YRC1000 OPTIONS

INSTRUCTIONS
FOR GUN TEACHING POSITION CORRECTION FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.

MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.

182143-1CD
0

MANUAL NO.

HW1483398 1/28
 HW1483398

DANGER
• This manual explains the gun teaching position correction function
of the YRC1000 system. Read this manual carefully and be sure to
understand its contents before handling the YRC1000. Any matter,
including operation, usage, measures, and an item to use, not
described in this manual must be regarded as "prohibited" or
"improper".
• General information related to safety are described in "Chapter 1.
Safety" of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read "Chapter 1. Safety" of the YRC1000
INSTRUCTIONS.

CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.

NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.

ii HW1483398 2/28
HW1483398

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.

Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.

Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.

Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.

NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.

Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION".

iii HW1483398 3/28

 HW1483398

DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.

iv HW1483398 4/28
HW1483398

WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
YRC1000 Controller YRC1000
YRC1000 Programming Pendant Programming Pendant
Cable between the manipulator and the Manipulator cable
controller

v HW1483398 5/28
 HW1483398

Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters or symbols
Pendant /Symbol Keys printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.

Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.

vi HW1483398 6/28
HW1483398

Contents

1 Overview ......................................................................................................................................... 1-1

2 Preparations.................................................................................................................................... 2-1

3 Setup .............................................................................................................................................. 3-1

3.1 Clearance Setting .............................................................................................................. 3-1

3.2 Gun Condition File Setting................................................................................................. 3-2

4 Operation ........................................................................................................................................ 4-1

5 Enabling or Disabling the Function ................................................................................................. 5-1

5.1 Setup by the Programming Pendant.................................................................................. 5-1

5.2 Setup and Confirmation Using the Dedicated I/O Signal................................................... 5-2

5.2.1 Setup by the Dedicated Input Signal .................................................................... 5-2

5.2.2 Setup by the Dedicated Output Signal ................................................................. 5-3

6 Operation Explanation .................................................................................................................... 6-1

6.1 Teach Mode....................................................................................................................... 6-1

6.2 Play Mode.......................................................................................................................... 6-2

7 Teaching Position Correction Screen ............................................................................................. 7-1

7.1 About the Screen ............................................................................................................... 7-1

7.2 Correction Procedures....................................................................................................... 7-2

7.3 Batch Correction Procedure .............................................................................................. 7-3

7.4 Clearing Data..................................................................................................................... 7-4

7.4.1 Clearing Procedure............................................................................................... 7-4

7.4.2 Conditions for Clearing Data ................................................................................ 7-5

8 Alarm............................................................................................................................................... 8-1

9 Parameter ....................................................................................................................................... 9-1

10 Restrictions ................................................................................................................................. 10-1

vii HW1483398 7/28

 HW1483398

1 Overview

1 Overview
The gun teaching position correction function is an automatically corrects
SVSPOTMOV registered in the job.
This function can be used to automatically correct the misalignment of
workpiece in the direction of Z-axis of tool.
This function can be executed in the teach or play mode.

1-1 HW1483398 8/28

HW1483398
2 Preparations

2 Preparations
• Correctly perform wear compensation before executing this function.
For further details, refer to “Chap. 1.12 Tip Wear Detection and Wear
Compensation (Motor Gun)” in “YRC1000 OPERATOR’S MANUAL
(FOR SPOT WELDING USING MOTOR GUN) (RE-CSO-A054)”.
• Correctly setting the gun pushing coefficient, and then teaching of
SVSPOTMOV. For further details, refer to “Chap.1.10.7.4 Setting
the Gun Pushing Coefficient” in “YRC1000 OPERATOR’S MANUAL
(FOR SPOT WELDING USING MOTOR GUN) (RE-CSO-A054)”.

2-1 HW1483398 9/28

 HW1483398

3 Setup
3.1 Clearance Setting

3 Setup
Make the following settings before using this function.

3.1 Clearance Setting

1. Select {SPOT WELDING} under the main menu.
2. Select {CLEARANCE SETTING}.
3. Separate the lower chip (IN) by 10.0 mm or more.

For further details, refer to “Chap.1.10.3 Setting the Clearance Files” in

“YRC1000 OPERATOR’S MANUAL (FOR SPOT WELDING USING
MOTOR GUN) (RE-CSO-A054)”.

To ensure the detection precision, separate the lower chip

NOTE (IN) by 10.0 mm and use the specified condition number as
the clearance file number of SVSPOTMOV.

3-1 HW1483398 10/28

HW1483398
3 Setup
3.2 Gun Condition File Setting

3.2 Gun Condition File Setting

1. Select {SPOT WELDING} under the {main menu}.
2. Select {GUN CONDITION}.
3. Specify the gun type, torque direction, pulse/stroke, and torque/gun
pressure.

For further details, refer to “Chap.1.4.1 Gun Condition File” in “YRC1000

OPERATOR’S MANUAL (FOR SPOT WELDING USING MOTOR GUN)
(RE-CSO-A054)”.

3-2 HW1483398 11/28

 HW1483398

4 Operation

4 Operation
This section describes the operation of gun and manipulator when this
function is enabled.
(1) Execute the SVSPOTMOV instruction.
(2) Compare the clearance amount on the moving side with
AxP075 × 0.1. If AxP075 × 0.1 value is higher, separate the chip
on the moving side from the workpiece so that the clearance
amount may be AxP075 × 0.1 [mm].
–The clearance amount on the moving side indicates the upper chip
distance, which can be viewed by selecting [Main Menu] − [Spot
Welding] − [Clearance Setting].
(3) The moving side chip descends and detects the workpiece.
(4) Raise the fixing side chip at the same time when the moving side
chip descends and detect the workpiece position.

(1) Execute the (2) Rise of moving (3) Drop of moving (4) Rise of fixing
SVSPOTMOV side chip side chip side chip and
instruction drop of moving
side chip

4-1 HW1483398 12/28

HW1483398
4 Operation

(1) Execute the SVSPOTMOV instruction.

Is the clearance on the moving

NO
side (the upper chip distance) is smaller
than A P075 0.1 [mm]?

YES

(2) Separate the moving side from the workpiece so that the
clearance on the moving side may be A P075 0.1 [mm].

(3) Descend the moving side chip.

NO
Is the workpiece detected?

YES

Stop the drop of moving side chip.

(4) Raise the fixing side chip.

Descend the moving side chip.

NO
Is the workpiece detected?

YES
Stop the fixing side chip.
Stop the moving side chip.

Correct the current position

as the teaching position.

The operating speeds (1) through (4) cannot be specified.

NOTE An operating speed other than that specified in the job is
used to ensure the detection precision.

4-2 HW1483398 13/28

 HW1483398

5 Enabling or Disabling the Function

5.1 Setup by the Programming Pendant

5 Enabling or Disabling the Function

5.1 Setup by the Programming Pendant

1. Select the Job menu.

2. Select {UTILITY} under the menu.

– The pull-down menu appears.

5-1 HW1483398 14/28

HW1483398
5 Enabling or Disabling the Function
5.2 Setup and Confirmation Using the Dedicated I/O Signal

3. Select {CORR GUN TEACH POS}.

– An asterisk (*) is attached and the message saying "Gun teaching
position correct mode valid" appears.
– To disable the function, select [Gun Teaching Position Correction]
again. The asterisk (*) and "Gun teaching position correct mode
valid" message disappear.

5.2 Setup and Confirmation Using the Dedicated I/O Signal

5.2.1 Setup by the Dedicated Input Signal

• Enable the function at the rising edge to the dedicated input signal
(#41231) and disable it at the falling edge.
• If the dedicated input signal (#41231) is turned off during operation,
the operation stops and the message saying "Operation stops
because the gun teaching position function is disabled" appears.
• If signals are input to the dedicated input signal (#41231) during
operation, the function remains disable until the operation stops.
Enable the function after the operation stops.
• When the function is enabled or disabled, the operation by the dedi-
cated input takes priority over the operation by the programming
pendant.

5-2 HW1483398 15/28

 HW1483398

5 Enabling or Disabling the Function

5.2 Setup and Confirmation Using the Dedicated I/O Signal

5.2.2 Setup by the Dedicated Output Signal

1. Select {IN/OUT} under the main menu.
2. Select {SPECIFIED OUTPUT}.
3. Display SOUT#1285(#51614) by pressing the [PAGE] or [SELECT].
– It indicates that the gun teaching position correction function is
enabled.
– This signal is ON while the gun teaching position correction function
is enabled.

5-3 HW1483398 16/28

HW1483398
6 Operation Explanation
6.1 Teach Mode

6 Operation Explanation

6.1 Teach Mode

This function can be executed in the teach mode.
1. Enable the function by referring to chapter 5 “Enabling or Disabling the
Function” .
2. Select the job with which SVSPOTMOV is registered.
3. Execute the SVSPOTMOV instruction at test operation by pressing
"Interlock + 9."
4. The moving side chip operates and then the fixing side chip operates
to search for the workpiece position.
5. When the workpiece position is detected, the following dialog appears.

6. Select "Yes" to correct the teaching position for the SVSPOTMOV

instruction.
– Select "No" not to correct the teaching position for the SVSPOTMOV
instruction.
7. Select "Yes" and perform the test operation to execute the
SVSPOTMOV instruction. It can check that the teaching position is
properly corrected.

Detection amount: Indicates the misalignment amount of workpiece in the

direction of Z-axis of tool.
Revision amount: The detection result can be corrected by this amount.
Up to ±20 [mm] can be specified.
This can be specified with the parameter AxP078.

Parameter AxP078 Revision amount

AxP078 × 0.1 [mm]
<Example> If AxP078 = 100, the revision amount is
10 [mm].

6-1 HW1483398 17/28

 HW1483398

6 Operation Explanation
6.2 Play Mode

Correction amount: Indicates the correction amount of workpiece in the

direction of Z-axis of tool. This is the sum of detection
amount and revision amount.
– For example, if this value is 2 [mm], the
teaching position is shifted from the original
position by 2 [mm] in the positive Z-axis
direction before registration.

6.2 Play Mode

This function can be executed in the play mode.
1. Enable the function by referring to chapter 5 “Enabling or Disabling the
Function” .
2. Select the job with which SVSPOTMOV is registered.
3. Enter into the play mode and start the job.
– If the parameter AxP081 is 1, the confirmation dialog appears.
– Select "Yes" and restart the job.
– If you select "No," the operation is aborted.

4. When the SVSPOTMOV instruction is executed, the moving side chip

operates and then the fixing side chip operates to detect the workpiece
position.
5. Every time the SVSPOTMOV instruction is executed, the detection
result is displayed on the {GUN TEACH POS CORRECT} screen.
– To open the {GUN TEACH POS CORRECT} screen, select {SPOT
WELDING} − {GUN TEACH POS CORRECT}.

6-2 HW1483398 18/28

HW1483398
6 Operation Explanation
6.2 Play Mode

• The 50-point SVSPOTMOV instruction can be corrected. When the

50-point SVSPOTMOV instruction is executed, the start lamp goes
off and the operation of robot and gun stops.
• If the 50th point is reached, the message saying "The number of the
teaching positions corrected by SVSPOTMOV exceeded the limit"
appears.
• If there are 50 data items at the time of operation, the following con-
firmation dialog appears.
– Select "Yes" to clear 50 data items and execute the job.
– Select "No" to not clear data and abort the operation.

6-3 HW1483398 19/28

 HW1483398

7 Teaching Position Correction Screen

7.1 About the Screen

7 Teaching Position Correction Screen

7.1 About the Screen

If the SVSPOTMOV instruction is executed when this function is enabled
in the play mode, the detection result is displayed on the {GUN TEACH
POS CORRECT} screen. Select {SPOT WELDING} − {GUN TEACH POS
CORRECT} to open this screen.

(2) (3) (4) (5)

(1)

(1) Job name: Indicates the job name of the SVSPOTMOV instruction.

(2) Line number: Indicates the line number of the SVSPOTMOV

instruction.
(3) Detection amount: Indicates the misalignment amount of workpiece in the
direction of Z-axis of tool.
(4) Revision amount: The detection result can be corrected by this amount. Up
to ±20 [mm] can be specified.
This can be specified with the parameter AxP078.

Parameter AxP078 Revision amount

AxP078 × 0.1 [mm]
<Example> If AxP078 = 100, the revision amount is 10 [mm].

(5) Correction amount: Indicates the correction amount of workpiece in the direction of
Z-axis of tool. This is the sum of detection amount and
revision amount.
– For example, if this value is 2 [mm], the teaching
position is shifted from the original position by 2 mm in
the positive Z-axis direction before teaching.

7-1 HW1483398 20/28

HW1483398
7 Teaching Position Correction Screen
7.2 Correction Procedures

7.2 Correction Procedures

1. Select {SPOT WELDING} under the main menu.
2. Select {GUN TEACH POS CORRECT}.
3. Move the cursor to the item for which teaching position you want to
correct and press “Select”. An asterisk (*) is then displayed.
4. When an item is selected, {EXCUTE} appears.

5. Select {EXCUTE}.
– The confirmation dialog box appears.
– Select "Yes" to correct the teaching position with asterisk (*).
The item that has already been corrected cannot be selected.
– Select "No" to abort the operation.

7-2 HW1483398 21/28

 HW1483398

7 Teaching Position Correction Screen

7.3 Batch Correction Procedure

7.3 Batch Correction Procedure

1. Select {SPOT WELDING} under the main menu.
2. Select {GUN TEACH POS CORRECT}.
3. Select {EDIT} under the menu.
– The pull-down menu appears.

4. Select {SELECT ALL}.

– Asterisks "*" are attached to all the items and all data is selected.
– To deselect data, select {EDIT} − {DESELCT} on the menu.
5. {Execute} appears.
6. Select {EXCUTE}.
– The confirmation dialog box appears.
– Select "Yes" to correct the teaching position with asterisk (*).
The item that has already been corrected cannot be selected.
– Select "No" to abort the operation.

7-3 HW1483398 22/28

HW1483398
7 Teaching Position Correction Screen
7.4 Clearing Data

7.4 Clearing Data

7.4.1 Clearing Procedure

1. Select {SPOT WELDING} under the main menu.
2. Select {GUN TEACH POS CORRECT}.
3. Select {CLEAR}.
– The confirmation dialog box appears.
– Select "Yes" to clear all data.
– Select "No" to abort the operation.

7-4 HW1483398 23/28

 HW1483398

7 Teaching Position Correction Screen

7.4 Clearing Data

7.4.2 Conditions for Clearing Data

Data is cleared under the following conditions.
(1) If the {Clear} is pressed on the [Teaching Position Correction]
screen.
(2) If this function is executed in the play mode when the [Teaching
Position Correction] screen displays 50 data items.
(3) If job correction is performed.
(4) If this function is executed in the teach mode to correct the teach-
ing position.
(5) If the controller is turned off.

The confirmation dialog does not appear for the conditions

(3) through (5).
NOTE
Correct the teaching position before performing the above
operations.

7-5 HW1483398 24/28

HW1483398
8 Alarm

8 Alarm

Alarm Alarm Name/ Sub Code Cause Remedy

Number Message
4976 GUN Indicates The distance between [Setting error]
SEARCH the axis for fixed gun electrode Check the following settings.
DETECT which the and movable gun • Home position of gun axis.
RANGE alarm electrode exceeded • "The pulse-stroke converter" in the gun
OVER occurred. the allowable limit condition file.
while executing • The value of the wear correction.
correction operation in
the GUN TEACH [Effect of external force]
POSITION CORRECT (1)Check that no objects exist between
Mode. workpiece and gun.
(2)Check the lost electrode.
4977 GUN Indicates The detected position [Setting error]
SEARCH the axis for where the gun Check the following settings.
POS ERROR which the electrode hits the • Home position of gun axis.
alarm welded target • "The pulse-stroke converter" in the gun
occurred. exceeded the condition file.
allowable limit while • The value of the wear correction for
executing correction
movable gun electrode.
operation in the GUN
TEACH POSITION [Effect of external force]
CORRECT Mode. (1)Check the amount of the gap between
workpiece position and the teaching
position.
(2)Check the lost electrode for movable gun.

8-1 HW1483398 25/28

 HW1483398

9 Parameter

9 Parameter
AxP075 : Clearance amount on the moving chip side
Specify the clearance amount of upper chip.
0: 30 [mm] (initial value)
others: AxP075 × 0.1 [mm]
<Example> If AxP075 = 400, the clearance amount of upper chip is 40 [mm].

AxP078 : Revision amount

Specify the revision amount in the range of ±20 mm.
0: 0 [mm] (initial value)
others: AxP078 × 0.1 [mm]
<Example> If AxP078 = 100, the revision amount is 10 [mm].

AxP079 : Detection threshold value of GUN SEARCH POS ERROR

Specify the detection threshold value of alarm 4977
"GUN SEARCH POS ERROR."
0: 5 [mm] (initial value)
others: AxP079 × 0.1 [mm]
<Example> If AxP079 = 60, the detection threshold value is 6 [mm].

AxP080 : Detection threshold value when the GUN SEARCH DETECT RANGE OVER
Specify the detection threshold value when the alarm 4976
"GUN SEARCH DETECT RANGE OVER" occurs.
0: 3 [mm] (initial value)
others: AxP080 × 0.1 [mm]
<Example> If AxP080 = 100, the detection threshold value is 10 [mm].

AxP081 : Specification of dialog display at startup

Specify the dialog display at startup.
0: Hide the dialog (initial value)
1: Display the dialog

S1CxG175 : Workpiece detection threshold value for the moving side chip
Specify the workpiece detection threshold value for the moving side chip.
0: 1.0 [kgf]
others: S1CxG175 × 0.1 [kgf]
<Example> If S1CxG175 = 20, the detection threshold value is 2.0 [kgf].

NOTE It is recommended to use the initial value (0) for AxP075

and AxP079 to ensure the detection precision.

The adjusted value is set to S1CxG175 as factory setting.

If a detection error occurs, increase S1CxG175 from the ini-
NOTE tial value by one scale until the detection error goes off.
If a detection error occurs when the initial value is 0,
increase S1CxG175 from 11 by one scale until the detection
error goes off.

9-1 HW1483398 26/28

HW1483398
10 Restrictions

10 Restrictions
• This function is not available to the fixed gun.
• This function is not available to the pair gun.
• This function is not available to the double gun.
• If the rigidity of workpiece is low, the workpiece position detection
precision is lowered. It is recommended to use the workpiece with
the rigidity that meets the following standards.

Recommended workpiece rigidity

The deformation amount of the workpiece to be used should be 2 [mm] or
less when the force gauge is applied to the workpiece with force of 50 [N]
or more.

Force Gauge

Apply the force gauge to the workpiece

with force of 50 [N] or more.

50 [N]

2 mm
(Deformation amount of workpiece)
workpiece

10-1 HW1483398 27/28

YRC1000 OPTIONS
INSTRUCTIONS
FOR GUN TEACHING POSITION CORRECTION FUNCTION

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802

YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10

YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199

PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741

Specifications are subject to change without notice

for ongoing product modifications and improvements.

C Printed in Japan October 2017 17-10

MANUAL NO.

HW1483398 28/28