YASKAWA
DX100 OPTIONS
INSTRUCTIONS
FOR SEARCH FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN--
INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 156428-1CD
Revision: 0
YASKAWA
MANUAL NO.
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MANDATORY
• This manual explains the search function of the DX100. Read this manual carefully and be sure to understand its contents before handling the DX100.
• General items related to safety are listed in Chapter 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.
• 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.
• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product's warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
WARNING
CAUTION
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment.
It may also be used to alert against unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as "CAUTION" and "WARNING".
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.
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CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet of the DX100 after use.
The programming pendant can be damaged if it is left in the manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:
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
DX100 controller
DX100 programming pendant
Cable between the manipulator and the controller
Manual Designation
DX100
Programming pendant
Manipulator cable v
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Descriptions of the programming pendant, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Character
Keys
Symbol
Keys
Manual Designation
The keys which have characters printed on them are denoted with [ ].
ex. [ENTER]
The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
Axis Keys
Number Keys
Keys pressed simultaneously
Displays ex. page key
The cursor key is an exception, and a picture is not shown.
“Axis Keys” and “Number Keys” are generic names for the keys for axis operation and number input.
When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]
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 the SELECT key is pressed, or that the item is directly selected by touching the screen.
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DX100 Contents
1 Search Function .............................................................................................................................. 1-1
2 Wiring .............................................................................................................................................. 2-1
2.1 Direct IN Connection.......................................................................................................... 2-2
2.2 Confirmation of Direct IN Signal Status ............................................................................. 2-3
2.2.1 RIN INPUT Window .............................................................................................. 2-3
3 Instructions...................................................................................................................................... 3-1
3.1 SRCH (Search Instruction) ................................................................................................ 3-1
3.1.1 Function ................................................................................................................ 3-1
3.1.2 Construction.......................................................................................................... 3-1
3.1.3 Explanation ........................................................................................................... 3-2
3.1.4 Register SRCH Instruction.................................................................................... 3-3
3.2 GETS Instruction................................................................................................................ 3-5
3.2.1 Function ................................................................................................................ 3-5
3.2.2 Construction.......................................................................................................... 3-5
3.2.3 Explanation ........................................................................................................... 3-6
3.2.4 Register GETS Instruction .................................................................................... 3-7
3.3 CNVRT (Position Type Variable Conversion Instruction) .................................................. 3-8
3.3.1 Function ................................................................................................................ 3-8
3.3.2 Construction.......................................................................................................... 3-8
3.3.3 Explanation ........................................................................................................... 3-8
3.3.4 CNVRT Instruction.............................................................................................. 3-10
3.4 MSHIFT Instruction .......................................................................................................... 3-12
3.4.1 Function .............................................................................................................. 3-12
3.4.2 Construction........................................................................................................ 3-12
3.4.3 Explanation ......................................................................................................... 3-13
3.4.4 Register MSHIFT Instruction .............................................................................. 3-14
4 Alarm List ........................................................................................................................................ 4-1
5 Instruction List ................................................................................................................................. 5-1
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1
DX100
1 Search Function
Search Function
The search function moves the manipulator to a specified position and stops it when a specified direct input signal comes ON.
Position data at the point the manipulator stops can be taken-in. This information can be used with other instructions, for instance, to obtain the distance from a goal position and modify operation accordingly.
<Example> A manipulator performs a handling operation of panels
1. The manipulator moves to the search starting position.
Panel
Search starting position
Stocker
2. The manipulator moves to the goal position in the search operation at low-speed. When the manipulator comes to the position to take the panel, a input signal (Direct-IN signal) from the sensor comes ON, then the manipulator stops. At this moment, the difference between the search starting position and the detected position is calculated.
Direct IN signal
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3. On the base of the calculated difference, the program is modified to proceed the operation.
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1 Search Function
004
005
006
007
008
009
010
Table 1-1: JOB:WORK
Line NO. Instruction
000
001
002
003
NOP
MOVJ VJ=20.00
MOVL V=300.0 PL=0
REFP 1
CALL JOB:SRCH
SFTON P002
DOUT OT#(1)=ON
MOVL V=100.0
SFTOF
MOVJ VJ=20.00
END
Content
Set the target point of the search operation
Search operation parallel shift start
Execution of operation parallel shift end
Table 1-2: JOB:SRCH
007
008
009
010
011
012
013
014
015
016
017
018
019
020
021
Line NO. Instruction
000
001
NOP
GETS LPX000 $PX021
002
003
004
005
006
Content
Load the target point of the search operation
Search operation MOVL LP000 V=100.0 SRCH
RIN#(1)=ON DIS=0.1
GETS LB000 $B002
JUMP *NG IF LB000=0
GETS LPX001 $PX002
MSHIFT PX002 RF LPX000
LPX001
SETE P002 (4) 0
SETE P002 (5) 0
SETE P002 (6) 0
GETE LD000 P002 (1)
GETE LD001 P002 (2)
GETE LD002 P002 (3)
SET LR000 EXPRESS LD000 *
LD000 + LD001 * LD001 + LD002
* LD002
SQRT LR000 LR000
JUMP *NG IF LR000>400000
JUMP *NG IF LR000<300000
RET
*NG
PAUSE
JUMP *NG
END
Load the detection result
Determination of the detection result
Load the detected position
Shift amount calculation
Shift length calculation
Shift length check
Normal termination
Abnormal termination
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2 Wiring
2 Wiring
Output signals of the sensor used in the system are connected to the
DX100 input port for direct-input signals. The signals that are input from this port are called direct-in signals.
The output signals of the sensor used in the system can be connected via a sequencer to the direct-in signal input port, however, processing variations may result due to scanning timing of the sequencer.
It is therefore recommended to connect the output signal of the sensor directly to the DX100 input port.
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2 Wiring
2.1
Direct IN Connection
2.1
Direct IN Connection
Major axes control circuit board
(SRDA-EAXA01
)
AXDIN1
AXDIN2
CN514
B1
024V
B3
A4
AXDIN3
AXDIN4
AXDIN5
AXDIN6
B4
A5
B5
AXINCOM
A6
A3
+24V2
A1
Matching connector
JFA J2000 Series
J21DF-20V-KX-L Manufacturer : JST
Contact : SJ2F-01GF-P1.0(AWG20~24)
B1
B3
A4
B4
A5
B5
A6
A3
A1
Direct-in (servo) 1
Direct-in (servo) 2
Direct-in (servo) 3
Direct-in (servo) 4
Direct-in (servo) 5
Direct-in (servo) 6
Connect a jumper line
Coordinated slave side
Major axes control circuit board
(SRDA-EAXA01D)
AXDIN1
CN514
024V
B1
B3
AXDIN2
A4
AXDIN3
AXDIN4
AXDIN5
AXDIN6
AXINCOM
B4
A5
B5
A6
A3
+24V2
A1
B1
B3
A4
B4
A5
B5
A6
A3
A1
Connect a jumper line
Matching connector
JFA J2000 Series
J21DF-20V-KX-L Manufacturer : JST
Contact : SJ2F-01GF-P1.0(AWG20~24)
Wire the portion of when there is a coordinated slave side major axes control circuit board (SRDA-EAXA01
).
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2 Wiring
2.2
Confirmation of Direct IN Signal Status
2.2
Confirmation of Direct IN Signal Status
Check the status of direct-input signal on the RIN INPUT window.
2.2.1 RIN INPUT Window
1. Select {IN/OUT} under the main menu
2. Select {RIN}
– The RIN INPUT window appears.
– “ z” indicates the ON status of direct IN signal.
– “
{” indicates the OFF status of direct IN signal
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3 Instructions
3 Instructions
3.1
SRCH (Search Instruction)
3.1
SRCH (Search Instruction)
3.1.1 Function
The SRCH is an instruction to execute the search function. It is set as an additional item to the move instruction.
• MOVL
• IMOV
• SMOVL
3.1.2 Construction
MOVL
SRCH
A B
END
1 SRCH
2 RIN# (
Direct in
Signal No.
) 3 = 4
B/LB/
B[]/LB[]
5
ON/OFF
Variable
No.
C
C
7 T=
Time
(sec)
6 DIS=
Distance
(mm)
END
* Two or more tags can be set in portions A and B ,
though the description is omitted here.
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3.1.3 Explanation
3
3.1
Instructions
SRCH (Search Instruction)
№ Tag
1 SRCH
Explanation
Specifies the SRCH instruction.
SRCH instruction is an instruction to execute search operation.
2 RIN# (Input number) Specify direct in signal number.
Note
No.:1 to 6
B/I/D/B[ ]/I[ ]/D[ ]/LB/LI/LD/LB[ ]/LI[ ]/LD[
] can be used.
3 =
4 B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]/
5 ON/OFF
6 Distance
7 Time
It is equal.
Specify byte type variables which are used as detection conditions.
Specify detection conditions by ON/OFF.
Specify the distance to extend the target point.
When using direct in signal search start delay time (in 0.01 s) and start point search unit, set 0.1 s or more.
This is because there may be cases where the relay (200 V) is switched when starting search operation and direct in signal is constantly received.
Last significant bit:
0: OFF
1: ON
Distance: 0.1 to 6553.5mm
Variable B/I/D/B[ ]/I[ ]/D[ ]/LB/LI/LD/LB[
Distance can be specified with variables
B/I/D/B[]/D[]/LB/LI/LD/LB[]/LI[]/LD[]
(unit: 0.1 mm).
unit: 0.01 to 655.35 s
Time can be specified with variables I/
LI/I[]/LI[] (unit: 0.01 s).
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3 Instructions
3.1
SRCH (Search Instruction)
3.1.4 Register SRCH Instruction
1. Move the cursor to the instruction area.
2. Move the cursor to the move instruction where SRCH instruction is to be registered.
3. Press [SELECT] twice.
(1) Press [SELECT] once to display the contents registered in the job in the input buffer line.
(2) Press [SELECT] once more, and the DETAIL EDIT window of the move instruction appears.
4. Select {UNTIL}.
5. Select {SRCH}.
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3.1
SRCH (Search Instruction)
6. Set each item on the DETAIL EDIT window of SRCH instruction.
– The DETAIL EDIT window of SRCH instruction appears.
7. Press [ENTER].
– Returns to the DETAIL EDIT window of the move instruction.
8. Press [ENTER] twice.
(1) Press [ENTER] once to display the set contents in the input buffer line.
(2) Press [ENTER] once more, and the set contents are registered in the job.
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3.2.1 Function
3.2.2 Construction
3 Instructions
3.2
GETS Instruction
3.2
GETS Instruction
Saves the system variable ($ variable) as a user variable.
GETS 1
2
B/LB/
B[ ]/LB[ ]
PX/LPX/
PX[ ]/LPX[ ]
Variable
No.
Variable
No.
3
4
A
$B/
$B[ ]
$PX/
$PX[ ]
Variable
No.
Variable
No.
END
* Two or more tags can be set in portion A ,
though the description is omitted here.
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3 Instructions
3.2
GETS Instruction
3.2.3 Explanation
№ Tag
1 B Variable number/
LB Variable number/
B [Array number]/
LB [Array number]
2 PX Variable number/
LPX Variable number/
PX [Array number]/
LPX [Array number]
3 $B Variable number/
$B [Array number]
4 $PX Variable number/
$PX [Array number]
.
Explanation
Specify byte type variable number to save system variable.
pecify expanded position type variable number to save system variable.
Specify byte type system variable number to set.
Specify expanded position type variable number to set.
Note
SUPPLE
-MENT
System variable
The GETS is the only instruction that refers to system variables written by the controller system.
The following system variables are available.
System
Variable
$B type variable
$PX type variable
Type No.
Explanation
Byte type
Expanded position type
$B002
$PX002
$PX003
Specifies detected/not detected of the SRCH instruction
0: Not detected, 1: Detected
Position detected by the optional SRCH instruction (pulse type)
Position detected by the optional SRCH instruction (XYZ type)
$PX011 to 018 Teaching position by REFP 1 to 8 instruction
(pulse type)
$PX021 to 028 Teaching position by SREFP 1 to 8 instruction
(pulse type)
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3 Instructions
3.2
GETS Instruction
3.2.4 Register GETS Instruction
1. Move the cursor to the address area.
2. Move the cursor to the line where GETS instruction is to be registered.
3. Press [INFORM LIST].
(1) The instruction list dialog box appears.
(2) The cursor moves to the instruction list dialog box while the cursor in the address area changes to an under bar.
4. Select {GETS}.
– At this stage, the instruction on the cursor position is diaplayed with the previously registered additional items in the input buffer line.
5. Press [SELECT] twice.
6. The DETAIL EDIT window of GETS instruction appears.
7. Press [ENTER] twice.
(1) Press [ENTER] once to display the set contents in the input buffer line.
(2) Press [ENTER] once more, and the set contents are registered in the job.
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3.3.1 Function
3.3.2 Construction
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3 Instructions
3.3
CNVRT (Position Type Variable Conversion Instruction)
3.3
CNVRT (Position Type Variable Conversion Instruction)
The CNVRT is an instruction to convert a pulse data position type variable into XYZ type position type variable of the specified coordinate system.
CNVRT 1
Variable No.
2
Variable No.
A
4 RF
5 TF
User
6 UF# ( )
7 MTF
3.3.3 Explanation
№ Tag
1 PX Variable number/
LPX Variable number/
PX [Array number]/
LPX [Array number]
2 PX Variable number/
LPX Variable number/
PX [Array number]/
LPX [Array number]
3 BF
Explanation
Specifies the number of the expanded position type variable where the converted data is stored.
Note
Specifies the number of the expanded position type variable to be converted.
4
5
6
7
RF
TF
UF#
(User coordinate number)
MTF
Specifies the conversion in the base coordinate system.
Specifies the conversion in the robot coordinate system.
Specifies the conversion in the tool coordinate system.
Specifies the conversion in the user coordinate system.
No.: 1 to 63
Variable B/I/D/LB/LI/LD can be used.
Specifies the conversion on the master tool coor-dinate system.
On the master tool coordinate system, the data is converted to a position relative to the master manipulator.
Available only with the optional indepen-dent coordinate func-tion.
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3 Instructions
3.3
CNVRT (Position Type Variable Conversion Instruction)
SUPPLE
-MENT
Expanded position type variables
The expanded position type variable is a position type variable that depends on the control group in the job.
<Example>
• When the control group is R1:
PX000 indicates P000.
• When the control group is R1 + B1:
PX000 indicates P000 and BP000.
• When the control group is R1 + B1 + ST1:
PX000 indicates P000 + BP000 + EX000.
• When the control group is R1 + R2 + B1 + B2 + ST1 in the coordinated job (master R1 + B1):
PX000 indicates the following:
P000: R2 (slave)
P001: R1 (master)
BP000: B2 (slave)
BP001: B1 (master)
EX000: ST1
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3 Instructions
3.3
CNVRT (Position Type Variable Conversion Instruction)
3.3.4 CNVRT Instruction
1. Move the cursor to the address area.
2. Move the cursor to the line where CNVRT instruction is to be registered.
3. Press [INFORM LIST].
(1) The instruction list dialog box appears.
(2) The cursor moves to the instruction list dialog box while the cursor in the address area changes to an under bar.
4. Select {CNVRT}.
– At this stage, the instruction on the cursor position is displayed with the previously registered additional items in the input buffer line.
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3 Instructions
3.3
CNVRT (Position Type Variable Conversion Instruction)
5. Press [ENTER] twice.
– The DETAIL EDIT window of CNVRT instruction appears.
6. Set variables on the DETAIL EDIT window of CNVRT instruction
7. Press [ENTER] twice.
(1) Press [ENTER] once to display the set contents in the input buffer line.
(2) Press [ENTER] once more, and the set contents are registered in the jobInstruction.
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3.4.1 Function
3.4.2 Construction
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3.4
MSHIFT Instruction
3.4
MSHIFT Instruction
Calculate shift amount in the specified coordinate system from the reference position and the target position.
PX/PX[ ]/
MSHIFT 1
Variable No.
A
A 2 BF B
3 RF
4 TF
User
5 UF# ( )
6 MTF
PX/PX[ ]/
B 7
Variable No.
PX/PX[ ]/
8
Variable No.
END
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3.4.3 Explanation
3
3.4
Instructions
MSHIFT Instruction
1. PX Variable number/LPX Variable number/PX [array number]/LPX
[array number]
– Add the following tag.
№ Tag
1 PX Variable number/
LPX Variable number/
PX [Array number]/
LPX [Array number]
Explanation
Specifies the number of the expanded position variable to store the calculated shift.
Note
<Data 1>
2. BF/RF/TF/UF#
(User coordinate number)
/MTF
№ Tag
2 BF
3 RF
4 TF
5 UF#
(User coordinate number)
6 MTF
Explanation
Specifies the conversion in the base coordinate system.
Note
Specifies the conversion in the robot coordinate system.
Specifies the conversion in the tool coordinate system.
Specifies the conversion in the user coordinate system.
Specifies the conversion on the master tool coor-dinate system.
On the master tool coordinate system, the data is converted to a position relative to the master manipulator.
No.: 1 to 63
Variable B/I/D/LB/LI/LD can be used.
Available only with the optional indepen-dent/coordinated function.
3. PX Variable/LPX Variable/PX [array number]/LPX [array number]
№ Tag
7 PX Variable number/
LPX Variable number/
PX [Array number]/
LPX [Array number]
Explanation
Specifies the number of the expanded position variable to store the calculated shift.
Note
<Data 2>
4. PX Variable number/LPX Variable number/PX [array number]/LPX
[array number]
№ Tag
8 PX Variable number/
LPX Variable number/
PX [Array number]/
LPX [Array number]
Explanation
Specifies the expanded position type variable number of the target position to calculate the amount of the shift.
Note
<Data 3>
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3 Instructions
3.4
MSHIFT Instruction
3.4.4 Register MSHIFT Instruction
1. Move the cursor to the address area.
2. Move the cursor to the line where MSHIFT instruction is to be registered.
3. Press [INFORM LIST].
(1) The instruction list dialog box appears.
(2) The cursor moves to the instruction list dialog box while the cursor in the address area changes to an under bar.
4. Select {MSHIFT}.
– At this stage, the instruction on the cursor position is displayed with the previously registered additional items in the input buffer line.
5. Press [ENTER] twice.
– The DETAIL EDIT window of MSHIFT instruction windows appears.
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3 Instructions
3.4
MSHIFT Instruction
6. Set variables on the DETAIL EDIT window of MSHIFT instruction.
7. Press [ENTER] twice.
(1) Press [ENTER] once to display the set contents in the input buffer line.
(2) Press [ENTER] once more, and the set contents are registered in the job.
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4 Alarm List
4 Alarm List
Alarm No.
Message
4474 WRONG
CONTROL
GROUP AXIS
4499
4507
UNDEFINED
POSITION
VARIABLE
REFP POS
ERROR
(SEARCH
MOTION)
Cause Remedy
The CALL/JUMP/PSTART destination job could not be executed.
An attempt was made to call or jump to a job whose control group cannot be controlled. (Subcode: The related control-group)
(1) Confirm the settings below.
• Make the setting in advance so that the control group of the CALL/
JUMP destination job is included in that of the CALL/JUMP source job.
• Don't start a job containing a running control group with a
"PSTART" instruction.
The position type variable is not registered.
An attempt was made to use the position type variable that was not set. (Subcode: The variable number)
(1) Confirm the settings below.
Set the position type variable.
Incorrect teaching point for search detection
The search start point and the motion target point are the same, or the distance between the two points is too short.
(1) Confirm the settings below.
• Perform the teaching again so that the search start point and the motion target point are not the same.
• Increase the distance between the search start point and the motion target point.
4-1
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DX100
5 Instruction List
5
SRCH
GETS
CNVRT
Instruction List
• < > indicates numerical or alphabetical data.
• If multiple items are shown in one section, select one of the items.
Function Executes a search function.
Additional
Item
Example
RIN#(<direct IN No.>) = <status> Direct IN No. :
1 to 6
Status : ON, OFF,
B <variable No.>
T = <time
"s>
DIS = <distance
"mm>
Direct IN signal input check start delay time
A length of passing over the target point specified by the position type variable
MOVL P000 V=138 SRCH RIN#(1)=ON T=1.00 DIS=10.0
Function Saves the system variable as a user variable.
Additional
Item
B <variable No.>, I <variable No.>,
D <variable No.>, R <variable No.>,
PX <variable No.>
Example
$B <variable No.>, $I <variable No.>,
$D <variable No.>, $R <variable No.>,
$PX <variable No.>
GETS B000 $B000
GETS I001 $I[1]
GETS PX003 $PX001
User variable
System variable
Function Converts a pulse data position type data of Data 2 into a Cartesian data position type variable using a specified coordinate system, then saves in
Data 1.
Format : CNVRT <Data 1><Data 2> coordinate system
Additional
Item
Data 1
Data 2
PX <variable No.>
PX <variable No.>
BF, RF, TF, UF# (<user coordinate system No.>),
MTF
BF:Base coordinate system
RF : Robot coordinate system
TF : Tool coordinate system
UF : User coordinate system
MTF : Master tool coordinate system
Example CNVRT PX000 PX001 BF
CNVRT LPX000 LPX001 TF
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DX100
SEFTOF
MSHIFT
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5 Instruction List
Function Stop shift operation.
Additional
Item
No
Example
Function
SFTOF
Calculate shift amount in the specified coordinate system from data 2 and data 3 and store the calculated value in data 1.
Format : MSHIFT <Data 1><Coordinates><Data 2><Data 3>
Additional
Item
Data 1 PX <variable No.>
Coordinate BF, RF, TF,
UF# (<user coordinate system No.>),
MTF
BF:Base coordinate system
RF : Robot coordinate system
TF : Tool coordinate system
UF : User coordinate system
MTF : Master tool coordinate system
Example
Data 2 PX <variable No.>
Data 3 PX <variable No.>
MSHIFT PX100 RF PX001 PX002
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DX100 OPTIONS
INSTRUCTIONS
FOR SEARCH FUNCTION
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844 Fax +82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919 Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541 Fax +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice for ongoing product modifications and improvements.
C
Printed in Japan June 2009 09-06
MANUAL NO.
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