Yaskawa YRC1000micro MOTOMAN Robot Controllers

Overview

The MOTOMAN YRC1000micro is a powerful and precise, ultra-compact robot controller for small robots up to 12 kg payload (GP Series, HC Series, MotoMini, HD-Series with Hygienic Design and SG-Series Scara), capable to control a robot with up to 2 additional external axes. It's small footprint and lightweight housing is ideal for space-saving stand-alone installation, or it can be installed horizontally or vertically in a 19" rack or a machine control cabinet.

Operation

Typically, the YRC1000micro comes with a standard Teach Pendant (touch screen) for professional users, or the intuitive Smart Pendant, for users starting their journey into robotics. The operation concept of MOTOMAN robots has been evolved and optimized over the years, based on the experience and feedback of more than 500.000 robots installed in the field so far, resulting in a today's highly efficient operating and programming environment with simple and easy-to-learn flat hierarchy menu structures, hotkeys, quick takeover of teach positions and understandable program structures with simple line based statements. Using the powerful, high level language Inform III, specialists can user powerful commands, make excessive use of control logic or even create sophisticated motion or communication functions or drivers on their own. User right management is based on a modern USB Stick system.

Motion Control Technology

A very fast multitasking CPU, an advanced operating system and the superior Yaskawa Sigma7 high speed servo technology allow high accelerations, fast axis speeds and superior path performance.

The multitasking, non-Windows-based operating system with very fast interpolation cycle does not require virus protection (saving the associated high update/maintenance efforts). The boot time is <40 sec. Thanks to very fast interpolation cycles, all MOTOMAN robots provide excellent path performance. The Advanced Robot Motion (ARM) function dynamically calculates and controls the torque and load of the robot axes, optimises acceleration and speed, eliminates vibrations, adjusts target positions very quickly and enables highly sensitive collision detection. Different interpolation methods, path switching functions and position level control allow precise definition and execution of the robot path.

Functions and Function Packages (Hardware/Software)

The YRC1000micro offers a variety of function packages (standard, extended, advanced), functions (e.g. Servofloat, Machine Vision) and syntax extensions, all of them making programming and commissioning of MOTOMAN robots and their peripheral comfortable and easy.

Machine Safety (MSU/FSU)

The YRC1000micro has a two channel safety system architecture (MSU, Emergency Stop and Safety Signals for safe I/O communication), and a built-in dual channel Functional Safety Board (FSU). All Teach Pendants provide the obligatory 3 position enabling switches. All robot servo motors are using high precision absolute encoders and spring operated brakes which are closed in the event of an emergency stop - there is no need for cyclical brake tests. 

Functional Safety (FSU) Software Options

The Functional Safety Software deploys the features of the FSU unit, providing options to allow safe moniting of position and speed inside/outside of defined workspace zones (axis ranges, cartesian zones, virtual curtains or protection zones around a tool). The FSU supports definition of a large number of these zones, allowing to model even complex cells layouts or interactions. The FSU considers the complete mechanical structure of the robot including elbows, not only the TCP (Tool Center Point), and allows to model the robot tooling and workpiece, including all these elements into the safe monitoring. The FSU is a powerful tool to reduce installation space, create safe interference zones, and - in case of collaborative robot installations - helping to achieve reasonably good cycle times even in collaborative mode.

Open Communication

The YRC1000micro can be easily integrated into existing networks. The robot controller comes with a set of standard communication interfaces, e.g. Ethernet and USB ports or digital inputs/outputs, as well as the FTP-capable TCP/IP web server function, allowing to read/set the controller status or enabling remote monitoring or maintenance over the Web.

The YRC1000micro is supporting a wide veariety of fieldbus systems, such as Ethernet-IP, Powerlink, Profinet, Profibus, Devicenet  and ModBusTCP, Direct or fieldbus-based communication interfaces are available for a variety of peripheral devices and equipment, often combined with a HMI integration on the teach pendant, e.g. supporting different grippers, 2D/3D Vision Systems or Force/Torque Sensors.

Open Programming

MOTOMAN Robots with YRC1000micro controllers are open for many programming methods, each of them making sense in their individual applications, markets or environments, such as:

• Hand Guiding (only collaborative HC Series robots)
• Standard Teach Pendant (Touchscreen), highly functional and menu/command-line based (Inform III)
• the intuitive, easy-to-use Smart Pendant
• Motologix Function Blocks, embedding robot programming completely in commonly used IEC 61131-based PLC programming environments
• Software Pendant (PC based)
• Offline Simulation Tool MotoSimVRC (OLP) (Device, Cell & Line Level)
• Application related Apps and wizards (e.g. Welding Wizard, PalletSolver, Motologix)
• Robot Operating System ROS
• 3rd party, cross brand robot programming environments
• API-Interfacing to Scientific PC Programming environments, e.g. Matlab oder LabView
• 2D/2D Machine Vision control, Bin Picking, feature or AI/Neural network based
• Hardware Programming Devices like Teach Pens or gloves
• Customer developed apps, wizards, visualisations, HMIs, coded by using our Software Development Kits (e.g. Motoplus C/C++, MotoCom32 SDKs)

Specifications: