aid with

troubleshooting by Customer Support.

WARNING

• Perform a risk assessment of the Robot and application before

powering ON the Robot.

Not performing a risk assessment before Powering ON the Robot may

result in death or serious injury.

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