YASKAWA DX200 OPTIONS Robot Controller INSTRUCTIONS

DX200 OPTIONS
INSTRUCTIONS
FOR SPEED CONTROL FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number:
Revision:
172287-1CD
0
MANUAL NO.
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Speed Control Function
Copyright © 2015, Yaskawa America, Inc. All Rights Reserved.
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MANDATORY
•
This manual explains the speed control function of the DX200
system. Read this manual carefully and be sure to understand its
contents before handling the DX200.
•
General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 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 DX200.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
DANGER
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
MANDATORY
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.
Always be sure to follow explicitly the
items listed under this heading.
Must never be performed.
PROHIBITED
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
“DANGER”, “WARNING” and “CAUTION” .
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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 DX200 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.
Figure 1: 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.
Figure 2: Release of Emergency Stop
TURN
•
Observe the following precautions when performing teaching operations
within the P-point maximum envelope of the manipulator:
– Be sure to use a lockout device to the safeguarding when going inside.
Also, display the sign that the operation is being performed inside the
safeguarding and make sure no one closes the safeguarding.
– 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 DX200.
– 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 DX200
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 DX200 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
DX200 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
Manual Designation
DX200 controller
DX200
DX200 programming pendant
Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character
Keys
Symbol Keys
The keys which have characters printed on
them are denoted with [ ].
ex. [ENTER]
Axis Keys
Numeric Keys
“Axis Keys” and “Numeric Keys” are generic
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 the SELECT key 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 bland names for each company or
corporation. The indications of (R) and TM are omitted.
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Table of Contents
Table of Contents
1 Outline............................................................................................................................................. 1-1
2 Description of Function ................................................................................................................... 2-1
2.1 Starting Rotation ................................................................................................................ 2-1
2.2 Terminating Rotation.......................................................................................................... 2-1
2.3 Suspending or Restarting Rotation .................................................................................... 2-2
3 Instruction........................................................................................................................................ 3-1
3.1 VCON (Speed Control Start Instruction) ............................................................................ 3-1
3.2 VCOF (Speed Control End Instruction).............................................................................. 3-4
4 Registration of Instructions.............................................................................................................. 4-1
4.1 VCON (Speed Control Start Instruction) ............................................................................ 4-1
4.2 VCOF (Speed Control End Instruction).............................................................................. 4-3
5 Display of Rotation Amount............................................................................................................. 5-1
6 Resetting Rotation Amount ............................................................................................................. 6-1
7 Restrictions ..................................................................................................................................... 7-1
7.1 Rotation Speed .................................................................................................................. 7-1
7.2 Maximum Rotation Amount................................................................................................ 7-1
7.3 Specifying NWAIT.............................................................................................................. 7-1
7.4 Turning OFF Power Supply During the Speed Control...................................................... 7-1
7.5 Resetting Rotation Amount ................................................................................................ 7-1
8 Alarm List ........................................................................................................................................ 8-1
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1
1
Outline
Outline
With the speed control function, the T-axis, the end tip axis of the
manipulator, or the external axis (hereinafter referred to as the speed
control axis), can be continuously rotated according to the specified
rotation speed.
This continuous rotating operation starts with execution of the speed
control start instruction (VCON) and terminates with execution of the
speed control end instruction (VCOF). During the continuous rotation, the
rotation speed of the speed control axis is independently controlled.
When operating the manipulator with the speed control function, the
speed control axis rotates at the specified speed disregarding teaching
while other axes operate as taught.
This function can be used for a feeder controlled by the external axis or
such applications as the manipulator grasping a workpiece to put into the
paint, rotating the workpiece continuously. Because the speed control
axis working envelope is limited in the normal position-control method, the
continuous rotating operation is disabled. Using this function, however,
the speed control axis can continuously rotate without its working
envelope being limited.
Manipulator
Workpiece
Step 1
Step 5
Paint
Step 2
Work start point
Execution of VCON instruction
T-axis starts rotating.
Steps 3 and 4
While T-axis rotates continously,
the manipulator performs linear
interpolation.
Line Step INFORM Instruction
0000
NOP
0001 0001 MOVJ VJ=12.50
0002 0002 MOVJ VJ=12.50
0003
VCON ROBOT=1 JOINT=6 RPM=1000
0004
TIMER T=0.50
0005 0003 MOVL V=100
0006
VCOF ROBOT=1 JOINT=6
0007 0004 MOVJ VJ=12.50
0008 0005 MOVJ VJ=12.50
0009
END
1-1
Work end point
Execution of VCOF instruction
T-axis terminates rotating
and moves to the taught position.
Explanation
Moves to the waiting point.
Moves to the work start point.
Starts rotation of the T-axis of the manipulator 1.
Rotation speed: 10.00 [rotation/min]
Waits for rotation to start.
Moves to work end point by linear interpolation
at 100.0 [mm/sec].
Terminates rotation.
Moves T-axis to the taught position.
Moves to the waiting point.
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2
2 Description of Function
2.1 Starting Rotation
Description of Function
2.1
Starting Rotation
The speed control axis starts rotating continuously with execution of the
VCON instruction. Although it takes several hundred [ms] to start rotation,
the job is continuously executed. Therefore, if the next operation needs to
be performed after the speed control axis starts rotating, create a job
using the TIMER instruction to wait for the speed control axis to rotate at a
constant speed before the next operation. The speed control axis is
continuously rotated even if no move instruction is executed (or during
execution of TIMER or WAIT instruction). When a move instruction is
executed during the speed control axis rotation, the manipulator moves to
the aimed point while the speed control axis keeps rotating. The speed
control axis soft limit check does not function during rotation.
The speed control axis position that appears on the position display during
rotating differs from its actual position.
2.2
Terminating Rotation
The speed control axis terminates rotation with execution of the VCOF
instruction. It takes approximately 500 [ms] to stop rotation, and the
execution of the job stops during the time. The position where the speed
control axis terminates rotation is not fixed but varies each time the job is
executed. If matching the position in an operation after the speed control
axis terminates rotation, register a move instruction to return the speed
control axis to the taught position after it terminates the rotation.
When rotation is terminated, the speed control axis current value, the
position display, and the speed control axis home positioning data are
updated.
After rotation is terminated, the value of the speed control axis position will
be within either of the two ranges shown below.
• When the rotation direction is positive: 0 to 360 degrees
• When the rotation direction is negative: -360 to 0 degrees
<Example> The reset position when the speed control axis terminates
rotation at -120 degrees of -3 to 3 rotations
-3
-1200
-2
-840
-1
-480
0
1
-120
240
Reset to -120 degrees
2
600
Speed control axis
position
[Rotation]
3
960
1320
[Degree]
Reset to 240 degrees
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2 Description of Function
2.3 Suspending or Restarting Rotation
NOTE
When rotating the T-axis in the positive direction, perform
teaching so that it starts rotation at the position within 0 to
360 degrees. When rotating the T-axis in the negative
direction, perform teaching so that it starts rotation at the
position within -360 to 0 degrees.
If the speed control axis rotates 2 or more rotations in the
positive direction from the position within -360 to 0 degrees,
or in the negative direction from the position within 0 to 360
degrees, the rotation amount and the reset rotation amount
will differ by 1 rotation. Thus, note that when moving the
speed control axis to or close to the position before rotation,
it rotates 1 rotation.
-1
0
-120
1
240
2
600
Speed control axis
position
[Rotation]
3
960
1320
[Degree]
4 rotations in the positive direction
Rotation amount reset (3 rotations)
1 rotation at the
execution of
move instruction
2.3
Suspending or Restarting Rotation
If the job execution is suspended during the speed control axis rotation by
the following operations or in the following cases, the speed control axis
rotation is also suspended. When the job is restarted, the speed control
axis rotation also restarts.
• HOLD or external HOLD
• When the operation cycle is changed into STEP
When the job execution is restarted by the following operations or in the
following cases, the speed control axis moves as it is taught without
restarting rotation.
• Emergency stop or external emergency stop
• JOG operation
• Cursor moving operation
• Job selection
• Job editing operation
• Mode switching operation (Servo OFF)
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3
3 Instruction
3.1 VCON (Speed Control Start Instruction)
Instruction
3.1
VCON (Speed Control Start Instruction)
The VCON instruction is to start the speed control axis speed control.
The additional items to the VCON instruction are as follows.
㼂㻯㻻㻺
㻾㼂㻩
㻾㼂㻱㻩
㻹㼀㻾㻩
㻾㻻㻮㻻㼀㻩
㻶㻻㻵㻺㼀㻩
㻱㻺㻰
㻭㻯㻯㻩
㻹㼀㻾㻩
㻰㻱㻯㻩
㻾㻼㻹㻩
㻾㻻㻮㻻㼀㻩
㻶㻻㻵㻺㼀㻩
㻾㻼㻹㻩
㻿㼀㻭㼀㻵㻻㻺㻩
㻾㻻㻮㻻㼀㻩
㻶㻻㻵㻺㼀㻩
㻾㻼㻹㻩
㻿㼀㻭㼀㻵㻻㻺㻩
㻿㼀㻭㼀㻵㻻㻺㻩
㻹㼀㻾㻩
1
RV=
Sets the rotation speed of the speed control axis (mainly T-axis)
included in the manipulator axis.
If a positive value is set, the speed control axis rotates in the positive
direction; if a negative value is set, it rotates in the negative direction.
Setting range: -32768 to 32767
Unit: RPM (revolutions per minute)
2
MTR=
Sets the rotation amount of the speed control axis (mainly T-axis)
included in the manipulator axis.
The speed control axis rotates for the specified amount.
Setting range: 0.1 to 100.0 (rotation)
3
RVE=
Sets the rotation speed of the speed control axis included in the external
axis.
If a positive value is set, the speed control axis rotates in the positive
direction; if a negative value is set, it rotates in the negative direction.
Setting range: -32768 to 32767
Unit: RPM (revolutions per minute)
4
MTR=
Sets the rotation amount of the speed control axis included in the external axis.
The speed control axis rotates for the specified amount.
Setting range: 0.1 to 100.0 (rotation)
5
ROBOT=
Sets its number of the manipulator including the speed control axis to
start the speed control.
Setting range: 1 to 8
6
STATION=
Sets its number of the external axis including the speed control axis to
start the speed control.
Setting range: 1 to 24
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3 Instruction
3.1 VCON (Speed Control Start Instruction)
7
JOINT=
Sets its number of the speed control axis to start the speed control.
Setting range: 1 to 8
RPM=
8
Sets the rotation speed of the control group specified in
5
or
6
and the
axis specified in .
If a positive value is set, the speed control axis rotates in the positive
direction; if a negative value is set, it rotates in the negative direction.
Setting range: -2147483648 to 2147483647
Unit: 0.01 RPM (revolutions per minute)
*When the specified axis is a linear motion axis, the unit is 0.01mm per
second.
7
9
ROBOT=
Sets its number of the manipulator including the speed control axis to
start the speed control.
Setting range: 1 to 8
STATION=
Sets its number of the external axis including the speed control axis to
start the speed control.
Setting range: 1 to 24
10
JOINT=
Sets its number of the speed control axis to start the speed control.
Setting range: 1 to 8
11
12
RPM=
Sets the rotation speed of the control group specified in
9
or
10
and the
axis specified in 11 .
If a positive value is set, the speed control axis rotates in the positive
direction; if a negative value is set, it rotates in the negative direction.
Setting range: -2147483648 to 2147483647
Unit: 0.01 RPM (revolutions per minute)
*When the specified axis is a linear motion axis, the unit is 0.01mm per
second.
ROBOT=
Sets its number of the manipulator including the speed control axis to
start the speed control.
Setting range: 1 to 8
13
STATION=
Sets its number of the external axis including the speed control axis to
start the speed control.
Setting range: 1 to 24
14
JOINT=
Sets its number of the speed control axis to start the speed control.
Setting range: 1 to 8
15
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3 Instruction
3.1 VCON (Speed Control Start Instruction)
16
RPM=
Sets the rotation speed of the control group specified in
13
or
14
and the
15 .
axis specified in
If a positive value is set, the speed control axis rotates in the positive
direction; if a negative value is set, it rotates in the negative direction.
Setting range: -2147483648 to 2147483647
Unit: 0.01 RPM (revolutions per minute)
*When the specified axis is a linear motion axis, the unit is 0.01mm per
second.
17
MTR=
Sets the rotation amount of the control group specified in
5
or
6
and
the axis specified in 7 .
The speed control axis rotates for the specified amount.
Setting range: 0.1 to 100.0 (rotation)
ACC=
Sets the acceleration ratio of the speed control axis.
Setting range: 20 to 100 (%)
18
DEC=
Sets the deceleration ratio of the speed control axis.
Setting range: 20 to 100 (%)
19
NOTE
•
If "RV=" and "RVE=" are set with a variable, the rotation
speed of the motor is applied.
•
If "RV=" and "RVE=" are set with a constant, the rotation
speed of the motor is not applied, but that considering
the deceleration ratio is applied.
•
If "RV=" and "RVE=" are set, all the speed control axes
included in the control group of the job having executed
an instruction are subject to the speed control.
•
The rotation speed set in "RPM=" is not that of the
motor, but that considering the deceleration.
•
In the following cases, an alarm occurs when an
instruction is executed.
– When a manipulator number which does not exist or
which is different from the number of the control group
where the VCON instruction was executed is set in
"ROBOT="
– When an external axis number which does not exist is
set in "STATION="
– When an axis number which does not exist is set in
"JOINT="
– When a value exceeding the maximum rotation speed
of the motor is set in "RV=", "RVE=", or "RPM="
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3.2
3 Instruction
3.2 VCOF (Speed Control End Instruction)
VCOF (Speed Control End Instruction)
The VCOF instruction is to terminate the speed control axis speed control.
The additional items to the VCOF instruction are as follows.
㼂㻯㻻㻲
㻱㻺㻰
㻾㻻㻮㻻㼀㻩
㻶㻻㻵㻺㼀㻩
㻰㻱㻯㻩
㻾㻻㻮㻻㼀㻩
㻿㼀㻭㼀㻵㻻㻺㻩
㻶㻻㻵㻺㼀㻩
㻾㻻㻮㻻㼀㻩
㻶㻻㻵㻺㼀㻩
㻿㼀㻭㼀㻵㻻㻺㻩
㻿㼀㻭㼀㻵㻻㻺㻩
1
ROBOT=
Sets its number of the manipulator including the speed control axis to
terminate the speed control.
Setting range: 1 to 8
2
STATION=
Sets its number of the external axis including the speed control axis to
terminate the speed control.
Setting range: 1 to 24
3
JOINT=
Sets its number of the speed control axis to terminate the speed control.
Setting range: 1 to 8
4
ROBOT=
Sets its number of the manipulator including the speed control axis to
terminate the speed control.
Setting range: 1 to 8
5
STATION=
Sets its number of the external axis including the speed control axis to
terminate the speed control.
Setting range: 1 to 24
6
JOINT=
Sets its number of the speed control axis to terminate the speed control.
Setting range: 1 to 8
7
ROBOT=
Sets its number of the manipulator including the speed control axis to
terminate the speed control.
Setting range: 1 to 8
8
STATION=
Sets its number of the external axis including the speed control axis to
terminate the speed control.
Setting range: 1 to 24
9
JOINT=
Sets its number of the speed control axis to terminate the speed control.
Setting range: 1 to 8
DEC=
Sets the deceleration ratio of the speed control axis.
Setting range: 20 to 100 (%)
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3 Instruction
3.2 VCOF (Speed Control End Instruction)
NOTE
•
If there are no additional items to the VCOF instruction,
the speed control to all the speed control axes included
in the control group of the job having executed an
instruction is terminated.
However, any speed control axis other than the above
mentioned axes is not terminated.
•
In the following cases, an alarm occurs when an
instruction is executed.
– When a manipulator number which does not exist is
set in "ROBOT="
– When an external axis number which does not exist is
set in "STATION="
– When an axis number which does not exist is set in
"JOINT="
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4
4 Registration of Instructions
4.1 VCON (Speed Control Start Instruction)
Registration of Instructions
Register an instruction when the cursor is in the address area of the JOB
CONTENT display in the teach mode.
1. Select {JOB} under the main menu.
2. Select {JOB CONTENT}.
– The JOB CONTENT display appears.
3. Move the cursor to the address area.
4.1
VCON (Speed Control Start Instruction)
1. Press the [INFORM LIST].
– The instruction list dialog box appears.
2. Select {OTHER}.
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4 Registration of Instructions
4.1 VCON (Speed Control Start Instruction)
3. Select {VCON}.
– The “VCON” instruction appears in the input buffer line.
4. Press [SELECT] and set each item in the DETAIL EDIT display.
– The DETAIL EDIT display appears. Move the cursor to the item to
be set, and press [SELECT]. Use the number keys to input each
setting item and press [ENTER].
5. Press [ENTER].
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4.2
4 Registration of Instructions
4.2 VCOF (Speed Control End Instruction)
VCOF (Speed Control End Instruction)
1. Press the [INFORM LIST].
– The instruction list dialog box appears.
2. Select {OTHER}.
3. Select {VCOF}.
– The “VCOF” instruction appears in the input buffer line.
4. Press [SELECT].
5. Press [ENTER].
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5
5
Display of Rotation Amount
Display of Rotation Amount
The speed control axis rotation amount can be viewed in the ROTATION
display.
1. Select {ROBOT} under the main menu.
2. Select {ROTATION}.
– The ROTATION display appears.
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6
6
Resetting Rotation Amount
Resetting Rotation Amount
The speed control axis rotation amount can be reset in the ROTATION
display.
1. Select {ROBOT} under the main menu.
2. Select {ROTATION}.
3. Select {DATA} in the menu area.
– The pull-down menu appears.
4. Select {RESET ROTATION}.
– The displayed the speed control axis rotation amount is changed
into “0”.
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7
7 Restrictions
7.1 Rotation Speed
Restrictions
The following describes the restrictions of the speed control function.
7.1
Rotation Speed
The rotation speed varies in the following cases:
• If operating the B-axis and the R-axis while performing the speed
control, regarding the T-axis of the manipulator as the speed control
axis.
• If operated in the teach mode
7.2
Maximum Rotation Amount
The maximum rotation amount differs depending on the manipulator
model. The rotation amount in one speed control section cannot exceed
the maximum rotation amount.
7.3
Specifying NWAIT
When a move instruction with NWAIT is executed, the instructions that
have been registered before the next move instruction are executed in
order. However, only the VCOF instruction is not executed at this time,
but executed after completion of the move instruction.
7.4
Turning OFF Power Supply During the Speed Control
When the control power supply is turned OFF and then ON during the
speed control, be sure to reset the rotation amount in the ROTATION
display.
7.5
Resetting Rotation Amount
The rotation amount is automatically reset when the servo power supply is
turned ON. When restarting after an emergency stop, the operation starts
with the rotation amount reset.
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8
8
Alarm List
Alarm List
Alarm
Number
Alarm Name/
Message
Contents
Sub
Code
Meaning of sub
code
Remedy
4908
SPEED CONTROL
ERROR
An error occurred at
speed control
execution.
1
Control group
designation error.
Check the settings for the
specified control group number.
2
Speed control axis
designation error.
Check the settings for the
specified speed control axis
number.
3
Maximum rotation
speed over.
Set the rotation speed that does
not exceed the maximum
rotation speed.
4353
DEFECTIVE
TAUGHT
POINT(ENDLESS)
This alarm occurs if
the feedback pulse
count of endless
operation axis exceeds
the allowable
maximum pulse count
(±536, 870, 912).
axis
The axis causing the
alarm.
Reset the rotation
amount.(Refer to chapter 6
“Resetting Rotation Amount” .)
Recheck the setting so that the
feedback pulse does not exceed
the maximum number of pulses
in one speed control section.
4474
WRONG
CONTROL
GROUP AXIS
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.
An attempt was made
to start the control
group job that could
not be operated.
An axis of a different
manipulator (Robot=)
from the active job
control group was set
and an attempt was
made to control its
speed.
controlgroup
The related controlgroup.
Check the following settings.
⋅ Make the setting in advance so
that the control group of the
CALL/JUMP designation job is
included in that of the CALL/
JUMP source job.
⋅ Don't start the job which
including control group under
already operation by
"PSTART" instruction.
⋅ Set a manipulator axis
(Robot=) of the active job
control group to control the
speed.
8-1
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HW1482973
DX200 OPTIONS
INSTRUCTIONS
FOR SPEED CONTROL 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 GmbH Robotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Nordic AB
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone +46-480-417-800
Fax +46-480-417-999
YASKAWA Electric (China) Co., Ltd.
22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200
Fax 㧗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 Co., Ltd
9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea
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.
252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek Road㧘Huaykwang, Bangkok 10320, Thailand
Phone +66-2693-2200
Fax +66-2693-4200
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.
MANUAL NO.
HW1482973
24 of 24
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