YASKAWA FS100, L Controller Instructions

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FS100 OPTIONS

INSTRUCTIONS

For MotomanSync (PC)

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

• This instruction is applicable to both FS100 and FS100L controllers.

MOTOMAN INSTRUCTIONS

(FOR SMALL -SIZED MANIPULATORS)

MOTOMAN-

 INSTRUCTIONS

FS100 INSTRUCTIONS

FS100 OPERATOR’S MANUAL

FS100 MAINTENANCE MANUAL

(FOR LARGE AND MEDIUM-SIZED MANIPULATORS)

MOTOMAN-

 INSTRUCTIONS

FS100L INSTRUCTIONS

FS100

OPERATOR’S MANUAL

FS100L MAINTENANCE MANUAL

The FS100 OPERATOR’S MANUAL above is applicable to both FS100 and FS100L controllers.

Part Number: 163375-1CD

Revision: 2

MANUAL NO.

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MANDATORY

• This manual explains the details on MotomanSync PC function of the FS100. Read this manual carefully and be sure to understand its contents before handling the FS100.

• General items related to safety are listed in Chapter 1: Safety of the

FS100 INSTRUCTIONS. To ensure correct and safe operation, carefully read the FS100 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.

NOTE

This instruction manual is applicable to both FS100 (a controller for small-sized manipulators) and FS100L (a controller for large and medium-sized manipulators).

The description of “FS100” refers to both ”FS100” and

“FS100L” in this manual unless otherwise specified.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the FS100.

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”. iii

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WARNING

• The emergency stop button must be supplied by the user before using MotomanSync.

• Before operating the manipulator, check that servo power is turned

OFF when the user-supplied emergency stop button is pressed.

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.

Figure 1: Emergency Stop Button

• In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button.

Connect the external emergency stop button to the 5-6 pin and 16-

17 pin of the robot system signal connector (CN2).

• Upon shipment of the FS100, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to supply a new connector, and then input it.

If the signal is input with the jumper cable connected, it does not function, which may result in personal injury or equipment damage.

• 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

• Observe the following precautions when performing teaching by

MotomanSync PC:

– Perform operations from outside of the manipulator’s operating range.

– 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. v

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WARNING

• Confirm that no person is present in the manipulator’s operating range and that you are in a safe location before:

– Turning ON the power of the controller.

– Moving the manipulator by using MotomanSync PC.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the manipulator’s operating range during operation. Always press the emergency stop button immediately if there is a problem.

The emergency stop button is located on the programming pendant.

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.

• If communication between MotomanSync PC and the controller is interrupted for some reason, the manipulator cannot be operated by using MotomanSync.

Read and understand the Explanation of Warning Labels in the controller 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 FS100 controller, manipulator cables, the FS100 programming pendant (optional), and the

FS100 programming pendant dummy connector (optional).

In this manual, the equipment is designated as follows:

Equipment

FS100 controller

FS100 programming pendant

Cable between the manipulator and the controller

FS100 programming pendant dummy connector

Manual Designation

Controller

Programming pendant

Manipulator Cable

Programming pendant dummy connector vi

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Descriptions of the programming pendant keys, buttons, displays and keyboard of the PC are shown as follows:

Equipment

Programming

Pendant

Manual Designation

Character Keys The keys which have characters printed on them are denoted with [ ].

e.g. [ENTER]

Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.

Axis Keys

Numeric Keys

Keys Pressed

Simultaneously

GO BACK

PAGE e.g. PAGE key

The cursor key is an exception, and a picture is not shown.

“Axis keys” and “Numeric 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. e.g. SHIFT key

SHIFT

+ COORD key

TOOL SEL

COORD

PC Keyboard

Mode Key

Button

Displays

Three kinds of modes that can be selected by the mode key are denoted as follows:

REMOTE, PLAY, or TEACH

Three buttons on the upper side of the programming pendant are denoted as follows:

HOLD button

START button

EMERGENCY STOP button

The menu displayed in the programming pendant is denoted with { }.

e.g. {JOB}

The name of the key is denoted.

e.g. Ctrl key on the keyboard

Description of the Operation Procedure

I

n 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 brand names for each company or corporation. The indications of (R) and TM are omitted. vii

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Table of Contents

1 Outline............................................................................................................................................. 1-1

1.1 Introduction ........................................................................................................................ 1-1

1.2 Features............................................................................................................................. 1-1

1.3 System Configuration......................................................................................................... 1-2

1.3.1 Hardware Configuration........................................................................................ 1-2

1.3.2 Software Configuration ......................................................................................... 1-3

1.4 Product Specifications ....................................................................................................... 1-6

2 Cautions and Limitations on Specifications..................................................................................... 2-1

3 Setup of MotomanSync PC............................................................................................................. 3-1

3.1 Product Content ................................................................................................................. 3-1

3.1.1 CD Content ........................................................................................................... 3-1

3.1.2 Hardware Key ....................................................................................................... 3-2

3.2 Installation of MotomanSync PC........................................................................................ 3-3

3.3 Installation of Hardware Key Driver ................................................................................... 3-7

3.4 Execution Environment of MotomanSync PC .................................................................. 3-10

3.4.1 MotomanSync Function ...................................................................................... 3-10

3.4.2 Connection of Devices........................................................................................ 3-12

3.4.3 Ethernet Communication Setting ........................................................................ 3-13

4 Function Specifications ................................................................................................................... 4-1

4.1 Function List....................................................................................................................... 4-1

4.1.1 Manipulator Control by Move Command .............................................................. 4-2

4.1.2 Coordinated Control............................................................................................ 4-18

4.1.3 Independent Control ........................................................................................... 4-18

4.1.4 Active Command Function.................................................................................. 4-19

4.1.4.1 JOG Mode ............................................................................................. 4-19

4.1.4.2 Adjust Mode .......................................................................................... 4-22

4.1.5 Servo Power Supply ........................................................................................... 4-25

4.1.6 Rapid Stop .......................................................................................................... 4-25

4.1.7 Speed Override................................................................................................... 4-26

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Table of Contents

4.1.8 File Access ......................................................................................................... 4-27

4.1.9 Variable Access.................................................................................................. 4-27

4.1.10 Current Value Monitoring.................................................................................. 4-28

4.1.11 Alarm Control.................................................................................................... 4-29

4.1.12 I/O Control ........................................................................................................ 4-33

4.1.13 JOB Start and Stop .......................................................................................... 4-34

4.1.14 Speed Limit ...................................................................................................... 4-36

4.1.15 System Configuration Monitor .......................................................................... 4-36

5 Error and Alarm List ........................................................................................................................ 5-1

Appendix .............................................................................................................................. Appendix-1

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1 Outline

1.1 Introduction

MotomanSync is an abbreviation of “Motoman Synchronous communication protocol”. MotomanSync provides detailed control of manipulators via open I/F data (MotomanSync I/F).

Sending and receiving the I/F data between the host (PC) and the controller makes the following possible:

• Flexible control of the manipulator from the host (PC)

• Monitoring of the manipulator’s system information

The controller can be connected to a commercial PC as the host (PC) via

Ethernet, which is referred to as “MotomanSync PC”.

In this manual, the functions provided by MotomanSync PC are described.

1.2 Features

• The host (hereinafter referred to as PC) and the controller can be easily connected.

– The PC and the controller can be easily connected by the Ethernet cable.

– Yaskawa supplies the software for communication between the PC and the controller to use MotomanSync.

• The manipulator can be directly controlled and monitored by the PC via the controller.

• The application to control and monitor the manipulator is developed in VC++ language (Visual Studio 2008 SP1).

• Robot applications can be developed by using the open I/F of

MotomanSync.

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1 Outline

1.3 System Configuration

1.3.1

Hardware Configuration

An example hardware configuration of MotomanSync PC is shown below.

Connect the Ethernet cable between the Ethernet ports of the PC and the controller. The Ethernet specifications for the controller are shown in

Table 1-1 Specifications of Ethernet Communication for the Controller.

Fig. 1-1: System Configuration of MotomanSync PC

Ethernet

Controller (RC)

Manipulator

Programming pendant

Ethernet

Controller (RC)

Programming pendant

Manipulator

Controller (RC)

Manipulator

Table 1-1: Specifications of Ethernet Communication for the Controller

Standards

Transmission rate

Protocol version

Connector

Compliant with IEEE 802.3 10BASE-T/

100BASE-TX

10 Mbps/100 Mbps (automatically recognized when turning on the power)

IPv4

Connector CN2 (8-pin RJ-45 modular jack)

1 This is the signal transmission rate, and is not the actual data transmission rate. The actual data transmission rate is much lower because the rate depends on the processing speed at each communication station and the condition of transmission lines.

2 IPv6 is not supported.

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1 Outline

1.3 System Configuration

1.3.2

Software Configuration

The software configuration of MotomanSync PC is shown below.

Fig. 1-2: Software Configuration of MotomanSync PC

163375-1CD

MotomanSync PC user application

Virtual shared memory

Command data group

Monitor data group

Virtual shared memory

Command data group

Monitor data group

RC system software

MotomanSync

PC client

Timer

WM_TIMER

WinSock API

TCP/IP

Ethernet

Windows PC

MotomanSync server

Controller

MotomanSync PC software comprises the following:

• User application (application created by the user)

• MotomanSync PC Client (.exe)

• MotomanSync API (.DLL and the header file necessary to develop the user application)

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1 Outline

1.3 System Configuration

Initialize MotomanSync PC from the user application to create

MotomanSync PC Client and virtual shared memory for each controller connected to the PC and establish MODBUS/TCP communication.

The virtual shared memory data comprise the command data group and monitor data group based on MotomanSync I/F. When the MotomanSync function is enabled, the controller reads the content of the command data group to perform the functions, and writes the status of the manipulator, command and response, alarm data, etc. into the monitor data group.

NOTE

To use the functions of MotomanSync from the PC, the application to set and acquire the command data and monitor data based on the I/F is required.

The application must be developed by the user by using

“MotomanSync PC-Client”, software for communication between the PC and the controller, and “MotomanSyncIF.h” which defines the I/F as structures, both of which are provided as MotomanSync PC.

For the development of user application, refer to “FS100

MotomanSync PC Programmer’s Manual (163374-1CD)”.

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1.3 System Configuration

The connection relation of the user application,

MotomanSync PC Client, and the controller is 1:1:1.

User application is a process which consists of several threads.

SUPPLE-

MENT

(Connecting to a controller)

User application

(destination

10.0.0.2)

MotomanSync

PC Client.exe

(IP address :

10.0.0.2)

Robot

(Connecting to multiple controllers)

User application

(destination

10.0.0.2)

MotomanSync

PC Client.exe

(1)

(IP address : 10.0.0.2)

Robot

User application

(destination

10.0.0.3)

MotomanSync

PC Client.exe

(2)

(IP address : 10.0.0.3)

Robot

It is impossible to create multiple MotomanSync PC Client from one user application.

MotomanSync

PC Client.exe

(1)

User application

(destination

10.0.0.2)

MotomanSync

PC Client.exe

(2)

(IP address :

10.0.0.2)

Robot

It is impossible to connect to a controller from multiple

MotomanSync PC Client.

User application

(destination

10.0.0.2)

MotomanSync

PC Client.exe

(1)

User application

(destination

10.0.0.2)

MotomanSync

PC Client.exe

(2)

(IP address :

10.0.0.2)

Robot

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1.4 Product Specifications

The product specifications of MotomanSync PC are shown below.

Table 1-2: Specifications of MotomanSync PC

Product specifications

Number of robots controlled

Operation mode

Synchronization

Data update cycle

(control cycle)

MotomanSync PC

Maximum number of RC: 16 (for 1 host PC)

Up to 2 robots can be connected to 1 RC.

2=32

Remote mode (I/O remote)

Not synchronized

Minimum setting value: 15.625 [msec]

1 This number depends on the PC’s performance.

If the PC’s performance is low, this number is smaller.

2 Since Windows does not guarantee real-time performance, this cycle becomes longer with the application which requires disk access.

Requirements on PC and Ethernet for running MotomanSync PC are shown below.

Table 1-3: Hardware Requirements for MotomanSync PC

No.

Device

1 Windows computer

Ethernet cable

Ethernet hub

Specifications

OS: Windows 7 (32 bit)

The following is recommended:

CPU: Intel(R) Core(TM)2 Q8400 2.66 GHz or faster

Memory: 3 GB or larger

Hard disk: 500 GB or larger

Interface: Ethernet 10BASE-T/100BASE-TX supported

Category 5 or higher

(shielded straight cable)

For 10 Mbps/100 Mbps

Recommended type: HUB FL SWITCH SF 8TX

(manufactured by PHOENIX CONTACT Inc.)

Note

Length: up to 100 m

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2 Cautions and Limitations on Specifications

• As the execution environment for MotomanSync PC, the PC to connect to the controller must have Windows 7 (32 bit version) as the OS.

• In MotomanSync PC, WM_TIMER message issued from SetTimer() function of Windows API is used as the message queue of the communication execution between the PC and the controller (the timer resolution in Windows 7 is 15.625 ms). Therefore, the minimum settable communication cycle and resolution are also

15.625 ms (the settable unit for SetTimer() function is millisecond).

Since WM_TIMER is not an interrupt but the message stacked on the queue, WM_TIMER message delays or fails to occur while another message with high priority is being processed or another heavy process is being performed. Since the accuracy and occurrence of WM_TIMER are not guaranteed, the communication cycle may vary.

Also, if the PC’s performance is insufficient, WM_TIMER message is more likely to delay or fail to occur. Do not use MotomanSync PC for the application which requires real-time performance.

• When connecting the PC and the controller via a network, do not connect to an external device via a network.

• When using the user application, exit the other applications

(excluding the execution of multiple user applications for

MotomanSync PC). Also, disable the screen-saver, sleep mode, and power saving mode of the PC.

• Functions of MotomanSync PC cannot use concurrently with the following functions of MotoPlus.

Table 2-1: Restrictions

Function

Motion

Monitor/Control

API

mpIMOV( )

mpMOVJ( )

mpMOVL( )

mpPulseMOVJ( )

mpPulseMOVL( )

Remarks

When concurrently used,

“AL4207 SYSTEM ERROR

(MOTION)[128]” may occur.

• To MTU (Maximum Transmission Unit) which is between the PC and the controller, do not set 1500 byte or less.

WARNING

• The “rapid stop function” which runs in the software of

MotomanSync PC is the function via a network. Therefore, it cannot be used as an alternative for the emergency stop button required on the equipment.

• Press the emergency stop button on the programming pendant immediately if there is a problem.

In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button.

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3 Setup of MotomanSync PC

3.1 Product Content

3 Setup of MotomanSync PC

3.1 Product Content

MotomanSync PC includes the following:

Product content • CD (MotomanSync PC installer, hardware key driver installer)

• Hardware key (USB type)

• FS100 Options Instructions for MotomanSync (PC)

• MotomanSync PC Programmer’s Manual

3.1.1

CD Content

The CD includes the following (the directory structure of the CD is shown

in Fig. 3-1 CD Folder Structure Tree on page 3-2.):

• MotomanSync-PC

The folder which stores all files of the MotomanSync-PC installer.

• MotomanSync-PC(JP)

The folder which stores the MotomanSync-PC installer (exe file, msi file, and components installed simultaneously) of Japanese version.

The files required to develop or execute MotomanSync PC applications are installed.

• MotomanSync-PC(US)

The folder which stores the MotomanSync-PC installer (exe file, msi file, and components installed simultaneously) of English version.

The files required to develop or execute MotomanSync PC applications are installed.

• Sentinel Driver

The folder which stores the exe file of the hardware key driver.

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3.1 Product Content

Fig. 3-1: CD Folder Structure Tree

Folder name is surrounded by .

File name begins with .

MotomanSync-PC (JP) vcredist_x86 vcredist_x86.exe

MotomanSync-PC.msi

setup.exe

MotomanSync-PC (US) vcredist_x86 vcredist_x86.exe

MotomanSync-PC.msi

setup.exe

Sentinel Driver sentinel protection installer xxx.exe (xxx:version No.)

3.1.2

Hardware Key

Connect the supplied hardware key (USB type) to the PC before using

MotomanSync PC.

Install the hardware key driver before connecting the hardware key to the

PC.

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3 Setup of MotomanSync PC

3.2 Installation of MotomanSync PC

1. Execute “set exe” in the “MotomanSync-PC(JP)” folder in the CD.

2. Select {Install} of Visual C++ Runtime Libraries (x86).

3. The setup wizard starts. Select {Next >}.

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3.2 Installation of MotomanSync PC

4. Carefully read the content of the “License Agreement”. If you agree with the terms of this agreement, select the check box “I Agree”, and then select {Next >}.

NOTE

If you do not agree to the terms of the license agreement,

MotomanSync PC cannot be installed.

5. Set the installation destination in the “Select Installation Folder” window, and then select {NEXT >}.

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3.2 Installation of MotomanSync PC

6. In the “Confirm Installation” window, select {Next >} to start the installation.

7. After the installation, the guide window for installing the hardware key driver appears. Confirm the content, and then select {Next >}.

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3.2 Installation of MotomanSync PC

8. The “Installation Complete” window appears.

Select {Close} to finish the installation.

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The installation folder of MotomanSync PC includes the following 7 files:

• MotomanSyncAPI.h

• MotomanSyncIF.h

• MotomanSyncAPI.lib

• MotomanSync PC-Client.exe

• MotomanSyncAPI.dll

• Motolk.dll

• MotoLkr.dll

MotomanSyncAPI.h, MotomanSyncIF.h, and MotomanSyncAPI.lib are necessary to develop the MotomanSync PC application. MotomanSync

PC-Client.exe, MotomanSyncAPI.dll, Motolk.dll, and MotoLkr.dll are necessary to execute the developed application.

NOTE

For setting the development environment and executing the application, refer to “MotomanSync PC Programmer’s

Manual”.

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3 Setup of MotomanSync PC

3.3 Installation of Hardware Key Driver

1. Execute “sentinel protection installer” in the “Sentinel Driver” folder in the CD.

2. The setup wizard starts. Select {Next >}.

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3.3 Installation of Hardware Key Driver

3. Carefully read the content of “License Grant/Warranty for Software” on

“License Agreement”. If you agree with the terms of this agreement, select the check box “I accept the terms in the license agreement”, and then select {Next >}.

4. In “Setup Type” window, select the check box “Complete”, and then select {Next >}.

5. In “Ready to Install the Program” window, select {Install}.

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3.3 Installation of Hardware Key Driver

6. In “Windows Firewall detected!” window, select {Yes} to execute the installation.

7. After the installation, select {Finish} to finish the installation.

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3 Setup of MotomanSync PC

3.4 Execution Environment of MotomanSync PC

3.4.1

MotomanSync Function

When using the MotomanSync function, perform the following settings:

1. Start the controller in the maintenance mode. Select {SYSTEM}, and then {SECURITY}, and set the mode to “MANAGEMENT MODE”.

2. Select {SYSTEM}, {SETUP}, and then {OPTION FUNCTION}.

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3.4 Execution Environment of MotomanSync PC

3. In {OPTION FUNCTION}, select {DETAIL} of {MotomanSync}.

4. In {DETAIL} of {MotomanSync}, set the following:

• I/F PROFILE TYPE Standard or Micro

• FUNCTION

• CLIENT TYPE

ENABLE

• CONNECTION TYPE Ethernet

The following types are available as I/F PROFILE TYPE:

• Standard: to execute the user application which uses all functions of

MotomanSync

• Micro: to execute the user application which uses only the I/O control function of MotomanSync

NOTE

As the default setting of MotomanSync, the pseudo input

“#82014: INHIBIT IO” is disabled. If this function is enabled,

MotomanSync function cannot be used.

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3.4 Execution Environment of MotomanSync PC

3.4.2

Connection of Devices

The PC and the controller are connected directly or via an Ethernet hub.

Regarding the LAN connector of the controller, connect the Ethernet cable

(shielded, category 5 or higher) to the LAN connector CN2 or CN3 (RJ-45) on the front of the main CPU board in the CPU rack.

Fig. 3-2: Connection of PC and the Controller (Ethernet Cable

Connection)

Control circuit board

JEPMC-CP3201R-E

(abbreviated as CPU-201R)

Power relay circuit board

JEPMC-PSD3007R-E

Ethernet

Hub

Controller (RC)

Manipulator

Programming pendant

Machine safety circuit board

JAPMC-SF2300R-E

(abbreviated as SF2300)

User I/O circuit board for Japan and North America: JAPMC-IO2308R-E

(abbreviated as LIO-08R) for Europe: JAPMC-IO2309R-E

(abbreviated as LIO-09R)

LI0-08R

CP3201R

7-seg LED

Status indication LED

CP3201R

(CN4) USB

CP3201R

(CN1) RS232C

CP3201R

(CN5) High-speed serial communication

CP3201R

(CN2) Ethernet

(CN3) Programming pendant connection

Circuit board rack

JEPMC-BUB3008R-E

(8 slots in total: 3 slots used, 5 slots available)

NOTE

CP3201R has two RJ-45 connectors.

When using the programming pendant, CN3 is used to connect the programming pendant, so connect the Ethernet cable to CN2.

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3.4 Execution Environment of MotomanSync PC

3.4.3

Ethernet Communication Setting

To connect the PC and the controller, the network settings of devices must be changed to have them in the same network.



PC Network Setting

1. Select “Control Panel” in the Start menu and open “All Items in Control

Panel”.

NOTE

Change the network settings as the Administrator of the PC.

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3 Setup of MotomanSync PC

3.4 Execution Environment of MotomanSync PC

2. Select and open “Network and Sharing Center”.

163375-1CD

3. Select the desired network device and open “Properties”.

Select “Internet Protocol Version 4 (TCP/IPv4)”.

NOTE

The controller does not support the settings of the Internet

Protocol version 6 (TCP/IPv6).

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3.4 Execution Environment of MotomanSync PC

4. In the “Internet Protocol Version 4 (TCP/IPv4)” window, select the checkbox “Use the following IP address:”, and enter the IP address for the user’s network settings.

NOTE

• If the network settings of the PC are the same as those of the controller, network performance may be affected by an

IP address conflict.

• When connecting the PC and the controller in the application developed by the user, set the Windows

Firewall to enable the “MotomanSync/PC Client” communication. Set or confirm the firewall as the

Administrator.

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3.4 Execution Environment of MotomanSync PC



Controller Network Setting

Refer to “FS100 Options Instructions for Ethernet Function

(160769-1CD)”.

SUPPLE-

MENT

The controller network settings are factory-set to the following values:

• IP address : 10.0.0.2

• Subnet mask : 255.255.255.0

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NOTE

When connecting multiple units of the controller to the PC, each unit must have a different IP address. Also, when connecting the programming pendant to the controller, do not use the same IP address as the programming pendant

(factory-set to 10.0.0.4).

Network performance may be affected by an IP address conflict.

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4 Function Specifications

4.1 Function List

The functions of MotomanSync are shown below.

Table 4-1: List of MotomanSync Functions

Function

Manipulator control by move command

Description

Moves the manipulator to the target point.

Control of two manipulators by specifying coordinated control

Moves two manipulators in coordinated motion by specifying the target points of the master and slave manipulators.

Control of two manipulators by specifying independent control

Independently controls two manipulators or one manipulator and one station connected to one controller.

JOG

Servo power control

Rapid stop

Moves the manipulator in JOG motion within the safety speed limit. As the interpolation method, joint or cartesian value can be specified. Also, the coordinated motion of two manipulators is possible.

Turns the servo power ON or OFF. Also, monitors the status of the servo power.

Immediately stops the manipulator’s motion.

Deceleration and stop, immediate stop, etc. can be specified.

Speed override

File access

Variable access

Current position monitoring

Alarm control

I/O control

Changes the speed of the manipulator’s motion in operation in real-time.

Reads or writes to the tool file, the user coordinate file or the interference area file.

Reads or writes the variables (B, I, D, R, S, P,

BP, EX) used in the JOB.

Retrieves the current position and the current speed.

Monitors the status of an occurred alarm, retrieves the detailed data of the alarm, and resets the alarm.

Writes to the relay of the network input, and reads the coil of the network output.

Job start and stop Controls the start and stop of the numerical value pattern JOB by using the network input.

Speed limit Limits the motion speed of the TCP or the flange of the manipulator.

System configuration monitor Monitors the configuration of current controlling groups.

Each function is described on the following pages.

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4 Function Specifications

4.1 Function List

4.1.1

Manipulator Control by Move Command



Function

Moves the manipulator by giving target values, interpolation method, speed, etc. to the controller.

The controller can store multiple move commands. When the operation starts, they are executed in the order they were stored. During operation by the move command, the START button on the programming pendant lights up. When the operation is stopped, the START button turns off.

Fig. 4-1: Move Command Function

Move command attribute in the controller

MotomanSync I/F

Move command issuance request

Task specification

Coordinate specification

Incremental value specification

Coordinate system specification

Tool specification

Received move command

Reception-completed move command

Move command ID

Interpolation command

Target position

Passing position

Issuance

Move command attribute

Move command

Move command top of buffer

Move command buffer



Description

To operate the manipulator, follow the procedure below:

1. Servo ON

2. Specify the move command.

3. Issue the move command.

4. Issue the request of operation start or stop.

The followings are set for the move command:

• Interpolation command

This is the interpolation method to the target point. The following types are available as the interpolation method:

• NOP

• Joint interpolation

• Linear interpolation

• Circular interpolation

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By “NOP”, no interpolation motion is made. Thus, the manipulator does not move by the “NOP” move command even if data such as the target point are set.

By “joint interpolation”, each axis turns around its coordinates

(joint coordinates), and its pulse is output to make the axes complete their movement at the same time. The TCP moves along the path as the result of each axis’s movement, so the path is made as a free-form curve.

By “linear interpolation”, the path of the TCP is made as a straight line. The current TCP position is set as the starting point, and a straight path to the target point is made.

By “circular interpolation”, the path of the TCP is made as a circular arc. The current TCP position is set as the starting point, and a circular path to the target point via the intermediate point is made.

• Target point and intermediate point

The target point is the point which the manipulator finally reaches.

The intermediate point is the point on which the manipulator passes to the target point.

The units of the target point and the intermediate point are in accordance with the specified coordinates.

If the joint interpolation or the linear interpolation is set for the move command, the intermediate point is not referred to.

• Detailed specification

This function can specify the target position (passing position) indirectly by a position variable.

• Move command ID

The move command ID is an identifier of move command. The controller can return the move command ID whose move commands are currently executed or completed. User can monitor which move command is currently executed or completed by move command ID.

• Absolute value or incremental value specification

Specifies whether to use an absolute value or an incremental value as position information given as the target point and the intermediate point.

• Absolute value: The target point and the intermediate point are shown as the coordinate values of the specified coordinates.

• Incremental value: The target point and the intermediate point are shown as the relative positional difference from the current position, that is, the difference value (= the target point - the current position) shown in the specified coordinates.

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CAUTION

After stopping the operation by the incremental value specification, if any of the following operations is performed, the manipulator resumes its movement from where it stopped by using the incremental value

(relative position). Be careful to the interferences with the peripheral devices.

• Servo is turned OFF

• Emergency stop

• Rapid stop (MotomanSync function)

• JOB is edited

• Energy saving

P0 : Operation start position

P1 : Target point

P2 : Stop/resume position with operation request ON/OFF

P0 P1

1) If the operation is stopped at P2 then resume operation with servo ON

I L I

P0 P1

2) If the operation is stopped at P2 then resume operation with servo OFF

L+I

P0 P1

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• Coordinates specification

Specifies the referential coordinates (data format) used for the target point and the intermediate point. The following coordinates are available:

• Pulse (joint coordinates): pulse value which shows the rotation angle of each axis’s motor

• Angle (joint coordinates): angle (degree) which shows the rotation angle of each axis’s arm

• Base coordinates (cartesian coordinates): position and posture in the base coordinates

• Robot coordinates (cartesian coordinates): position and posture in the robot coordinates

• User coordinates (cartesian coordinates): position and posture in the user coordinates defined by the user

To specify the user coordinates, the desired user coordinates number must be specified.

• Tool specification

This function can specify the tool to the manipulator when reaching the target point or the intermediate point.

• Figure specification

When the position data of the job data is described with XYZ, and then moving the manipulator to the described position, the manipulator may take several postures due to its mechanism. Each axis of those postures has respective pulses whereas sharing the same control point coordinate system.

Therefore, a figure is also specified as the manipulator posture cannot be specified only by the coordinate system.

The figure varies depending on the type of the manipulator.

For a 7-axis manipulator, the posture is determined by X, Y,

Z, Rx, Ry, Rz, Re + specified figure.

Re is an element to specify the 7-axis manipulator’s posture and it is not subject to change by the specified coordinate system.

Followings are the definitions of Re.

NOTE

Six types of the figure specifications are available as follows:

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1. Front side / back side

Viewing the L-axis and U-axis of manipulator from the right side, specify the location of the B-axis rotation center either right or left side of the Saxis rotation. If its center is at the right side of the S-axis rotation center, it is defined as "front" and left side is "back".

Fig. 4-2: Front Side or Back Side

Back side Front side Front side Back side

Right side

(S-axis: 0

)

Figure above shows when S-axis is 0° or 180°, which should be defined only viewing the L-axis and U-axis from the right side.

When it is 7-axis manipulator, viewing the L-axis and U-axis from the right side, specify the side of the U-axis rotation center either right or left side of the S-axis rotation. If its center is at the right side of the S-axis rotation center, it is defined as "front" and left side is "back".

Fig. 4-3: Front Side or Back Side (7-axis Manipulator)

Back side Front side

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2. Upward elbow or downward elbow

(Figures comprised of L-and U-axes)

Specifies the figure comprised of L-and U-axes when the L-axis and the

U-axis are viewed from the right side.

Fig. 4-4: Upward Elbow or Downward Elbow

Right side

Upward Elbow Downward Elbow

3. Flip or no flip

As shown in the following figure, then B is in (+) direction (

θB ≥ 0°), it is defined as “flip” and it is “no-flip” when B is in (-) direction (

θB < 0°).

Fig. 4-5: Flip or No Flip

Flip

No flip

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4. S-axis angle

Specifies whether the S-axis angle is within



180° or exceeds



180°.

Fig. 4-6: S-Axis Angle

S < 180° S

≥ 180°

360

-360

-180

180

-180

S 180

180

° or

-180

Note:

θS is the angle when S-axis home position is assumed to be at 0°.

This specification is necessary to a manipulator whose S-axis operating range is greater than



180°

5. R-axis angle

Specifies whether the R-axis angle is within



180° or exceeds



180°.

Fig. 4-7: R-Axis Angle

R < 180° R

≥ 180°

360

-360

360

-360

-180

180

° or

-180

Note:

θR is the angle when R-axis home position is assumed to be at 0°.

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6. T-axis angle

Specifies whether the T-axis angle is within



180° or exceeds



180°.

Fig. 4-8: T-Axis Angle

T < 180° T

≥ 180°

360

-360

-180

180

-180

180

° 180

° or

-180

Note:

θT is the angle when T-axis home position is assumed to be at 0°.

• Speed specification

Specifies the interpolation motion speed.

Interpolation methods are as follows:

Table 4-2: Interpolation methods

Methods

vj: each axis (joint) speed v: path speed vr: posture speed

Unit

[0.01%]

[0.1mm/s]

[0.1deg/s]

The Speed to be applied is different according to the interpolation command. Linear interpolation and circular interpolation is applied to the slower speed of either “path speed” or “posture speed”.

Table 4-3: Speed to be applied

Interpolation command

Joint interpolation

Linear interpolation

Circular interpolation

Applied speed

vj each axis (joint) speed v path speed, vr posture speed v path speed, vr posture speed

• Acceleration or deceleration specification

Specifies the acceleration or deceleration at the interpolation motion with an adjustment ratio (20 to 100%). The smaller the ratio, the slower the acceleration or deceleration. When not specified, the ratio is 100%.

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• Positioning specification

This function can be specified the distance of being close to the target position.

Specify the front distance of reaching to the target position. If the manipulator reaches to the specified distance, it operates moving to the next target point.

The following figure shows that the inner angle operation starting position is changed by specifying the positioning completion. The shorter positioning monitor distance, the manipulator is closer to the target position.

When the positioning monitor distance is got 0, the absolute positioning completion is performed for the target position.

Fig. 4-9: Positioning Monitor Distance and Inner Angle

P0 : start operating position

P1 : target point

P2 : target point

I : positioning monitor distance

The robot control function by the move command can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode

The robot stops in case the mode is changed from REMOTE PLAY to either REMOTE TEACH or Not REMOTE mode.

Table 4-4: Manipulator Control Function by Move Command and

Operation Mode

Controller Operation Mode REMOTE

PLAY

Not REMOTE

TEACH PLAY TEACH

Manipulator control by move command Enabled Disabled Disabled Disabled

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• Move command start request or stop request

The move command start request starts the performance of move command. If operation request is stopped, the performance of the move command will be stopped.

The robot decelerates and stops, and conditions of the servo power supply is maintained.

NOTE

While performing the JOB (the program created by

INFORM), it is not possible to operate by move command.

In this case, perform one of the following:

• JOB is performed to the END order, and completed.

• The performance is interrupted, and calling the master

JOB.

Calling the master JOB can be operated by I/O control function.

CAUTION

The stops with servo OFF including an emergency stop may deviate from the path.

When the operation is restarted, be careful of interference with machines around the manipulator.

Start operating position

Emergency stop

Target position

Deviated position

• Move command buffer monitoring

The following conditions can be monitored as the conditions of the buffer inside the controller:

• Whether the move command is present or not in the buffer

• Whether the buffer is full or not

• Number of move commands stored in the buffer.

The move command buffer monitoring function can be controlled from the host (PC) whether the controller is in the REMOTE mode or Not REMOTE mode.

Table 4-5: Move Command Buffer Monitoring Function and Operation

Mode

Controller Operation Mode REMOTE

PLAY

Not REMOTE

TEACH PLAY TEACH

Move command buffer monitoring function Enabled Enabled Enabled Enabled

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• Move command buffer monitor

Details of move command stored in the move command buffer can be monitored. The move command receipt No. can specify which stored move command is monitored. Also, either or one move command attribute appended to specified move command can be specified and monitored.

The specifying contents are as follows.

• Move command receipt No.

• Move command attribute type specification

The contents can be monitored are as follows.

• Move command receipt No.

• Move command ID

• Interpolation command

• Detailed specification

• Target position/Passing position

• Move command attribute type specification

• Move command attribute data (about a specified category)

The move command buffer monitor function can be controlled from the host (PC) whether the controller is in the REMOTE mode or Not

REMOTE mode.

Table 4-6: Move Command Buffer Monitor Function Operation Mode

Controller operation state

Move command buffer monitor function

REMOTE Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Enabled Enabled Enabled

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• Move command execution/completion monitor

This function can be monitored the conditions of the current and completed move command.

"Execution of move command" is "the move command which is currently executing".

This means when only the move command is issued during the move command buffer is an empty, the contents of monitor will not be updated and will be all 0.

It will be executing first time when the command is issued by requesting the operation, and the contents of move command (the head of move command buffer) which is an executing target.

"Completion move command" is "the move command which was executed last time and which is not currently executed target".

Although in most cases, the completion move command is the move command which reaches to the target position, by performing the move command clear, the move command which is currently executing may be lost. This operation is considered that client completes forcibly, and the contents of monitor will be updated.

The move command execution or completion monitor function can be controlled from the host (PC) whether the controller is in the

REMOTE mode or Not REMOTE mode.

Table 4-7: Move Command Execution/Completion Monitor Function

Operation Mode

Controller operation state

Move command execution/completion monitor function

REMOTE Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Enabled Enabled Enabled

• Move command attribute monitor

This function can be monitored the move command attribution which is the latest contents of move command.

By specifying which control group of, which move command attribution of the stored move command attribution is monitored, up to five move command attributions can be monitored at the same time.

The contents of specifying is as follows. There is five monitor area and each of them can be specified.

• Control group number

• Move command attribution category specification

The contents can be monitored are as follows.

• Control group number

• Move command attribute type specification

• Move command attribute data

The move command attribute monitor function can be controlled from the host (PC) when the controller is REMOTE PLAY mode.

Table 4-8: Move Command Attribute Monitor Function Operation Mode

Controller operation state REMOTE Not REMOTE

PLAY TEACH PLAY TEACH

Move command attribute monitor function Enabled Disabled Disabled Disabled

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• WAIT function

With this function enabled, the move command operation waits to start.

Specify WAIT to the move command attribute whose operation start needs to wait. The move command with WAIT specification judges whether the WAIT conditions are satisfied. When satisfied, the operation will immediately start. If not, the operation will wait to start.

The operation of move command to which WAIT is not specified is shown below. In the figure, a move command headed to P2 via P1 is issued. When the operation starts, it is given with smooth path.

P1 P2

Wait until the

WAIT conditions are satisfied

P1 start

The next figure shows the operation of move command to which

WAIT is specified. P2 in the figure specifies WAIT. While the operation intends to head for P2, if the WAIT conditions are not fully satisfied, the operation heads for P1. At P1, the operation stops until the WAIT conditions are satisfied. When the WAIT conditions are satisfied, the operation heads for P2.

WAIT specification

WAIT release request

WAIT conditions satisfied

1 P2

WAIT specification start start

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The path depends on the timing when the WAIT conditions are satisfied. This is shown in the following figure:

When WAIT is not specified to P2 in the figure, the operation is given with smooth path.

The operation is given with smooth path also when WAIT is specified to P2 in the figure. If the WAIT conditions are not satisfied, however, the operation heads for the former target P1 without heading for P2.

When the WAIT conditions are satisfied before the operation arrives at P1, the operation starts from that point to head for P2.

Path with WAIT specification

Conditions satisfied or timeout

P1 P2

Path without WAIT specification start

WAIT specification requires the following setting items:

Table 4-9: WAIT Specification Setting Item

Item

Validity

WAIT condition

(detection method)

Time limit

Meaning

Specifies Valid/Invalid status.

The operation waits to start until the specified conditions are satisfied.

Specify the detection method in which the realtime data

"WAIT release request" is used as a trigger.

The operation starts when the specified time elapses after starting to wait for the satisfaction of WAIT conditions.

When the specified time elapses, the operation starts even with the WAIT condition unsatisfied.

Unit applied is [msec].

Specifying zero (0) allows endless waiting. This is useful if the WAIT conditions are mandatory and the operation needs to wait until they are satisfied.

The WAIT conditions specify the detection method shown below.

These conditions can be used in combination as necessary.

Table 4-10: WAIT Conditions

Item Meaning

Level detection

Conditions are satisfied (and the operation starts) when the

WAIT release request is ON.

Rising edge detection

Falling edeg detection

Conditions are satisfied (and the operation starts) when rising edeg of WAIT release request (OFF to ON) is detected.

Conditions are satisfied (and the operation starts) when falling edeg of WAIT release request (ON to OFF) is detected.

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Rise & Fall

Condition

WAIT release request

OFF

FALSE

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The following figure shows the relationship between the WAIT release request and the WAIT condition satisfaction.

Satisfied conditions are shown by TRUE, whereas unsatisfied conditions are shown by FALSE. For example, when the level detection is set as the WAIT condition, the condition is satisfied while the WAIT release request is ON.

Level

TRUE FALSE Condition

WAIT release request

OFF

FALSE

Rise

Condition

WAIT release request

OFF

FALSE TRUE

Fall

Condition

WAIT release request

OFF

FALSE TRUE

If the rising edeg detection and the falling edeg detection are combined, both are detected. The conditions are satisfied when the

WAIT release request is switched from OFF to ON, or from ON to

OFF.

TRUE

or

OFF

FALSE TRUE

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If the move command execution is aborted due to either of the following reasons, the WAIT status is released. When the operation request is given again, the operation waits to start again. If the time limit is set, the time count of the elapsed time is repeated from the beginning.

No.

Cause

Operation request was turned OFF

HOLD was turned ON

Move command was cleared

Alarm occurred

REMOTE mode was turned TEACH mode or PLAY mode

Stop request was turned ON

Emergency stop was turned ON

Servo power supply was turned OFF

In specifying WAIT in multiple control groups, the operation depends on the task number specified.

The operation does not start unless the conditions of all the control groups to which the same task number is specified are satisfied.

When any of the control groups to which the same task number is specified waits for the WAIT condition to be satisfied, the rest of the control groups to which no WAIT is specified wait for the operation to start, too. In other words, all of the control groups corresponding to the task number hold the waiting status.

For the task, refer to Section 4.1.3 “Independent Control” on page 4-

18.

• Move command clear

This function clears move command stored in the move command buffer.

The move command clear function can be controlled from the host

(PC) when the controller is in the REMOTE PLAY mode.

Table 4-11: Move Command Clear Function and Operation Mode

Controller Operation Mode REMOTE Not REMOTE

PLAY TEACH PLAY TEACH

Move command clear function Enabled Disabled Disabled Disabled

NOTE

Do not execute move command clear function during operation. If move command is cleared, the manipulator makes different movement and it may cause interferences with peripheral devices.

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4.1.2

Coordinated Control



Function

This function interpolates a relative path of the manipulator viewed from a master coordinate system which is an arbitrary chosen coordinate system as a master. This function is an option.



Description

With the coordinated control by MotomanSync, two control groups from the control groups registered in one controller can be selected and set for the coordinated motion.

Examples of the combination of control groups are as follows:

Table 4-12: Coordinated System

Coordinated System Configuration

Station coordinated system Manipulator (R1) and

Station(S1)

Two-manipulator coordinated system

Manipulator (R1) and

Manipulator (R2)

Remark

R1: Slave

S1: Master

R1 and R2 can be

Master or Slave

Specify which is the master and which is the slave of the two control groups selected for the coordinated control. When the coordinated control is in execution, the slave performs the relative interpolation motion on the tool coordinates of the master.

The coordinated control function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode.

Table 4-13: Coordinated Control Function and Operation Mode

Controller Operation Mode REMOTE

Coordinated control

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Disabled Disabled Disabled

4.1.3

Independent Control



Function

Operates two manipulators or a manipulator and a station connected to one controller independently. This function is an option.

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

Description

With MotomanSync, the Move command can be issued each of the four control groups. By specifying a different task for each move command, each control group executes the move command independently.

• Task specification

This is the task number to identify the synchronized motion or independent motion of multiple control groups. If different control groups have the same task number, the synchronized control (simultaneous start and stop) is executed, and if they have different numbers, the independent control is executed.

The independent control function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode.

Table 4-14: Independent Control Function and Operation Mode

Controller Operation Mode

Independent control

REMOTE Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Disabled Disabled Disabled

4.1.4.1

JOG Mode

4.1.4

Active Command Function

This function is used to operate the robot in real time. The following modes are available in this function.

Table 4-15: Active Command Mode List

Mode

JOG mode

Adjust mode

Description

This mode is used to perform the manual operation (axis operation).

This mode is used to correct path during the move command is in execution.

Also, this mode can realize a free path operation without move command.



Function

This mode is used to operate the robot manually at the inching, low, middle, high, highest speed, or arbitrary speed (within the safety speed).

As the interpolation method, the joint interpolation or cartesian value can be selected.



Description

JOG is used to operate the manipulator manually for teaching, evacuation in emergency, etc.

In JOG mode the robot is operated at a safety speed which is equivalent to manual operation speed.

Followings are the factors that are set up in JOG mode:

• Mode specification

This function can specify the JOG mode.

• Direction specification

Specifies the direction of the axis which is operated by JOG. The positive (+) direction or negative (-) direction is set.

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• Coordinates

Specifies the referential coordinates (data format) used for the JOG operation. The following coordinates are available:

- Pulse

(Joint coordinates)

: Pulse value which shows the rotation angle of each axis’s motor

-Base coordinates

(Cartesian coordinates)

-User coordinates

(Cartesian coordinates)

: Position and posture in the base coordinates

: Position and posture in the user coordinates defined by the user

To specify the user coordinates, the desired user coordinates number must be specified.

-Tool coordinates

(Cartesian coordinates)

: Position and posture in the tool coordinates defined by the user.

When the tool coordinates are specified, specify the control group number of the manipulator for the JOG operation.

The angle and the robot coordinates cannot be specified.

• Tool

Specifies the tool to be used for the JOG operation.

• Speed level

Selects the speed level whose parameter is set in advance.

Six speed levels are available as follows:

- Inching

- Slow

- Middle

- Fast

- Highest speed

- Specified speed

The inching, slow, medium, fast, and highest speed are fixed values,

but the specified speed can be changed to a desired value as

follows.

- Link speed VJ : 0 to 100.00 (unit: [%])

- Control point speed V : 0 to 1500.0 (unit: [mm/s])

- Posture angle : 0 to 360.0 (unit: [deg/s])

• Working axis

Selects the axis to be operated. When the joint coordinates are used, the following axes can be selected:

- 1st axis

- 2nd axis

- 3rd axis

- 4th axis

- 5th axis

- 6th axis

- 7th axis

- 8th axis

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When the cartesian coordinates are used, the following position and posture can be selected:

- X

- Y

- Z

- Rx

- Ry

- Rz

- Re

NOTE

The active command of JOG mode cannot be accepted during operation of the robot program (JOB) created by

INFORM or during the operation of the move command.

Error 0112 "Failed in operating MotomanSync." appears.

• Coordinated JOG operation

With the coordinated JOG operation, a command is given to the master control group of the coordinated control, and the slave control group follows the master control group automatically. This function is an option.

- Master control group

For the master control group, which the motion in the

coordinated JOG is based on, perform the same

settings (coordinates, speed level, working axis, etc.) as

the normal JOG operation.

- Slave control group

For the slave control group, which follows the master

control group, set the tool coordinates to which the

control group number is specified. And the control

group number is the reference of the follow-up motion.

• Base axis JOG operation with fixed TCP

In the system in which the manipulator is installed on the base axis, this JOG operation automatically interpolates the motion of the robot-axis control group to make the TCP position and the posture of the manipulator stay the same even if the base-axis control group is moved.

The JOG function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode.

Table 4-16: JOG and Operation Mode

Controller Operation Mode REMOTE

JOG

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Disabled Disabled Disabled

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4.1.4.2

Adjust Mode



Function

This mode is used to correct the path of move commands in real time.



Description

Use to correct the path of move commands.

The command amount set for active command is accumulated and stored in the controller while the active command request is ON. The robot reaches the position where the accumulated command amount is added to the target position of the move command.

Active command amount

Reaching position

Target position

Operation start position

Tool

X Accumulated command amount

Actual path

Turn OFF the move command start request, stop the operation and then turn the active command request OFF. Accumulated command amount will be cleared. If the move command start request is turned ON, the robot reaches the target position from the stopping position.

Active command amount

Operation start position

Tool

Clearing accumulated command amount

Target position

Actual path

Move command start request: OFF

Active command request: OFF

If no additional command amount is required to be added to the accumulated command amount, keep the active command request turned

ON, and set the command amount to 0.

Active command amount

Operation start position

Tool

Storing accumulated command amount

Reaching position

Target position

Actual path

Active command request: ON

Command amount: Set to 0

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The active command in adjust mode can be operated when the move command is not in execution. While the move command can make a linear or circular path, the active command can make a free-form path.

Clearing accumulated command amount

Operation by move command

Accumulated command amount

Reaching position

Operation start position

Operation by active command

Followings are the factors that are set up in the adjust mode:

• Mode specification

This function can specify the adjust mode.

• Coordinates

Specifies the referential coordinates (data format).

The following coordinates are available:

– Base coordinates (Cartesian coordinates): Positions and postures in the base coordinates

– Tool coordinates (Cartesian coordinates): Positions and postures in the tool coordinates defined by the user.

When the tool coordinates are specified, specify the control group number of the manipulator for the adjust operation.

• Tool number

Specifies the tool to be used.

• Detailed specification

The unit of command amount can be specified.

The "position" specification interprets the command amount with the unit of 0.001 [mm].

The "speed" specification interprets the command amount with the unit of 0.1 [mm/sec].

• Command amount

Sets the command amount. Setting is available for each coordinate

(X, Y, and Z).

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CAUTION

Observe the following precautions in adjust mode.

(1) Available only when the system consists of one robot.

(2) Not available with a move command whose task number is not 0.

(3) Not available with a move command of link interpolation (MOVJ).

(4) If the robot has an abnormal posture, the moving speed may be excessive.

(5) The command amount cannot be set for the posture (Rx, Ry, Rz,

Re).

(6) When the operation mode is switched from REMOTE to PLAY or

TEACH while performing an active command, the accumulated command amount is cleared.

(7) When interrupting and restarting the move command operation, the accumulated command amount is stored. However, additional command requests are not accepted. Turn OFF the active command request to clear the accumulated command amount, and make sure to restart operation from the operation start position.

Active command amount

Operation start position

Tool

Actual path

Storing accumulated command amount

Interruption

Reaching position

Target position

Start after restarting the operation

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4.1.5

Servo Power Supply



Function

Turns ON or OFF the servo power supply. Also, monitors the status of the servo power supply.



Description

The servo power supply function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode.

Table 4-17: Servo Power Supply and Operation Mode

Controller Operation Mode REMOTE

Servo power supply

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Disabled Disabled Disabled

4.1.6

Rapid Stop



Function

Stops the manipulator’s motion immediately.

Specifies the rapid deceleration, deceleration, and immediate stop to stop the motion as the rapid stop method.

With any method, the servo power supply is turned OFF.



Description

As the rapid stop method equivalent to the external servo OFF, the rapid deceleration, deceleration, and immediate stop are available which are categorized as the stop methods 0 to 2.

If the rapid stop function is executed without specifying the stop method, the stop method “0” is used.

When this function is enabled, the servo power supply cannot be turned

ON. (Disable this function to turn ON the servo power supply.)

Table 4-18: Stop Method Specification

Stop Method

Specification

Description

Stop Method Servo Power Supply

Rapid deceleration to stop Turned OFF

Deceleration to stop

Immediate stop

Turned OFF

When this function is enabled, the programming pendant indicates that

“external servo OFF” is input and which stop method is specified as follows:

• Stop method specification 0: External servo OFF 3 (category 1)

• Stop method specification 1: External servo OFF 1

• Stop method specification 2: External servo OFF 2 (category 0)

The rapid stop function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode.

Table 4-19: Rapid Stop and Operation Mode

Controller Operation Mode REMOTE

PLAY

Not REMOTE

TEACH PLAY TEACH

Rapid stop Enabled Disabled Disabled Disabled

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CAUTION

Be careful to the behavior of the controller when the operation mode is changed. While rapid stop function is valid, the rapid stop function instantly becomes invalid if the mode is changed from REMOTE to Not

REMOTE mode whereas it instantly becomes valid if the mode is changed from Not REMOTE mode to REMOTE mode.

WARNING

This rapid stop function is the function via a network. Therefore, it cannot be used as an alternative for the emergency stop button required on the equipment.

Press the emergency stop button on the programming pendant immediately if there is a problem.

In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then, check to be sure that the servo power is turned OFF by pressing the emergency stop button.

4.1.7

Speed Override



Function

With this function, the manipulator’s motion speed can be changed temporarily by specifying the ratio to the motion speed.



Description

Specify the ratio within the range of 0 to 150%. When the speed override function is enabled for the desired control group, the motion speed is changed according to the specified speed ratio. If specifying the ratio to

0%, the manipulator stops and the specified speed would not change from the former speed if 100% is set.

This speed override functions only for the move command executed in

MotomanSync. (It does not function for the JOB by INFORM even if the ratio is specified.)

The speed override function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode.

Table 4-20: Speed Override and Operation Mode

Controller Operation Mode REMOTE

Speed override

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Disabled Disabled Disabled

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4.1.8

File Access



Function

Writes and reads various files registered to the controller.



Description

These files can be read and written by specifying the “file type” and “file number” of the variable registered in the controller.

The file types are as follows:

• Tool file

• User coordinate file

• File interference area file

Specifying of the file number varies according to the file type. Specifying file number and its range are shown below.

Table 4-21: File Number

File Type

Tool file

User coordinate file

Interference area file

Range (of the File Number)

0 to 15 (#0 to #15)

0 to 15 (#1 to #16)

0 to 63 (#1 to #64)

The file access function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode. Writing operation is invalid while the manipulator is in playback operation.

Table 4-22: File Access and Operation Mode

Controller Operation Mode REMOTE

PLAY

Not REMOTE

TEACH PLAY TEACH

File access Enabled Disabled Disabled Disabled

4.1.9

Variable Access



Function

Writes and reads the variables such as a Boolean value, character string, and floating-point number registered in the controller.



Description

These variables can be read and written by specifying the “variable type” and “first number” of the variable registered in the controller.

The variable types are as follows:

• B variable (byte type variable)

• I variable (integer type variable)

• D variable (double precision integer type variable)

• R variable (real type variable)

• S variable (character type variable)

• P variable (position type variable of robot-axis control group)

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• BP variable (position type variable of base-axis control group)

• EX variable (position type variable of station-axis control group)

The maximum numbers of the readable variables at one time are shown below. The variable after the first number is read or written.

Table 4-23: Maximum Number of Readable Variables for Each Variable Type

Range (Number of Variables)

Variable Maximum Number of Readable

Variables

B 60

B000 to B099 (100)

I000 to I099 (100)

D000 to D099 (100)

R000 to R099 (100)

S000 to S099 (100)

P000 to P127 (128)

BP000 to BP127 (128)

EX000 to EX127 (128)

Editable items of each variable are the same as the ones displayed on the programming pendant.

The variable access function can be controlled from the host (PC) when the controller is in the REMOTE PLAY mode.

Table 4-24: Variable Access and Operation Mode

Controller Operation Mode REMOTE

Variable access

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Disabled Disabled Disabled

4.1.10

Current Value Monitoring



Function

Retrieves the position, posture, and speed information of the manipulator.



Description

Specify the coordinates to refer to:

• Pulse coordinates

• Base coordinates

• Robot coordinates

• User coordinates (and coordinates file number)

• Tool coordinates (and control file number)

The position and speed of the manipulator can be retrieved according to the coordinates.

• Position (command or feed back data)

• Speed (command or feed back data)

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For the speed information, when the cartesian coordinates (base coordinates, robot coordinates, user coordinates, or tool coordinates) are specified as the reference, the user can select to retrieve either of the vector value expressed as the coordinates or the scalar value regardless of the coordinates. (In the pulse coordinates or the angle coordinates, only each axis’s speed in pulse/s or deg/s is retrieved.)

Two kinds of information per control group (position command and position feed back, position feed back and speed feed back, etc.) can be retrieved simultaneously.

In addition, the tool number and figure set for each control group can also be monitored.

The current value monitoring function can be controlled from the host (PC) whether the controller is in the REMOTE mode or Not REMOTE mode.

Table 4-25: Current Value Monitoring and Operation Mode

Controller Operation Mode REMOTE

Current value monitoring

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Enabled Enabled Enabled

4.1.11

Alarm Control



Function

Monitors the alarm status of the controller.

Also, can reset the alarm except the major failure alarm.



Description

As the alarm control function, the following alarm status (occurred or not) can be monitored:

• Common

• Control group 1

• Control group 2

• Control group 3

• Control group 4

When an alarm occurs in a control group, the alarm status corresponding to the alarm number assigned to the parameter can be monitored by the status of each bit of the 16-bit (2-byte) data.

As the default settings when the MotomanSync function is enabled, the

alarm number shown in Table 4-26 Alarm Assignment (Initial Value) is

assigned to each bit.

Table 4-26: Alarm Assignment (Initial Value) (Sheet 1 of 2)

Bit

Bit status

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

Parameter

S4C024

S4C1025

S4C1026

Initial value

4414

4416

4422

Meaning

Excessive segment

Pulse limit

Mechanical interference

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Table 4-26: Alarm Assignment (Initial Value) (Sheet 2 of 2)

Bit

Bit status

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

0: No occurrence

1: With occurrence

Parameter

S4C1027

S4C1028

S4C1029

S4C1030

S4C1031

S4C1032

S4C1033

S4C1034

S4C1035

S4C1036

S4C1037

S4C1038

None

Initial value

4424

4684

4677

4980

4902

4903

None

Meaning

Special mechanical interference

Interpolation invalid

Impossible linear motion

Destination pulse limit

No assignment

Cube interference (control point monitor)

Cube interference (whole monitor)

No assignment

Other

In addition, the details of occurring alarm or error occurred can be monitored.

For the alarm details, the following can be monitored:

• Alarm number

• Control group number

• Alarm auxiliary data (task number, servo board number, or sensor board number)

• Sub code

• Sub code type (type number of sub code interpretation)

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The alarm auxiliary data is either of the “task number”, “servo board number”, or “sensor board number” shown in Table 4-27 Alarm Auxiliary

Data List. For the type of the alarm auxiliary data of the occurring alarm, refer to “Chapter 9 Alarm” of “FS100 Maintenance Manual (159645-1CD)”.

Table 4-27: Alarm Auxiliary Data List

Alarm auxiliary data type

Task number

Servo board number

Sensor board number

Monitor value: description

0: Task 0

1: Task 1

2: Task 2

3: Task 3

4: Task 4

5: Task 5

6: Task 6

0: Servo board 1

1: Servo board 2

0: Sensor board 1

The “sub code” of the alarm can be retrieved as 4-byte data. Since the sub code interpretation is different depending on the alarm, the “sub code type” to indicate the type number of the sub code interpretation is also retrieved.

The sub code type and the sub code interpretation are shown in Table

4-28 Sub Code Type and Sub Code Interpretation on page 4-31.

For the sub code type 4, the axis for the first byte is for the control group retrieved by the details of the alarm, and the axis for the third byte is for the control group specified by the second byte.

Table 4-28: Sub Code Type and Sub Code Interpretation (Sheet 1 of 2)

Sub code type

(interpretation type number)

Sub code interpretation

General-purpose data type

Refer to the alarm information in “FS100 Maintenance Manual”.

4th byte

None

3rd byte

None

2nd byte

HIGH axis

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

MAX axis

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

4-31

1st byte

LOW axis

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

MIN axis

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

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Table 4-28: Sub Code Type and Sub Code Interpretation (Sheet 2 of 2)

Sub code type

(interpretation type number)

Sub code interpretation

None

2nd byte specification

Control group axis

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

None

MAX axis

0 bit: X-axis

1 bit: Y-axis

2 bit: Z-axis

3 bit: None

4 bit: None

5 bit: None

6 bit: None

7 bit: None

Control group specification

1: control group 1

2: control group 2

3: control group 3

4: control group 4

Retrieves the 8-bit data in decimal notation.

Axis 2

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

Data

Retrieves the 8-bit data in decimal notation as the data number.

Axis 1

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

Axis

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

MIN axis

0 bit: X-axis

1 bit: Y-axis

2 bit: Z-axis

3 bit: None

4 bit: None

5 bit: None

6 bit: None

7 bit: None

Axis 1

0 bit: 1st axis

1 bit: 2nd axis

2 bit: 3rd axis

3 bit: 4th axis

4 bit: 5th axis

5 bit: 6th axis

6 bit: 7th axis

7 bit: 8th axis

For the details of alarms, refer to “Chapter 9 Alarm” of “FS100

Maintenance Manual (159645-1CD)”.

The alarms or errors except the “major failure” can be reset collectively.

The alarm occurrence status monitor can be controlled from the host (PC) whether the controller is in the REMOTE mode or Not REMOTE mode.

However, for the details of monitor, and alarm reset it can be controlled from the host (PC) only when the controller is in the REMOTE PLAY mode.

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Table 4-29: Alarm Control and Operation Mode

Controller Operation Mode REMOTE

PLAY TEACH

Not REMOTE

PLAY TEACH

Enabled Enabled Enabled Enabled Alarm occurrence status monitor

Alarm details monitor Enabled Disabled Disabled Disabled

Alarm reset Enabled Disabled Disabled Disabled

4.1.12

I/O Control



Function

Writes to the relay of the network input and reads the coil of the network output.



Description

Controls the numbers assigned to the controller.

• Network input (#26050-#26287)

• Network output (#36050-#36287)

When the MotomanSync function is enabled, the contents shown in Table

1 Network Input Number and Contents of Initial Ladder at Appendix-1 and

Table 2 Network Output Number and Contents of Initial Ladder at

Appendix-6 are assigned.

By writing to or reading these assigned signals, the servo can be turned

ON or OFF, the JOB registered in the controller can be called, or the status of the controller can be confirmed, and the like.

For example, when the network input is #26057 = 1, the servo is turned

ON, and when #26065 = 1, the servo is turned OFF.

The I/O control function can be controlled from the host (PC) whether the controller is in the REMOTE mode or Not REMOTE mode.

Table 4-30: I/O Control and Operation Mode

Controller Operation Mode REMOTE

PLAY

Not REMOTE

TEACH PLAY TEACH

I/O control Enabled Enabled Enabled Enabled

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4.1.13

JOB Start and Stop



Function

Starts or stops the numbered JOB which is created and registered by using the network input in advance.



Description

The robot program (JOB) created by INFORM in advance can be started and operated, by using the I/O control function to input the network input, converting the signal pattern to the JOB number, and starting the corresponding JOB.

An example is shown in Fig. 4-10 Configuration Example of JOB Start

Function on page 4-35. The system shown in Figure 4-10 comprises the

manipulator 1 (R1), manipulator 2 (R2), and the station 1 (S1).

To use this function, create MASTER.JBI (master JOB), 64.JBI to operate

R1, and 128.JBI to operate R2 and S1 in advance. MASTER.JBI must be registered as the master JOB. Also, assign numerical values to the JOB names for operating R1, R2, and S1.

The procedure to start the JOB 64.JBI in MASTER.JBI shown in Figure

4-10 is as follows:

1. Setting the external servo ON

2. Confirming the servo ON

3. Calling the master JOB

4. Setting the external start

(Network input #26057 = 1)

(Network output #36057 = 1)

(Network input #26060 = 1)

(Network input #26061 = 1)

5. Confirming the system is in operation (Network output #36061 = 1)

6. Setting the JOB number (64) to the user input

(Network input #26136 = 1

)

“DIN LB000 IG#(1)” described in MASTER.JBI is the instruction to read the signal input of the first user input group (8 inputs per group).

The first user input group consists of 8 inputs from #00010 to #00017, and

each user input represents the numerical value shown in Table 4-31 Input

Number and Assigned Numerical Values of First User Input Group.

#00016 represents “64”, and thus LB000 = 64 is set, and 64.JBI is executed by JUMP LB000.

To start 128.JBI, set the user input #00017, in other words, set the network input #26137 =1.

Table 4-31: Input Number and Assigned Numerical Values of First User Input Group

Numerical value

Input number

128 64 32 16 8 4 2 1

#00017 #00016 #00015 #00014 #00013 #00012 #00011 #00010

IG# (1): #00010-#00017

1 By the initial ladder, setting of the network input #26136 is input to the user input

#00016.

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Fig. 4-10: Configuration Example of JOB Start Function

MASTER.JBI

NOP

*LABEL

WAIT IG#(1)<>0

DIN LB000 IG#(1)

JUMP LB000

JUMP *LABEL

END

64.JBI

NOP

MOVL

JUMP JOB:MASTER

END

128.JBI

NOP

MOVJ+MOVL

JUMP JOB:MASTER

END

To stop the JOB, set the external servo OFF (network input #26065 = 1).

Since the JOB start and stop function is executed by the I/O control, it can be controlled from the host (PC) when the controller is in the REMOTE

PLAY mode.

Table 4-32: JOB Start and Stop and Operation Mode

Controller Operation Mode REMOTE

PLAY

Not REMOTE

TEACH PLAY TEACH

JOB start and stop Enabled Disabled Disabled Disabled

NOTE

If the JOB start request is issued during the move command start request (during operation) or during JOG operation by the request of MotomanSync function:

• Move command continues operation

• JOB fails to start and the error 0111 “MotomanSync is

Operating.” appears.

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4.1.14

Speed Limit



Function

Limits the motion speed of the manipulator. When this function is enabled, regardless of the speed given by the move command, the motion speed is limited to 250 mm/s.



Description

When the MotomanSync function is enabled, the network input #26066 is assigned as the signal for enabling or disabling the speed limit function.

(Refer to Table 1 Network Input Number and Contents of Initial Ladder at

Appendix-1.)

The speed limit function can be controlled from the host (PC) whether the controller is in the REMOTE mode or Not REMOTE mode.

Table 4-33: Speed Limit and Operation Mode

Controller Operation Mode REMOTE

Speed limit

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Enabled Enabled Enabled

4.1.15

System Configuration Monitor



Function

Monitors the current system configuration.



Description

With this function, information of both control group configuration and axis can be monitored.

Followings are the acquirable information:

Control group

• System control group

• Robot axis control group

• Base axis control group

• Station axis control group

• Robot axis with base axis control group

Axis information

• Equipped axis

• Type of axis (rotation axis, linear motion axis)

The system configuration monitor function can be controlled from the host

(PC) when the controller is in the REMOTE PLAY mode.

Table 4-34: System Configuration Monitor and Operation Mode

Controller Operation Mode REMOTE

System configuration monitor

Not REMOTE

PLAY TEACH PLAY TEACH

Enabled Disabled Disabled Disabled

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Table 5-1: MotomanSync Error List

Error number Error message

0111 MotomanSync working.

0112 An error occurred in starting the

MotomanSync.

Contents

Since it is already during operation by

MotomanSync when

“JOB start” or “IO

JOG” is required, it means that demanded operation cannot be performed.

Sub code Meaning

None

When operation by move command or active command is required, what starting went wrong by a certain factor is meant.

None

It is in the Servo-off.

It is in the HOLD.

Alarm or error occurred

The home positioning check is not completed.

A position check is incomplete.

100

Under automatic backup operation.

Operation is prohibited by external device

Stat reservation mode.

It is set up into logoff operation prohibition mode.

JOB in execution.

Not in PLAY mode.

IO JOG in execution

200

-1

The specified control group is performing by other tasks.

Move command was required during

JOG in execution.

JOG was required during move command in execution.

Other factors.

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Table 5-2: MotomanSync Alarm List (Sheet 1 of 22)

Meaning Alarm number

4483

4720

Alarm name/ message

TRAJECTORY

ADJUSTMENT

ERROR

Contents Sub code

An error occurred in trajectory adjustment.

MotomanSync

CLIENT

DISCONNECTION

Failed to connecting to

MotomanSy nc client.

255

-1

-2

-3

-4

-5

-6

-100

-101

-102

Remedy

Attributes are changed during trajectory adjustment.Can not be changed during trajectory adjustment of these attributes.

• Coordinate system

• Coordinate system number

• Tool

The coordinate number is out of range.

The tool number is out of range.

The unit is out of range.

The coordinates system is unsupported.

Connection to the client device has been cut off.

Please change after end of trajectory adjustment.

Input correct data.

Failed in connecting to the client device

Incompatible

MotomanSyncI/F

Failed in communication rate command.

Controller failed in data transmission.

Client failed in data receiving.

Failed in connecting to client device.

(MotomanSync-PLC)

Check the connection and insertion of the cables and connectors on the client device.

Use the compatible MotomanSyncI/

Check the application and confirm the following contents:

(1) Use correct function codes.

(2) Confirm that the transmission data has no errors.

Check the connection and insertion of the cables and connectors on the client device.

(1)Check the connection and insertion of the cables and connectors on the client device.

(2)Check the client device and

FS100 communication settings

(instance number, I/O data size).

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect MBAP Header has been set.

Undefined function codes has been set.

An error occurred in communication Ethernet.

Incorrect MBAP Header has been set.

Incorrect transaction identifier has been set.

An error occurred in communication Ethernet.

Incorrect MBAP Header has been set.

Incorrect Protocol identifier has been set.

Check the packet from client device.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 2 of 22)

Meaning Alarm number

4720

(continued)

Alarm name/ message

MotomanSync

CLIENT

DISCONNECTION

Contents Sub code

-103 Failed to connecting to

MotomanSy nc client.

-104

-200

-201

-202

-203

-204

-205

Remedy

An error occurred in communication Ethernet.

Incorrect MBAP Header has been set.

Incorrect length has been set.

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect MBAP Header has been set.

Incorrect Unit identifier has been set.

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect data has been set.

Function codes:0x66(Extend

I/F).

Incorrect Segment No. has been set.

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect data has been set.

Function codes:0x66(Extend

I/F). Duplicate some segments No. has been set.

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect data has been set.

Function codes:0x66(Extend

I/F).

Incorrect Total segments number has been set.

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect data has been set.

Function codes:0x66(Extend

I/F).

The total segments number of segments has been changed before receiving all segments.

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect data has been set.

Function codes:0x66(Extend

I/F).

Different Function codes has been set before receiving all segments.

Check the packet from client device.

An error occurred in communication Ethernet.

Incorrect data has been set.

Function codes:0x66(Extend

I/F).

Destination data size exceeds the volume that is acceptable for

MotomanSyncI/F.

Check the packet from client device.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 3 of 22)

Alarm number

4720

(continued)

Alarm name/ message

MotomanSync

CLIENT

DISCONNECTION

4722 MotomanSync

OPERATION

ERROR

Contents Sub code

-206 Failed to connecting to

MotomanSy nc client.

MotomanSy nc command is not correct.

Meaning

An error occurred in communication Ethernet.

Incorrect data has been set.

Function codes:0x66(Extend

I/F).

Destination memory is duplicated in some segments.

100000 Undefined command ID has been set.

100100 Failed in servo power control. Un defined servo power control command has been set.

100101 Failed in servo power control. Tried to control servo power without resetting alarms and errors.

100102 Failed in servo power control.

Remedy

Check the packet from client device.

Input correct data.

Reset alarms and errors.

Check following items;

(1)Release emergency stop switch.

(2)Reset servo power ON prohibited status.

(3)Close the safety fence.

(4)Reset the external servo OFF request.

(5)Complete external device operations.

(6)Complete the data transmission.

Input correct data. 100200 Failed in writing files.

Undefined file type has been set.

100201 Failed in writing files.

The number of files is out of range.

100202 Failed in writing files.

Incorrect control group number has been set.

100203 Failed in writing files.

Undefined coordinate system has been set.

100204 Failed in writing files.

The user coordinate number is out of range.

100205 Failed in writing files.

Executing playback operation.

Input correct data.

End the playback operation.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 4 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

100206 Failed in writing files.

Use memory is lacking.

100207 Failed in writing files.

Remedy

(1)Reset the alarm.

(2)when the error occurs again, if there is an unnecessary teaching position, delete it.

(3)If the error occurs again after the previous measures were executed, initialize the job file in the maintenance mode, and then load the saved job file. In that case, delete the unused jobs.

(4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).

(1) Reset the alarm and execute again.

(2) End the playback operation.

Input correct data. 100300 Failed in writing variables.

Undefined variable type has been set.

100301 Failed in writing variables.

The number of variables is out of range.

Input correct data.

100302 Failed in writing variables.

Undefined coordinate system has been set.

100303 Failed in writing variables.

The user coordinate number is out of range.

Input correct data.

100304 Failed in writing variables.

The tool number is out of range.

100305 Failed in writing B/I/D/R variables.

Input correct data.

(1)Input correct data.

(2)Don't set the number exceeding maximum number.

(3)Don't use the same variables same as other functions.

100306 Failed in writing S variable.

(1)Input correct data.

(2)Don't set the number exceeding maximum number.

(3)Don't use the same variables same as other functions.

100307 Failed in writing P/BP/EX variables.

(1)Input correct data.

(2)Don't set the number exceeding maximum number.

(3)Don't use the same variables same as other functions.

110000 Undefined monitor command ID has been set.

110100 Failed in reading files.

Undefined file type has been set.

Input correct data.

Input correct data. 110101 Failed in reading files.

The file number is out of range.

110102 Failed in reading files.

(1)Reset the alarm, and then try again.

(2)End the playback operation.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 5 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

110200

Meaning

Failed in reading variables.

Undefined variable type has been set.

110201 Failed in reading B/I/D/R variables.

Remedy

Input correct data.

(1)Input correct data.

(2)Don't set the number exceeding maximum number.

(3)Don't use the same variables same as other functions.

110202 Failed in reading S variable.

(1)Input correct data.

(2)Don't set the number exceeding maximum number.

(3)Don't use the same variables same as other functions.

110203 Failed in reading P/BP/EX variables.

(1)Input correct data.

(2)Don't set the number exceeding maximum number.

(3)Don't use the same variables same as other functions.

Input correct data. 110204 Failed in reading P/BP/EX variables.

Cannot use pulse, base, robot, user coordinate type.

110300 Failed in monitoring MOVE command attribute.

Incorrect control group number has been set.

Input correct data.

Input correct data. 110301 Failed in monitoring MOVE command attribute.

Undefined MOVE command attribute has been set.

110302 Failed in monitoring MOVE command attribute.

300000 Failed in monitoring current value.

(Control group1)

Undefined coordinate system has been set.

300001 Failed in monitoring current value.

(Control group1)

The user coordinate number is out of range.

Reset the alarm.

Input correct data.

300002 Failed in monitoring current value.

(Control group1)

Undefined user coordinate number has been set.

300003 Failed in monitoring current value.

(Control group1)

The control group number set in the tool coordinate specification is out of range.

300004 Failed in monitoring current value.

(Control group1)

The coordinate system other than pulse or angle has been set for the external axis control group.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 6 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

300005 Failed in monitoring current value.

(Control group1)

The detail setting is out of range.

Remedy

Input correct data.

301000 Failed in monitoring current value.

(Control group2)

Undefined coordinate system has been set.

301001 Failed in monitoring current value.

(Control group2)

The user coordinate number is out of range.

Input correct data.

301002 Failed in monitoring current value.

(Control group2)

Undefined user coordinate number has been set.

301003 Failed in monitoring current value.

(Control group2)

The control group number set in the tool coordinate specification is out of range.

Input correct data.

301004 Failed in monitoring current value.

(Control group2)

The coordinate system other than pulse or angle has been set for the external axis control group.

Input correct data.

301005 Failed in monitoring current value.

(Control group2)

The detail setting is out of range.

302000 Failed in monitoring current value.

(Control group3)

Undefined coordinate system has been set.

Input correct data.

302001 Failed in monitoring current value.

(Control group3)

The user coordinate number is out of range.

Input correct data.

302002 Failed in monitoring current value.

(Control group3)

Undefined user coordinate number has been set.

302003 Failed in monitoring current value.

(Control group3)

The control group number set in the tool coordinate specification is out of range.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 7 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

302004 Failed in monitoring current value.

(Control group3)

The coordinate system other than pulse or angle has been set for the external axis control group.

302005 Failed in monitoring current value.

(Control group3)

The detail setting is out of range.

303000 Failed in monitoring current value.

(Control group4)

Undefined coordinate system has been set.

303001 Failed in monitoring current value.

(Control group4)

The user coordinate number is out of range.

303002 Failed in monitoring current value.

(Control group4)

Undefined user coordinate number has been set.

303003 Failed in monitoring current value.

(Control group4)

The control group number set in the tool coordinate specification is out of range.

303004 Failed in monitoring current value.

(Control group4)

The coordinate system other than pulse or angle has been set for the external axis control group.

303005 Failed in monitoring current value.

(Control group4)

The detail setting is out of range.

400000 Failed in setting MOVE command attribute.

(Control group1)

The task number is out of range.

400001 Failed in setting MOVE command attribute.

(Control group1)

Incorrect synchronization specification has been set.

400002 Failed in setting MOVE command attribute.

(Control group1)

The coordinate is out of range.

Remedy

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 8 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

400003 Failed in setting MOVE command attribute.

(Control group1)

The tool number is out of range.

400004 Failed in setting MOVE command attribute.

(Control group1)

The acceleration and deceleration rate is out of range.

Remedy

Input correct data.

400005 Failed in setting MOVE command attribute.

(Control group1)

The wait execution is out of range.

400099 Failed in setting MOVE command attribute.

(Control group1)

Undefined MOVE command attribute.

Input correct data.

Input correct data. 400100 Failed in active command.

(Control group1)

The speed level setting is out of range.

400101 Failed in active command.

(Control group1)

Incorrect speed level has been set.

Input correct data.

Input correct data. 400102 Failed in active command.

(Control group1)

Incorrect coordinate system has been set.

400103 Failed in active command.

(Control group1)

The tool number is out of range.

400104 Failed in active command.

(Control group1)

The arbitrarily-set speed is out of range.

400105 Failed in active command.

(Control group1)

Incorrect destination has been set.

Input correct data.

400106 Failed in active command.

(Control group1)

The mode is out of range.

400107 Failed in active command.

(Control group1)

Shared base axes setting is unmatch.

Input correct data.

400108 Failed in active command.

(Control group1)

Incorrect all axis active command request has been set. Cannot set all axis active command to other than robot.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 9 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

400109 Failed in active command.

(Control group1)

Different mode has been set to several group.

Cannot set to several group different mode.

400110 Failed in active command.

(Control group1)

Incorrect coordinate system has been set during all axis active command request.

400111 Failed in active command.

(Control group1)

Control point fixed motion has been request to robot that has not exist base-axis.

400112 Failed in active command.

(Control group1)

Incorrect coordinate system has been set during control point fixed motion.

400113 Failed in active command.

Coordinated motion has been set.

This function is unsupported.

400114 Failed in active command.

(Control group1)

Incorrect coordinated motion has been set.

Remedy

Input correct data.

Set base coordinate type.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Set master to robot or station.

(2)Base and station can't coordinated motion.

(3)Cannot request active command to unrelated group with coordinated motion. Set OFF to active command request of the group in non-master or non-slave.

Set only the all axis active command request to the slave robot with the coordinated motion.

400115 Failed in active command.

(Control group1) Incorrect active command request has been set to slave robot of coordinated motion.

Cannot set optional-axis to active command of coordinated motion.

400116 Failed in active command.

Multiple master has been set of coordinated motion.

400117 Failed in active command.

(Control group1)

Master group and slave group are the same.

400118 Failed in active command.

(Control group1)

The Coordinate detail is out of range.

400119 Failed in active command.

Undefined coordinate system has been set.

Set only one master robot or station.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 10 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

400120 Failed in active command.

Mode(JOG or Adjustment) was changed during active command.

Can not be changed during active command.

400196 Failed in active command.

(Control group1)

Cannot execute to active command with posture(Rx,Ry,Rz,Re).

400197 Failed in active command.

(Control group1)

Cannot execute to active command during execution of MOVJ.

400204 Failed in setting MOVE command.

(Control group1)

Incorrect interpolation method of master robot has been set.

400205 Failed in setting MOVE command.

(Control group1)

Target Position of master robot is undefined.

Remedy

Set OFF to active command request.

Then change mode.

Input correct data.

400198 Failed in active command.

(Control group1)

Cannot execute to active command to other than R1 system.

400199 Failed in active command.

(Control group1)

Cannot execute to active command during execution of MOVE command with other than task No.0.

400200 Failed in setting MOVE command.

(Control group1)

Incorrect interpolation method has been set.

400201 Failed in setting MOVE command.

(Control group1)

Target Position of Robot axis and Traveling axis is undefined.

Input correct data.

400202 Failed in setting MOVE command.

(Control group1)

The task number of Robot and Traveling axis are unmatch.

400203 Failed in setting MOVE command.

(Control group1)

Incorrect interpolation method of slave robot has been set.

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 11 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

400206 Failed in setting MOVE command.

(Control group1)

The task number of Master

Robot and Slave Robot are unmatch.

400207 Failed in setting MOVE command.

(Control group1)

The multiple Master/Slave

Robot has been set.

400208 Failed in setting MOVE command.

Undefined user coordinate number has been set.

400209 Failed in setting MOVE command.

(Control group1)

Failed in getting variable.

400210 Failed in setting MOVE command.

(Control group1)

The variable number is out of range.

400211 Failed in setting MOVE command.

(Control group1)

Undefined variable number has been set.

400212 Failed in setting MOVE command.

(Control group1)

Cannot use coordinate system types other than

"pulse", "base", "robot", and

"user".

401000 Failed in setting MOVE command attribute.

(Control group2)

The task number is out of range.

401001 Failed in setting MOVE command attribute.

(Control group2) Incorrect synchronization specification has been set.

401002 Failed in setting MOVE command attribute.

(Control group2)

The coordinate is out of range.

401003 Failed in setting MOVE command attribute.

(Control group2)

The tool number is out of range.

Remedy

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(3)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 12 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

401004 Failed in setting MOVE command attribute.

(Control group2)

The acceleration and deceleration rate is out of range.

Remedy

Input correct data.

401005 Failed in setting MOVE command attribute.

(Control group2)

The wait execution is out of range.

401099 Failed in setting MOVE command attribute.

(Control group2)

Undefined MOVE command attribute.

Input correct data.

Input correct data. 401100 Failed in active command.

(Control group2)

The speed level setting is out of range.

401101 Failed in active command.

(Control group2)

Incorrect speed level has been set.

Input correct data.

Input correct data. 401102 Failed in active command.

(Control group2)

Incorrect coordinate system has been set.

401103 Failed in active command.

(Control group2)

The tool number is out of range.

401104 Failed in active command.

(Control group2)

The arbitrarily-set speed is out of range.

401105 Failed in active command.

(Control group2)

Incorrect destination has been set.

Input correct data.

401106 Failed in active command.

(Control group2)

The mode is out of range.

401107 Failed in active command.

(Control group2)

Shared base axes setting is unmatch.

Input correct data.

401108 Failed in active command.

(Control group2)

Incorrect all axis active command request has been set.

Cannot set all axis active command to other than robot.

Input correct data.

401109 Failed in active command.

(Control group2)

Different mode has been set to several group.

Cannot set to several group different mode.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 13 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

401110

Meaning

Failed in active command.

(Control group2)

Incorrect coordinate system has been set during all axis active command request.

401111 Failed in active command.

(Control group2)

Control point fixed motion has been request to robot that has not exist base-axis.

401112 Failed in active command.

(Control group2)

Incorrect coordinate system has been set during control point fixed motion.

401114 Failed in active command.

(Control group2)

Incorrect coordinated motion has been set.

Remedy

Input correct data.

Set base coordinate type.

(1)Set master to robot or station.

(2)Base and station can't coordinated motion.

(3)Cannot request active command to unrelated group with coordinated motion. Set OFF to active command request of the group in non-master or non-slave.

Set only the all axis active command request to the slave robot with the coordinated motion.

401115 Failed in active command.

(Control group2)

Incorrect active command request has been set to slave robot of coordinated motion.

Cannot set optional-axis to active command of coordinated motion.

401117 Failed in active command.

(Control group2)

Master group and slave group are the same.

401118 Failed in active command.

(Control group2)

The Coordinate detail is out of range.

401196 Failed in active command.

(Control group2)

Cannot execute to active command with posture(Rx,Ry,Rz,Re).

401197 Failed in active command.

(Control group2)

Cannot execute to active command during execution of MOVJ.

401198 Failed in active command.

(Control group2)

Cannot execute to active command to other than R1 system.

401199 Failed in active command.

(Control group2)

Cannot execute to active command during execution of MOVE command with other than task No.0.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 14 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

401200 Failed in setting MOVE command.

(Control group2)

Incorrect interpolation method has been set.

401201 Failed in setting MOVE command.

(Control group2)

Target Position of Robot axis and Traveling axis is undefined.

Input correct data.

401202 Failed in setting MOVE command.

(Control group2)

The task number of Robot and Traveling axis are unmatch.

401203 Failed in setting MOVE command.

(Control group2)

Incorrect interpolation method of slave robot has been set.

Remedy

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

401204 Failed in setting MOVE command.

(Control group2)

Incorrect interpolation method of master robot has been set.

401205 Failed in setting MOVE command.

(Control group2)

Target Position of master robot is undefined.

401206 Failed in setting MOVE command.

(Control group2)

The task number of Master

Robot and Slave Robot are unmatch.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(3)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

401207 Failed in setting MOVE command.

(Control group2)

The multiple Master/Slave

Robot has been set.

401209 Failed in setting MOVE command.

(Control group2)

Failed in getting variable.

401210 Failed in setting MOVE command.

(Control group2)

The variable number is out of range.

401211 Failed in setting MOVE command.

(Control group2)

Undefined variable number has been set.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 15 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

401212 Failed in setting MOVE command.

(Control group2)

Cannot use coordinate system types other than

"pulse", "base", "robot", and

"user".

402000 Failed in setting MOVE command attribute.

(Control group3)

The task number is out of range.

402001 Failed in setting MOVE command attribute.

(Control group3)

Incorrect synchronization specification has been set.

402002 Failed in setting MOVE command attribute.

(Control group3)

The coordinate is out of range.

402003 Failed in setting MOVE command attribute.

(Control group3)

The tool number is out of range.

402004 Failed in setting MOVE command attribute.

(Control group3)

The acceleration and deceleration rate is out of range.

402005 Failed in setting MOVE command attribute.

(Control group3)

The wait execution is out of range.

402099 Failed in setting MOVE command attribute.

(Control group3)

Undefined MOVE command attribute.

402100 Failed in active command.

(Control group3)

The speed level setting is out of range.

402101 Failed in active command.

(Control group3)

Incorrect speed level has been set.

402102 Failed in active command.

(Control group3)

Incorrect coordinate system has been set.

402103 Failed in active command.

(Control group3)

The tool number is out of range.

Remedy

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 16 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

402104 Failed in active command.

(Control group3)

The arbitrarily-set speed is out of range.

402105 Failed in active command.

(Control group3)

Incorrect destination has been set.

402106 Failed in active command.

(Control group3)

The mode is out of range.

Remedy

Input correct data.

402107 Failed in active command.

(Control group3)

Shared base axes setting is unmatch.

402108 Failed in active command.

(Control group3)

Incorrect all axis active command request has been set.

Cannot set all axis active command to other than robot.

Input correct data.

402109 Failed in active command.

(Control group3)

Different mode has been set to several group.

Cannot set to several group different mode.

Input correct data.

402110 Failed in active command.

(Control group3)

Incorrect coordinate system has been set during all axis active command request.

402111 Failed in active command.

(Control group3)

Control point fixed motion has been request to robot that has not exist base-axis.

402112 Failed in active command.

(Control group3)

Incorrect coordinate system has been set during control point fixed motion.

402114 Failed in active command.

(Control group3)

Incorrect coordinated motion has been set.

402115 Failed in active command.

(Control group3)

Incorrect active command request has been set to slave robot of coordinated motion.

Cannot set optional-axis to active command of coordinated motion.

Input correct data.

Set base coordinate type.

(1)Set master to robot or station.

(2)Base and station can't coordinated motion.

(3)Cannot request active command to unrelated group with coordinated motion. Set OFF to active command request of the group in non-master or non-slave.

Set only the all axis active command request to the slave robot with the coordinated motion.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 17 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

402117

Meaning

Failed in active command.

(Control group3)

Master group and slave group are the same.

402118 Failed in active command.

(Control group3)

The Coordinate detail is out of range.

402196 Failed in active command.

(Control group3)

Cannot execute to active command with posture(Rx,Ry,Rz,Re).

402197 Failed in active command.

(Control group3)

Cannot execute to active command during execution of MOVJ.

402198 Failed in active command.

(Control group3)

Cannot execute to active command to other than R1 system.

402199 Failed in active command.

(Control group3)

Cannot execute to active command during execution of MOVE command with other than task No.0.

402200 Failed in setting MOVE command.

(Control group3)

Incorrect interpolation method has been set.

402201 Failed in setting MOVE command.

(Control group3)

Target Position of Robot axis and Traveling axis is undefined.

402202 Failed in setting MOVE command.

(Control group3)

The task number of Robot and Traveling axis are unmatch.

402203 Failed in setting MOVE command.

(Control group3)

Incorrect interpolation method of slave robot has been set.

402204 Failed in setting MOVE command.

(Control group3)

Incorrect interpolation method of master robot has been set.

Remedy

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 18 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

402205 Failed in setting MOVE command.

(Control group3)

Target Position of master robot is undefined.

402206 Failed in setting MOVE command.

(Control group3)

The task number of Master

Robot and Slave Robot are unmatch.

402207 Failed in setting MOVE command.

(Control group3)

The multiple Master/Slave

Robot has been set.

402209 Failed in setting MOVE command.

(Control group3)

Failed in getting variable.

402210 Failed in setting MOVE command.

(Control group3)

The variable number is out of range.

402211 Failed in setting MOVE command.

(Control group3)

Undefined variable number has been set.

402212 Failed in setting MOVE command.

(Control group3)

Cannot use coordinate system types other than

"pulse", "base", "robot", and

"user".

403000 Failed in setting MOVE command attribute.

(Control group4)

The task number is out of range.

403001 Failed in setting MOVE command attribute.

(Control group4)

Incorrect synchronization specification has been set.

403002 Failed in setting MOVE command attribute.

(Control group4)

The coordinate is out of range.

403003 Failed in setting MOVE command attribute.

(Control group4)

The tool number is out of range.

Remedy

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(3)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 19 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

403004 Failed in setting MOVE command attribute.

(Control group4)

The acceleration and deceleration rate is out of range.

403005 Failed in setting MOVE command attribute.

(Control group4)

The wait execution is out of range.

403099 Failed in setting MOVE command attribute.

(Control group4)

Undefined MOVE command attribute.

403100 Failed in active command.

(Control group4)

The speed level setting is out of range.

403101 Failed in active command.

(Control group4)

Incorrect speed level has been set.

403102 Failed in active command.

(Control group4)

Incorrect coordinate system has been set.

403103 Failed in active command.

(Control group4)

The tool number is out of range.

403104 Failed in active command.

(Control group4)

The arbitrarily-set speed is out of range.

403105 Failed in active command.

(Control group4)

Incorrect destination has been set.

403106 Failed in active command.

(Control group4)

The mode is out of range.

403107 Failed in active command.

(Control group4)

Shared base axes setting is unmatch.

403108 Failed in active command.

(Control group4)

Incorrect all axis active command request has been set.

Cannot set all axis active command to other than robot.

403109 Failed in active command.

(Control group4)

Different mode has been set to several group.

Cannot set to several group different mode.

Remedy

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 20 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

403110

Meaning

Failed in active command.

(Control group4)

Incorrect coordinate system has been set during all axis active command request.

403111 Failed in active command.

(Control group4)

Control point fixed motion has been request to robot that has not exist base-axis.

403112 Failed in active command.

(Control group4)

Incorrect coordinate system has been set during control point fixed motion.

403198 Failed in active command.

(Control group4)

Cannot execute to active command to other than R1 system.

403199 Failed in active command.

(Control group4)

Cannot execute to active command during execution of MOVE command with other than task No.0.

Remedy

Input correct data.

Set base coordinate type.

403114 Failed in active command.

(Control group4)

Incorrect coordinated motion has been set.

403115 Failed in active command.

(Control group4)

Incorrect active command request has been set to slave robot of coordinated motion.

Cannot set optional-axis to active command of coordinated motion.

(1)Set master to robot or station.

(2)Base and station can't coordinated motion.

(3)Cannot request active command to unrelated group with coordinated motion. Set OFF to active command request of the group in non-master or non-slave.

Set only the all axis active command request to the slave robot with the coordinated motion.

Input correct data. 403117 Failed in active command.

(Control group4)

Master group and slave group are the same.

403118 Failed in active command.

(Control group4)

The Coordinate detail is out of range.

403196 Failed in active command.

(Control group4)

Cannot execute to active command with posture(Rx,Ry,Rz,Re).

403197 Failed in active command.

(Control group4)

Cannot execute to active command during execution of MOVJ.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 21 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

403200 Failed in setting MOVE command.

(Control group4)

Incorrect interpolation method has been set.

403201 Failed in setting MOVE command.

(Control group4)

Target Position of Robot axis and Traveling axis is undefined.

403202 Failed in setting MOVE command.

(Control group4)

The task number of Robot and Traveling axis are unmatch.

403203 Failed in setting MOVE command.

(Control group4)

Incorrect interpolation method of slave robot has been set.

403204 Failed in setting MOVE command.

(Control group4)

Incorrect interpolation method of master robot has been set.

403205 Failed in setting MOVE command.

(Control group4)

Target Position of master robot is undefined.

403206 Failed in setting MOVE command.

(Control group4)

The task number of Master

Robot and Slave Robot are unmatch.

403207 Failed in setting MOVE command.

(Control group4)

The multiple Master/Slave

Robot has been set.

403209 Failed in setting MOVE command.

(Control group4)

Failed in getting variable.

Remedy

Input correct data.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Independent control function is required (optional function). Contact your Yaskawa representative.

(3)Synchronization is required

(optional function). Contact your

Yaskawa representative.

(1)Input correct data.

(2)Synchronization is required

(optional function). Contact your

Yaskawa representative.

Input correct data.

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5 Error and Alarm List

Table 5-2: MotomanSync Alarm List (Sheet 22 of 22)

Alarm number

4722

(continued)

Alarm name/ message

MotomanSync

OPERATION

ERROR

Contents Sub code

MotomanSy nc command is not correct.

Meaning

403210 Failed in setting MOVE command.

(Control group4)

The variable number is out of range.

403211 Failed in setting MOVE command.

(Control group4)

Undefined variable number has been set.

403212 Failed in setting MOVE command.

(Control group4)

Cannot use coordinate system types other than

"pulse", "base", "robot", and

"user".

Remedy

Input correct data.

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Appendix

The assignment of the network input or output signals at the

MotomanSync initial ladder is shown below. d6 d7 d8 d9 d10 d11 d12 d2 d3 d4 d5 d14 d15 d0 d1 d13 d14 d15 d0 d1 d2

#26066

#26067

#26070

#26071

#26072

#26073

#26074

#26075

#26076

#26077

#26080

#26081

#26082

#26083

#26084

#26085

#26086

#26087

#26090

#26091

#26092 d3 d4 d5 d6 d0 d1 d2 d7 d8 d9 d10 d11

Appendix Table-1: Network Input Number and Contents of Initial Ladder (Sheet 1 of 5)

Content

Bit Network input number

Meaning Input number of connection destination

Note

d12 d13

#26050

#26051

#26052

#26053

#26054

#26055

#26056

#26057

#26060

#26061

#26062

#26063

#26064

#26065

Speed limit

Machine lock

Alarm reset

Reserve

Play mode select

Teach mode select

Step cycle select

1 cycle select

Continuous cycle select

External servo ON

Master JOB calling

External start

External HOLD

External servo OFF 1

(HOLD stop)

External servo OFF 2

(category 0 stop)

External servo OFF 3

(category 2 stop)

Reserve

Sequence program wait (R1)

Sequence program wait (R2)

Sequence program wait (S1)

#40041

#40040

#40050

#40051

#40052

#40045

#40070

#40044

#40067

#40065

#40066

#40054

#40016

#40060

#40014

#40130

#40131

#40140

Appendix-1

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Appendix d13 d14 d15 d0 d9 d10 d11 d12 d6 d7 d8 d2 d3 d4 d5 d14 d15 d0 d1 d10 d11 d12 d13 d6 d7 d8 d9 d3 d4 d5 d5 d6 d7 d8 d1 d2 d3 d4 d9 d10 d11 d12

Appendix Table-1: Network Input Number and Contents of Initial Ladder (Sheet 2 of 5)

Content

Bit Network input number

Meaning Input number of connection destination

#40141

#40142

Note

#26112

#26113

#26114

#26115

#26116

#26117

#26120

#26121

#26122

#26123

#26124

#26125

#26126

#26127

#26130

#26093

#26094

#26095

#26096

#26097

#26100

#26101

#26102

#26103

#26104

#26105

#26106

#26107

#26110

#26111

#26131

#26132

#26133

#26134

#26135

#26136

#26137

#26140

#26141

#26142

#26143

#26144

User input

Reserve

User input

Sequence program wait (S2)

Sequence program wait (S3)

Reserve

#00010

#00011

#00012

#00013

#00014

#00015

#00016

#00017

#00020

#00021

#00022

#00023

#00024

Appendix-2

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Appendix d7 d8 d9 d10 d3 d4 d5 d6 d0 d1 d2 d12 d13 d14 d15 d8 d9 d10 d11 d4 d5 d6 d7 d0 d1 d2 d3 d13 d14 d15 d15 d0 d1 d2 d11 d12 d13 d14 d3 d4 d5 d6

#26164

#26165

#26166

#26167

#26170

#26171

#26172

#26173

#26174

#26175

#26176

#26177

#26180

#26181

#26182

#26145

#26146

#26147

#26150

#26151

#26152

#26153

#26154

#26155

#26156

#26157

#26160

#26161

#26162

#26163

#26183

#26184

#26185

#26186

#26187

#26190

#26191

#26192

#26193

#26194

#26195

#26196

User input

Appendix Table-1: Network Input Number and Contents of Initial Ladder (Sheet 3 of 5)

Content

Bit Network input number

Meaning

#00063

#00064

#00065

#00066

#00067

#00070

#00071

#00072

#00073

#00074

#00075

#00076

#00053

#00054

#00055

#00056

#00057

#00060

#00061

#00062

#00042

#00043

#00044

#00045

#00046

#00047

#00050

#00051

#00052

#00032

#00033

#00034

#00035

#00036

#00037

#00040

#00041

Input number of connection destination

#00025

#00026

#00027

#00030

#00031

Note

Appendix-3

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Appendix d1 d2 d3 d4 d13 d14 d15 d0 d6 d7 d8 d9 d10 d11 d12 d2 d3 d4 d5 d14 d15 d0 d1 d7 d8 d9 d10 d11 d12 d13 d9 d10 d11 d12 d5 d6 d7 d8 d13 d14 d15 d0

#26216

#26217

#26220

#26221

#26222

#26223

#26224

#26225

#26226

#26227

#26230

#26231

#26232

#26233

#26234

#26197

#26200

#26201

#26202

#26203

#26204

#26205

#26206

#26207

#26210

#26211

#26212

#26213

#26214

#26215

#26235

#26236

#26237

#26240

#26241

#26242

#26243

#26244

#26245

#26246

#26247

#26250

User input

Appendix Table-1: Network Input Number and Contents of Initial Ladder (Sheet 4 of 5)

Content

Bit Network input number

Meaning

#00115

#00116

#00117

#00120

#00121

#00122

#00123

#00124

#00125

#00126

#00127

#00130

#00105

#00106

#00107

#00110

#00111

#00112

#00113

#00114

#00094

#00095

#00096

#00097

#00100

#00101

#00102

#00103

#00104

#00084

#00085

#00086

#00087

#00090

#00091

#00092

#00093

Input number of connection destination

#00077

#00080

#00081

#00082

#00083

Note

Appendix-4

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Appendix

Appendix Table-1: Network Input Number and Contents of Initial Ladder (Sheet 5 of 5)

Content

Bit

d11 d12 d13 d14 d15 d7 d8 d9 d10 d4 d5 d6 d0 d1 d2 d3 d12 d13 d14 d15 d8 d9 d10 d11 d4 d5 d6 d7 d1 d2 d3

Network input number

Meaning

#26270

#26271

#26272

#26273

#26274

#26275

#26276

#26277

#26280

#26281

#26282

#26283

#26284

#26285

#26286

#26287

#26251

#26252

#26253

#26254

#26255

#26256

#26257

#26260

#26261

#26262

#26263

#26264

#26265

#26266

#26267

User input

#00157

#00160

#00161

#00162

#00163

#00164

#00165

#00166

#00167

#00146

#00147

#00150

#00151

#00152

#00153

#00154

#00155

#00156

#00136

#00137

#00140

#00141

#00142

#00143

#00144

#00145

Input number of connection destination

#00131

#00132

#00133

#00134

#00135

Note

163375-1CD

Appendix-5

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Appendix d13 d14 d15 d0 d9 d10 d11 d12 d5 d6 d7 d8 d1 d2 d3 d4 d5 d6 d7 d1 d2 d3 d4 d13 d14 d15 d0 d9 d10 d11 d12 d5 d6 d7 d8 d2 d3 d4

Appendix Table-2: Network Output Number and Contents of Initial Ladder (Sheet 1 of 5)

Content

Bit

d0 d1

Network output number

Meaning

#36050

#36051

MotomanSync start

Remote mode set

Output number of connection destination

#50907

#40057

Note

Equivalent to the I/O prohibited system input which is not CMD remote.

#36081

#36082

#36083

#36084

#36085

#36086

#36087

#36090

#36071

#36072

#36073

#36074

#36075

#36076

#36077

#36080

#36052

#36053

#36054

#36055

#36056

#36057

#36060

#36061

#36062

#36063

#36064

#36065

#36066

#36067

#36070

#36091

#36092

#36093

#36094

#36095

#36096

#36097

Play mode set

Teach mode set

Step cycle set

1 cycle set

Continuous cycle set

Servo ON

Head of master JOB

Operating

HOLD

Reserve

Speed limit set

Machine lock set

Alarm occurrence

Error occurrence

Battery alarm

Reserve

MotomanSync operating (R1)

#50060

#50062

#70020

#50014

#50015

MotomanSync operating (R2)

MotomanSync operating (S1)

MotomanSync operating (S2)

MotomanSync operating (S3)

#50960

#50961

#50970

#50971

#50972

Reserve

Sequence program waiting (R1) #50360

#50054

#50053

#50050

#50051

#50052

#50073

#50020

#50070

#50071

Sequence program waiting (R2) #50361

Sequence program waiting (S1) #50370

Sequence program waiting (S2) #50371

Sequence program waiting (S3) #50372

Sequence continuing (R1)

Sequence continuing (R2)

Sequence continuing (S1)

#50400

#50401

#50410

Appendix-6

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Appendix

Appendix Table-2: Network Output Number and Contents of Initial Ladder (Sheet 2 of 5)

Content

Bit

d5 d6 d7 d8 d1 d2 d3 d4 d13 d14 d15 d0 d9 d10 d11 d12 d13 d14 d15 d0 d9 d10 d11 d12 d5 d6 d7 d8 d1 d2 d3 d4 d12 d13 d14 d15 d0 d8 d9 d10 d11

Network output number

Meaning

#36131

#36132

#36133

#36134

#36135

#36136

#36137

#36140

#36121

#36122

#36123

#36124

#36125

#36126

#36127

#36130

#36141

#36142

#36143

#36144

#36145

#36146

#36147

#36150

#36111

#36112

#36113

#36114

#36115

#36116

#36117

#36120

#36100

#36101

#36102

#36103

#36104

#36105

#36106

#36107

#36110

Sequence continuing (S2)

Sequence continuing (S3)

Control group operating (R1)

Control group operating (R2)

Control group operating (S1)

Control group operating (S2)

Control group operating (S3)

Reserve

Cube/axis interference

User output

Output number of connection destination

#50411

#50412

#50440

#50441

#50450

#50451

#50452

Note

#10017

#10020

#10021

#10022

#10023

#10024

#10025

#10026

#10027

#10030

#50097

#10010

#10011

#10012

#10013

#10014

#10015

#10016

#50080

#50081

#50082

#50083

#50084

#50085

#50086

#50087

#50090

#50091

#50092

#50093

#50094

#50095

#50096

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Appendix-7

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Appendix d14 d15 d0 d1 d10 d11 d12 d13 d6 d7 d8 d9 d2 d3 d4 d5 d6 d7 d8 d9 d2 d3 d4 d5 d14 d15 d0 d1 d10 d11 d12 d13 d5 d6 d7 d8 d9 d1 d2 d3 d4

#36182

#36183

#36184

#36185

#36186

#36187

#36190

#36191

#36172

#36173

#36174

#36175

#36176

#36177

#36180

#36181

#36192

#36193

#36194

#36195

#36196

#36197

#36200

#36201

#36162

#36163

#36164

#36165

#36166

#36167

#36170

#36171

#36151

#36152

#36153

#36154

#36155

#36156

#36157

#36160

#36161

User output

Appendix Table-2: Network Output Number and Contents of Initial Ladder (Sheet 3 of 5)

Content

Bit Network output number

Meaning

#10056

#10057

#10060

#10061

#10062

#10063

#10064

#10065

#10046

#10047

#10050

#10051

#10052

#10053

#10054

#10055

Output number of connection destination

#10031

#10032

#10033

#10034

#10035

#10036

#10037

#10040

#10041

#10042

#10043

#10044

#10045

#10066

#10067

#10070

#10071

#10072

#10073

#10074

#10075

#10076

#10077

#10080

#10081

Note

Appendix-8

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Appendix d7 d8 d9 d10 d3 d4 d5 d6 d15 d0 d1 d2 d11 d12 d13 d14 d15 d0 d1 d2 d11 d12 d13 d14 d7 d8 d9 d10 d3 d4 d5 d6 d14 d15 d0 d1 d2 d10 d11 d12 d13

#36233

#36234

#36235

#36236

#36237

#36240

#36241

#36242

#36223

#36224

#36225

#36226

#36227

#36230

#36231

#36232

#36243

#36244

#36245

#36246

#36247

#36250

#36251

#36252

#36213

#36214

#36215

#36216

#36217

#36220

#36221

#36222

#36202

#36203

#36204

#36205

#36206

#36207

#36210

#36211

#36212

User output

Appendix Table-2: Network Output Number and Contents of Initial Ladder (Sheet 4 of 5)

Content

Bit Network output number

Meaning

#10107

#10110

#10111

#10112

#10113

#10114

#10115

#10116

#10097

#10100

#10101

#10102

#10103

#10104

#10105

#10106

Output number of connection destination

#10082

#10083

#10084

#10085

#10086

#10087

#10090

#10091

#10092

#10093

#10094

#10095

#10096

#10117

#10120

#10121

#10122

#10123

#10124

#10125

#10126

#10127

#10130

#10131

#10132

Note

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163375-1CD

Appendix

Appendix Table-2: Network Output Number and Contents of Initial Ladder (Sheet 5 of 5)

Content

Bit

d8 d9 d10 d11 d4 d5 d6 d7 d12 d13 d14 d15 d0 d1 d2 d3 d12 d13 d14 d15 d7 d8 d9 d10 d11 d3 d4 d5 d6

Network output number

Meaning

#36274

#36275

#36276

#36277

#36280

#36281

#36282

#36283

#36284

#36285

#36286

#36287

#36264

#36265

#36266

#36267

#36270

#36271

#36272

#36273

#36253

#36254

#36255

#36256

#36257

#36260

#36261

#36262

#36263

User output

#10160

#10161

#10162

#10163

#10164

#10165

#10166

#10167

#10150

#10151

#10152

#10153

#10154

#10155

#10156

#10157

Output number of connection destination

#10133

#10134

#10135

#10136

#10137

#10140

#10141

#10142

#10143

#10144

#10145

#10146

#10147

Note

Appendix-10

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FS100 OPTIONS

INSTRUCTIONS

For MotomanSync (PC)

Specifications are subject to change without notice for ongoing product modifications and improvements.

MANUAL NO.

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Anuncio

INSTRUCTIONS

For MotomanSync (PC)

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

• This instruction is applicable to both FS100 and FS100L controllers.

MOTOMAN INSTRUCTIONS

(FOR SMALL -SIZED MANIPULATORS)

MOTOMAN-

 INSTRUCTIONS

FS100 INSTRUCTIONS

FS100 OPERATOR’S MANUAL

FS100 MAINTENANCE MANUAL

(FOR LARGE AND MEDIUM-SIZED MANIPULATORS)

MOTOMAN-

 INSTRUCTIONS

FS100L INSTRUCTIONS

FS100

OPERATOR’S MANUAL

FS100L MAINTENANCE MANUAL

Part Number: 163375-1CD

Revision: 2

MANUAL NO.

0

MANDATORY

CAUTION

Notes for Safe Operation

Definition of Terms Used Often in This Manual

Description of the Operation Procedure

I

“

”

Registered Trademark

1 Outline

1.1

Introduction

1.2

Features

1.3

System Configuration

Windows PC

Controller

1.4

Product Specifications

2 Cautions and Limitations on Specifications

3 Setup of MotomanSync PC

3.1

Product Content

3.2

Installation of MotomanSync PC

3.3

Installation of Hardware Key Driver

3.4

Execution Environment of MotomanSync PC

4 Function Specifications

4.1

Function List















or

5 Error and Alarm List

Appendix

INSTRUCTIONS

For MotomanSync (PC)

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