YASKAWA MOTOMAN DX100 Instructions Manual
Διαφήμιση
Διαφήμιση
工控帮助教小舒QQ:2823408167
DX100
INSTRUCTIONS
YASKAWA
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
长沙工控帮教育科技有限公司
YASKAWA
MANUAL NO. RE-CTO-A215 1
DX100
工控帮助教小舒QQ:2823408167
MANDATORY
• This manual explains setup, diagnosis, maintenance, hardware, etc. of the DX100 system. Read this manual carefully and be sure to understand its contents before handling the DX100.
• General items related to safety are listed in Section 1. To ensure correct and safe operation, carefully read the section.
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.
modification of its products. Unauthorized modification voids your product’s warranty.
ii
工控帮助教小舒QQ:2823408167
DX100
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY” or ”PROHIBITED”.
WARNING
CAUTION
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment.
It may also be used to alert against unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAU-
TION” and “WARNING”.
iii
DX100
工控帮助教小舒QQ:2823408167
WARNING
• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
- Turning ON the DX100 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The emergency stop buttons are located on the right of the front door of the DX100 and the programming pendant.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX100 and programming pendant are 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. The manipulator should not be used if the emergency stop buttons do not function.
长沙工控帮教育科技有限公司
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN iv
工控帮助教小舒QQ:2823408167
DX100
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the DX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator’s work area, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN consists of the manipulator, the controller, the programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows.
Equipment
DX100 Controller
DX100 Programming Pendant
Manual Designation
DX100
Programming Pendant
Manipulator Cable the controller v
工控帮助教小舒QQ:2823408167
DX100
Descriptions of the programming pendant, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Character
Keys
Symbol
Keys
Manual Designation
The keys which have characters printed on them are denoted with [ ].
ex. [ENTER]
The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
ex. page key
The cursor key is an exception, and a picture is not shown.
Axis Keys
Number Keys
“Axis Keys” and “Number Keys” are generic names for the keys for axis operation and number input.
Keys pressed simultaneously
When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed, or that the item is directly selected by touching the screen.
In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted. vi
工控帮助教小舒QQ:2823408167
DX100
Explanation of Warning Labels
The following warning labels are attached to the manipulator and DX100.
Fully comply with the precautions on the warning labels.
WARNING
• The label described below is attached to the manipulator.
Observe the precautions on the warning labels.
• Failure to observe this caution may result in injury or damage to equipment.
WARNING
Moving parts may cause injury
WARNING
Do not enter robot work area.
Refer to the manipulator manual for the warning label location.
• The following warning labels are attached to DX100.
Observe the precautions on the warning labels.
Failure to observe this warning may result in injury or damage to equipment.
WARNING
WARNING
长沙工控帮教育科技有限公司
Do not ope the cover.
May cause electric shock.
Ground the earth terminal based on local and national electric code.
Internal Breaker
WARNING
High Voltage
Do not open the door with power ON.
vii
工控帮助教小舒QQ:2823408167
DX100 Contents
viii
工控帮助教小舒QQ:2823408167
DX100 Contents
长沙工控帮教育科技有限公司
8.2.2 Procedure for the Second Home Position Setting (Check Point) ....................... 8-14
ix
工控帮助教小舒QQ:2823408167
DX100 Contents
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity................. 8-32
8.3.3.1 What is the Automatic Measurement of the Tool Load and the
8.3.3.2 Measurement of the Tool Load and the Center of Gravity .................... 8-33
8.4.3.2 How to Calculate Tool Load Information ............................................... 8-43
8.5.2.2 Registering/Changing the Work Home Position .................................... 8-54
8.5.2.4 Output of the Work Home Position Signal ............................................. 8-55
x
工控帮助教小舒QQ:2823408167
DX100 Contents
8.7.2.3 Instruction of Shock Detection Function................................................ 8-77
8.15.3.10 Analog Incremental Output Allocation ............................................. 8-110
8.15.5.1 Executing the Instruction/Output Control Allocation .......................... 8-112
xi
工控帮助教小舒QQ:2823408167
DX100 Contents
8.19.1.1 Applicable Range for the Font Size Change ..................................... 8-126
8.19.2.1 Applicable Range for the Button Size Change .................................. 8-130
xii
工控帮助教小舒QQ:2823408167
DX100 Contents
9.3.2.2 AUTO BACKUP SET Display................................................................ 9-10
9.3.2.3 DX100 Status and Automatic Backup ................................................... 9-14
长沙工控帮教育科技有限公司
xiii
工控帮助教小舒QQ:2823408167
DX100 Contents
13.3.2.1 Control Circuit Board (JANCD-YCP01-E)............................................ 13-9
13.3.2.2 Robot I/F Board (JANCD-YIF01-1E) ................................................... 13-9
xiv
工控帮助教小舒QQ:2823408167
DX100 Contents
长沙工控帮教育科技有限公司 xv
工控帮助教小舒QQ:2823408167
1 Safety
1.1
For Your Safety DX100
1 Safety
1.1
For Your Safety
Robots generally have requirements which are different from other manufacturing equipment, such as larger working areas, high-speed operation, rapid arm movements, etc., which can pose safety hazards.
Read and understand the instruction manuals and related documents, and observe all precautions in order to avoid the risk of injury to personnel and damage to equipment.
It is the user’s responsibility to ensure that all local, state, and national codes, regulations rules, or laws relating to safety and safe operating conditions are met and followed.
MANDATORY
• Teaching maintenance of the robot must conform to:
– Industrial Safety and Health Law
– Enforcement Order of Industrial Safety and Health Law
– Ordinance of Industrial Safety and Health Law
Other related laws are:
– Occupational Safety and Health Act in USA
– Factory Act (Gewerbeordnung) in Germany
– Health and Safety at Work, etc. Act in UK
– EC Machinery Directive 98/37/EC
– SAFETY WORK REGULATIONS based on concrete policies for safety management complying with related laws.
• Observe
– JIS B 8433-1:2007
(ISO 10218-1:2006)
– INDUSTRIAL ROBOT- SAFETY REQUIREMENTS for safe operation of the robot. (Japan Only) (JIS B 8433)
• Reinforce the
– SAFETY MANAGEMENT SYSTEM by designating authorized workers and safety managers, as well as giving continuing safety education.
• Teaching and maintaining the robot are specified as "Hazardous
Operations" in the Industrial Safety and Health Law (Japan only).
Workers employed in these above operations are requested to attend special training offered by YASKAWA.
1-1
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.2
Special Training
1.2
Special Training
MANDATORY
• Persons who teach or inspect the manipulator must undergo required training before using the manipulator.
• For more information on training, inquire at the nearest YASKAWA branch office.
The telephone numbers are listed on the back cover of this manual.
1.3
Motoman Manual List
MANDATORY
• It is important to have and be familiar with all manuals concerning the MOTOMAN.
You should have the four manuals listed below:
– MOTOMAN INSTRUCTIONS
– DX100 INSTRUCTIONS
– DX100 OPERATOR’S MANUAL
Confirm that you have all these manuals on hand.
If any manuals are missing, contact your salesman from YASKAWA’s
长沙工控帮教育科技有限公司
The relevant telephone numbers are listed on the back cover.
1-2
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.4
Personnel Safety
1.4
Personnel Safety
The entire manipulator P-point maximum envelope is potentially dangerous.
All personnel working with the MOTOMAN (safety administration, installation, operation, and maintenance personnel) must always be prepared and "Safety First" minded, to ensure the safety of all personnel.
CAUTION
• Avoid any dangerous actions in the area where the MOTOMAN is installed.
There is a danger of injury if there is contact with the manipulator or peripheral equipment.
• Please take strict safety precautions by placing signs such as
"Flammable", "High Voltage", "Waiting", and "Off-limits to
Unauthorized Personnel" in necessary areas in the factory.
Failure to observe these cautions may result in fire, electric shock, or injury due to contact with the manipulator and other equipment.
• Strictly observe the following items:
– Always wear approved work clothes (no loose-fitting clothes).
– Do not wear gloves when operating the MOTOMAN.
– Do not allow underwear, shirts, or neckties to hang out from the work clothes.
– Do not wear large jewelry, such as earrings, rings, or pendants.
Always wear protective safety equipment such as helmets, safety as necessary.
Improper clothing may result in injury.
• Unauthorized persons should not approach the manipulator or associated peripheral equipment.
Failure to observe this caution may result in injury due to contact with
DX100, controller, the workpiece, the positioner, etc.
1-3
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.4
Personnel Safety
CAUTION
• Never forcibly move the manipulator axes.
Failure to observe this caution may result in injury or equipment damage.
• Never lean on DX100 or other controllers, and avoid inadvertently pushing buttons.
Failure to observe this caution may result in injury or damage by unexpected movement of the manipulator.
长沙工控帮教育科技有限公司
• Never allow unauthorized personnel to touch the DX100 during operation.
Failure to observe this caution may result in injury or damage resulting from unexpected movement of the manipulator.
1-4
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
1.5
Motoman Safety
1.5.1 Installation and Wiring Safety
Refer to the MOTOMAN Instructions manual and DX100
Instructions for details on installation and wiring.
In planning installation, adapt an easy to observe arrangement to ensure safety. Take safety into consideration when planning the installation.
Observe the following when installing the manipulator:
WARNING
• Select an area such as that described below to install the manipulator:
Confirm that the area is large enough so that the fully extended manipulator arm with tool will not reach a side wall, safeguarding, or the controller.
Failure to observe this caution may result in injury or damage resulting from unexpected movement of the manipulator.
Safeguarding
1000 mm or more
DX100
Door
1000 mm or more
1000 mm or more
1000 mm or more
• Perform grounding in accordance with all applicable electrical codes.
Failure to observe this caution may result in fire or electric shock.
CAUTION
• Operation of the crane, sling, or forklift should only be performed by authorized personnel.
Failure to observe this precaution may result in injury or equipment damage.
1-5
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
CAUTION
MOTOMAN should be lifted with a crane using wire rope threaded through the shipping bolts and positioners and the body should be lifted in an upright posture as described in the manipulator instruction manual.
Failure to observe these precautions may cause the manipulator to turn downward, potentially causing injury or damage to equipment.
• When lifting the DX100, please check the following:
– As a rule, handling of DX100 must be performed using a crane with wire rope threaded through attached eyebolts.
– Be sure to use wire that is strong enough to handle the weight of the DX100.
Table 1-1: Approx. Weight of DX100
Wire Rope
M16 Eye Bolt
Models Available for
DX100 small capacity:
MA1400, MA1900,
VA1400, MH5, MH5L,
MH6, HP20D, HP20D-6 middle/large capacity:
MH50, MS80, ES165D,
ES200D, VS50, SIA50D
长沙工控帮教育科技有限公司
Approx. Weight
(kg)
A-Type
(standard)
100
A-Type
(standard)
100
• Be sure the eyebolts are securely fastened.
Failure to observe this caution may result in injury or damage to equipment.
• If storing the manipulator temporarily before installation, be sure to place it on a stable and flat surface and take precautions to prevent unauthorized personnel from touching it.
Failure to observe this precaution may result in injury of damage to equipment.
1-6
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
CAUTION
• Be sure there is sufficient room for maintenance on the manipulator,
DX100, and other peripheral equipment.
Failure to observe this precaution could result in injury during maintenance.
425
DX100
425
TRIPPED
ON
DX100
G N
450
DX100
500
PROGRAMMING PENDANT
X 8 1 DOOR
Kg maintenance area
DX100 Maintenance Area (Unit: mm) DX100 External Dimensions (Unit: mm)
A-Type (Standard)
• To ensure safety, be sure to operate the controller from a location where the manipulator is easily visible.
Operation by unauthorized personnel may result in injury or equipment damage.
• Install the DX100 outside the safeguarding of the manipulator’s safety enclosure.
Failure to observe this precaution may result in injury or damage to
• equipment resulting from contact with the manipulator.
长沙工控帮教育科技有限公司 each MOTOMAN in the MOTOMAN INSTRUCTION MANUAL.
Failure to observe this caution may result in injury or damage to equipment.
1-7
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
CAUTION
• Secure the position of the DX100 after setting up.
Attach the DX100 to the floor or rack, etc., using the screw holes on the bottom of the DX100.
Failure to observe this caution could lead to injury or equipment damage if the DX100 should shift or fall.
DX100
R
ME
E
C
S T O P
RESET
TR
IPP
ED ON
Tapped Holes for
M10 Screws on the DX100 Side
12 dia.
(2 holes)
40
PROGRAMMING PENDANT
8 1
(Unit: mm)
30
50
30
50
概算質量： Kg
• Be familiar with the connection diagram before wiring the DX100, and perform the wiring in accordance with the connection diagram.
There is a danger of equipment damage or injury due to miswiring and unexpected movement of the equipment. manipulator, and peripheral equipment. Run the piping, wiring, or cables through a pit or use a protective cover, so that they are not stepped on by personnel or run over by the forklift.
SAFETY
FIRST
Piping
Lead
Cable Channnel
Operators and other personnel may stumble on exposed wiring or piping. Cable damage can cause unexpected manipulator motion resulting in injury or property damage.
1-8
DX100
1.5.2 Work Area Safety
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
Carelessness contributes to serious accidents in the work area.
To ensure safety, enforce the following precautions:
WARNING
• Install a safeguarding around the manipulator to prevent any accidental contact with the manipulator while the power is ON.
Post a warning sign stating "Off-limits During Operation" at the entrance of the enclosure. The gate of the safeguarding must be equipped with a safety interlock. Be sure the interlock operates correctly before use.
Failure to observe this caution may result in a serious accident due to contact with the manipulator.
CAUTION
• Store tools and similar equipment in proper locations outside of the enclosure.
Tools and loose equipment should not be left on the floor around the manipulator, DX100, or welding fixture, etc., as injury or damage to equipment can occur if the manipulator comes in contact with objects or equipment left in the work area.
长沙工控帮教育科技有限公司
1-9
DX100
1.5.3 Operation Safety
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
WARNING
• When attaching a tool such as the welding torch to the manipulator, be sure to turn OFF the power supply of the DX100 and the tool, lock the switch, and display a warning sign.
ON
TRIPPED
OFF
RESET
ENERGIZING
PROHIBITED
PADLOCK
DX100
Turning the power ON during tool installation may case electric shock or injury due to unexpected movement of the manipulator.
• Never exceed the rated capacity of the manipulator (capacity can be found in the specifications section of the manipulator manual.)
Failure to observe this caution may result in injury or damage to equipment.
• Teach jobs from outside the manipulator’s work area whenever
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– Always view the manipulator from the front.
– Always follow the predetermined operating procedure.
– Always have an escape plan in mind in case the manipulator comes toward you unexpectedly.
– Ensure that you have a place to retreat to in case of emergency.
Improper or unintentional manipulator operation can result in injury.
1-10
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
WARNING
• Before operating the manipulator, check that the SERVO ON lamp on the programming pendant goes out when the emergency stop buttons on the front door of the DX100, on the programming pendant, and on the external control device, etc. are pressed. And confirm that the servo lamp is turned OFF.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
• Prior to performing the following operations, be sure that no one is in the P-point maximum envelope of the manipulator when:
– Turning ON the DX100 power
– Moving the manipulator with the programming pendant
– Running the system in the check mode
– Performing automatic operations
Injury may result from contact with the manipulator if persons enter the
P-point maximum envelope of the manipulator.
Press the emergency stop button immediately if there are problems.
The emergency stop buttons are located on the right of the front door of the DX100 and the programming pendant.
Emergency Stop Button
DX100
长沙工控帮教育科技有限公司
Programming Pendant
1-11
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.5
Motoman Safety
CAUTION
• Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external wires.
• Always return the programming pendant to its hook on the DX100 cabinet after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
MANDATORY
• Persons operating or inspecting the manipulator should be trained as required by applicable laws and company policies.
– Refer to
chapter 1.2 “Special Training” at page 1-2
长沙工控帮教育科技有限公司
1-12
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.6
Notes for Moving and Transferring the MOTOMAN
1.6
Notes for Moving and Transferring the MOTOMAN
When moving or transferring the Motoman, observe the following safety precautions:
CAUTION
• Attach the instructions to the controller cabinet so that all users have access to necessary manuals. See Section
“Motoman Manual List” at page 1-2 for a complete list of manuals.
If any manuals are missing, contact your Yaskawa representative.
• If the warning labels on the manipulator and DX100 are illegible, clean the labels so that they can be read clearly. Note that some local laws may prohibit equipment operation if safety labels are not in place.
Contact your YASKAWA representative if you require new warning labels.
• When the MOTOMAN is transferred, it is recommended to check with Yaskawa Engineering Co. which is listed on back cover of this manual.
Incorrect installation or wiring may result in personal injury and property damage.
长沙工控帮教育科技有限公司
1-13
DX100
工控帮助教小舒QQ:2823408167
1 Safety
1.7
Notes on MOTOMAN Disposal
1.7
Notes on MOTOMAN Disposal
PROHIBITED
• Never modify the manipulator or DX100.
Failure to observe this precaution could result in injury or damage resulting from fire, power failure, or operation error.
CAUTION
• When disposing of the MOTOMAN, follow the applicable national/ local laws and regulations.
• Anchor the manipulator well, even when temporarily storing it before disposal.
Failure to observe this precaution may result in injury due to the manipulator falling down.
长沙工控帮教育科技有限公司
1-14
工控帮助教小舒QQ:2823408167
2 Product Confirmation
2.1
Contents Confirmation DX100
2 Product Confirmation
2.1
Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following five items (Information for the content of optional goods is given separately):
• Manipulator
• DX100
• Programming Pendant
• Manipulator Cable (Between Manipulator and DX100)
• Complete Set of Manuals
Fig. 2-1: Standard Five Items
Manipulator
DX100
Programming
Pendant
ME
R G N
C
Y
S
T O
P
TRIPPED
ON
PROGRAMMING PENDANT
8 1
概算質量： Kg
长沙工控帮教育科技有限公司
MOTOMAN
安全マニュアル
Complete Set of Manuals
Manipulator Cable
2-1
DX100
工控帮助教小舒QQ:2823408167
2 Product Confirmation
2.2
Order Number Confirmation
2.2
Order Number Confirmation
Confirm that the order number pasted on the manipulator and DX100 match.
The order number plates are affixed to the figure below.
<Example>
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER NO. S 7 8 7 9 6 - 1
E
ME
R
C
Y
S
T O
P
RESET
TRIPPED
ON
PROGRAMMING PENDANT
8 1
长沙工控帮教育科技有限公司
2-2
工控帮助教小舒QQ:2823408167
3 Installation
3.1
Handling Procedure DX100
3 Installation
3.1
Handling Procedure
CAUTION
• Crane, sling, and forklift operations must be performed only by authorized personnel.
Failure to observe this caution may result in injury or damage.
• Avoid jarring, dropping, or hitting the controller during handling.
Excessive vibration or impacting the DX100 may adversely affect the performance of the DX100.
3.1.1 Using a Crane to Move the Controller
Check the following before handling the DX100:
• Confirm the weight of the controller before handling, and use a wire rope with a rating that is greater than the weight of the controller.
• Install eyebolts for handling and confirm they are securely fastened before hoisting.
Wire Rope
M16 Eye Bolt
Models Available for
DX100 small capacity:
MA1400, MA1900,
VA1400, MH5, MH5L,
MH6, HP20D, HP20D-6 middle, large capacity:
MH50, MS80, ES165D,
ES200D, VS50, SIA50D
Approx. Weight
(kg)
A-Type
(standard)
100
A-Type
(standard)
100
3-1
工控帮助教小舒QQ:2823408167
3 Installation
3.1
Handling Procedure DX100
3.1.2 Using a Forklift to Move the Controller
Observe the following precautions when using a forklift to handle the controller:
• Confirm that there is a safe work environment and that the DX100 can be transported safely to the installation site.
• Inform people along the forklift route that equipment is being moved in their area.
• Secure the controller so it cannot shift or fall during handling.
• Transport the controller at the lowest possible height.
• Avoid jarring, dropping, or hitting the controller during handling.
• When carrying the controller, operate the forklift at a safe speed.
长沙工控帮教育科技有限公司
Protective padding
Tiedown straps
Palette
Forklift
3-2
DX100
工控帮助教小舒QQ:2823408167
3 Installation
3.2
Place of Installation
3.2
Place of Installation
The conditions listed below must be met before installing the DX100:
• Ambient temperature must be 0 to 45 ° C (32 to 113 ° F) during operation and -10 to 60 ° C (14 to 140 ° F) during transportation and maintenance.
• Humidity must be low with no condensation (10~90%RH).
• It must be a place with little dirt, dust, or water.
• No flammable or corrosive liquids or gases, etc. in the area.
• Little jarring or potential for striking of the DX100 (under 0.5 oscillation).
• No large electric noise source (such as a TIG welding device, etc.) nearby.
• No potential for collision with moving equipment such as forklifts.
长沙工控帮教育科技有限公司
3-3
DX100
工控帮助教小舒QQ:2823408167
3 Installation
3.3
Location
3.3
Location
1. Install the DX100 outside of the P-point maximum envelope of the manipulator (outside of the safeguarding.)
Fig. 3-1: Location of DX100
SAFEGUARD
DX100
DOOR
1000 mm or more
1000 mm or more 1000 mm or more
WORKING ENVELOPE
OF MANIPULATOR
MAXIMUM WORKING ENVELOPE OF
MANIPULATOR INCLUDING TOOL
OR WORKPIECE END
1000 mm or more
2. Install the controller in a location from which the manipulator is easily visible.
3. Install the controller in a location from which you can easily inspect it when the door is open.
长沙工控帮教育科技有限公司
425
DX100
DOOR maintenance area
A-Type Standard
4. Install the controller at least 500mm from the nearest wall to allow maintenance access.
3-4
DX100
工控帮助教小舒QQ:2823408167
3 Installation
3.4
Mounting the Controller
425
DX100
450
DX100
500
A-Type (Standard)
3.4
Mounting the Controller
CAUTION
• Do not climb on top of the DX100.
Failure to observe this caution could lead to injury or mechanical failure.
Attach the controller to the floor using user-supplied brackets made according to the specifications shown below.
DX100
R
ME
E
C
T O
TR
IP
PED
T OF
RESE
Tapped Holes for
M10 Screws on the DX100 Side
12 dia.
(2 holes)
40
PROGRAMMING PENDANT
8 1
(Unit: mm)
30
50
30
50
概算質量： Kg
NOTE
Refer to the Instruction Manual for information on installation of the manipulator.
3-5
DX100
4 Connection
4
工控帮助教小舒QQ:2823408167
Connection
WARNING
• The system must be grounded.
Failure to ground equipment may result in injury from fire or electric shock.
• Before wiring, make sure to turn OFF the primary power supply, and put up a warning sign. (ex. DO NOT TURN THE POWER ON)
Failure to observe this caution may result in injury and electric shock.
• Do not touch any board inside the controller for five minutes after turning OFF the power supply.
Capacitors inside the controller store electricity after power is turned
OFF. Exercise caution whenever handling circuit boards. Failure to observe this caution may cause electrical shock.
• Power cannot be turned ON unless the door is closed. Interlocks prevent power from being turned ON.
Failure to observe this caution may result in fire and electric shock.
• Any occurrence during wiring while the DX100 is in the emergency stop mode is the user’s responsibility. Do an operation check once the wiring is completed.
Failure to observe this caution could lead to injury or mechanical failure.
• Wiring must be performed only by authorized personnel.
Incorrect wiring may cause fire and electric shock.
• Perform wiring in accordance with the rated capacity as specified in the Instructions.
Incorrect wiring may cause fire or mechanical breakdown.
• Be sure the power circuit screws are securely tightened.
Loose power circuit wires can cause fire and electric shock.
• Do not handle the circuit board directly by hand.
The IC board may malfunction due to electrostatics.
4-1
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.1
Notes on Cable Junctions
4.1
Notes on Cable Junctions
• The cables that connect the controller to peripheral device are low voltage circuits. Keep controller signal cables away from the primary power circuit. High voltage power lines should not be run in parallel to controller signal cables. If running parallel cables is unavoidable, use metal ducts or conduit to isolate electrical signal interference. If cables must be crossed, run the power cables perpendicular across the signal cables.
• Confirm the connector and cable numbers to prevent misconnection and equipment damage. One connects the manipulator and DX100.
Another connects the DX100 and peripheral device. A wrong connection can cause damage to electronic equipment.
• Clear the area of all unauthorized personnel while making cable connections. Place all cables in a covered cable channel in the floor.
Fig. 4-1: DX100 Cable Junction Diagram
SAFETY
FIRST
PIPING cable channel
LEAD
长沙工控帮教育科技有限公司
4-2
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.2
Power Supply
4.2
Power Supply
4.2.1 Three-Phase Power Supply
NOTE
The power failure processing circuit operates when there is a black out or drop in voltage, and the servo power turns
OFF.
Connect the power supply to a stable power source that is not prone to power fluctuations.
The three-phase power supply consists of 200/220VAC at 60Hz and
200VAC at 50Hz.
Fig. 4-2: Input Power Connection
DX100
Breaker
Contactor
1KM 2KM
3-phase
200/220VAC at 60Hz or
200VAC 50Hz
SERVOPACK
Fuse
Noise Filter
To control power supply unit
4.2.2 Noise Filter Installation
Insert the three-phase noise filter into the primary station of the non-fuse breaker filter if you hear noise coming from the power source. 长沙工控帮教育科技有限公司
Fig. 4-3: Connection of Three-Phase Noise Filter
DX100
3-phase
Noise Filter
Breaker
Contactor
1KM 2KM 3-phase
200/220VAC at 60Hz or
200VAC 50Hz
SERVOPACK
Fuse
Noise Filter
To control power supply unit
4-3
工控帮助教小舒QQ:2823408167
4 Connection
4.2
Power Supply DX100
4.2.3 Leakage Breaker Installation
When connecting the leakage breaker to the controller power supply wiring, use a leakage breaker which can handle high frequencies from the
DX100 inverter. Leakage breakers which cannot handle high frequencies may malfunction.
Table 4-1: Example of High Frequency Leakage Breaker
Maker
Mitsubishi Electric Co., Ltd.
Fuji Electric Co., Ltd.
Model
NV series (manufactured since 1988)
EG or SG Series (manufactured since 1984)
Even with a leakage breaker installed, there is still a possibility of some high frequency current leakage from the DX100 inverter. However, this current leakage presents no safety risks.
Fig. 4-4: Connection of the Leakage Breaker
Leakage
Breaker
DX100
Breaker
Contactor
1KM 2KM
3-phase
200/220VAC at 60Hz or
200VAC 50Hz
SERVOPACK
Fuse
Noise Filter
To control power supply unit
长沙工控帮教育科技有限公司
4-4
工控帮助教小舒QQ:2823408167
4 Connection
4.2
Power Supply DX100
4.2.4 Primary Power Supply Breaker Installation
Install the primary power supply breaker as shown.
Fig. 4-5: Installation of the Primary Power Supply Breaker
Breaker Breaker Breaker
DX100
Controller for Positioner
Power
Source
Table 4-2: DX100 Power Capacity, Cable Sizes, and Breaker Capacities
Manipulator Power capacity Cable size
(size of terminal)
Capacity of breaker in
(kVA) DX100 (A)
MH5, MH5L
MH6, MA1400N
VA1400
HP20D, HP20D-6
MA1900
1
1.5
2.0
(In case of Cabtyre cable (three cores))
(mm
2
)
3.5 (M5)
3.5 (M5)
3.5 (M5)
15
15
15
MH50, MS80 4.0
5.5 (M5) 30
VS50, SIA50D, 5.0
5.5 (M5) 30
ES165D, ES200D 长沙工控帮教育科技有限公司
The maximum load value (payload, operation speed, and frequency, etc.) is displayed.
However, the power capacity is different depending on work conditions.
Inquire at the nearest branch office listed on the back cover for information when selecting the transformer.
4-5
DX100
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.3
Connection Methods
4.3
Connection Methods
A connection diagram for the manipulator, manipulator cable, primary power cable and programming pendant is shown below.
Fig. 4-6: Cable Connection
Primary Power Supply Cable
DX100 Manipulator
Programming
Pendant Cable
Manipulator
Cable
4.3.1 Connecting the Primary Power Supply
1. Open the front door of the DX100.
(1) Using a flathead screwdriver, rotate the door locks on the front of the DX100 (two places) 90 degrees clockwise.
Fig. 4-7: Rotating the Door Lock Clockwise
90 door lock flathead screw driv
4-6
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.3
Connection Methods
(2) Rotate the main power supply switch to the "OFF" position and open the door gently.
Fig. 4-8: Rotating the Main Power Supply Switch to the OFF Position
Main power supply switch
2. Confirm that the primary power supply is OFF.
3. Connect the primary power supply cable.
– Draw the primary power supply cable in from the cable entrance on top side of DX100 and fix it firmly with the cable clamp so that it won’t shift or slip out of place.
Fig. 4-9: Cable Clamp
长沙工控帮教育科技有限公司
DX100
Primary Power Supply Cable
CAUTION
Cable clamp must be used when connnecting primary power supply.
Make sure that the cable clamp is fastened tightly to prevent dust or water from entering.
Failure to observe this caution may result in electric shock or breakdown of DX100.
4-7
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.3
Connection Methods
(1) Pull off the primary cover of the switch which is on the upper right side of the DX100.
Fig. 4-10: Pulling Off the Cover
(2) Connect a ground wire to reduce noise and prevent electric shock.
I) Connect the ground wire to the ground terminal (screw) of the switch which is on the upper left side of DX100.
Fig. 4-11: Connection of the Ground Wire
Ground wire
Ground terminal
(M6 screws)
长沙工控帮教育科技有限公司
4-8
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.3
Connection Methods
II) Perform grounding in accordance with all relevant local and national electrical codes. The size of ground wire must the same as listed on
table 4-2 “DX100 Power Capacity, Cable
Sizes, and Breaker Capacities” at page 4-5 .
NOTE
The customer must prepare the ground wire.
Fig. 4-12: Exclusive Grounding
Exclusive Grounding
100 ohm maximum
ground resistance
NOTE
Don’t connect the grounding wire with the wires for the electric power source, the welder, etc.
Ground in accordance with all relevant governmental regulations when using metallic ducts, metallic conduits, and cable tray to construct the cable.
(3) Connect the primary power supply cable.
Fig. 4-13: Connection of the Primary Power Supply Cable
长沙工控帮教育科技有限公司
4-9
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.3
Connection Methods
(4) Install the cover.
Fig. 4-14: Install the Cover
长沙工控帮教育科技有限公司
4-10
工控帮助教小舒QQ:2823408167
4 Connection
4.3
Connection Methods DX100
4.3.2 Connecting the Manipulator Cable
1. Remove the package, and take out the manipulator cable. Connect the cable to the connectors on the back side of DX100.
Fig. 4-15: Connection of the Manipulator Cable
NOTE
For more information on connecting the manipulator cable, please refer to the Instruction Manual which corresponds to the particular DX100 model.
2. Connect the manipulator to the DX100.
– Confirm the shape and size of the cable connector, the key fitting, and the position of the pins of the manipulator. Push the cable connector into the manipulator side connector firmly, and tighten
长沙工控帮教育科技有限公司
3. Close the DX100 door.
(1) Close the door gently.
(2) Rotate the door lock counterclockwise 90 degrees.
Fig. 4-16: Rotating the Door Lock Counterclockwise
counterclockwise 90 door lock flathead screw driver
4-11
DX100
工控帮助教小舒QQ:2823408167
4 Connection
4.3
Connection Methods
CAUTION
Always close the door of the controller (DX100) except for maintenance.
Make sure to rotate all the door locks counterclockwise.
If dust or water enter inside the controller, electric shock or breakdown of DX100 may result.
4.3.3 Connecting the Programming Pendant
1. Connect the programming pendant cable to the connector on the door lower right side of the controller cabinet.
Fig. 4-17: Connecting the Programming Pendant
Alignment mark
长沙工控帮教育科技有限公司
– The manipulator, DX100, and the programming pendant connections are now complete.
4-12
工控帮助教小舒QQ:2823408167
5 Turning ON and OFF the Power Supply
5.1
Turning ON the Main Power Supply DX100
5 Turning ON and OFF the Power Supply
5.1
Turning ON the Main Power Supply
WARNING
• Confirm that nobody is present in the P-point maximum envelope of the manipulator when turning ON the DX100 power supply.
Failure to observe this caution could result in injury caused by accidental contact with the manipulator.
Press the emergency stop button immediately if any problems occur.
The emergency stop buttons are located on the right side of the front door of the DX100 and on the right side of the programming pendant.
The main power supply is turned ON when the main power supply switch on the front of the DX100 is turned to the "ON" position, and the initial diagnosis and the current position setting begin.
Fig. 5-1: Turning ON the Main Power Supply
Main power supply switch
ON
TRIPPED 长沙工控帮教育科技有限公司
DX100
5-1
DX100
5.1.1 Initial Diagnosis
工控帮助教小舒QQ:2823408167
5 Turning ON and OFF the Power Supply
5.1
Turning ON the Main Power Supply
The initial diagnosis are performed in the DX100 when main power is turned ON, and the startup window is shown on the programming pendant screen.
Fig. 5-2: Startup Window
5.1.2 When Initial Diagnosis are Complete
When the power supply is turned OFF, the DX100 saves all condition data, including:
• Mode of operation
• Called job (active job if the DX100 is in the play mode; edit job if the
DX100 is in the teach mode) and the cursor position in the job.
Fig. 5-3: Initial Window
长沙工控帮教育科技有限公司
5-2
DX100
工控帮助教小舒QQ:2823408167
5 Turning ON and OFF the Power Supply
5.2
Turning ON the Servo Power
5.2
Turning ON the Servo Power
5.2.1 During Play Mode
The worker’s safety is secure if the safety plug is turned ON.
• When the safeguarding is closed, press [SERVO ON READY] on the programming pendant to turn ON the servo power supply.
[SERVO ON] lamp will light, when the servo power is turned ON.
SERVO ON
READY
Light
SERVO ON
NOTE When the safeguarding is open, the servo power supply cannot be turned ON.
5.2.2 During Teach Mode
1. Press [SERVO ON READY] on the programming pendant to turn ON the servo power supply. [SERVO ON] lamp will flicker when the servo power is turned ON.
SERVO ON
READY
Flicker
2. The servo power is turned ON and [SERVO ON] lamp on the programming pendant lights when the operator grips the Enable switch.
5-3
DX100
工控帮助教小舒QQ:2823408167
5 Turning ON and OFF the Power Supply
5.2
Turning ON the Servo Power
Servo Power ON/OFF --- Enable Switch
When the operator grips the Enable switch, the servo power turns ON. However, if the operator squeezes the switch until a “click” is heard, the servo power will turn OFF.
SUPPLE
-MENT Servo On
Release -> OFF Squeeze -> ON Squeeze Tightly -> OFF
NOTE
When performing emergency stop on the front door of the
DX100, programming pendant, or external signal, the servo power-on operation from the Enable switch is cancelled.
When turning the power back ON, follow the previously listed instructions.
长沙工控帮教育科技有限公司
5-4
DX100
工控帮助教小舒QQ:2823408167
5 Turning ON and OFF the Power Supply
5.3
Turning OFF the Power Supply
5.3
Turning OFF the Power Supply
5.3.1 Turning OFF the Servo Power (Emergency Stop)
The manipulator cannot be operated when the emergency stop button is pressed and the servo power supply is turned OFF.
• Press the emergency stop button and the servo power supply is turned off.
The emergency stop buttons are located on the front door of the
DX100 and on the right side of the programming pendant.
• The brake operates once the servo power supply is turned OFF, and the manipulator can no longer operate.
The emergency stop mode can be operated at any mode. (Teach mode, Play mode, Remote mode)
Programming Pendant
EMERGENCY STOP
Door upper side
5.3.2 Turning OFF the Main Power
After turning OFF the servo power, turn OFF the main power.
• When the main power switch on the front of DX100 is turned to the
“OFF“ position, the main power is turned OFF.
长沙工控帮教育科技有限公司
Main power supply switch
ON
OFF
TRIPPED
DX100
5-5
6
工控帮助教小舒QQ:2823408167
Test of Program Operation
DX100
6 Test of Program Operation
WARNING
• Press the emergency stop button on the right of the front door of the
DX100 and the programming pendant before operating the manipulator. Confirm that the SERVO ON lamp is turned OFF.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency. The emergency stop buttons are attached on the front door of the DX100 and right of the programming pendant.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– Always view the manipulator from the front.
– Always follow the predetermined operating procedure.
– Always have an escape plan in mind in case the manipulator comes toward you unexpectedly.
– Ensure that you have a place to retreat to in case of emergency.
Improper or unintentional manipulator operation can result in injury.
• Prior to performing the following operations, be sure that there is no one within the P-point maximum envelope of the manipulator, and be sure that you are in a safe place yourself.
– Turning ON the DX100 power
– Moving the manipulator with the programming pendant
– Performing automatic operations
Injury may result from collision with the manipulator to anyone entering the P-point maximum envelope of the manipulator.
6-1
DX100
工控帮助教小舒QQ:2823408167
6 Test of Program Operation
6.1
Movement of the Axes
CAUTION
• Perform the following inspection procedures prior to performing teaching operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external wires.
• Always return the programming pendant to its specified position after use.
If the programming pendant is inadvertently left on the manipulator, fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injuries or equipment damage.
6.1
Movement of the Axes
Move each axis of the manipulator by pressing the axis keys on the programming pendant.
This figure illustrates each axis of motion in the joint coordinates.
NOTE
Be sure to remove all items from the area before moving the manipulator.
Refer to the INSTRUCTION MANUAL for the appropriate position of the fixture.
长沙工控帮教育科技有限公司
U-Axis
R-Axis
B-Axis
X-
S-
Y-
L-
Z-
U-
E-
X+
S+
Y+
L+
Z+
U+
E+
X-
R-
Y-
B-
Z-
T-
8-
Axis Keys
X+
R+
Y+
B+
Z+
T+
8+
E-Axis
L-Axis
S-Axis
T-Axis
6-2
DX100
工控帮助教小舒QQ:2823408167
6 Test of Program Operation
6.1
Movement of the Axes
X-
S-
Rotates main body
X+
S+
Y-
L-
Moves lower arm forward/
backward
Y+
L+
Moves upper arm up/ down
Z+
U+
E
E-
Z-
U-
Rotates lower arm
E+
Rotates upper arm
X+
R+
X-
R-
Moves wrist up/down
Y-
B-
Z-
T-
Y+
B+
Rotates wrist
Z+
T+
长沙工控帮教育科技有限公司
6-3
工控帮助教小舒QQ:2823408167
System Up
长沙工控帮教育科技有限公司
DX100
7 Security System
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings
7.1.1 Security Mode
7.1
Protection Through Security Mode Settings
The DX100 modes setting are protected by a security system. The system allows operation and modification of settings according to operator clearance. Be sure operators have the correct level of training for each level to which they are granted access.
There are three security modes. Editing mode and management mode require a user ID. The user ID consists of numbers and letters, and contains no less than 4 and no more than 8 characters. (Significant numbers and signs: ”0 to 9”, “-”, “.”.
Table 7-1: Security Mode Descriptions
Security Mode
Editing Mode
Explanation
Operation Mode This mode allows basic operation of the robot (stopping, starting, etc.) for people operating the robot work on the line.
This mode allows the operator to teach and edit jobs and robot settings.
Management
Mode
This mode allows those authorized to set up and maintain robot system: parameters, system time and modifying user
IDs.
长沙工控帮教育科技有限公司
7-1
DX100
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings
Table 7-2: Menu & Security Mode (Sheet 1 of 3)
Main Menu
JOB
Sub Menu
JOB
Allowed Security Mode
DISPLAY EDIT
Operation Edit
VARIABLE
IN/OUT
SELECT JOB
CREATE NEW JOB
1)
MASTER JOB
JOB CAPACITY
RES. START (JOB)
1)
RES. STATUS
2)
CYCLE
BYTE
INTEGER
DOUBLE
REAL
STRING
POSITION (ROBOT)
POSITION (BASE)
POSITION (ST)
LOCAL VARIABLE
EXTERNAL INPUT
EXTERNAL OUTPUT
UNIVERSAL INPUT
UNIVERSAL OUTPUT
SPECIFIC INPUT
SPECIFIC OUTPUT
RIN
CPRIN
Operation 长沙工控帮教育科技有限公司
REGISTER Operation
AUXILIARY RELAY
CONTROL INPUT
PSEUDO INPUT SIG
NETWORK INPUT
NETWORK OUTPUT
ANALOG OUTPUT
SV POWER STATUS
LADDER PROGRAM
I/O ALARM
I/O MESSAGE
Operation
Edit
Operation
Operation
Edit
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
Operation
-
-
Edit
Edit
Edit
Edit
-
Edit
Edit
Edit
Edit
Edit
-
-
-
-
-
-
-
-
-
-
-
Operation
Edit
-
Edit
-
Edit
Operation
Edit
Management
Management Management
Management Management
Management Management
7-2
DX100
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings
Table 7-2: Menu & Security Mode (Sheet 2 of 3)
ROBOT CURRENT POSITION
COMMAND POSITION
SERVO MONITOR
WORK HOME POS
SECOND HOME POS
DROP AMOUNT
POWER ON/OFF POS
TOOL
INTERFERENCE
SHOCK SENS LEVEL
USER COORDINATE
HOME POSITION
MANIPULATOR TYPE
ANALOG MONITOR
OVERRUN&S-SENSOR
SHIFT VALUE
SYSTEM INFO VERSION
MONITORING TIME
ALARM HISTORY
I/O MSG HISTORY
FD/CF
SECURITY
LOAD
SAVE
VERIFY
Operation
Operation -
-
Management -
Operation Edit
Operation Edit
Management Management
Operation
Edit
-
Edit
Management Management
Operation Management
Edit Edit
Management Management
Management -
Management Management
Edit
Edit
Edit
Edit
Management Management
Operation -
Operation
Operation
-
Management
Operation
Operation
Operation
Edit
Operation
Operation
-
-
-
Management
Management
Operation
DELETE
DEVICE
Operation 长沙工控帮教育科技有限公司
FOLDER Edit
-
Operation
Management
Operation -
PARAMETER S1CxG
S2C
S3C
S4C
A1P
A2P
A3P
A4P
RS
S1E
S2E
S3E
S4E
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
Management Management
7-3
DX100
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings
Table 7-2: Menu & Security Mode (Sheet 3 of 3)
SETUP
ARC
WELDING
HANDLING
SPOT
WELDING
TEACHING COND
OPERATE COND
DATE/TIME
GRP COMBINATION
3)
RESERVE JOB NAME
USER ID
SET SPEED
RES. START (CNCT)
AUTO BACK SET
WRONG DATA LOG
ARC START COND.
ARC END COND.
ARC AUX COND.
POWER SOURCE COND.
ARC WELD DIAG.
WEAVING
ARC MONITOR
4)
ARC MONITOR (SAMPL)
HANDLING DIAGNOSIS
WELD DIAGNOSIS
I/O ALLOCATION
GUN CONDITION
CLEARANCE SETTING
Edit Edit
Management Management
Management Management
Management Management
Edit
Edit
Edit
Edit
Management Management
Management Management
Management Management
Management Management
Operation
Operation
Management
Edit
Operation
Operation
Operation
Operation
Edit
Edit
Edit
Edit
Operation
Operation
Operation
Operation
-
Edit
-
Edit
Operation Edit
Management Management
Management Management
Operation Edit
POWER SOURCE COND Management Management
SPOT WELD DIAGNOSIS Operation Edit
WELDING
GUN PRESSURE
PRESSURE
Edit 长沙工控帮教育科技有限公司
I/O ALLOCATION
Edit
Edit
Management Management
GUN CONDITION Management Management
GENERAL
COMMON TO
ALL
APPLICATIONS
CLEARANCE SETTING
SPOT POWER
SOURCE COND
TIP INSTALLATION
Operation
Operation
WEAVING
GENERAL DIAG.
Operation
Operation
I/O VARIABLE CUSTOMIZE Operation
Edit
Management Management
Management
Edit
Edit
Operation
1 Displayed in the teach mode only.
2 It is possible to initialize a floppy at FC1/FC2.
3 Displayed only with two or more control groups.
4 Displayed in the teach mode only.
*Data is cleared in the edit mode or higher.
7-4
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings DX100
7.1.1.1 Changing the Security Mode
1. Select {SYSTEM INFO} under the main menu.
– The sub menu appears.
Note: Icons for the main menu such as arc welding system differ depending on the system being used.
2. Select {SECURITY}.
– The selection window of security mode appears.
长沙工控帮教育科技有限公司
7-5
DX100
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings
3. Press [SELECT] .
– Select "SECURITY MODE".
4. Input the user ID.
– The user ID input window appears.
长沙工控帮教育科技有限公司
SUPPLE
-MENT
The following user ID numbers are set by default.
• Editing Mode: [00000000]
Management Mode: [99999999]
5. Press [ENTER].
– The input user ID is compared with the user ID of the selected security mode. ]
– When the correct user ID is entered, the security mode is changed.
7-6
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings DX100
7.1.2 User ID
User ID is requested when Editing Mode or Management Mode is operated.
Create the user ID with four to eight numbers and symbols: the numbers 0 to 9; the symbols
"-" and ".".
7.1.2.1 Changing User ID
In order to change the user ID, the DX100 must be in Editing Mode or
Management Mode. Higher security modes can make changes the user
ID of to lower security modes.
1. Select {SETUP} under the main menu.
– The sub menu appears.
2. Select {USER ID}.
7-7
DX100
工控帮助教小舒QQ:2823408167
7 Security System
7.1
Protection Through Security Mode Settings
3. Select the desired ID.
– The character input line appears, and a message "Input current ID no. (4 to 8 digits)" appears.
4. Input the current ID and press [ENTER].
– When the correct user ID is entered, a new ID is requested to be input. "Input new ID no.(4 to 8 digits)" appears.
长沙工控帮教育科技有限公司
5. Input new ID and press [ENTER].
– User ID is changed.
7-8
DX100
8 System Setup
8
工控帮助教小舒QQ:2823408167
System Setup
WARNING
• Various settings control system compatibility and manipulator performance characteristics. Exercise caution when changing settings that can result in improper manipulator operation.
Personal injury and/or equipment damage may result if incorrect settings are applied by the user.
• Observe the following precautions to safeguarding system settings:
• Maintain supervisory control of user functions.
• Retain data backups of control settings each time settings are changed.
长沙工控帮教育科技有限公司
8-1
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration
8.1
Home Position Calibration
WARNING
• Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the DX100 and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always prepare your reactions to a manipulator’s unexpected approach toward you.
– Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Prior to performing the following operations, be sure that no one is in the P-point maximum envelope of the manipulator, and be sure that you are in a safe place when:
– Turning ON the DX100 power.
– Operating the manipulator with the programming pendant.
Injury may result from contact with the manipulator if persons enter the
P-point maximum envelope of the manipulator.
长沙工控帮教育科技有限公司 problems.
Emergency stop buttons are located on the right of the front door of the
DX100 and the programming pendant.
8-2
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration
CAUTION
• Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external wires.
– Always return the programming pendant to its hook on the
DX100 cabinet after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
8.1.1 Home Position Calibration
NOTE
Teaching and playback are not possible before the completion of the home position calibration.
In a system with two or more manipulators, the home position of all the manipulators must be calibrated before starting teaching or playback.
Home position calibration is an operation in which the home position and absolute encoder position coincide. Although this operation is performed
长沙工控帮教育科技有限公司
• Change in the combination of the manipulator and DX100
• Replacement of the motor or absolute encoder
• Clearing stored memory (by replacement of NIF01 circuit board, weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the home position mark on each axis so that the manipulator can take its posture for the home position. There are two operations for home position calibration:
• All the axes can be moved at the same time: Recalibrate the home position by moving all the axes together if changing the combination of manipulator and circuit board.
• Axes can be moved individually: Recalibrate the home position for the individual axes that were affected by the replacement, if replacing the motor or absolute encoder.
8-3
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration
If the absolute data of its posture for the home position is already known, set the absolute data again after completing home position registration.
SUPPLE
-MENT
Home Position
The home position is the pulse value "0" for each axis and its posture. See
chapter 8.1.3 “Home Position of the Robot” at page 8-10
.
8.1.2 Calibrating Operation
NOTE Home position calibration screen is displayed only in security mode or management mode.
8.1.2.1 Registering All Axes at One Time
1. Select {ROBOT} under the main menu.
– The sub menu appears
长沙工控帮教育科技有限公司
2. Select {HOME POSITION}.
– The HOME POSITIONING window appears.
8-4
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration
3. Select {DISPLAY} under the menu.
– The pull-down menu appears.
– The same operation as the instruction 3 can also be performed by selecting {PAGE}, and selection box appears.
长沙工控帮教育科技有限公司
4. Select the desired control group.
– Select the control group for HOME POSITIONING.
– The control group can also be selected by pressing page key .
8-5
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration
5. Select {EDIT} under the menu.
– The pull-down menu appears.
6. Select {SELECT ALL AXES}.
– The confirmation dialog box appears.
长沙工控帮教育科技有限公司
7. Select {YES}.
– Displayed position data of all axes are registered as home position.
When {NO} is selected, the registration will be canceled.
8-6
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration DX100
8.1.2.2 Registering Individual Axes
1. Select {ROBOT} under the main menu.
– The sub menu appears.
2. Select {HOME POSITION}.
3. Select the desired control group.
– Perform the step 3 and 4 of the “Registering All Axes at One Time” to select the desired control group.
4. Select the axis to be registered.
– Move the cursor to the axis to be registered, and select it.
– A confirmation dialog box appears.
长沙工控帮教育科技有限公司
5. Select {YES}.
– Displayed position data of the axis is registered as home position.
When {NO} is selected, the registration will be canceled.
8-7
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration DX100
8.1.2.3 Changing the Absolute Data
To change the absolute data of the axis when home position calibration is completed, perform the following:
1. Select {ROBOT} under the main menu.
2. Select {HOME POSITION}.
3. Select the desired control group.
– Perform the step 3 and 4 of the “Registering All Axes at One Time” to select the desired control group.
4. Select the absolute data to be registered.
– The number can now be entered.
5. Enter the absolute data using the numeric keys.
6. Press [ENTER].
– Absolute data is modified.
长沙工控帮教育科技有限公司
8.1.2.4 Clearing Absolute Data
1. Select {ROBOT} under the main menu.
– The sub menu appears
2. Select {HOME POSITION}.
– Perform the step 3 and 4 of the “Registering All Axes at One Time” to select the desired control group.
3. Select {DATA} under the main menu.
8-8
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration
– The pull-down menu appears
4. Select [CLEAR ALL DATA].
– A confirmation dialog box appears.
长沙工控帮教育科技有限公司
5. Select {YES}.
– All absolute data are cleared.
– When {NO} is selected, the registration will be canceled.
8-9
工控帮助教小舒QQ:2823408167
8 System Setup
8.1
Home Position Calibration DX100
8.1.3 Home Position of the Robot
In case of VA1400, the home position are as follows.
B-axis center line angle against
U-axis center line (-0
°
).
U-axis angle against horizontal line on the ground (-0
°
).
L-axis angle against vertical line to the ground(-0
°
).
NOTE
Other manipulator models have different positions. Always refer to "MANIPULATOR INSTRUCTIONS" for the correct manipulator model.
长沙工控帮教育科技有限公司
8-10
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.2
Setting the Second Home Position (Check Point)
8.2
Setting the Second Home Position (Check Point)
WARNING
• Be aware of safety hazards when performing the position confirmation of the second home position (check point).
When "OUT OF RANGE (ABSO DATA)" alarm occurs, abnormality of the PG system may be a cause of the alarm. The manipulator may operate in an unexpected manner, and there is a risk of damage to equipment or injury to personnel.
• Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the front door of
DX100 and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Prior to performing the following operations, be sure that no one is in the P-point maximum envelope of the manipulator, and be sure that you are in a safe place when:
– Moving the manipulator with the programming pendant
– Running the system in the check mode
– Performing automatic operations
Injury may result from contact with the manipulator if persons enter the
P-point maximum envelope of the manipulator.
Press the emergency stop button immediately whenever there are problems.
• Emergency stop buttons are attached on the front door of the
DX100 and the right side of the programming pendant.
8-11
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.2
Setting the Second Home Position (Check Point)
CAUTION
• Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external wires.
• Always return the programming pendant to its hook on the DX100 cabinet after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
8.2.1 Purpose of Position Check Operation
If the absolute number of rotation detected at power supply ON does not match the data stored in the absolute encoder the last time the power supply was turned OFF, an alarm is issued when the controller power is turned ON.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power supply was turned OFF.
If there is an error with the PG system, the manipulator may stall when playback is started. If the absolute data allowable range error alarm has occurred, playback and test runs will not function and the position must be
长沙工控帮教育科技有限公司
8-12
工控帮助教小舒QQ:2823408167
8 System Setup
8.2
Setting the Second Home Position (Check Point) DX100
"OUT OF RANGE (ABSO DATA)" alarm occurs
Reset alarm
Turn ON servo power
Position confirmation
operation
Procedure After Alarm Occurs
Compare second home position (check point)* pulses with current position pulses
OK
NG
Alarm occurs again
Correct defective axis
• Replace PG system
• Home position calibration
∗ Position checking point
Position Check
After the "OUT OF RANGE (ABSO DATA)" alarm occurs, move to the second home position using the axis keys and perform the position confirmation. Playback, test runs, and FWD operation will not function unless "CONFIRM POSITION" is performed.
Pulse Difference Check
The pulse number at the second home position is compared with that at the current position. If the difference is within the allowable range, playback is enabled. If not, the alarm occurs again.
• The allowable range pulse is the number of pulses per rotation of the motor (PPR data).
• The initial value of the second home position is the home position
(where all axes are at pulse 0). The second home position can be
8-13
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.2
Setting the Second Home Position (Check Point)
Alarm Occurrence
If the alarm occurs again, there may be an error in the PG system. Check the system. After adjusting the erroneous axis, calibrate the home position of the axis, then check the position again.
NOTE
• Home position calibration of all the axes at the same time enables playback operations without having to check the position.
• Sometimes in a system with a manipulator with no brake, it is possible to enable playback without position checking after the alarm occurs. However, as a rule, always perform "CONFIRM POSITION".
Under the above special conditions, the manipulator moves as follows:
• After the start, the manipulator moves at low speed (1/
10 of the maximum speed) to the step indicated by the cursor. If it stops and restarts during this motion, the low speed setting is retained until the step at cursor is reached.
• Regardless of cycle setting, the manipulator stops after reaching to the step indicated by cursor. Starting the manipulator again then moves it at the programmed speed and cycle of the job.
8.2.2 Procedure for the Second Home Position Setting (Check Point)
Apart from the "home position" of the manipulator, the second home position can be set up as a check point for absolute data. Use the following steps to set the specified point.
长沙工控帮教育科技有限公司 second home position must be set for each manipulator or station.
1. Select {ROBOT} under the main menu.
– The sub menu appears.
8-14
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.2
Setting the Second Home Position (Check Point)
2. Select {SECOND HOME POS}.
– The SECOND HOME POS window appears.
A message “Available to move to and modify specified point” is displayed.
3. Press the page key , or select {PAGE} to display the selection window for the control group.
– When there are two or more group axes, select the group axes to which the second home position is to be specified.
长沙工控帮教育科技有限公司
4. Press the axis keys.
– Move the manipulator to the new second home position.
5. Press [MODIFY], then [ENTER].
– The second home position is changed.
8-15
工控帮助教小舒QQ:2823408167
8 System Setup
8.2
Setting the Second Home Position (Check Point) DX100
8.2.3 Procedure after the Alarm
WARNING
• Be aware of safety hazards when performing the position confirmation of the specified point.
Abnormality of the PG system may be the cause of the alarm. The manipulator may operate in an unexpected manner, and there is a risk of damage to equipment or injury to personnel.
If the "OUT OF RANGE (ABSO DATA)" alarm occurs:
• Reset the alarm;
• Turn ON the servo power; then confirm the second home position. After the confirmation, if the PG system is found to be the cause of the alarm, perform the necessary operation, such as replacing the PG, etc.
The robot current position data when turning main power supply OFF and
ON can be confirmed in “POWER ON/OFF POS" window.
SUPPLE
-MENT
For details on the “POWER ON/OFF POS" window, refer to "
7.7 Position Data When Power is Turned ON/OFF " in
DX100 MAINTENANCE MANUAL.
1. Select {ROBOT} under the main menu.
– The sub menu appears.
2. Select {SECOND HOME POS}.
3. Press the page key , or select {PAGE} to display the selection window for the control group.
8-16
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.2
Setting the Second Home Position (Check Point)
– When there are two or more group axes, select the group axes to which the second home position is to be specified.
4. Press [FWD].
– TCP moves to the second home position. The robot moving speed is set as selected manual speed.
5. Select {DATA} under the menu.
6. Select {CONFIRM POSITION}.
– A message “Home position checked” appears.
– Pulse data of the second home position and current pulse data are compared. If the compared error is in allowed range, playback operation can be done.
– If the error is beyond the allowed range, the alarm occurs again.
长沙工控帮教育科技有限公司
8-17
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
8.3
Tool Data Setting
8.3.1 Registering Tool Files
8.3.1.1 Number of Tool Files
There are 64 tool files numbered 0 to 63. Each file is called as a tool file.
SUPPLE
-MENT
Tool File Extension Function
Normally, one robot uses one kind of tool file. The tool file extension function can change many tool files to be used by one robot. Use the following parameter to set this function.
S2C333: TOOL NO. SWITCHING (1: enabled; 0: disabled)
For more details, refer to “ 8 Parameter ” in DX100 OPERA-
TOR’S MANUAL.
8.3.1.2 Registering Coordinate Data
When the number input operation is used for registering the tool file, input the TCP of the tool on the flange coordinates.
长沙工控帮教育科技有限公司
X
F
Tool
TCP
Y
F
Z
F
1. Select {ROBOT} under the main menu.
8-18
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
– The sub menu appears.
2. Select {TOOL}.
(1) Move the cursor to the number of the desired tool, and press
{SELECT} in the tool list window.
(2) The tool coordinate window of the selected number appears.
– In the tool coordinate window, the tool number can be changed by pressing the page key or selecting {PAGE} .
长沙工控帮教育科技有限公司
– To switch the tool list window and the tool coordinate window, press
{DISPLAY} {LIST} or {DISPLAY} {COORDINATE DATA}.
3. Select the desired tool number.
4. Place the cursor in the part to register the desired coordinate data and press [SELECT].
– The number is ready to input.
5. Input the coordinate data.
6. Press [ENTER].
8-19
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
– The coordinate data is registered.
<Setting Example>
260 mm
TCP
Z
F
Tool B
260 mm
TCP
TCP
Z
F
Tool A
In case of Tool A, B
长沙工控帮教育科技有限公司
260 mm
145 mm
Tool C
In case of Tool C
8-20
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting DX100
8.3.1.3 Registering Tool Angle
The tool pose data is angle data which shows the relation between the flange coordinates and the tool coordinates. The angle when the flange coordinates are rotated to meet to the tool coordinates becomes an input value. Clockwise toward the arrow is the positive direction. Register in the order of Rz Ry Rx.
In the following case, register Rz=180, Ry=90, Rx=0
Flange coordinates
X
F
Y
F
Z
F
Tool coordinates
Z
T
X
T
Y
T
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
3. Select the desired tool number.
– In the same way as shown in Explanation 2, 3 in
chapter 8.3.1.2 “Registering Coordinate Data” at page 8-18 ,
display the desired tool coordinate window.
4. Select the desired coordinate axis to modify.
– First, select Rz.
5. Input the tool pose data.
长沙工控帮教育科技有限公司
X
F
Y
F
Z
F
Y
F
X
F Rz = 180
6. Press [ENTER].
– The rotation angle of Rz is registered.
In the same way, register the angle of Ry, Rx.
8-21
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
Ry must be the input rotation angle around Y’
F
flange coordinates.
X
F
Z
F
Z
F
Y
F
(Y
F
)
Ry = 90
– Rx must be the input rotation angle around X’
F coordinates.
of flange
X
F
Z
F
Y
F
Rx = 0
8.3.1.4 Setting the Tool Load Information
The tool load information includes weight, a center of gravity position, and moment of inertia at the center of gravity of the tool installed at the flange.
长沙工控帮教育科技有限公司
SUPPLE
For more details on the tool load information, refer to
chapter 8.4.3 “Tool Load Information Setting” at page 8-43
-MENT
8-22
DX100
8.3.2 Tool Calibration
8.3.2.1 Tool Calibration
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
To ensure that the manipulator can perform motion type operations such as linear and circular motion type correctly, accurate dimensional information on tools such as torches, tools, and guns must be registered and the position of the TCP must be defined.
Tool calibration is a function that enables this dimensional information to be registered easily and accurately. When this function is used, the TCP is automatically calculated and registered in the tool file.
What is registered in tool calibration is the coordinates of the TCP and the tool posture data in the flange coordinates.
YF
Flange coordinates
XF
YT
Tool coordinates
ZF
<Flange coordinates>
XF: Vertically upward direction when the current
position on the T-axis of the manipulator is "0"
YF: Y-axis complementing XF and ZF
ZF: Direction perpendicular to the flange face
XT
ZT
8.3.2.2 Setting of Tool Calibration Method
There are three tool calibration methods, which are selected by setting parameter.
S2C432: Designation of tool calibration method
0: Calibrates only the coordinates.
“Coordinates” calculated from 5 calibration teaching points is
In this case “Tool Posture Data” is all cleared to be 0.00.
1: Calibrates only the posture.
“Tool Posture Data” calculated from the first calibration
teaching point is registered in the tool file.
In this case, “Coodinates” will not be changed. (the prior
value is maintained.)
2: Calibrates the coordinates and the posture.
“Coordinates” calculated from 5 calibration teaching points and “Tool Posture Data” calculated from the first calibration teaching point are registered in the tool file.
8-23
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
NOTE
• In case of S2C432=0 (only coordiantes is calibrated), tool posture data is overwritten with 0.
(When the coordinates calculated from tool calibration is registered in the tool file in which the tool posture data is already registered, the tool posture data will be deleted.)
• In case of S2C432=1 (only posture is calibrated), the coordinates are maintained.
• In case of S2C432=1, 5 teaching points need to be registered though only the first point is used for calculation.
8.3.2.3 Teaching of Calibration Point
Teaching for defining coordinates
In order to calibrate coordinates, five different postures (TC1 to 5) must be taught with the TCP as the reference point. The tool dimensions are automatically calculated on the basis of these five points.
TC2
TC1 TC3
TCP
TC4
TC5 setting is rotated in a constant direction
Teaching for defining posture
The calibration of tool posture data is performed with the first calibration teaching point (TC1).
Teach TC1 with Z-axis of the desired tool coordinates downward vertically to the ground. (the Z-axis of the tool coordinates is parallel to the Z-axis of the base tool and points to the opposite direction.)
Tool posture data is automatically calcurated with this TC1 posture.
8-24
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
The X-axis of the tool coordinates is defined in the same direction as the
X-axis of the base coordinates.
Tool
TCP
Y
T
X
T
Z
T
Tool
Coordinates
X
Z
Base
Coordinates
Y
In case of calibrating with S2C432=2, teach TC1 with Z-axis of the desired tool coordinates downward vertically to the ground. Then teach the other calibration teaching points
(TC2~TC5) with the all tool points meet at the TC1’s tool point as shown in the figure below.
SUPPLE 长沙工控帮教育科技有限公司 perform calibration of coordinates with S2C432=0 or 2, and then change to S2C432=1, teach only TC1 in a different position and register the tool posture data.
SUPPLE
-MENT
• There are 64 tool files numbered 0 to 63.
• In a basic system with one manipulator and one tool, the tool file for tool No.0 is used.
• If there is more than one tool, for example when using a multihand, use the tool numbers in the order of 0, 1, 2, etc.
8-25
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
3. Select the desired tool number.
– In the same way as shown in the instruction 2 and 3 of the
chapter 8.3.1.2 “Registering Coordinate Data” at page 8-18
, display the desired tool coordinate window.
4. Select {UTILITY} under the menu.
– The pull-down menu appears.
长沙工控帮教育科技有限公司
8-26
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
5. Select {CALIBRATION}.
– The TOOL CALIBRATION window is shown.
6. Select the robot.
(1) Select the robot to calibrate.
(When the robot has already been selected or there is only one of robot, this operation should not be performed.)
(2) Select “**” in the TOOL CALIBRATION window and select the robot in the shown selection dialog box.
(3) The robot is set.
长沙工控帮教育科技有限公司
8-27
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
7. Select “POSITION”.
– The selection dialog box is shown.
(1) Select the teaching point for calibration.
8. Move the manipulator using the axis key.
9. Press [MODIFY] and [ENTER].
– Taught position is registered.
Repeat 7 to 9 operation to teach TC1 to TC5.
" " indicates that teaching is completed and " " indicates that it is not completed.
长沙工控帮教育科技有限公司
– To check the taught positions, call up the required window among
TC1 to TC5 and press [FWD]. The manipulator moves to the set position.
– If there is a difference between the current position of the manipulator and the shown position data, “TC ” next to
“POSITION” in the window flashes.
10. Select “COMPLETE”.
8-28
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
– Calibration data is registered in the tool file. Once the calibration is completed, the tool coordinate window is displayed on the screen.
8.3.2.4 Clearing Calibration Data
Before the calibration of a new tool, clear the robot information and calibration data.
1. Select {DATA} under the pull-down menu.
– The pull-down menue appears.
长沙工控帮教育科技有限公司
2. Select {CLEAR DATA}.
8-29
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
– The confirmation dialog box is shown.
3. Select {YES}.
– All data is cleared.
长沙工控帮教育科技有限公司
SUPPLE
-MENT
If tool angle data is required, input the data number in the tool coordinate window.
Refer to
chapter 8.3.1.3 “Registering Tool Angle” at page 8-21 for the operating instructions.
8-30
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting DX100
8.3.2.5 Checking the TCP
After registering the tool file, check if the TCP is correctly registered by performing a TCP fixed operation like the one shown below, in any coordinate system other than the joint.
Tool center point
1. Press [COORD].
– Select any coordinate system except “
[COORD].
JOINT” by pressing
长沙工控帮教育科技有限公司
2. Select desired tool number.
–Show the tool coordinate window of the desired tool by pressing the page key or selecting it in the tool list window.
8-31
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
3. Move the R, B, or T axes using the axis key.
– By pressing the axis keys for the R, B, and T axes, change the manipulator pose without changing the TCP position.
If this operation shows a large TCP error, adjust the tool data.
TCP
SUPPLE
-MENT
For details on the TCP fixed operation, see "2.8.1 Motion about TCP" in OPERATOR’S MANUAL.
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity
8.3.3.1 What is the Automatic Measurement of the Tool Load and the Center of Gravity?
With this function, the user can register the load of tool and the position of the tools center of gravity.
The tool load and the position of it’s center of gravity are measured and registered in a tool file.
NOTE
This function can be used where the manipulator is installed level on the ground.
For the conditions required for manipulator installation, refer
长沙工控帮教育科技有限公司
8-32
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting DX100
8.3.3.2 Measurement of the Tool Load and the Center of Gravity
To measure the tool load and the center of gravity, move the manipulator to its home position (horizontal to the U-, B- and R-axes) and operate the
U-, B- and T-axes.
U-axis
U+
L-axis
U-
R-axis
B+
B-axis
T+
T-axis
B-
T-
Home Position
(Horizontal to the U-,
B- and R-axes)
S-axis
Zero-degree Installation on the Ground
NOTE To correctly measure the tool load or the center of gravity, remove the cables or wires connected to the tool.
长沙工控帮教育科技有限公司
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
– The tool list window appears.
– The tool list window is called up only when the file extension function is valid.
8-33
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
If the file extension function is invalid, the tool coordinate window appears.
– Move the cursor to the desired number in the tool list window and press [SELECT].
– The tool coordinate window of the selected number is shown.
– In the tool coordinate window, the number can be changed by pressing the page key or selecting {PAGE}.
8-34
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
– To switch the tool list window and the tool coordinate window, press
{DISPLAY} {LIST} or {DISPLAY} {COORDINATE DATA}.
4. Select {UTILITY} under the menu.
– The window for the automatic measurement of the tool load and the center of gravity is shown.
6. Press the page key .
– In a system with several manipulators, use the page key change the group to be controlled.
8-35
to
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
7. Press [FWD].
– Press [FWD] once, and the manipulator moves to the home position
(horizontal to the U-, B- and R-axes).
8. Press [FWD] again.
– Press [FWD] again, and measurement starts. Keep the button pressed until measurement is completed.
The manipulator moves in the order listed below. Once measurement is completed, “ “changes to “ “.
Measurement of the U-axis: U-axis home position +4.5 degrees
-4.5 degrees
Measurement of the B-axis: B-axis home position +4.5 degrees
-4.5 degrees
First measurement of the T-axis: T-axis home position +4.5 degrees
-4.5 degrees
Second measurement of the T-axis: T-axis home position +60 degrees +4.5 degrees -4.5 degrees
• The speed during measurement automatically changes to “Medium”.
• During the measurement, “HOME” or “U” blinks on the screen.
SUPPLE
-MENT
• During the measurement, the [FWD] button has to be kept pressed. If the button is released during the measurement or if it is released before “ “changes into
“ “, the measurement is aborted and the following
• message appears: “Stopped measurement”
长沙工控帮教育科技有限公司 position.
– When all the measurements are completed or when all the
“ “marks have changed into “ “, the measured data appears on the screen.
8-36
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.3
Tool Data Setting
9. Select “REGISTER”.
– The measured data is registered in the tool file, and the tool coordinate window appears.
– Select “CANCEL” to call up the tool list window without registering the measured data in the tool file.
长沙工控帮教育科技有限公司
8-37
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
8.4
ARM Control
8.4.1 ARM Control
ARM Control, a control system originally developed by Yaskawa, achieves an enhanced robot motion performance such as improved path accuracy or educed cycle time.
The moment of inertia and the gravity moment etc. of each axis are calculated by the ARM control function, and DX100 controls robot motion according to the result. It is necessary to set the Robot setup condition and the tool load information to request these accurately.
The robot setup condition is robot installation angle relative to ground and the weight and a center of gravity position of the load installed at each part of robot, etc.
The tool load information is weight, a center of gravity position, and moment of inertia at the center of gravity, of the tool installed at the flange.
It is necessary to set these information correctly to do a better operation control by the ARM control.
8.4.2 ARM CONTROL Window
CAUTION
• Correctly set the robot setup condition.
Make sure to avoid any mistake in setting the unit indication or specifying positive and negative values. Failure to observe this caution may lead to improper control of the manipulator, resulting in error
• occurrence or short life span of speed reducer.
长沙工控帮教育科技有限公司 settings.
Set the robot setup condition when setting up the manipulator.
Confirm the operation path of manipulator of each job afterwards when the setting should be modified after the installation.
Modifying the settings of the ARM control may slightly change the operation path. To avoid injury or damage to machinery caused by collision between tool and positioner, make sure to check the operation path before executing a job.
8.4.2.1 Robot Setup Condition
Fulfill the following robot setup condition to enable the ARM control.
• Robot installation angle
• S-head payload
• U-arm payload
8-38
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
Robot installation angle
The angle of the manipulator installed relative to ground is set in ANGLE
REL. TO GROUND to calculate the gravity moment which loads to each axis of the manipulator.
The robot installation angle sets how much X axis of the robot coordinates has inclined with the ground around Y axis of the robot coordinates. The direction of + in the U axis operation from the home position posture of the manipulator becomes direction of + of the robot installation angle.
Therefore, the robot installation angle for a vertical downward wall mount specification becomes -90 degrees.
Z
Y
X
Robot installation
Angle
+
-
<Example>
长沙工控帮教育科技有限公司
0 degrees -90 degrees +90 degrees 180 degrees
If the robot installation angle is not correctly set, the manipulator cannot be properly controlled. Therefore, make sure to set the value correctly, paying special attentions to the direction “+” or “-”.
NOTE
Only rotation angle around Y axis of the robot coordinates can be set in the robot installation angle.
Contact YASKAWA representative when robots is installed to incline Y axis of the robot coordinates relative to ground.
S-head payload
Set the weight and the center of gravity position roughly when the equipment such as transformer is installed at the S-head.
It is not necessary to set these values when there is no installed load on the S-head.
8-39
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
WEIGHT (unit: kg)
The weight of the installed load is set.
It is not required to set a correct value, however, it is recommended to set a value slightly larger than the actual load. (Round up the value with each fraction between 0.5 to 1 kg.)
X (From S-Axis), Y (From S-Axis) (unit: mm)
The center of gravity position of the installed load is set by the distance in the direction of X and the direction of Y from S axis center here. It can be set with a rough value.
The direction of X and Y applies to the robot coordinates. The value is set by a negative number when the position is in “-” direction.
Load on the S-head (Top View)
-X
S axis center
-Y +Y
(X position, Y position)
+X
Set the weight and the center of gravity position roughly when the equipment such as the wire supplying motors is installed on U arm.
A standard value is set when shipping from the factory.
Set the weight in “0” if there is no installing equipment on U arm.
WEIGHT (unit: kg)
The weight of the installing load is set here.
Set a little large value though it does not care by a rough value. (Rase to a unit in each 0.5 to 1kg)
X (From U-Axis), HEIGHT (From U-Axis) (unit: mm)
The center of gravity position of the installing load is set here. It does not care by a rough value.
X (From U-Axis) is horizontal distance from U axis rotation center to the center of gravity position of the load. Set negative number when there is mass side in the back from U-axis rotation center.
HEIGHT (From U-Axis) is height of the vertical direction from U-axis rotation center to the center of gravity position of the load.
8-40
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
Fig. 8-1: Load on the U-arm: Center of Gravity Position (Side View)
X (From U-Axis)
( - ) ( + )
U-axis rotation center
HEIGHT
(From U-Axis)
Center of Gravity
Position
NOTE
ARM CONTROL window is displayed only when the security mode is set in the management mode.
1. Select {ROBOT} under the main menu.
长沙工控帮教育科技有限公司
8-41
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
2. Select {ARM CONTROL}.
– The ARM CONTROL window appears.
3. Press the page key , or select {PAGE}.
– Select the desired control group when there are two or more group axes.
长沙工控帮教育科技有限公司
4. Select the desired item.
5. Input the value and press [ENTER].
8-42
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control DX100
8.4.3 Tool Load Information Setting
CAUTION
• Set the tool load information correctly.
The speed reducer longevity might decrease or the alarm might occur when the tool load information is not set correctly.
• Confirm the operation path of robot of each job which uses the tool file after the tool load information is changed.
Set the tool load information before teaching the job after the tool is installed.
Confirm the operation path of each job which uses the tool file when the tool load information should be modified after teaching.
Modifying the tool load information may slightly change the operation path. To avoid injury or damage to machinery caused by collision between tool and positioner, make sure to check the operation path before executing a job.
8.4.3.1 Tool Load Information
Tool load information includes weight, a center of gravity position, and moment of inertia at the center of gravity of the tool installed at the flange.
These are registered in the tool file.
ZF'
YF'
Iy
Iz
XF' Moment of inertia around the Center of Gravity
Ix, Iy, Iz
XF
Ix
长沙工控帮教育科技有限公司
YF
Weight:W
ZF
Center of Gravity Position
( Xg, Yg, Zg )
* Flange Coodinates
XF: It is a direction right above when T axis
is 0 pulse position and the flange surface
of the manipulator turned to the front.
YF: Y axis led by XF,ZF
ZF: Perpendicular direction from flange surface
8.4.3.2 How to Calculate Tool Load Information
Weight: W (Unit: kg)
The total weight of the installing tool is set.
It is not required to set a correct value, however, it is recommended to set a value slightly larger than the actual load. (Round up the value with each fraction between 0.5 to 1 kg for small and medium size manipulator, and 1 to 5 kgs for large manipulator.)
8-43
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
Center of gravity position: xg, yg, zg (Unit: mm)
The center of gravity position of the installed tool is set as the position in the flange coordinates.
Since it is usually difficult to get a strict center of gravity position, it can be set with a rough value. Presume and set a center of gravity position roughly from outline of the tool.
Set the value when the center of gravity position of the installed tool is clear from specifications, etc.
Moment of inertia at the center of gravity: lx, ly, lz (Unit: kg
·
m
2
)
It is an moment of inertia of the tool at the center of gravity position.
The value is calculated around the each axis of the coordinates which is in parallel to the flange coordinates and which home position is the center of gravity position of the tool.
It is not required to set a correct value, however, it is recommended to set a value slightly larger than the actual value.
This setting is used to calculate the moment of inertia which loads to each axis of the manipulator. However, the moment of inertia at the center of gravity does not need to be set when this data is small enough for the moment of inertia calculated from weight and the center of gravity position.
However, the setting is required when the moment of inertia of the tool is large (as a rough guide, the tool is considered to be large when the tool size is about more than 2-times the distance between the flange and the center of gravity).
长沙工控帮教育科技有限公司
The size of the tool is not too big.
Setting the moment of inertia at center of gravity is not necessary.
The size of the tool is big.
Setting the moment of inertia at center of gravity is necessary.
Rough value of the moment of inertia at the center of gravity can be calculated by the following methods.
• Method to approximate the entire tool in hexahedron or cylinder.
• Method to calculate from each weight and center of gravity position of plural mass.
Refer to the following setting examples for details.
8-44
DX100
X
F
Y
F
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
<Example 1>
In the example of sealing gun of the figure below, the center of gravity is set on the flange coordinates assuming that the center of gravity is positioned slightly inclined to the head from the center.
There is no need to set the moment of inertia at the center of gravity since the size of the gun is not too large.
<Setting>
Center of Gravity Position
= (100, 0, 70)
• Ix
• Iy
• Iz
• W
• Xg
• Yg
• Zg
: 7.000 kg
: 100.000 mm
: 0.000 mm
: 70.000 mm
: 0.000 kg •m 2
: 0.000 kg •m 2
: 0.000 kg •m 2
Total Weight
Approx. 6.3 [kg]
7.00 [kg]
100
Z
F
• The own moment of inertia calculation for hexahedron and cylinder
SUPPLE
-MENT be calculated by the next expression when the center of gravity is at the center.
Refer to the expression when the calculation of the moment of inertia at the center of gravity.
Z Z
Ly r
Lx
Iz
Iz
Iy Lz
Ix
Y H Y
X
Weight:W
Ly + Lz
2
Ix = * W
12
Lx 2 + Lz
12
2
Iy = * W
Lx 2 + Ly
12
2
Iz = * W
Ix
Iy
X
Weight: W
3 r
2
+ H
12
2
Ix = Iy = * W
r 2
Iz = * W
2
* Unit of Weight : [kg]
* Unit of Length : [m]
* Unit of Ix, Iy, Iz : [kg x 2 m ]
8-45
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
<Example 2>
It is necessary to set the moment of inertia at the center of gravity when the entire size of the tool and workpiece is large compared to the distance from the flange to the center of gravity position.
Calculate the moment of inertia at the center of gravity roughly from the expression (refer to the forementioned supplement: "The own moment of inertia calculation for hexahedron and cylinder"), by approximating the entire tool in the shape of the hexahedron or the cylinder.
If the weight of held workpiece is greatly different in the handling usage etc., it is more effective to set tool load information on each workpiece and to switch the tool on each step according to the held workpiece. Set the tool load information in the state to hold the heaviest workpiece when using the tools without switching them.
YF
500
XF
ZF
Weight of tool:
Approx. 55 kg.
Weight of workpiece:
Approx. 40 kg.
400
1000
Weight: W = 55 + 40 = 95
长沙工控帮教育科技有限公司
Center of gravity: Position at flange right under 250mm almost
(Xg, Yg, Zg) = (0,0,250)
Moment of inertia at the center of gravity:
The hexahedron of 0.500 x 0.400 x 1.000[m] which encloses the
entire tool + workpiece is assumed.
By the expression to calculate the own moment of inertia of hexahedron,
Ix = ( Ly
2
+ Lz
2
/ 12) * W
= ( (0.400
2
+ 1.000
2
) / 12 ) * 100 = 9.667 = approx. 10.000
Iy = ( Lx
2
+ Lz
2
/ 12) * W = ( (0.500
2
+ 0.400
2
) / 12 ) * 100 = 3.417 = approx. 3.500
Iz = ( Lx
2
+ Ly
2
/ 12) * W = ( (0.500
approx. 10.500
2
+ 1.000
2
) / 12 ) * 100 = 10.417 =
8-46
DX100
SUPPLE
-MENT
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
<Setting>
• Ix
• Iy
• Iz
• W
• Xg
• Yg
• Zg
: 100.000
kg
: 0.000
mm
: 0.000
mm
: 250.000
mm
: 10.000
kg.m
2
: 3.500
kg.m
2
: 10.500
kg.m
2
How to calculate "Center of gravity position" and "moment of inertia at center of gravity" for plural mass
The center of gravity position and the moment of inertia at the center of gravity of the entire tool can be calculated by the weight and the center of gravity position of each mass when the tool can be thought that the tool consists of two or more big mass like the twin gun system etc.
1. Divide the tool into some parts as the weight and the center of gravity position can be roughly presumed. It is not necessary to divide in detail. The tool is approximated in construction of rough parts.
2. Calculate the weight and the center of gravity position of the each parts on flange coordinates. It does not care by a rough value. Calculate the own moments of inertia of the big parts. (If parts are small, it is not necessary to calculate the own moments of inertia. Refer to above-mentioned supplement: "The own moment of inertia calculation for hexahedron and cylinder" for how to calculate the own moment of inertia.)
wi : Weight of the i-th parts [kg]
(xi, yi, zi) : Center of gravity position of the i- th parts
(On flange coordinates) [mm]
2 长沙工控帮教育科技有限公司 ] expression.
xg = {w1 * x1 + w2 * x2 + .... + wi * xi} / (w1 + w2 + .... + wi)
yg = {w1 * y1 + w2 * y2 + .... + wi * yi} / (w1 + w2 + .... + wi)
zg = {w1 * z1 + w2 * z2 + .... + wi * zi} / (w1 + w2 + .... + wi)
4. The moment of inertia at the center of gravity position of the entire tool is calculated by the next expression.
Ix = { w1 * ((y1 - yg)
2
+ (z1 - zg)
2
) * 10
-6
+ Icx1} + { w2 * ((y2 - yg)
2
+
(z2 - zg)
2
) * 10
-6
+ Icx2}
...................
+ { wi * ((yi - yg)
2
+ (zi - zg)
2
) * 10
-6
+ Icxi}
Iy = { w1 * ((x1 - xg)
2
+ (z1 - zg)
2
) * 10
-6
+ Icy1} + { w2 * ((x2 - xg)
2
+
(z2 - zg)
2
) * 10
-6
+ Icy2}
.....................
+ { wi * ((xi - xg)
2
+ (zi - zg)
2
) * 10
-6
+ Icyi}
Iz = { w1 * ((x1 - xg)
2
+ (y1 - yg)
2
) * 10
-6
+ Icz1} + { w2 * ((x2 - xg)
2
+
(y2 - yg)
2
) * 10
-6
+ Icz
.....................
+ { wi * ((xi - xg)
2
+ (yi - yg)
2
) * 10
-6
+ Iczi}
8-47
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
<Example 3>
When there are two or more big mass such as the twin gun system as shown in the figure below, perform:
1. Set the center of gravity position when the center of gravity position of the entire tool is roughly understood, and set the moment of inertia at the center of gravity calculated by approximating the entire tool in the shape of hexahedron or cylinder. (It is enough in this setting usually.); or
2. When weight in each mass and the center of gravity position are understood, the center of gravity position and the moment of inertia at the center of gravity of the entire tool can be calculated. (Refer to forementioned supplement column: "How to calculate "Center of gravity position" and "moment of inertia at the center of gravity" for plural mass".)
This example shows the calculation with the mothod 2.
(Top View)
Y
F
Center of Flange
Y
F
100
X
F
40
Gun 1
Gun 2
Z
F
50 150
70
Gun 1
(Gun 1)
Weight: w1 = 3 kg
Center of Gravity: x1 = 100 mm y1 = 50 mm z1 = 40 mm
X
F
Gun 2
(Gun 2)
Weight: w2 = 6 kg
Center of Gravity: x2 = 100 mm y2 = -150 mm z2 = 70 mm
= 3 + 6 = 9 = approx. 10[kg]
Center of gravity Xg = (w1 * x1 + w2 * x2) / (w1 + w2)
= (3 * 100 + 6 * 100) / (3+6) = 100.0 [mm]
Yg = (3 * 50 + 6 * (-150)) / (3+6) = -83.333 [mm]
Zg = (3 * 40 + 6 * 70) / (3+6) = 60.0 [mm]
The moment of inertia at the center of gravity position:
Ix =
{ w1 * ((y1 - Yg)
2
+ (z1 - Zg)
2
) * 10
-6
+ Icx1}
+ { w2 * ((y2 - Yg)
2
+ (z2 - Zg)
2
) * 10
-6
+ Icx2}
= 3 * ((50 - (-83))
2
+ (40 - 60)
2
) * 10
-6
+ 6 * (((-150) - (-83))
2
+ (70 - 60)
2
) * 10
-6
= 0.082 = approx. 0.100
Iy = 3 * ((100 - 100)
2
+ (40 - 60)
2
) * 10
-6
+ 6 * ((100 - 100)
2
+ (70 - 60)
2
) * 10
-6
= 0.002 = approx. 0.010
8-48
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
Iz = 3 * ((100 - 100)
2
+ (50 - (-83))
2
) * 10
-6
+ 6 * ((100 - 100)
2
+ ((-150) - (-83))
2
) * 10
-6
= 0.080 = approx. 0.100
* The own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded in this example, since each gun is smaller than the entire tool.
<Setting>
• W
• Xg
• Yg
• Zg
• Ix
• Iy
• Iz
: 10.000
kg
: 100.000
mm
: -83.333
mm
: 60.000
mm
: 0.100
kg.m
2
: 0.010
kg.m
2
: 0.100
kg.m
2
8.4.3.3 Tool Load Information Registering
Tool load information is registered in the tool file.
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
– The tool coordinate window appears.
– The tool coordinate window appears only when the file extension function is valid.
– When the file extension function is invalid, the tool list window appears.
长沙工控帮教育科技有限公司
8-49
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
3. Select the desired tool number.
(1) Move the cursor to the number of the desired tool, and press
[SELECT] in the tool list window.
(2) The tool coordinate window of the selected number appears.
(3) Select the desired number in the tool coordinate window by pressing the page key or clicking on the {PAGE} button.
(4) To switch the tool list window and the tool coordinate window, press {DISPLAY} {LIST} or {DISPLAY} {COORDINATE
DATA}.
4. Select the desired item to register and input the value.
– The window can be scrolled with the cursor.
– The menu enters the state of a numeric input if the cursor is on the desired item to register and the [SELECT] is pressed.
长沙工控帮教育科技有限公司
5. Press [ENTER].
– The input value is registered.
– The servo power is automatically turned OFF when editing the value while the servo power is ON, followed by a message "Servo off by changing data" displayed for three seconds.
8-50
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.4
ARM Control
NOTE
When the data setting is not done
It is considered that data is not set correctly in tool load information in the following cases.
• When the weight (W) is "0".
• When the center of gravity position (Xg, Yg, Zg) are all “0”.
In these cases, the manipulator is controlled by using the standard parameter values
(vary according to each robot model) which were set by default.
Standard Value:
Weight: W = Payload
Center of gravity position:
(Xg, Yg, Zg) = (0, 0, Allowed value of B-axis for payload)
In this case, when an actual tool load is not large enough, the manipulator cannot sufficiently exert its function, (speed and acceleration / deceleration). Especially, when operating the manipulator with the standard value, a difference of 100 kg or more in the load between the actual tool load and the standard value may cause vibrations in the manipulator motion: it is therefore essential to correctly set the tool load information for the proper operation of the manipulator.
Moreover, when the tool which an actual tool center of gravity position greatly offsets in
X-direction or Y-direction is installed the generated moment by the tool cannot be compensated.
• Switch of the tool file
In case that two or more tool files are used, information on an effective tool file is referred for tool load information used by the ARM control at that time in according to switch tool file.
Set the same value of tool load information in each tool file when the tool file is switched to change only TCP (when neither the weight nor the center of gravity position of the entire tool installed in the flange is changed). weight and the center of gravity position etc. of the tool is changed (when the system which exchange the tool by automatic tool changer).
8-51
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.5
Work Home Position
8.5
Work Home Position
8.5.1 What is the Work Home Position?
The Work Home Position is a reference point for manipulator operations. It prevents interference with peripheral device by ensuring that the manipulator is always within a set range as a precondition for operations such as starting the line. The manipulator can be moved to the set work home position by operation from the programming pendant, or by signal input from an external device. When the manipulator is in the vicinity of the work home position, the work home position signal turns ON.
8.5.2 Setting Work Home Position
8.5.2.1 Work Home Position Window
1. Select {ROBOT} under the main menu.
2. Select {WORK HOME POS}.
8-52
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.5
Work Home Position
3. Press the page key .
– When two or more manipulators exist in the system, use the page key to change the control group, or click on {PAGE} to select the desired control group.
长沙工控帮教育科技有限公司
8-53
工控帮助教小舒QQ:2823408167
8 System Setup
8.5
Work Home Position DX100
8.5.2.2 Registering/Changing the Work Home Position
1. Press the axis keys in the work home position display.
– Move the manipulator to the new work home position.
2. Press [MODIFY], [ENTER].
– New work home position is set.
NOTE
When the work home position is changed, the cubic interference area is automatically set as cube 64 to 57 in the base coordinate system.
• The cube 64 is for ROBOT1
• The cube 63 is for ROBOT2
• The cube 62 is for ROBOT3
• The cube 61 is for ROBOT4
• The cube 60 is for ROBOT5
• The cube 59 is for ROBOT6
• The cube 58 is for ROBOT7
• The cube 57 is for ROBOT8
The work home position cube is a cube like the one shown in the figure below; the length of its sides is determined by a parameter setting made by the user (units: µm).
By changing this parameter setting, the size of the cube can be changed.
Fig. 8-2: S3C805: The work home position cube length of its sides (µm) a a
2
2
2 a
2 a
2
Specify whether “COMMAND POSITION” or “FEEDBACK
POSITION” is to be set to the work home position cube signal’s CHECK MEASURE in the interference area settings. “COMMAND POSITION” is the default setting.
8-54
工控帮助教小舒QQ:2823408167
8 System Setup
8.5
Work Home Position DX100
8.5.2.3 Returning to the Work Home Position
In the teach mode
1. Press [FWD] in the work home position display.
– The manipulator moves to the new work home position. The moving speed is the selected manual speed.
In the play mode
When the work home position return signal is input (detected at leading edge), the TCP of the manipulator is moved to the work home position.
When the manipulator moves, a message "Manipulator is moving to work home position" is displayed. In this case, the move interpolation is
MOVJ, and the speed applied is the one set in the parameters.
(S1CxG56; units: 0.01 %.)
8.5.2.4 Output of the Work Home Position Signal
This signal is output any time the current position of the TCP of the manipulator is checked and found to be within the work home position cube.
长沙工控帮教育科技有限公司
8-55
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
8.6
Interference Area
8.6.1 Interference Area
The interference area is a function that prevents interference between multiple manipulators or the manipulator and peripheral device. The area can be set up to 32 area. There are two types of interference areas, as follows:
• Cubic Interference Area
• Axis Interference Area
The DX100 judges whether the TCP of the manipulator is inside or outside this area, and outputs this status as a signal.
8.6.2 Cubic Interference Area
8.6.2.1 Cubic Interference Area
This area is a rectangular parallelepiped which is parallel to the base coordinate, robot coordinate, or user coordinate. The DX100 judges whether the current position of the manipulator’s TCP is inside or outside this area, and outputs this status as a signal.
Robot coordinate
Z-axis
Cubic interference area
长沙工控帮教育科技有限公司
Cubic interference area User Coordinates
Z-axis
X-axis
Y-axis
X-axis
Y-axis
8.6.2.2 Cube Setting Method
There are three ways to set cubic a interference area as described in the following sections:
1. Enter the maximum and minimum values for the cube coordinates.
8-56
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
Z-axis
Maximum value
Cubic interference area axis
X-axis
Minimum value
Y-axis
2. Move the manipulator at the maximum and minimum value positions of the cube corner using the axis keys.
Z-axis
Maximum value
X-axis
Minimum value
Y-axis
3. After entering the lengths of the three faces of the cube (axial length) using the Numeric keys, move the manipulator to the center point of the cube using the axis keys.
Y X
Z
Center point
X-axis
Y-axis
8-57
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area DX100
8.6.2.3 Setting Operation
1. Select {ROBOT} under the main menu.
2. Select {INTERFERENCE}.
– The INTERFERENCE AREA window is shown.
长沙工控帮教育科技有限公司
3. Select the desired cube number.
– Select the desired cube number with the page key number input.
or by
8-58
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
– When selecting the cube number by number input, select {PAGE} to input the desired signal number.
4. Select “METHOD”.
– ”AXIS INTERFERENCE” and “CUBIC INTERFERENCE” are displayed alternately every time [SELECT] is pressed. If “CUBIC
INTERFERENCE” is selected, the window is changed.
长沙工控帮教育科技有限公司
5. Select “CONTROL GROUP”.
– A selection dialog box appears. Select the desired control group.
6. Select “REF COORDINATES”.
8-59
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
(1) A selection box appears.
(2) Select the desired coordinate.
(3) If the user coordinates are selected, the number input line is displayed. Input the user coordinate number and press [ENTER].
7. Select “CHECK MEASURE.”
– Each time [SELECT] is pressed, “COMMAND POSITION” and
“FEEDBACK POSITION” are displayed alternately.
长沙工控帮教育科技有限公司
NOTE
To stop the manipulator movement using the interference signal (use the cube interference signal for mutual interference between robots), set CHECK MEASURE to “COM-
MAND POSITION”.
When set to the “FEEDBACK POSITION”, the manipulator decelerates to a stop after entering the interference area.
When using the interference signal to inform an external unit of the actual manipulator position, use the "FEEDBACK
POSITION" setting to enable the signal output in more accurate timing.
8-60
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
Number Input of the Cube Coordinates
1. Select “METHOD”.
(1) Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” switch alternately.
(2) Select “MAX/MIN”.
2. Input number for “MAX” and “MIN” data and press [ENTER].
– The cubic interference area is set.
长沙工控帮教育科技有限公司
Teaching Corner
1. Select “METHOD”.
(1) Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” switch alternately.
(2) Select “MAX/MIN”.
2. Press [MODIFY].
8-61
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
– A message “Teach max./min. position” appears.
3. Move the cursor to “<MAX>” or “<MIN>.”
– Move the cursor to “<MAX>” when changing the maximum value, and move cursor to “<MIN>” when changing the minimum value.
The cursor only moves to either “<MIN>” or “<MAX>” at this time.
4. Move the manipulator using the axis keys.
– Move the manipulator to the maximum or minimum position of the cube using the axis keys.
5. Press [ENTER].
– The cubic interference area is registered.
长沙工控帮教育科技有限公司
Number Input of the Side of Cube and Teaching Center
1. Select “METHOD”.
(1) Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” switch alternately.
8-62
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
(2) Select “CENTER POS”.
2. Input data for length of the cube, then press [ENTER].
– The length is set.
长沙工控帮教育科技有限公司
3. Press [MODIFY].
– A message “Move to center point and teach” appears. The cursor only moves to either “<MIN>” or “<MAX>” at this time.
8-63
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
4. Move the manipulator using the axis keys.
– Move the manipulator to the center point of the cube using the axis keys.
5. Press [ENTER].
– The current position is registered as the center point of the cube.
8.6.3 Axis Interference Area
8.6.3.1 Axis Interference Area
The axis interference area is a function that judges the current position of the each axis and outputs a signal. Once the maximum and minimum values have been set at the plus and minus sides of the axis to define the working range, a signal indicating whether the current position of the axis is inside or outside this range is output. (ON: inside, OFF: outside)
Fig. 8-3: Axis Interference Signal for Station Axis
长沙工控帮教育科技有限公司
+ side
Min value
- side
ON
OFF
8-64
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area DX100
8.6.3.2 Setting Operation
1. Select {ROBOT} under the main menu.
2. Select {INTERFERENCE}.
– The INTERFERENCE AREA window appears.
3. Select the desired interference signal number.
– Select the desired interference signal number using the page key or by number input.
– When selecting the desired interference signal number by number input, select {PAGE} to input the desired signal number.
长沙工控帮教育科技有限公司
8-65
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
4. Select “METHOD”.
– ”AXIS INTERFERENCE” and “CUBIC INTERFERENCE” are displayed alternately every time [SELECT] is pressed. Select “AXIS
INTERFERENCE”.
5. Select “CONTROL GROUP”.
– A selection box appears. Select the desired control group.
长沙工控帮教育科技有限公司
6. Select “CHECK MEASURE”.
– Each time [SELECT] is pressed, “COMMAND POSITION” and
“FEEDBACK POSITION” switch alternately.
8-66
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
Number Input of the Axis Data Coordinates
1. Select “METHOD”.
(1) Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” switch alternately.
(2) Select “MAX/MIN”.
2. Input number for “MAX” and “MIN” data and press [ENTER].
– The axis interference area is set.
长沙工控帮教育科技有限公司
8-67
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
Teaching Corner
1. Select “METHOD”.
(1) Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” switch alternately.
(2) Select “MAX/MIN”.
2. Press [MODIFY].
– A message “Teach max./min. position” appears.
长沙工控帮教育科技有限公司
3. Move the cursor to “<MAX>” or “<MIN>.”
– Move the cursor to “<MAX>” when changing the maximum value, and move cursor to “<MIN>” when changing the minimum value.
The cursor only moves to either “<MIN>” or “<MAX>” at this time.
4. Move the manipulator using the axis keys.
– Move the manipulator to the maximum or minimum position of the cube using the axis keys.
8-68
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
5. Press [ENTER].
– The cubic interference area is registered.
长沙工控帮教育科技有限公司
8-69
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
Number Imput of Center Position (WIDTH) and Teaching Center
1. Select “METHOD”.
(1) Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” switch alternately.
(2) Select “CENTER POS”.
2. Input number for “WIDTH” data and press [ENTER].
– “WIDTH” is set.
长沙工控帮教育科技有限公司
3. Press [MODIFY]
– A message “Move to the center point and teach” appears.
8-70
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
– The cursor only moves to either “<MIN>” or “<MAX>” at this time.
4. Move the manipulator using the axis keys.
– Move the manipulator to the center position of the cube using the axis keys.
5. Press [ENTER].
– The center position of the cube is registered.
长沙工控帮教育科技有限公司
8-71
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area DX100
8.6.4 Clearing the Interference Area Data
1. Select {ROBOT} under the main menu.
2. Select {INTERFERENCE}.
– The INTERFERENCE AREA window is shown.
长沙工控帮教育科技有限公司
3. Select interference signal to be cleared.
– Select the desired interference signal number to be cleared using the page key or by number input.
– When selecting the desired interference signal number by number input, select {PAGE} to input the desired signal number.
8-72
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.6
Interference Area
4. Select {DATA} under the menu.
– The pull-down menu appears.
5. Select {CLEAR DATA}.
– The confirmation dialog box appears.
长沙工控帮教育科技有限公司
6. Select {YES}.
– All the data of the interference signal number are cleared.
8-73
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function
8.7
Shock Detection Function
8.7.1 Shock Detection Function
The shock detection function is a function to decrease damage due to the collision by stopping the manipulator without any external sensor when the tool or the manipulator collide with peripheral device.
When the shock is detected either in teach mode or in play mode, the manipulator is stopped immediately.
WARNING
This function does not completely avoid damage to the peripheral devices; moreover, it does not guarantee the user’s safety.
Make sure to prepare the safety measures such as the safeguarding etc. Refer to
chapter 1 “Safety” at page 1-1 to
Program Operation” at page 6-1
for the safety measures in details.
Failure to observe this warning may result in Injury or damage to machinery caused by contact with the manipulator.
8.7.2 Shock Detection Function Setting
The shock detection function is set not to mis-detect the shock even if operating by the ratings load with the maximum speed when shipping from the factory. If tool load information is set correctly, the detection sensitivity can be improved. Moreover, it is possible to set the lower sensitivity of detection only for a specific section where the contact work etc. The sensitivity of detection is set by setting the detection level.
8.7.2.1 Shock Detection Level Setting
The shock detection level is set in the shock detection level set file. figure.
• Condition number 1 to 7 are used when the detection level is changed in a specific section in play mode.
• Condition number 8 is used as standard in play mode: this function is operated by the detection level set in this file when playback operation.
• Condition number 9 is for teach mode: the shock detection function applies the detection level set here when the manipulator is operated in teach mode.
The detection level is changed by a job instruction SHCKSET.
• After the instruction is executed, the shock will be detected by the specified detection level when the condition number is specified with the SHCKSET instruction.
• The detection level is returned to standard level when the SHCKRST instruction is executed.
8-74
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function
Setting in the specific section in play mode
(Condition number 1 to 7)
Standard used for play mode
(Condition number 1 to 8)
Shock Detection
Level File
Condition number 1
Condition number 7
Condition number 8
Condition number 9
Used for teach mode
(Condition number 9)
SUPPLE
-MENT
The detection level of condition number 8 (a standard in play mode) is adopted in play mode excluding the range between
SHCKSET and SHCKRST in the job.
长沙工控帮教育科技有限公司
Detection Mode
Indicates the shock detection mode.
Condition Number (1 to 9)
1 to 7: for changing detection level in play mode.
8: for standard detection level in play mode.
9: for detection level in teach mode.
Function Select
Specifies VALID/INVALID of the shock detection function. The shock detection function is specified by each manipulator with this function.
1. Move the cursor to the manipulator of which function is to be enabled or disabled; press [SELECT] to change the function to "VALID" or
"INVALID".
2. "VALID" and "INVALID" can be changed alternately whenever
[SELECT] is pressed. The change is available for all the condition numbers.
8-75
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function
Max. Disturbance Force
Indicates the maximum disturbance force to the manipulator when the manipulator is moved in play back operation or axis operation.
Refer to this value when inputting the detection level value in .
The maximum disturbance force can be cleared by selecting {DATA} à
{CLEAR MAX VALUE} in the menu.
Detection Level (Level range: 1 to 500)
Specifies the shock detection level. Set a value larger than the maximum disturbance force.
The value set by default (the level 100) enables the function without false detection even if the manipulator is operated at the maximum speed.
To change DETECT LEVEL, move the cursor to the subject manipulator, and press [SELECT] to display the numeric input status; input the value with a numeric key and press [ENTER]. To increase the detection sensitivity, set the level to small value, and to decrease the sensitivity, set the level to large value.
Method of Shock Detection Level File Setting
1. Select {ROBOT} under the main menu.
2. Select {SHOCK SENS LEVEL}.
– The SHOCK DETECT LEVEL window appears.
– Perform either of the following operations to display the page of desired condition number:
(1) Select {PAGE} and input the desired condition number, then press
[ENTER].
(2) Press the page key to change the page of condition number.
3. Select the desired condition number.
4. Select the desired item and perform setting.
长沙工控帮教育科技有限公司
To avoid false detection during the manipulator operation, set the detection level greater than the maximum disturbance force by 20%.
NOTE
An emergency stop of the manipulator due to the false detection may become a factor to damage the speed reducers and tools.
<Example>
When the maximum disturbance force is 80, set the detection level at 96 or more.
NOTE "Detection level” can be modified only when the security mode is set in management mode.
8-76
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function DX100
8.7.2.2 Tool Load Information Setting
To increase the accuracy of shock detection, set the tool load information in the tool file. Refer to
8.7.2.3 Instruction of Shock Detection Function
SHCKSET instruction
The SHCKSET instruction changes the shock detection level to the value set in the shock detection level file during play back operation.
The additional items of the SHCKSET instruction are as follows.
SHCKSET R1 SSL#(1)
Robot Setting
Specifies the manipulator of which shock detection level is to be modified.
If nothing is specified, the modification is applied to the shock detection level of the job control group in this instruction. However, in case of coordinated job, the modification is applied to the shock detection level of the slave axis group.
Shock Detection Level Condition Number (1 to 7)
Specifies the shock detection level condition number in which the detection level in playback mode is set.
SHCKRST instruction
The shock detection level changed by the SHCKSET instruction is reset and returned to the detection level of the standard (value set in condition number 8) by the SHCKRST instruction.
长沙工控帮教育科技有限公司
SHCKRST R1
Robot Setting
Specifies the manipulator of which shock detection level is to be reset.
If nothing is specified, the modification will be applied to the shock detection level of the job control group of this instruction. However, in case of coordinated job, the modification is applied to the shock detection level of the slave axis group.
Instruction Registration
The instruction is registered when the cursor is in the address area in the
JOB CONTENT window in teach mode.
8-77
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function
1. Select {JOB} under the main menu.
Instruction
Address
Area
2. Select {JOB}.
3. Move the cursor in the address area.
SHCKSET
1. Move the cursor to the immediately preceding line where the
SHCKSET instruction is to be registered.
2. Press [INFORM LIST].
– The inform list dialog box is shown.
3. Select SHCKSET instruction.
长沙工控帮教育科技有限公司
(2) Change the value of additional item and numerical data.
(3) Press [INSERT] then [ENTER].
4. Change the value of additional item and numerical data.
– < When registering the instruction as it is >
Operate the step 5 when registering the instruction in the input buffer line as it is.
– < When adding or changing the additional item >
• When changing the shock detection level
(1) When changing the shock detection level, move the cursor to the shock detection level condition number; hold down [SHIFT] and press the up/down cursor key to change the condition number.
• When the value is input with the numeric key
I) When the value is input with the numeric key, press [SELECT]
8-78
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function to display the input buffer line.
II) Press [ENTER] to change the number in the input buffer line.
• When robot specification is added
I) When robot specification is added, move the cursor to the instruction in the input buffer line and press [SELECT] to display the DETAIL window.
II) Move the cursor to "UNUSED" of "ROBOT/STATION", and press [SELECT].
III) The selection box appears.
IV) Point the cursor to the robot to be added and press [SELECT].
长沙工控帮教育科技有限公司
V) When the addition of robot is completed, press [ENTER].
VI) The DETAIL window closes and the JOB CONTENT window appears.
5. Press [INSERT] then [ENTER].
– The instruction displayed in the input buffer line is registered.
8-79
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function
SHCKRST
1. Move the cursor to the immediately preceding line where the
SHCKRST instruction is to be registered.
2. Press [INFORM LIST].
– The inform list appears.
3. Select SHCKRST instruction.
– SHCKRST instruction appears in the input buffer line.
4. Change the value of the additional item.
– < When registering the instruction as it is >
Operate the step 5 when registering the instruction in the input
长沙工控帮教育科技有限公司
(1) When adding the robot specification, move the cursor to instruction in the input buffer line and press [SELECT] to display the
DETAIL window.
(2) Move the cursor to "UNUSED" of "ROBOT/STATION", and press
[SELECT].
8-80
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function
(3) The selection box appears.
(4) Point the cursor to the robot to be added and press [SELECT].
(5) When the addition of robot is completed, press [ENTER].
(6) The DETAIL window closes and the JOB CONTENT window appears.
5. Press [INSERT] then [ENTER].
– The instruction displayed in the input buffer line is registered.
长沙工控帮教育科技有限公司
8-81
工控帮助教小舒QQ:2823408167
8 System Setup
8.7
Shock Detection Function DX100
8.7.2.4 Resetting the Shock Detected
When the collision of tool/manipulator and peripheral device is detected with the shock detection function, the manipulator stops instantaneously with alarm output. In this case, the shock detection alarm is displayed.
The shock detection alarm in teach mode and play mode can be reset by the following operation.
1. Press [SELECT].
– The alarm is reset when “RESET” is selected on the alarm display, and the shock detection status is released.
2. Operation after resetting the detection status.
– In teach mode, the JOG operation of the manipulator is enabled by resetting the status.
– In the play mode, move the manipulator once to the safety position in the teach mode to check the damage though the playback operation is possible after resetting the status.
NOTE contact with the object and the detection alarm is tried to reset on the alarm window, the situation in which the alarm cannot be reset may occur since the collision may be detected again after resetting.
In this case, set the collision detection function "INVALID", or increase the detection level in teach mode and retreat the manipulator to a safety position.
8-82
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.8
User Coordinate Setting
8.8
User Coordinate Setting
8.8.1 User Coordinates
Definition of the User Coordinates
User coordinates are defined by three points that have been taught to the manipulator through axis operations. These three defining points are
ORG, XX, and XY, as shown in the diagram below. These three points of positional data are registered in a user coordinate file.
Z-axis
XX
X-axis
XY
Y-axis
ORG
User coordinate definition point
ORG: Home position
XX: Point on the X-axis
XY: Point on the Y-axis
ORG is the home position, and XX is a point on the X-axis. XY is a point on the Y-axis side of the user coordinates that has been taught, and the directions of Y- and Z-axes are determined by point XY.
NOTE
It is important that the two points ORG and XX be taught accurately.
长沙工控帮教育科技有限公司
User Coordinate Files
Up to 63 kinds of user coordinates can be registered. Each coordinate has a user coordinate No. and is called a user coordinate file.
User coordinate file 1
User coordinate file 2
User coordinate file 3
User coordinate file 4
User coordinate file 63
8-83
工控帮助教小舒QQ:2823408167
8 System Setup
8.8
User Coordinate Setting DX100
8.8.2 User Coordinate Setting
8.8.2.1 Selecting the User Coordinate File
1. Select {ROBOT} under the main menu.
2. Select {USER COORDINATE}.
(1) The USER COORDINATE window appears.
(2) The " " mark indicates that the user coordinates is completed to set and the " " mark indicates that it is not completed.
(3) To check the position of the user coordinates select {DISPLAY}
{COORDINATE DATA}.
(4) The following window appears.
长沙工控帮教育科技有限公司
3. Select the user coordinate number.
8-84
工控帮助教小舒QQ:2823408167
8 System Setup
8.8
User Coordinate Setting DX100
8.8.2.2 Teaching the User Coordinates
1. Select the robot.
– Select "**" on the upper left of the window to select the subject robot.
(This operation can be omitted if the robot selection has already been made or if there is only one robot.)
2. Select “SET POS”.
– Select the teaching point.
长沙工控帮教育科技有限公司
3. Move the manipulator to the desired position with the axis keys.
4. Press [MODIFY] then [ENTER].
– Taught position is registered.
– Repeat the steps 2 to 4 to teach ORG, XX and XY.
8-85
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.8
User Coordinate Setting
– “ “ indicates that teaching is completed and " " indicates that it is not completed.
– To check the taught positions, call up the required window among
ORG to XY and press [FWD]. The manipulator moves to the set position.
– If there is a difference between the current position of the manipulator and the displayed position data, “ORG”, “XX”, or “XY” flashes.
5. Select “COMPLETE”.
– User coordinates are registered in the file.
– Once the user coordinate setting is completed, the following window appears.
长沙工控帮教育科技有限公司
8-86
工控帮助教小舒QQ:2823408167
8 System Setup
8.8
User Coordinate Setting DX100
8.8.2.3 Clearing the User Coordinates
1. Select {DATA} under the pull-down menu.
2. Select {CLEAR DATA}.
– The confirmation dialog box appears.
3. Select {YES}.
– All data is cleared.
长沙工控帮教育科技有限公司
8-87
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.9
Overrun / Tool Shock Sensor Releasing
8.9
Overrun / Tool Shock Sensor Releasing
CAUTION
To operate the manipulator with the overrun or shock sensor released, pay extra attention to the safety of the surrounding operation environment.
If the manipulator stops by overrun detection or tool shock sensor detection, release the overrun or tool shock sensor by the following procedure and reset the alarm and move the manipulator with the axis keys.
1. Select {ROBOT} under the main menu.
2. Select {OVERRUN & S-SENSOR}.
– The OVERRUN & SHOCK SENSOR window appears.
– Select either "EMERGENCY STOP" or "HOLD" to set the item
"SHOCK SENSOR STOP COMMAND" which specifies the stop condition in the current shock sensor detection.
– “E-STOP” and “HOLD” are displayed alternately every time
[SELECT] is pressed.
长沙工控帮教育科技有限公司
3. Select “RELEASE”.
– The control group in which overrun or shock sensor is detected is indicated with “ ".
8-88
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.9
Overrun / Tool Shock Sensor Releasing
– If “RELEASE” is selected, overrun or tool shock sensor is released and “CANCEL” indication will be displayed.
4. Select “ALM RST”.
– The alarm is reset and manipulator can be moved with the axis keys.
NOTE
After releasing the overrun or tool shock sensor, if “CAN-
CEL” is selected or the window is changed to the other one, the release of the overrun or tool shock sensor will be canceled.
长沙工控帮教育科技有限公司
8-89
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.10 Soft Limit Release Function
8.10
Soft Limit Release Function
The switches that are set to detect the motion range of the manipulator are called limit switches. The operating range is monitored by the software in order to stop motion before these limit switches are reached. These software limits are called "soft limits". The operating range of the manipulator is controlled by the following two soft limits.
• Maximum motion range for each axis
• Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system, and the manipulator automatically stops when the its TCP reaches a soft limit.
When the manipulator is stopped at a soft limit, temporarily release the soft limit by the following procedure, then move the manipulator away from the soft limit in a direction opposite to the earlier operation direction.
1. Select {ROBOT} under the main menu.
2. Select {LIMIT RELEASE}.
– The LIMIT RELEASE window appears.
3. Select “SOFT LIMIT RELEASE”.
– Each time [SELECT] is pressed, “VALID” and “INVALID” switch alternately.
– When “SOFT LIMIT RELEASE” is set to “VALID”, a message “Soft limits have been released” appears.
长沙工控帮教育科技有限公司
– When “SOFT LIMIT RELEASE” is set to “INVALID,” a message
"Softlimits off released" is displayed for a few seconds.
NOTE
• The taught data cannot be registered when the soft limit is being released.
• The setting of "SOFT LIMIT RELEASE" becomes
"INVALID" when the mode is changed to the play mode.
8-90
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.11 All Limit Release Function
8.11
All Limit Release Function
CAUTION
To operate the manipulator with all limits released, pay extra attention to ensure the safety of the surrounding operation environment.
Failure to observe this caution may result in injury or damage to equipment due to the unexpected manipulator motion exceeding its range of motion.
The following limits can be released with the All Limit Release function:
Limit Type
Mechanical Limit
L-U Interference
Soft Limit on Each Axis
Cube Interference
Contents
Limit to check manipulator’s range of motion.
Limit to check L- and U-axis interference area.
Soft limit to check manipulator’s range of motion.
Limit to check cube interference area set by user.
NOTE
All limit release function is not available if the security mode
is not in the management mode. Refer to chapter 7 “Security System” at page 7-1
for details on the security modes.
2. Select {LIMIT RELEASE}.
– The LIMIT RELEASE window appears.
8-91
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.11 All Limit Release Function
3. Select “ALL LIMITS RELEASE”.
– “VALID” and “INVALID” are displayed alternately every time
[SELECT] is pressed.
– When ALL LIMIT RELEASE is changed to “VALID”, a message “All limits have been released” is displayed. When the setting changes to “INVALID”, a message “All limits off released” is displayed for a few seconds.
长沙工控帮教育科技有限公司
8-92
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.12 Instruction Level Setting
8.12
Instruction Level Setting
8.12.1 Setting Contents
8.12.1.1 Instruction Set
There are three instruction sets that can be used when registering the instructions for the robot programming language (INFORM III ): the subset instruction set, the standard instruction set, and the expanded instruction set.
Subset Instruction Set
The instructions displayed in the instruction list are limited to just those that are most frequently used, reducing the number of instructions that can be registered. Since few instructions are shown, selection and input are simple.
Standard Instruction Set / Expanded Instruction Set
All the INFORM III instructions can be used. The number of additional items to be used in each instruction differ in the standard instruction set and expansion instruction set.
In the standard instruction set, the following functions cannot be used.
However, operation becomes easier because the number of data items decreases when registering an instruction.
• Use of local variables and arrangement variable
• Use of variables for additional items (Example: MOVJ VJ = I000)
When instructions are executed, for example during playback, all the instructions can be executed regardless of the instruction set used.
长沙工控帮教育科技有限公司
Standard instruction set
Subset instruction set
All instructions
Frequency used instructions
Use of local variables and arrangement variables
Use of variables for additional items
Job calls with arguments
Instruction set
8-93
工控帮助教小舒QQ:2823408167
8 System Setup
8.12 Instruction Level Setting DX100
8.12.1.2 Learning Function
When an instruction is entered from the instruction list, the additional items that were entered last time are also shown. This function can simplify instruction input.
To register the same additional items as those in the former operation, register them without changing.
1. An instructions are registered.
2. The next time an attempt is made to register the same instruction as in
1, the same additional items as were registered last time are also shown in the input buffer line.
8.12.2 Setting the Instruction Set Level
1. Select {SETUP} under the main menu.
2. Select {TEACHIG COND}.
– The TEACHING CONDITION window appears.
长沙工控帮教育科技有限公司
8-94
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.12 Instruction Level Setting
3. Select “LANGUAGE LEVEL”.
– The selection list appears.
4. Select desired language level.
– Language level is set.
长沙工控帮教育科技有限公司
8-95
工控帮助教小舒QQ:2823408167
8 System Setup
8.12 Instruction Level Setting DX100
8.12.3 Setting the Learning Function
The learning function is set at "VALID" by default.
1.
Select {SETUP} under the main menu.
2. Select {TEACHIG COND}.
– The TEACHING CONDITION window appears.
3. Select "INSTRUCTION INPUT LEARNING".
– VALID” and “INVALID” are displayed alternately every time
[SELECT] is pressed.
长沙工控帮教育科技有限公司
8-96
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.13 Setting the Controller Clock
8.13
Setting the Controller Clock
The clock inside the DX100 controller can be set as follows.
1. Select {SETUP} under the main menu.
2. Select {DATE/TIME}.
– The DATE/CLOCK SET window appears.
3. Select “DATE” or “CLOCK.
– ”The input buffer line appears.
4. Input the new date/time.
– For instance, to set the date to August 1, 2008, input "2008.8.1". To set the time at twelve o’clock, enter "12.00".
5. Press [ENTER].
– The date/time is changed.
长沙工控帮教育科技有限公司
8-97
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.14 Setting the Play Speed
8.14
Setting the Play Speed
1. Select {SETUP} under the main menu.
2. Select {SET SPEED}.
– The SPEED SET window is shown.
3. Press the page key .
– When two or more manipulators and stations exist in the system, use the page key to change the control group, or click on
{PAGE} to select the desired control group.
长沙工控帮教育科技有限公司
4. Select “JOINT” or “LNR/CIR”.
– The type of speed alternately changes from “JOINT” to “LNR/CIR”.
8-98
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.14 Setting the Play Speed
5. Select the speed to modify.
– The input buffer line appears.
6. Input the speed value.
7. Press [ENTER].
– The speed is modified.
长沙工控帮教育科技有限公司
8-99
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function
8.15
Numeric Key Customize Function
8.15.1 What is the Numeric Key Customize Function?
With this function, the user can set the function of an application that has been allocated to the numeric keys of the programming pendant to the other function.
Since any frequently used operation can be allocated to the numeric keys on the programming pendant, decreased key operations reduce the teaching time.
NOTE The Numeric Key Customize Function is allowed to set only when the security mode is in the management mode.
8.15.2 Allocatable Functions
There are two allocation methods as follows:
• Key Allocation (EACH)
• Key Allocation (SIM)
8.15.2.1 Key Allocation (EACH)
With key allocation (EACH), the manipulator operates according to the allocated function when the numeric key is pressed. The allocatable functions are listed below.
Function Description
Manufacturer Allocated by Yaskawa. Allocating another function allocation allocation invalidates the function allocated by the manufacturer.
长沙工控帮教育科技有限公司
Job call allocation Allocates job call instructions (CALL instructions). The jobs to be called are only those registered in the reserved job names. (Specified by the registration No.)
Display allocation Allocates any displays assigned by the user.
8-100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function DX100
8.15.2.2 Key Allocation (SIM)
With key allocation (SIM), the manipulator operates according to the allocated function when the [INTERLOCK] and the numeric key are pressed at the same time. The allocatable functions are listed below.
Function
Alternate output allocation
Momentary output allocation
Pulse output allocation
Group output allocation
(4-bit/8-bit)
Analog output allocation
Analog incremental output allocation
Description
Turns ON/OFF the specified user output signal when
[INTERLOCK] and the allocated Numeric key are pressed at the same time.
Turns ON the specified user output signal user when
[INTERLOCK] and the allocated user key are pressed at the same time.
Turns ON the specified user output signal only for the specified period when [INTERLOCK] and the allocated
Numeric key are pressed at the same time.
Sends the specified output to the specified general group output signals when [INTERLOCK] and the allocated
Numeric key are pressed at the same time.
Sends the specified voltage to the specified output port when [INTERLOCK] and the allocated Numeric key are pressed at the same time.
Sends the voltage increased by the specified value to the specified output port when [INTERLOCK] and the allocated Numeric key are pressed at the same time.
SUPPLE
-MENT
In a system for multiple applications, a numeric key can be allocated for each application.
长沙工控帮教育科技有限公司
8-101
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function DX100
8.15.3 Allocating an Operation
8.15.3.1 Allocation Window
1. Select {SETUP} under the main menu.
2. Select {KEY ALLOCATION}.
– The KEY ALLOCATION (EACH) window appears.
3. Select {DISPLAY}.
– Pull-down menu appears.
– To call up the KEY ALLOCATION (SIM) window, select {ALLOCATE
SIM. KEY}.
长沙工控帮教育科技有限公司
8-102
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function
4. Select {ALLOCATE SIM. KEY}.
– The KEY ALLOCATION (SIM) window appears.
– In a system multiple applications, press the page key to change the window to the allocation window for each application, or click on {PAGE} to select the desired application number.
8.15.3.2 Instruction Allocation
1. Set this function in the KEY ALLOCATION (EACH) window. Move the cursor to “FUNCTION” of the key to be allocated and press [SELECT].
– Selection list appears.
长沙工控帮教育科技有限公司
2. Select “INSTRUCTION”.
– The instruction is shown in the “ALLOCATION CONTENT”.
8-103
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function
(1) To change the instruction, move the cursor to the instruction and press [SELECT]. Then the instruction group list appears.
(2) Select the group which contains the instruction to modify.
(3) When the instruction list dialog box is shown, select the instruction to be changed.
长沙工控帮教育科技有限公司
8-104
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function DX100
8.15.3.3 Job Call Allocation
Set this function in the KEY ALLOCATION (EACH) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and press [SELECT].
– A selection list appears.
2. Select “JOB CALL”.
– The reserved job registration No. is shown in the “ALLOCATION
CONTENT” (reserved job registration No.: 1 to 10).
(1) To change the reserved job registration No. move the cursor to the
No. and press [SELECT]. Then input buffer line appears.
(2) Input the number to be changed, and press [ENTER].
8.15.3.4 Display Allocation
1. Move the cursor to the “FUNCTION” of the key to be allocated and press [SELECT].
– Selection list appears.
2. Select [DISPLAY].
3. Move the cursor to “ALLOCATION CONTENT” and press [SELECT].
– Character input is available.
8-105
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function
4. Input the name of the reserved window and press [ENTER].
– The reserved name input to the “ALLOCATION CONTENT” is shown.
5. Open the window for allocation.
6. Press [INTERLOCK] and the allocated key at the same time.
– A message “Reserved display registered” appears, and the window is registered.
– In this case, the CURRENT POSITION window is registered by pressing [INTERLOCK] + [0] with the CURRENT POSITION window displayed on the screen.
长沙工控帮教育科技有限公司
8-106
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function DX100
8.15.3.5 Alternate Output Allocation
Set this function in the KEY ALLOCATION (SIM) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and press [SELECT].
– Selection list appears.
2. Select “ALTERNATE OUTPUT”.
– The output No. is displayed in the “ALLOCATION CONTENT”.
长沙工控帮教育科技有限公司
(1) To change the output No., move the cursor to the No. and press
[SELECT]. Then numeric value can be entered.
(2) Input the number to be changed, and press [ENTER].
8-107
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function DX100
8.15.3.6 Momentary Output Allocation
Set this function in the KEY ALLOCATION (SIM) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and press [SELECT].
– A selection list appears.
2. Select “MOMENTARY OUTPUT”.
– The output No. is displayed in the “ALLOCATION CONTENT”.
(1) To change the output No., move the cursor to the No. and press
[SELECT]. Then numeric value can be entered.
(2) Input the number to be changed, and press [ENTER].
8.15.3.7 Pulse Output Allocation
Set this function in the KEY ALLOCATION (SIM) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and
– A selection list appears.
2. Select “PULSE OUTPUT”.
– The output No. and output time are displayed in the “ALLOCATION
CONTENT”.
(1) To change the output No. or output time, move the cursor to the
8-108
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function
No. or time and press [SELECT]. Then numeric value can be entered.
(2) Input the number or time to be changed, and press [ENTER].
8.15.3.8 Group (4-bit/8-bit) Output Allocation
Set this function in the KEY ALLOCATION (SIM) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and press [SELECT].
– A selection list appears.
2. Select “4 BIT OUTPUT” or “8 BIT OUTPUT”.
– The output No. and output value are displayed in the “ALLOCATION
CONTENT”.
(1) To change the output No. or output value, move the cursor to the
No. or value and press [SELECT]. Then numeric value can be
长沙工控帮教育科技有限公司
(2) Input the number or value to be changed, and press [ENTER].
8.15.3.9 Analog Output Allocation
Set this function in the KEY ALLOCATION (SIM) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and press [SELECT].
– A selection list appears.
8-109
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function
2. Select “ANALOG OUTPUT”.
– The output port number and the output voltage value are displayed in the “ALLOCATION CONTENT”.
(1) To change the output port No. or output voltage value, move the cursor to the No. or voltage value and press [SELECT]. Then numeric value can be entered.
(2) Input the number or voltage value to be changed, and press
[ENTER]
8.15.3.10 Analog Incremental Output Allocation
Set this function in the KEY ALLOCATION (SIM) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and press [SELECT].
– A selection list appears.
2. Select “ANALOG INC OUTPUT.”
“ALLOCATION CONTENT”.
(1) To change the output port No. or incremental value, move the cursor to the No. or incremental value and press [SELECT]. Then numeric values can be entered.
(2) Input the number or incremental value to be changed, and press
[ENTER].
8-110
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function DX100
8.15.4 Allocation of I/O Control Instructions
In key allocation (SIM), output control instructions can be allocated to the numeric keys that have been allocated one of the following I/O controls with key allocation (EACH).
Function Output Control Instruction allowed to be
Allocated
DOUT OT# (No.) ON Alternate output allocation
Momentary output allocation
Pulse output allocation PULSE OT# (No.) T = output time
Group output allocation (4-bit) DOUT OGH (No.) output value
Group output allocation (8-bit) DOUT OG# (No.) output value
Analog output allocation AOUT AO# (No.) output voltage value
1. Allocation of I/O control instruction.
– Allocate the I/O control instruction with key allocation (SIM) following the forementioned procedure.
长沙工控帮教育科技有限公司
2. Move the cursor to the “FUNCTION” of the key that has been allocated with I/O control with key allocation (SIM) and press [SELECT].
– Selection list appears.
3. Select “OUTPUT CONTROL INST”.
8-111
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function
– The instruction corresponding to the I/O control allocated by key allocation (SIM) is displayed in the “ALLOCATION CONTENT”.
– The allocated instruction changes automatically when
“ALLOCATION CONTENT” is changed by key allocation (SIM).
Even if the I/O control allocation is changed to the default setting allocated by the manufacturer with key allocation (SIM), the settings for key allocation (EACH) remain the same.
8.15.5 Execution of Allocation
8.15.5.1 Executing the Instruction/Output Control Allocation
1. Press the key allocated for instruction allocation or output control allocation.
– The allocated instruction is displayed in the input buffer line.
– The instruction displayed in the input buffer line is registered.
8.15.5.2 Executing the Job Call Allocation
1. Press the key allocated for the job call allocation.
– The CALL instruction is displayed in the input buffer line.
2. Press [INSERT] then [ENTER].
– The CALL instruction shown in the input buffer line is registered.
8.15.5.3 Executing the Display Allocation
1. Press the key allocated for the display allocation.
– The allocated display appears.
8.15.5.4 Executing the I/O Control Allocation
Alternate output allocation, momentary output allocation, pulse output allocation, group output allocation (4-bit/8-bit), analog output allocation,
8-112
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.15 Numeric Key Customize Function analog incremental output allocation are executed by the following operation.
1. Press [INTERLOCK] and the key allocated for I/O control allocation at the same time.
– Allocated functions are executed.
长沙工控帮教育科技有限公司
8-113
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.16 Changing the Output Status
8.16
Changing the Output Status
The status of external output signals can be changed from the programming pendant by using either of the following two methods.
• On the user output status window
• On the RELAY ON window
The method that uses the RELAY ON window, which is described here, simplifies the operation for changing the status of signals that are used frequently.
NOTE
A maximum of 64 output signals can be shown on the
RELAY ON window and they must be set in advance to parameters S4C327 to S4C390. If they are not set, the sub menu in the RELAY ON window will not be displayed.
1. Select {IN/OUT} under the main menu.
2. Select {RELAY ON}.
– The RELAY ON window appears.
长沙工控帮教育科技有限公司
3. Select the desired signal to change the output status.
– Select the status ( or ) of the desired signal.
4. Press [INTERLOCK] +[SELECT].
– The output status is changed. ( : status ON; : status OFF.)
8-114
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.16 Changing the Output Status
SUPPLE
-MENT
It is also possible to turn the relevant external output signal on only for the duration that [INTERLOCK]+[SELECT] are pressed. This selection is made in advance by setting the parameters (S4C391 to 454) to “1”.
长沙工控帮教育科技有限公司
8-115
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.17 Changing the Parameter Setting
8.17
Changing the Parameter Setting
The parameter settings can be changed only by the operator who has the correct user ID number for the management mode.
1. Select {PARAMETER} under the main menu.
2. Select the parameter type.
– The PARAMETER window appears. Select the desired parameter.
Binary Data
Decimal Data
3. Move the cursor to the desired parameter number.
长沙工控帮教育科技有限公司
– When the desired parameter number is not in the current window, move the cursor in the following way:
8-116
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.17 Changing the Parameter Setting
(1) Move the cursor to a parameter number and press [SELECT].
(2) Enter the desired parameter number with the numeric keys.
(4) The cursor moves to the selected parameter number.
8-117
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.17 Changing the Parameter Setting
Set the parameters in the following manner.
1. Select the parameter data to be set.
(1) Move the cursor to the parameter number data (decimal or binary) in the PARAMETER window, and press [SELECT].
(2) To enter a decimal setting, select the decimal figure.
(3) To enter a binary setting, select the binary figure.
2. Enter the value.
– If a decimal figure is selected, enter a decimal value with the numeric keys.
– If a binary figure is selected, move the cursor to the binary figure data in the input buffer line, and press [SELECT].
– Each time [SELECT] is pressed, “0” and “1” alternate in the window.
3. Press [ENTER].
– The new setting appears in the position where the cursor is located.
8-118
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.18 File Initialization
8.18
File Initialization
8.18.1 Initializing Job File
1. Turn ON the power supply again while pressing [MAIN MENU] simultaneously.
2. Change the security mode to the management mode.
3. Select {FILE} under the main menu.
4. Select {INITIALIZE}.
– The INITIALIZE window appears.
5. Select {JOB}.
– A confirmation dialog box appears.
长沙工控帮教育科技有限公司
6. Select {YES}.
– The job data is initialized.
8-119
工控帮助教小舒QQ:2823408167
8 System Setup
8.18 File Initialization DX100
8.18.2 Initializing Data File
1. Turn ON the power supply again while pressing [MAIN MENU] simultaneously.
2. Change the security mode to the management mode.
3. Select {FILE} under the main menu.
4. Select {INITIALIZE}.
5. Select {FILE/GENERAL DATA}.
– The INITIALIZE window appears.
6. Select the data file to be initialized.
– The selected data file/general data are marked with “ “.
– The parameters marked with " " cannot be selected.
长沙工控帮教育科技有限公司
8-120
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.18 File Initialization
7. Press [ENTER].
– A confirmation dialog box appears.
8. Select {YES}.
– The selected data file/general data are initialized.
8.18.3 Initializing Parameter File
1. Turn ON the power supply again while pressing [MAIN MENU] simultaneously.
2. Change the security mode to the management mode.
3. Select {FILE} under the main menu.
4. Select {INITIALIZE}.
5. Select {PARAMETER}.
– The parameter selection window appears.
长沙工控帮教育科技有限公司
8-121
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.18 File Initialization
6. Select the parameter to be initialized.
– The selected parameter is marked with “ “.
– The parameters marked with " " cannot be selected.
7. Press [ENTER].
– A confirmation dialog box appears.
长沙工控帮教育科技有限公司
8. Select {YES}.
– The selected parameter is initialized.
8.18.4 Initializing I/O Data
1. Turn ON the power supply again while pressing [MAIN MENU] simultaneously.
2. Change the security mode to the management mode.
3. Select {FILE} under the main menu.
4. Select {INITIALIZE}.
5. Select {I/O DATA}.
8-122
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.18 File Initialization
– The I/O data selection window appears.
6. Select data to be initialized.
– The selected data is marked with “ “.
– The I/O data marked with " " cannot be selected.
长沙工控帮教育科技有限公司
7. Press [ENTER].
– A confirmation dialog box appears.
8. Select {YES}.
– The selected data is initialized.
8-123
工控帮助教小舒QQ:2823408167
8 System Setup
8.18 File Initialization DX100
8.18.5 Initializing System Data
1. Turn ON the power supply again while pressing [MAIN MENU] simultaneously.
2. Change the security mode to the management mode.
3. Select {FILE} under the main menu.
4. Select {INITIALIZE}.
5. Select {SYSTEM DATA}.
– The system data selection window appears.
6. Select the parameter to be initialized.
– The selected data is marked with “ “.
– The system data marked with " " cannot be selected
长沙工控帮教育科技有限公司
8-124
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.18 File Initialization
7. Press [ENTER].
– A confirmation dialog box appears.
8. Select {YES}.
– The selected data is initialized.
长沙工控帮教育科技有限公司
8-125
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
8.19
Display Setting Function
8.19.1 Font Size Setting
DX100 enables changing the font size displayed on the screen.
The fonts displayed on the screen can be selected from eight patterns of fonts in the font size setting dialog box.
8.19.1.1 Applicable Range for the Font Size Change
Changing the font size is allowed in the general display area indicated in the following figure:
General display area
8.19.1.2 Settable Font Size
The following eight patterns of fonts are available in setting the size of fonts displayed on the screen.
1
Font Size
Small
Font Style
Regular
2 Small Bold
3 Regular Regular
6
7
4
5
8
Regular
Large
Large
Extra large
Extra large
Bold
Regular
Bold
Regular
Bold
8.19.1.3 Setting the Font Size
To set the font size, first off display the font size setting dialog box as follows.
8-126
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
1. Select {DISPLAY SETUP} then {CHANGE FONT} under the main menu.
2. The font size setting dialog box appears on the center of the current window.
长沙工控帮教育科技有限公司
To set the font size in the font size setting dialog box, follow the procedure below.
1. Specify the font style.
– The {Bold Type} check box can be checked or unchecked alternately each time the check box is selected.
• Check the {Bold Type} check box as follows to set the font to the bold style.
8-127
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
• Clear the {Bold Type} check box as follows to set the font to the regular style.
2. Specify the font size.
– Select a button from the four buttons in the dialog box.
3. The font size setting dialog box is closed, and the screen displays the font specified in the dialog box.
长沙工控帮教育科技有限公司
8-128
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
To cancel the setting of the font size, follow the procedure below.
1. Select {Cancel} in the font size setting dialog box.
2. The dialog box closes without changing the font size.
长沙工控帮教育科技有限公司
NOTE
Do not turn OFF the DX100 power supply when the font size is being changed (when the font size setting dialog box is on the screen).
8-129
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function DX100
8.19.2 Operation Button Size Setting
DX100 enables changing the size of operation buttons.
The button size in the main menu area, menu area, and instruction list can be respectively selected from three sizes.
8.19.2.1 Applicable Range for the Button Size Change
Changing the button size is allowed in the main menu, menu (pull-down menu), and instruction list indicated in the following figure:
Menu area
(pull-down menu)
Instruction list
Main menu area
8.19.2.2 Settable Button Size
The following three sizes of buttons are available in setting the size of each operation button; the font style of the character string on buttons can also be specified.
长沙工控帮教育科技有限公司
1 Small Regular
Bold
2 Regular
3 Large
Regular
Bold
Regular
Bold
8.19.2.3 Setting the Button Size
To set the button size, first off display the button size setting dialog box as follows.
8-130
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
1. Select {DISPLAY SETUP} then {CHANGE BUTTON} under the main menu.
– The font size setting dialog box appears on the center of the current window.
长沙工控帮教育科技有限公司
To set the button size in the button size setting dialog box, follow the procedure below.
1. Specify the area to set the button size.
(1) Select the desired area from the area setting buttons.
(2) The buttons in the selected area is subject to size setting.
(3) Note that only the last-selected button determines the area subject to size setting, even if settings are performed several times before then.
2. Specify the font style.
– The {Bold Type} check box can be checked or unchecked alternately each time the check box is selected.
8-131
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
• Check the {Bold Type} check box as follows to set the font to the bold style.
• Clear the {Bold Type} check box as follows to set the font to the regular style.
3. Specify the button size.
– Select a button from the three buttons in the dialog box.
长沙工控帮教育科技有限公司
4. The font size setting dialog box is closed, and the screen displays the buttons specified in the dialog box.
8-132
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
– The modification is applied only to the buttons in the area selected with the area setting button. (In this example, the change is applied only to the pull-down menu buttons in the menu area.)
To cancel the setting of the button size, follow the procedure below.
1. Select {Cancel} in the button size setting dialog box.
长沙工控帮教育科技有限公司
– The dialog box closes without changing the button size.
8-133
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
NOTE
Do not turn OFF the DX100 power supply when the button size is being changed (when the button size setting dialog box is on the screen, or when an hourglass is indicated in the middle of the screen).
8.19.3 Initialization of Screen Layout
The font/button size changed with the font/button size setting function can be collectively changed back to the regular size.
8.19.3.1 Initializing the Screen Layout
To initialize the screen layout, follow the procedure below.
1. Select {DISPLAY SETUP} then {INITIALIZE LAYOUT} under the main menu.
window.
8-134
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
To Initialize the screen layout, follow the procedure below.
1. select {OK}.
– The dialog box is closed, and the font/button sizes are collectively changed to the regular size.
长沙工控帮教育科技有限公司
To cancel the Initialized screen layout, follow the procedure below.
1. Select {CANCEL}.
8-135
DX100
工控帮助教小舒QQ:2823408167
8 System Setup
8.19 Display Setting Function
– The dialog box closes without changing the current screen layout.
NOTE
Do not turn OFF the DX100 power supply when the screen layout is being initialized (when the confirmation dialog box is on the screen, or when an hourglass is indicated in the middle of the screen).
8.19.4 Layout Storage
The settings of the font or button sizes are saved in the programming pendant. The screen displays the font/button size specified last time with the current programming pendant.
长沙工控帮教育科技有限公司
8-136
DX100
9 System Backup
工控帮助教小舒QQ:2823408167
9 System Backup
9.1
System Backup with DX100
For the DX100, the system data can be collectively backed up in advance so that the data can be immediately loaded and restored in case of an unexpected trouble such as data loss.
9.1
System Backup with DX100
For the DX100, four types of collective backup are available: CMOS.BIN,
CMOSBK.BIN, ALCMSxx.HEX, and CMOSxx.HEX.
9.1.1 Function Types of Data
9.1.1.1 CMOS.BIN
For the normal backup, use this data.
Save: Perform in the maintenance mode (the editing mode or higher.)
Load: Perform in the maintenance mode (the management mode.)
As for the load/save procedures, refer to chapter 9.2 “Backup by
.
Target Area: All areas of the internally stored data. (Note that the monitoring time is not loaded.)
9.1.1.2 CMOSBK.BIN
This data is used in the automatic backup function.
Save: Saves with the preset conditions in the normal mode.
Load: Perform for the system restoration in the maintenance mode (the management mode.)
For details, refer to
chapter 9.5 “Error List” at page 9-20
.
9.1.1.3 CMOSxx.HEX
Target Area: All areas of the internally stored data. (Note that the 长沙工控帮教育科技有限公司
This data is loaded/saved in the FD/CF menu in the normal mode.
Save: Perform in the normal mode (the editing mode or higher.)
Load: Perform in the normal mode (the management mode.)
For details, refer to "DX100 OPERATOR’S MANUAL."
Target Area: The collected data including "Job File," "Data File,"
"Parameter File," "System Data," and "I/O Data" which can be individually loaded/saved in the FD/CF menu. Because the setting information of robot etc. are not included in this collected data, the system cannot be completely restored.
9.1.1.4 ALCMSxx.HEX
This data is for the manufacturer only. Users can save but cannot load this data.
9-1
DX100
9.1.2 Device
工控帮助教小舒QQ:2823408167
9 System Backup
9.1
System Backup with DX100
For the backup of the DX100 system, the CompactFlash can be used.
The following tables show the recommended CompactFlash.
<Recommended CompactFlash>
4
5
2
3
No.
Manufacturer
1 Hagiwara Sys-Com
Hagiwara Sys-Com
Hagiwara Sys-Com
Hagiwara Sys-Com
SiliconSystems, Inc.
Model
MCF10P-256MS-YE2
MCF10P-512MS
MCF10P-A01GS
MCF10P-A02GS
SSD-C25M3512
Remarks
(256MB)
(512MB)
(1GB)
(2GB)
(2GB)
< Recommended USB Memory>
No.
1
Manufacturer
Hagiwara Sys-Com
Model
UDG3-GA series
Remarks
(1GB, 2GB)
In order to save the batch data, the following free space per file is needed in the media.
JZNC-NIF01-1: 18 MByte
JZNC-NIF01-2: 21 MByte
JZNC-NIF01-3: 21 MByte
Note that the free space for one working file is needed in addition to the free space for the stored files when using the automatic backup function. cards to minimize problems if the media is damaged.
NOTE
The water-proof function of the Pendant is not effective while the USB memory is connected.
If USB memory is connected constantly, there is a risk it drops off.
Use CompactFlash if there is no measures to maintain water-proof function or to prevent USB memory from dropping off.
9-2
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.2
Backup by CMOS.BIN
9.2
Backup by CMOS.BIN
Perform the backup by CMOS.BIN in the maintenance mode.
The chart below shows the availability of CMOS save/CMOS load in each security mode in the maintenance mode.
Security
Operation Mode
Editing Mode
Management Mode
Yaskawa Mode
CMOS Save
X
O
O
O
CMOS Load
X
X
O
O
9.2.1 CMOS.BIN Save
Follow the procedures below to save CMOS.BIN.
1. Turn ON the DX100 power supply while pressing [MAIN MENU].
2. Insert a CompactFlash into the CompactFlash slot on the programming pendant.
– when USB memory is used instead of CompactFlash, mount the
USB memory and select {DEVICE} → ”USB: PENDANT”
3. Select {FD/PC CARD} under the main menu.
– The sub menu appears.
长沙工控帮教育科技有限公司
4. Select {SAVE}.
9-3
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.2
Backup by CMOS.BIN
The save display appears.
The items marked with " " cannot be selected.
5. Select {CMOS SAVE}.
The confirmation dialog box appears.
长沙工控帮教育科技有限公司
6. Select {YES}.
– Select {YES} to save the CMOS data into the CompactFlash.
– When saving the file, if the CMOS.BIN file already exists in the
CompactFlash, the following confirmation dialog box appears.
9-4
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.2
Backup by CMOS.BIN
7. Select {YES}.
– The CMOS.BIN file is overwritten in the CompactFlash.
9.2.2 CMOS.BIN Load
Follow the procedures below to load CMOS.BIN.
1. Turn ON the DX100 power supply while pressing [MAIN MENU].
2. Change the security mode to the maintenance mode, or Yaskawa mode.
3. Insert a CompactFlash into the CompactFlash on the programming pendant.
– When USB memory is used instead of CompactFlash, mount USB memory and select {DEVICE} → “USB: PENDANT”.
4. Select {FD/PC CARD} under the main menu.
– The sub menu appears.
The load display appears.
– The items marked with " " cannot be selected.
9-5
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.2
Backup by CMOS.BIN
6. Select {CMOS LOAD}.
– The comfirmation dialog box appears.
7. Select {YES}.
– The loaded CMOS.BIN file contents are reflected in the data inside the robot,
CAUTION
When the {CMOS LOAD} is performed, the current CMOS data is replaced with the CMOS data (the contents of "CMOS.BIN") in the
CompactFlash. Therefore, before performing the load, make sure to perform the {CMOS SAVE} of the CMOS data to be loaded.
长沙工控帮教育科技有限公司
9-6
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function
9.3
Automatic Backup Function
9.3.1 Automatic Backup Function
9.3.1.1 Objective
With the automatic backup function, the data saved in the DX100 such as system setting or operational condition are collectively backed up in the
CompactFlash which is inserted in the programming pendant.
In case of an unexpected trouble such as data loss, the backup data saved in the CompactFlash by the automatic backup function can be loaded to the DX100 memory to restore the file data.
NOTE
The automatic backup function is enabled only while the
DX100 power supply is ON whereas it isn’t while in the maintenance mode or the power supply is OFF.
9.3.1.2 Outline
The automatic backup function saves the internally stored data in a single file in advance for the smooth restoration from unexpected troubles of the
DX100.
The teaching operation is one of the factors that changes the internally stored data. Thus, a mode which backs up the latest data after the teaching operation is prepared. To confirm the termination of the teaching operation, check the mode key whether it is changed from teach mode to play mode.
Other than the teaching operation, the present position of the robot or the value of a variable can be pointed out as the factors to change the internally stored data. These data, however, are changed after each operation and have very little need to be retained permanently.
长沙工控帮教育科技有限公司 also prepared.
Furthermore, the mode to back up the data when starting up the DX100 and when inputting signals are also available for some specific versions.
With the automatic backup function, all the part where the internal data is stored in the physical memory area is collectively saved. If there is any data which is in the middle of changing while executing the automatic backup function, the data might not be usable for restoration because of its inconsistency. Therefore, the function is terminated with an error during the play back operation or while the manipulator is in motion so that the automatic backup cannot be operated. Set the automatic backup function to be executed while the manipulator is not in the playback status and while the manipulator is stopped.
9-7
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function
The automatic backup function has the following functions and features.
No Function/Feature
1
2
3
Cyclic backup
In the teach mode, the data in memory is backed up in a specified cycle from a specified starting time.
Backup when switching modes
When switching the mode from the teach mode to the play mode, the data in memory is backed up.
Backup when start-up
When the DX100 is start-up, the data in memory is backed up.
Explanation
This function backs up as much of the latest data as possible during editing. The backup data saved in the CompactFlash can be loaded to the DX100 in case of data loss so that the damage can be minimized.
The editing data is backed up when editing is completed. The latest data is automatically backed up with this mode.
When the DX 100 starts up, the data in memory is backed up. Since the editing/playback operation is usually completed when the DX100 power is turned OFF, the latest data is automatically backed up with this mode.
4 Backup when inputting specified signals
The data in memory is backed up when a specified signal(#40560) is input.
The data in memory is backed up by the signal from the host at the intended timing. Although the above mentioned items 1 to 3 are designed to back up the data automatically, this function backs up the data in accordance with the instruction from the host.
Backs up the variables for essential data.
5 Backup while robot program is stopped
The backup during playback is disabled. However, in the play mode, the backup is enabled if the robot is stopped. ("Cyclic backup" and
"Backup when inputting specified
6 signals")
The data in memory is backed up at low priority so that this operation does not affect the other operations.
When other operations affect the backup operation, the backup is suspended and retried later.
7 Backup in binary
The data is saved as binary data.
The range is same as that of the
"ALL CMOS AREA" in {FD/CF}, but the data type is different.
8 Setting of items
Parameters can limit the settings of the backup condition.
The backup operation hardly affects the other operations so that the programming pendant can be used even during the backup operation.
Backup in binary allows the system to be easily and speedily restored.
Unnecessary settings can be avoided with this setting.
9-8
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function DX100
9.3.2 Settings for Automatic Backup
To set the automatic backup function, insert a CompactFlash in the
CompactFlash slot on the programming pendant, then set each item on the AUTO BACKUP SET display.
NOTE
Four ways to perform the automatic backup are available:
"Cyclic backup," "Backup when switching modes," "Backup when start-up," and "Backup when inputting specified signals."
The automatic backup can be performed only when the robot is not during playback and the robot is stopped.
9.3.2.1 CompactFlash
To use the automatic backup function, insert CompactFlash in the
CompactFlash slot on the programming pendant. Only while the DX100 power supply is OFF, the CompactFlash can be inserted or removed.
When the data could not be saved in CompactFlash during an automatic backup due to the absence or insufficient capacity of the CompactFlash, an error message “Cannot backup CompactFlash” appears. At the same time, the signal “occurrence of error” is output, but the robot program will not be stopped. Check if CompactFlash is inserted and if it has enough capacity, and take the necessary actions. If no actions are taken while the error occurs, the data cannot be saved.
Yaskawa recommends that the data be saved in two or more
CompactFlash to minimize problems if the CompactFlash should be damaged.
The products in the table below are recommended as Compact Flash for auto backup.
No.
1
2
Manufacturer
Hagiwara Sys-Com
SiliconSystems, Inc.
Model
MCF10P-256MS
(IOOAII-YE2)
SSD-C25M-3512
Remarks
256MB
256MB
Storage capacities needed for CompactFlash are as follows:
When using JANCD-YIF01-1E, JANCD-YIF01-1EV:
(The number of stored files + 1) X 17.8MByte
When using JANCD-YIF01-2E, JANCD-YIF01-2EV, JANCD-YIF01-3E,
JANCD-IF01-3EV:
(The number of stored files + 1) X 20.8MByte
The number of storable files is automatically calculated and the MAX vlue is shown when AUTO BACKUP SET display appears.
9-9
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function DX100
9.3.2.2 AUTO BACKUP SET Display
Settings
Select the following items on the AUTO BACKUP SET display and set values for the automatic backup.
• RESERVE TIME BACKUP (VALID/INVALID of the cyclic backup)
• BASE TIME
• BACKUP CYCLE
• RETRY CYCLE
• MODE CHANGE BACKUP (VALID/INVALID of the backup when switching the mode from teach mode to play mode)
• STARTUP AUTO BACKUP (VALID/INVALID of the backup when the
DX 100 is started up)
• SPECIFIC INPUT BACKUP (VALID/INVALID of the backup when inputting specified signals)
• UNIV.OUT NO. ON ERROR
• DISPLAY AT EMERGENCY
• DURING ALARM OCCURENCE
• STORED FILE SETTING
With the version in which "STORED FILE SETTING" is settable, the capacity of a CompactFlash card inserted in the programming pendant is checked when the setting window appears. Therefore, a few seconds may be needed to open the setting window and an error may occur if no Compact-
Flash is inserted.
NOTE
When changing the settings of "STORED FILE SETTING"
长沙工控帮教育科技有限公司
Flash card are changed in name or deleted. If a certain file of this type is needed to be saved before changed in name or deleted, evacuate it into a PC, etc. beforehand.
1. Turn ON the DX100.
– If the auto backup function is already set valid, insert a
CompactFlash.
2. Insert a CompactFlash in the CompactFlash slot on the programming pendant.
3. Change the security mode to the management mode.
4. Select {SETUP} under the main menu.
9-10
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function
5. Select {AUTO BACKUP SET}.
– The AUTO BACKUP SET display appears.
N
A. RESERVE TIME BACKUP
Set the backup function to valid or invalid in a specified cycle from a specified starting time.
Each time [SELECT] is pressed, "INVALID" and "VALID" are displayed alternately.
The reserve time can be set by inputting values in B,C and D in the display.
Every time values are set to these three items, reset the RESERVE
TIME BACKUP to VALID.
If these settings are incorrect, the RESERVE TIME BACKUP cannot be reset to VALID.
If so, check and then change the values to the correct settings.
B. BASE TIME
Specify the reference time to start reserve time backup.
长沙工控帮教育科技有限公司
The first automatic backup is performed at the first BACKUP TIME after the power of the DX 100 is turned ON.
The automatic backup after the first time, is performed at the interval of
BACKUP CYCLES.
The reference time ranges from 0:00 to 23:59.
C. BACKUP CYCLE
Specify the length of time for a cycle to back up. After the first backup, the next backup is performed automatically in the time specified in the BACKUP CYCLE.
Set the backup cycle in units of minutes. The cycle setting ranges from
10 to 9999 minutes, and is longer than the RETRY CYCLE.
D. RETRY CYCLE
Specify the length of time for a cycle to retry backing up when the backup operation is suspended.
After being suspended, the backup is retried in the time specified in the
RETRY CYCLE.
Set the retry cycle in units of minutes. The cycle setting ranges from 0 to 255, and is shorter than the BACKUP CYCLE.
When it is set to 0, retry will not be performed.
9-11
A
B
C
D
E
F
G
H
I
J
K
L
M
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function
E. MODE CHANGE BACKUP
Set the automatic backup function to be valid or invalid when the mode is switched from teach mode to play mode.
Each time [SELECT] is pressed, "INVALID" and "VALID" are displayed alternately.
F. STARTUP AUTO BACKUP
Set the backup function to be valid or invalid when the power of the DX
100 is turned ON.
Each time [SELECT] is pressed, "INVALID" and "VALID" are displayed alternately.
G. SPECIFIC INPUT BACKUP
Set the backup function to be valid or invalid when specific input signal
(
# 40560) is input (rising edge from 0 to 1).
Each time [SELECT] is pressed, "INVALID" and "VALID" are displayed alternately.
H. UNIV.OUT NO. ON ERROR
Set "1" to the specified user output signal which was specified in this chapter when the automatic backup error occurs.
The term "automatic backup error" here means that the backup is not performed successfully before the next backup (including retry operation) starts.
I. DISPLAY AT EMERGENCY
Set the method of notification of the automatic backup error to
"ERROR" or "MESSAGE."
Each time [SELECT] is pressed, "ERROR" and "MESSAGE" are displayed alternately.
J. DURING ALARM OCCURENCE
Set the backup function to be valid or invalid when an alarm is occurred.
长沙工控帮教育科技有限公司
K. STORED FILE SETTING
Set the number of files to be stored by the automatic backup function.
The number mentioned on the right side of this item with "(Max)" indication is the maximum number of files that can be stored in the Compact-
Flash inserted when this window is displayed.
The settings range from 1 to (Max). When this setting value is changed, the backup file arrangement starts.
L. BACKUP FILES
Indicates the existence of the files or the number of backup files stored in the CompactFlash inserted when this window is displayed.
M. LATEST BACKUP FILE
Indicates the date of the latest file in the CompactFlash inserted when this window is displayed.
N. ARRANGE
When the setting of maximum number of stored files is changed, the file arrangement of the backup files in the CompactFlash is executed.
With this operation, the file arrangement can be performed without changing the maximum number of stored files.
9-12
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function
6. Set the desired item, and press [ENTER].
Window Settings
RS parameter can restrict the settings of some items in the automatic backup window.
When setting the bit of RS096 parameter shown below to "1", the corresponding items are restricted. The restricted items are indicated with
"INVALID" in the display and inputting/modification to the item becomes impossible. Also, the automatic backup does not function with the restricted items.
长沙工控帮教育科技有限公司
9-13
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function DX100
9.3.2.3 DX100 Status and Automatic Backup
Backup
Timing
From a specified starting time
DX100 Status
Teach mode
Play mode
Remote mode
When a specified signal(#40560) is input
Teach mode
When switching the mode from the teach mode to the play mode
When the
DX100 starts up
-
-
Play mode
Remote mode
Automatic Backup
Compact
Flash ready to save the data
Absence or insufficient capacity of the
CompactFlash
Editing
(Accessing to the memory)
Retry Retry
When editing is interrupted
Backup Error
Executing jobs Disabled Disabled
When stopped
Editing
(Accessing to the memory)
When editing is interrupted
Backup
Error
Backup
Error
Error
Error
Executing jobs Disabled Disabled
When stopped Backup Error
Backup Error
Backup Error
* An error can be indicated by a message depending on setting.
Reserve Time Backup
While the data in the DX100 memory is being edited or overwritten, the automatic backup is not performed at the specified backup starting time and is suspended and retried later. To start the backup at the reserved time, set to the time when the robot program is stopped and no job or file is edited.
Backup when Switching from Teach Mode to Play Mode
When the mode is repeatedly switched from the teach mode to the play mode or vice versa within 1 to 2 seconds, backup starts after the last time the mode is switched.
Backup when the DX 100 starts up
Since the automatic backup process is added to the DX100 start-up process, a few extra seconds are needed to start up the DX100.
9-14
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function
Backup when Specific Signal is Input
While the DX100 memory is edited such as overwriting, the backup operation becomes an error even if there is an input to a specific signal
(#40560). To start the specific input backup, perform it while the robot program is stopped and a job or file is not being modified.
Also, since the signal input is executed at rising detection, turn the signal to "0" if it is already "1", then return to "1" again.
Overwriting Limit in CompactFlash
The number of times that the CompactFlash can be overwritten is limited to approx. 100,000 times. Because frequent backup operations may shorten the life of CompactFlash, the number of backup times should be minimized as much as possible.
9.3.2.4 Setting Examples
Setting Example 1
The following diagram shows a setting example with the following conditions:
BASE TIME: 12:30
BACKUP CYCLE: 60 (minutes)
RETRY CYCLE: 10 (minutes)
BASE TIME Power ON
BACKUP CYCLE
RETRY CYCLE
11:00
1st day
11:40 11:50 11:30 12:30
13:30 长沙工控帮教育科技有限公司
Backup Backup Backup
Setting Example 2
The following diagram shows a setting example with the following conditions:
BASE TIME: 20:00
BACKUP CYCLE: 1440 (minutes) (24 hours)
RETRY CYCLE: 60 (minutes)
9-15
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.3
Automatic Backup Function
Power ON
RETRY CYCLE
BASE TIME
BACKUP CYCLE
8:00
1st day
20:00
1st day
21:00 22:00
Backup
20:00
2nd day
Backup
20:00
3rd day
Backup
NOTE
While a job is being executed, the automatic backup or retry is not performed. Also, after an error occurs in writing into the CompactFlash, the retry is not performed until the next backup starting time.
长沙工控帮教育科技有限公司
9-16
工控帮助教小舒QQ:2823408167
9 System Backup
9.4
Loading the Backup Data from the CompactFlash DX100
9.4
Loading the Backup Data from the CompactFlash
Restore the backup data saved in the CompactFlash to the DX100 in maintenance mode.
9.4.1 Loading Procedure
1. Insert the CompactFlash with the backup data in the CompactFlash slot on the programming pendant.
– The backup data is stored under the file name "CMOSBK.BIN" or
"CMOSBK??.BIN" (?? denotes figures.)
2. Turn ON the DX100 power supply while pressing [MAIN MENU].
3. Change the security mode to the management mode.
4. Select {EX. MEMORY} under the main menu.
– The sub menu appears.
5. Select {CompactFlash}.
9-17
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.4
Loading the Backup Data from the CompactFlash
6. Select {SYSTEM RESTORE} in the CompactFlash display.
– The Backup File list display appears.
7. Select the file to be loaded.
– The dialog box appears for the YIF/YCP01 board replacement confirmation.
长沙工控帮教育科技有限公司
– Select {YES} if the YIF/YCP01 board has been replaced, or select
{NO} if it has not been replaced.
– Selecting {YES} initializes the system monitoring time.
Selecting {NO} continues the counting of the current system’s monitoring time.
9-18
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.4
Loading the Backup Data from the CompactFlash
8. Select {YES} or {NO} for the message "Exchanged YIF/YCP01 board?"
– The dialog box appears for the loading confirmation.
– Select {YES} in the loading confirmation dialog box to start loading the contents of "CMOSBK.BIN" or "CMOSBK??.BIN" (?? denotes figures) from the CompactFlash to the DX100 CMOS.
9. Select {YES}.
CAUTION
Note that executing "SYSTEM RESTORE" replaces the current CMOS data with the data of the file "CMOSBK.BIN" or "CMOSBK??.BIN" (?? denotes figures) in the CompactFlash.
长沙工控帮教育科技有限公司 same as the previously saved data in the CMOS, and call the master job to confirm that the current manipulator position is correct and safe.
Then, start moving the manipulator.
9-19
DX100
工控帮助教小舒QQ:2823408167
9 System Backup
9.5
Error List
9.5
Error List
9.5.1 Error Contents
Error Data Message Cause
No.
0770 *
3390
The robot or the station is in motion.
File not found
The automatic backup would not work when the robot or a manipulator is in motion.
The file to be loaded no longer exists.
3460 *
1
2
3501 *
3550 *
3551 *
Cannot backup CompactFlash
Confirm the status of
CompactFlash.
The automatic backup is executed. Try it later.
The automatic backup is executed. Arrange the file after it is finished.
Insufficient capacity of the
CompactFlash
Cannot access the
CompactFlash
Cannot access the
CompactFlash
The automatic backup window cannot be called to display while the automatic backup is being processed.
The file arrangement cannot be operated during the automatic backup operation.
3560 * Failed to re-arrange the backup file.
3580 * Accessing to backup file. Try it later.
To display another window and then display the automatic backup window again after
"ARRANGE" operation, 长沙工控帮教育科技有限公司 completely finished.
3581 * Accessing to backup file. Try
"ARRANGE"operation later.
Failed to re-arrange the backup file for another reason than the access to CompactFlash.
The previous "ARRANGE" process should be completely finished to perform the next
"ARRANGE" operation.
9-20
工控帮助教小舒QQ:2823408167
10 Upgrade Function
10.1 Functional Overview DX100
10 Upgrade Function
10.1
Functional Overview
DX100 applies two softwares for the CPU configuration: a software for
YCP01 (for the main CPU board) and a software for YPP01 (for programming pendant). The system works only with the combination of certain versions due to a compatibility problem of each software.
Therefore, with the system version NS3.00 and the subsequent versions,
DX100 can upgrade the software for YPP01 if the combination of the softwares for YCP01 and YPP01 is invalid.
10.2
Upgrade Procedure
10.2.1 Confirmation of Software Version
The compatibility of the versions of YCP01 and YPP01 are automatically checked in 20 seconds after the DX100 power supply is turned on.
长沙工控帮教育科技有限公司
• In case the versions of YCP01 and YPP01 matches.
1. Automatic upgrade process completes and the communication process between YCP01 and YPP01is restarted.
10-1
DX100
工控帮助教小舒QQ:2823408167
10 Upgrade Function
10.2 Upgrade Procedure
2. Initial window appears approx. 40 seconds later.
10.2.2 Automatic Upgrade of YPP01
In case that the pendant application version of YPP01 is older than the one of YCP01 or the pendant appplication version of YPP01 is not compatible to the one of YCP01, the YPP01 is automatically upgraded.
Not only the application software but the OS of the Programming Pendant is also upgraded automatically.
(OS: Operating System)
长沙工控帮教育科技有限公司
1. Automatic upgrade process comletes and the communication process between YCP01 and YPP01is restarted.
– Some upgraded softwares require restart.
In this case restart is done automatically and the communication process between YPP01 and YCP01 starts again.
2. Initial window appears approx. 40 seconds later.
NOTE
Every time the OS is upgraded automatically, restart is done. There is no need of calibrating, for the calibration data is taken over.
10-2
DX100
工控帮助教小舒QQ:2823408167
10 Upgrade Function
10.2 Upgrade Procedure
NOTE
DO NOT turn off the main power supply during automatic upgrade process.
In case the main power supply is turned off, exercise the following process.
• Turn on the main power supply of DX100.
– Automatic upgrade might be exercised again.
• In case error occurs during automatic upgrade process.
(1) Prepare CF for upgrading or USB memory.
(2) Press [2], [8] and [HIGH SPEED] at the same time.
-Upgrade of the OS of Programming Pendant
(3) Press [INTERLOCK], [8] and [SELECT] at the same time.
(4) Exercise manual upgrading.
- Refer to “DX100 Upgrade Procedure”
(HW0485193).
• If no recovery is made with all the procedure above, replace the pendant.
长沙工控帮教育科技有限公司
10-3
DX100
工控帮助教小舒QQ:2823408167
10 Upgrade Function
10.3 Error Message
10.3
Error Message
If Error occurs while automatic upgrading, exercise the following procedure.
• Turn on the main power supply of DX100.
– Automatic upgrade might be exercised again.
• In case error occurs during automatic upgrade process.
(1) Prepare CF for upgrading or USB memory.
(2) Press [2], [8] and [HIGH SPEED] at the same time.
-Upgrade of the OS of Programming Pendant
(3) Press [INTERLOCK], [8] and [SELECT] at the same time.
(4) Exercise manual upgrading.
长沙工控帮教育科技有限公司
10-4
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.1 Addition of I/O Modules DX100
11 Modification of System Configuration
11.1
Addition of I/O Modules
To add I/O modules, turn OFF the power supply.
SUPPLE
-MENT
Addition operation must be performed in the management mode.
In the operation mode or editing mode, only reference of status setting is possible.
1. Turn ON the power supply again while pressing [MAIN MENU] simultaneously.
2. Change the "SECURITY MODE" to the "MANAGEMENT MODE".
3. Select {SYSTEM} under the main menu.
– The system window appears.
– The SETUP window appears.
– The items marked with " " cannot be selected.
11-1
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.1 Addition of I/O Modules
5. Select {IO MODULE}.
– The current status of the mounted I/O module is shown.
6. Confirm the status of mounted I/O module.
– Confirm that each station (ST#) window is the same as the I/O module’s actual mounting status.
– The following information is shown for each station.
ST#
DI
DO
AI
AO
BOARD
Station address of I/O module
Number of contact input points 1)
Number of contact output points 1)
Number of analog input points 1)
Number of analog output points 1)
Circuit board type 2)
1) A hyphen, -, indicates that the corresponding I/O section is not mounted.
2) If the system cannot recognize the circuit board type, a row of stars
长沙工控帮教育科技有限公司
7. Press [ENTER].
– Confirm the statuses of the mounted I/O modules for the other stations.
11-2
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
8. Press [ENTER].
– The confirmation dialog box is shown.
9. Select {YES}.
– The system parameters are then set automatically according to the current mounted hardware status. The procedure for the addition of the I/O module is complete.
NOTE
If there is a difference between the displayed contents and the actual mounted status, confirm the status again. If the status is correct, the I/O module may be defective: in such a case, contact your Yaskawa representative.
11.2
Addition of Base and Station Axes
To add the base and station axes, mount all hardware correctly and then
长沙工控帮教育科技有限公司
Addition operation must be performed in the management
SUPPLE
-MENT mode.
In the operation mode or editing mode, only reference of status setting is possible.
When adding a base and a station axis, set the following items:
• TYPE
Select one in the type list.
• In case of base axis (B1,B2,B3...B8)
Select one of RECT-X, -Y, -Z, -XY, -XZ, -YZ or -XYZ.
• In case of station axis (S1,S2,S3,S4,S5... S24)
Select UNIV-* ("*" represents the number of axes) when using a
mechanism other than the registered type as a station axis.
• CONNECTION
In the CONNECTION window, specify the SERVOPACK which is
connected with each axis group and the contactor which is used for the
SERVOPACK.
11-3
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
• AXIS TYPE
Select from the axis type list.
• In case of TURN-* type
No need to select (The axis type is set as TURN type.)
• In case of RECT-* type
Select BALL-SCREW type or RACK & PINION type.
• In case of UNIV-* type
Select BALL-SCREW type, RACK & PINION type or TURN type.
• MECHANICAL SPECIFICATION
• If axis type is ball-screw type, set the following items:
• MOTION RANGE (+)
• MOTION RANGE (-)
• REDUCTION RATIO (numerator)
• REDUCTION RATIO (denominator)
• BALL-SCREW PITCH
[mm]
[mm]
[mm/r]
• If axis type is rack & pinion type, set the following items.
• MOTION RANGE (+)
• MOTION RANGE (-)
• REDUCTION RATIO (numerator)
• REDUCTION RATIO (denominator)
• PINION DIAMETER
[mm]
[mm]
[mm]
• If axis type is turn type, set the following items.
[deg]
[deg] • MOTION RANGE (-)
• REDUCTION RATIO (numerator)
• REDUCTION RATIO (denominator)
• OFFSET (1st and 2nd axis) [mm]
• MOTOR SPECIFICATION
Set the following items.
• MOTOR
• SERVO AMP
• CONVERTER
• ROTATION DIRECTION [normal/reverse]
• MAX. RPM [rpm]
• ACCELERATION SPEED [sec]
• INERTIA RATIO
* Select MOTOR, AMPLIFIER and CONVERTER from each type list on the display.
11-4
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes DX100
11.2.1 Base Axis Setting
11.2.1.1 Selection of Base Axis Type
Select the type of base axis to be added/modified.
1. Turn ON the power supply again while pressing [MAIN MENU] simultaneously.
2. Change the "SECURITY MODE" to the "MANAGEMENT MODE".
3. Select {SYSTEM} under the main menu.
– The system window appears.
4. Select {SETUP}.
– The SETUP window appears.
– Note that the items marked with " " cannot be set.
长沙工控帮教育科技有限公司
5. Select {CONTROL GROUP}.
11-5
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
– The current control group type is displayed.
6. Point the cursor to the type of control group to be modified, and press
[SELECT].
– The MACHINE LIST window is displayed.
RECT-X: traverse X-axis base
RECT-Y: traverse Y-axis base
RECT-Z: traverse Z-axis base
RECT-XZ: traverse XZ-axis base
RECT-XY: traverse XY-axis base
RECT-XYZ: traverse XYZ-axis base
(See the figures on the next page)
长沙工控帮教育科技有限公司
7. Select one in the type list.
– After the type selection, the window returns to the CONTROL
GROUP window.
8. Press [ENTER] in CONTROL GROUP window.
– The window moves to the CONNECTION window.
11-6
DX100
RECT-X
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
RECT-Y RECT-Z
CARTESIAN
X-AXIS
Base axis direction of travel coincides with robot coordinate X-Axis.
CARTESIAN
Y-AXIS
Base axis direction of travel coincides with robot coordinate Y-Axis.
CARTESIAN
Z-AXIS
Base axis direction of travel coincides with robot coordinate Z-Axis.
RECT-XY RECT-YZ RECT-XZ
CARTESIAN
Y-AXIS
CARTESIAN
Y-AXIS
CARTESIAN
长沙工控帮教育科技有限公司
Base 1st and 2nd axes directions of
CARTESIAN
Z-AXIS
Base 1st and 2nd axes directions of
CARTESIAN
Z-AXIS
CARTESIAN
X-AXIS
Base 1st and 2nd axes directions of travel coincide with robot coordinate
X-Axis and Y-Axis, respecitively.
travel coincide with robot coordinate
Y-Axis and Z-Axis, respectively.
travel coincide with robot coordinate
X-Axis and Z-Axis,respectively.
RECT-XYZ
CARTESIAN
Z-AXIS
CARTESIAN
Y-AXIS
CARTESIAN
X-AXIS
Base 1st, 2nd, and 3rd axes directions of travel coincide with robot coordinate
X-Axis, Y-Axis, and Z-Axis, respectively.
11-7
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes DX100
11.2.1.2 Connection Setting
In the CONNECT window, each axis in respective control groups is specified to be connected to which connector of the SERVO board, or to which brake of the contactor unit, or to which converter.
1. Confirm type of each control group in the CONNECTION window.
– The connection status of each control group is displayed. the control group which
is set "NONE" in the
CONTROLGROUPE window is not displayed.
2. Select the connection item of desired control group.
– The settable items are displayed.
– When the item is selected, the window returns to the CONNECTION window.
长沙工控帮教育科技有限公司
– It is possible to change the connection freely between each axis
of each control group and each connector (CN) of a SERVO
board. The number in [ ] represents the axis number, and it
indicates which axis is to be connected with which connector.
– It is possible to change the connection freely between each axis
of each control group and each brake (BRK) of a contactor unit.
The number in [ ] represents the axis number, and it indicates
which axis is to be connected with which brake.
– It is possible to change the connection freely between each axis
of each control group and each converter (CV). The number in
[ ] represents the converter number, and it indicates which axis is
to be connected with which converter.
11-8
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
– In this example, B1 (Base) is to be connected as shown in the following manner:
1st axis SERVO Board (SV #2),
Contactor Unit (TU #1),
Converter (CV #1)
SERVO Board (SV #2),
Connector (7CN),
Brake Connector (BRK7),
2nd axis
Connector (8CN)
Contactor Unit (TU #1),
Converter (CV #2)
SERVO Board (SV #2),
Brake Connector (BRK8)
3rd axis
Connector (9CN)
Contactor Unit (TU #1),
Converter (CV #3)
Brake Connector (BRK9)
3. Select the desired item.
4. Press [ENTER] in the CONNECTION window.
– The setting in the CONNECTION window is completed and the window moves to the AXES CONFIG window.
11.2.1.3 Axis Configuration Setting
The axis type is specified in the AXES CONFIG window.
1. Confirm axis type of each axis in the AXES CONFIG window.
– The axis type of each axis is displayed.
长沙工控帮教育科技有限公司
2. Select the axis type to be modified.
11-9
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
(1) The settable axis type is displayed.
(2) Select "BALL-SCREW" when the servo track is ball-screw type, and "RACK&PINION" when the servo track is rack & pinion type.
After the selection, the window returns to the AXES CONFIG window.
(3) Select the axis type.
3. Press [ENTER] in the AXES CONFIG window.
4. The setting in the AXES CONFIG window is completed and the window moves to the MECHANICAL SPEC window.
11.2.1.4 Mechanical Specification Setting
The mechanical data is specified in the MECHANICAL SPEC window.
1. Confirm specification of each axis in the MECHANICAL SPEC window.
– The mechanical specification of axis is shown.
长沙工控帮教育科技有限公司
Selected group, type, axis no. and axis type are shown.
– MOTION RANGE : Input maximum moving position (positive (+) direction and negative (-) direction) from home position when setting the home position to 0. (Unit: mm)
11-10
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
– REDUCTION RATIO : Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/2, the numerator should be set as 1.0 and the denominator should be set as 2.0.
– BALL-SCREW PITCH: Input the traveling length when the ball- screw rotates once. (Unit: mm/r)
The MECHANICAL SPEC window (in case of the RACK&PINION type)
Selected group, type, axis no.
and axis type are shown.
– MOTION RANGE : Input maximum moving position (positive (+) direction and negative (-) direction) from home position when setting the home position to 0. (Unit: mm)
– REDUCTION RATIO: Input the numerator and the denominator.
<e.g.>If the reduction ratio is 1/120, the numerator should be set as 1.0 and the denominator should be set as 120.0.
2. Select the item to be modified.
– Point the cursor to the item subject for setting value modification, and press [SELECT].
3. Modify the settings.
– The selected item is in the input status.
Input the setting value, and press [ENTER].
4. Press [ENTER] in the MECHANICAL SPEC window.
– After the setting, the current window moves to the window for the next axis setting. Complete the settings for all axes in the same manner.
– When [ENTER] is pressed in the MECHANICAL SPEC window for the last axis, the setting in the MECHANICAL SPEC window is completed and the window moves to the MOTOR SPEC window.
11-11
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes DX100
11.2.1.5 Motor Specification Setting
The motor data is specified in the MOTOR SPEC window.
1. Confirm specification of each axis in the MOTOR SPEC window.
– The motor specification of each axis is displayed.
2. Select the desired item.
– When a numerical value is selected, the number input buffer line appears.
– When MOTOR (or SERVO AMP or CONVERTER) is selected, the list window of MOTOR (SERVO AMP, or CONVERTER) appears.
– ROTATION DIRECTION: Set the rotation direction to which the current position is increased. (The counterclockwise view from the loaded side is the normal rotation.)
Fig. 11-1: AC Servo Motor
长沙工控帮教育科技有限公司
Normal direction
– MAX. RPM: Input maximum rotation speed of a motor. (Unit: rpm)
– ACCELARATION TIME: Input time between 0.01 and 1.00 to reach maximum speed from stopping status at 100% JOINT speed.
(Unit: sec)
– INERTIA RATIO: The initial value is set at 300 in case of servo track;
0 in case of rotation axis.
However, if the following phenomenon occurs in motion, deal with the followed procedure.
– <Phenomenon1>
During motion, the axis moves unsteady on advance direction.
Confirm the motion with increasing this ratio in each 100.
11-12
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
– <Phenomenon2>
During pause, the motor makes a lot of noise.
Confirm the motion with decreasing this ratio in each 100.
3. Modify the settings.
4. Press [ENTER] in the MOTOR SPEC window.
– After the setting, the current window moves to the window for the next axis setting. Complete the settings for all axes in the same manner.
– When [ENTER] is pressed in the MOTOR SPEC window for the last axis, the setting in the MOTOR SPEC window is completed and the confirmation dialog box appears.
– If {YES} is selected, the system parameter is set automatically.
11.2.2 Station Axis Setting
11.2.2.1 Selection of Station Axis Type
1. Confirm the type of control group in CONTROL GROUP window.
– The CONTROL GROUP window appears.
11-13
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
2. Select the type of control group to be modified.
– The MACHINE LIST window appears.
TURN-1: TURN 1 AXIS STATION
TURN-2: TURN 2 AXIS STATION
UNIV-1: UNIVERSAL 1 AXIS STATIO
UNIV-2: UNIVERSAL 2 AXIS STATIO
...
3. Select desired type in the type list.
– After the type selection, the window returns to CONTROL GROUP window.
– Select "UNIV" (universal) when using a mechanism other than the registered type (such as a servo track) as a station axis. When
“UNIV” is selected, interpolation motion (linear, circular, etc.) is not supported.
TURN-1
11-14
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes DX100
11.2.2.2 Connection Setting
In the CONNECTION window, each axis in respective control group is specified to be connected to which connector of the SERVO board, or to which brake of the contactor unit, or to which converter.
1. Confirm type of each control group in the CONNECTION window.
– Connection status of each control group is displayed.
the control group which is set "NONE" in the
CONTROLGROUP
window is not displayed.
2. Select the connection item of desired control group.
– The settable items are displayed.
– When the item is selected, the window returns to the CONNECTION window.
– It is possible to change the connection freely between each axis
of each control group and each connector (CN) of a SERVO
board. The number in [ ] represents the axis number, and it
indicates which axis is to be connected with which connector.
– It is possible to change the connection freely between each axis
长沙工控帮教育科技有限公司
which axis is to be connected with which brake.
– It is possible to change the connection freely between each axis
of each control group and each converter (CV). The number in
[ ] represents the converter number, and it indicates which axis is
to be connected with which converter.
– In this example, S1 (station) is to be connected as shown in the following manner:
1st axis
2nd axis
SERVO Board (SV #1),
Contactor Unit (TU #1),
Converter (CV #2)
SERVO Board (SV #1),
Connector (7CN),
Brake Connector (BRK7),
Connector (8CN),
Contactor Unit (TU #1),
Converter (CV #3)
Brake Connector (BRK8),
11-15
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes DX100
3. Select the desired item.
4. Press [ENTER] in the CONNECTION window.
– The setting in the CONNECTION window is completed and the window moves to the AXES CONFIG window.
11.2.2.3 Axis Configuration Setting
The axis type and motor type are specified in the AXES CONFIG window.
1. Confirm axis type of each axis in the AXES CONFIG window.
– The axis type of each axis is displayed.
The AXES CONFIG window (in case of the TURN type) when axis type is "ROTATION", the axis type cannot be changed
The AXES CONFIG window (in case of the UNIVERSAL type)
长沙工控帮教育科技有限公司
BALL- SCREW: Traverse axis (ball-screw)
RACK&PINION: Traverse axis (rack&pinion)
ROTATION: Rotation axis
11-16
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
2. Select the axis type to be modified.
– The settable axis type is displayed.
3. Select the desired axis type.
4. Press [ENTER] in the AXES CONFIG window
– The setting in the AXES CONFIG window is completed and the window moves to the MECHANICAL SPEC window.
长沙工控帮教育科技有限公司
11-17
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes DX100
11.2.2.4 Mechanical Specification Setting
The mechanical data is specified in the MECHANICAL SPEC window.
1. Confirm specification of each axis in the MECHANICAL SPEC window.
– The mechanical specification of axis is shown.
Selected group, type, axis no. and axis type are shown
OFFSET is displayed on the screen of the 1st axis only when the TURN-2 type is selected.
– MOTION RANGE : Input maximum moving position (positive (+) direction and negative (-) direction) from home position when setting the home position to 0.
(Unit: deg)
– REDUCTION RATIO: Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/120, the numerator should be set as 1.0 and the denominator should be set as 120.0.
– OFFSET : Offset should be specified at “TURN-2” type only.
axis (1st axis) and the turning table (2nd axis).
(Unit: mm)
TURN-2
STATION 2ND AXIS
(ROTATION TABLE)
OFFSET
STATION 1ST AXIS
(INCLINATION AXIS)
11-18
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
The MECHANICAL SPEC window (In case of the BALL-SCREW type)
Selected group, type, axis no.
and axis type are shown.
– MOTION RANGE : Input maximum moving position (positive (+) direction and negative (-) direction) from home position when setting the home position to 0. (Unit: mm)
– REDUCTION RATIO : Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/2, the numerator should be set as 1.0 and the denominator should be set as 2.0.
– BALL-SCREW PITCH: Input the traveling length when the ballscrew rotates once. (Unit: mm/r)
The MECHANICAL SPEC window (In case of the RACK&PINION type)
长沙工控帮教育科技有限公司 Selected group, type, axis no.
and axis type are shown.
– MOTION RANGE : Input maximum moving position (positive (+) direction and negative (-) direction) from home position when setting the home position to 0.
(Unit: mm)
– REDUCTION RATIO: Input the numerator and the denominator.
<e.g.>If the reduction ratio is 1/120, the numerator should be set as 1.0 and the denominator should be set as 120.0.
– PINION DIAMETER : Input the diameter of a pinion. (Unit: mm)
11-19
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
The MECHANICAL SPEC window (In case of the ROTATION type)
Selected group, type, axis no.
and axis type are shown.
– MOTION RANGE: Input maximum moving position (positive (+) direction and negative (-) direction) from home position when setting the home position to 0. (Unit: deg)
– REDUCTION RATIO: Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/120, the numerator should be set as
1.0 and the denominator should be set as 120.0.
2. Modify the settings.
3. Press [ENTER] in the MECHANICAL SPEC window.
– After the setting, the current window moves to the window for the next axis setting. Complete the settings for all axes in the same manner.When [ENTER] is pressed in the MECHANICAL SPEC window for the last axis, the setting in the MECHANICAL SPEC window is completed and the window moves to the MOTOR SPEC window.
The motor data is specified in the MOTOR SPEC window.
1. Confirm specification of each axis in the MOTOR SPEC window.
– The motor specification of each axis is displayed.
Selected group,
type, axis no. and
axis type are shown.
11-20
DX100
工控帮助教小舒QQ:2823408167
11 Modification of System Configuration
11.2 Addition of Base and Station Axes
2. Select desired item.
– When a numerical value is selected, the number input buffer line appears.
When MOTOR (or SERVO AMP or CONVERTER) is selected, the list window of MOTOR (SERVO AMP or CONVERTER) appears.
– When the type is selected, the window returns to the AXES CONFIG window.
– ROTATION DIRECTION: Set the rotation direction to which the current position is increased. (The counterclockwise view from the loaded side is the normal rotation.)
Fig. 11-2: AC Servo Motor
Normal direction
– MAX. RPM: Input maximum rotation speed of a motor. (Unit: rpm)
– ACCELARATION SPEED: Input time between 0.01 and 1.00 to reach maximum speed from stopping status at 100% JOINT speed.
(Unit: sec)
– INERTIA RATIO: The initial value is set at 300 in case of servo track;
0 in case of rotation axis.
However, if the following phenomenon occurs in motion, deal with the followed procedure.
– <Phenomenon1> During motion, the axis moves unsteady on
长沙工控帮教育科技有限公司
– <Phenomenon2> During pause, the motor makes a lot of noise.
Confirm the motion with decreasing this ratio in each 100.
3. Modify the settings.
CAUTION
If the control axis configuration is changed by addition of a base axis or station axis, the internal data of the job file are also changed so that the job file data should be initialized.
Initialize the job file data with procedure “File Initialize” in this manual after changing the construction.
When the data, motion range for example, should be changed after the addition of a base axis or station axis, the change can be done in the same procedure as shown above.
In that case, the control axis configuration is not changed so the job file data should not be initialized.
11-21
工控帮助教小舒QQ:2823408167
12 DX100 Specification
DX100
12 DX100 Specification
WARNING
Make sure that there is no one within the P-point maximum envelope of the manipulator and that you are in a safe place before turning ON the
DX100 power.
Injury may result from collision with the manipulator to anyone entering the P-point maximum envelope of the manipulator.
• Always set the teach lock before starting teaching.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always have an escape plan in mind in case the manipulator comes toward you unexpectedly.
– Ensure that you have a place to retreat to in case of emergency.
Improper or unintentional manipulator operation can result in injury.
• Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the DX100 and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
The emergency stop buttons are located on the right of the front door of
长沙工控帮教育科技有限公司
CAUTION
• Perform the following inspection procedures prior to performing teaching operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external wires.
• Always return the programming pendant to its specified position after use.
If the programming pendant is inadvertently left on the manipulator, fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injuries or equipment damage.
12-1
DX100
工控帮助教小舒QQ:2823408167
12 DX100 Specification
12.1 Specification List
12.1
Specification List
Controller Construction
Dimensions
Cooling System
Ambient
Temperature
Free-standing, enclosed type
Refer to following
Indirect cooling
0 ° C to + 45 ° C (During operation)
-10 ° C to + 60 ° C (During transit and storage)
Relative Humidity
Power Supply
Grounding
10% to 90%RH (non-condensing)
3-phase, 200/220 VAC (+10% to -15%) at 60Hz( ± 2%)
200 VAC(+10% to -15%) at 50Hz( ± 2%)
Grounding resistance: 100 Ω or less
Exclusive grounding
Digital I/O Specific signal (hardware)
23 inputs and 5 outputs
General signals (standard, max.)
40 inputs and 40 outputs
(Transistor: 32 outputs, Relay: 8 outputs)
Positioning System By serial communication
(absolute encoder)
Drive Unit SERVOPACK for AC servomotors
Acceleration/ Software servo control
Deceleration
Memory Capacity 200000 steps, 10000 instructions
Small capacity
A-Type
(standard) 长沙工控帮教育科技有限公司
Large capacity
MA1400, MA1900, VA1400, MH5L, MH6, HP20D, HP20D-6,
425(W) × 1200(H) × 450(D) mm
MH50, MS80, ES165D, ES200D, VS50
425(W) × 1200(H) × 450(D) mm
A-Type
(standard)
12-2
DX100
工控帮助教小舒QQ:2823408167
12 DX100 Specification
12.2 Function List
12.2
Function List
Programming
Pendant
Operation
Safety
Feature
Maintenance
Function
Coordinate Joint, Rectangular/Cylindrical, Tool, User
Coordinates
System
Modification of
Teaching Points
Adding, Deleting, Correcting (Robot axes and external axes respectively can be corrected.)
Inching Operation Possible
Path
Confirmation
Forward/Reverse step, Continuous feeding
Speed Adjustment Fine adjustment possible during operating or pausing
Timer Setting Possible every 0.01 s
Short-cut Function Direct-open function, Multi-window
Interface
Application
CF (Compact Flash) card slot, USB port
(USB1.1) (At Programming Pendant)
RS232C (At Control Circuit Board)
LAN (100 BASE-TX/10BASE-T) (At
Control Circuit Board) (Option)
Arc welding, Spot welding, Handling,
General, Others
JIS (Japanese Industrial Standard) Essential
Measures
Running Speed
Limit
Enable Switch
User definable
3 position type. Servo power can be turned on at the middle position only.
(Located on programming pendant)
Collision proof
Frames
User Alarm
Display
Machine Lock
S-axis frame (doughnut-sector), Cubic frame (user coordinate)
Classifies error and two types of alarms
(major and minor) and displays the data
Possible to display alarm messages for peripheral device
Test-run of peripheral devices without robot motion
Door Interlock A door can be opened only when a circuit breaker is OFF.
Operation Time
Display
Alarm Display
I/O Diagnosis
Control power-on time, Servo power-on time, Playback time, Operation time, Work time
Alarm message, troubleshooting, previous alarm records
Simulated enabled/disabled output possible
T.C.P. Calibration Automatically calibrates parameters for end effectors using a master positioner
12-3
DX100
工控帮助教小舒QQ:2823408167
12 DX100 Specification
12.3 Programming Pendant
Programing
Functions
Programming
Language
Robot Motion
Control
Speed Setting
Program Control
Instructions
Operation
Instructions
Variable
Variable Type
I/O Instructions
Interactive programming
Robot language: INFORM II
Joint coordinates, Linear/Circular interpolations, Tool coordinates
Percentage for joint coordinates, 0.1mm/s units for interpolations, Angular velocity for T.C.P. fixed motion
Jumps, Calls, Timer, Robot stop,
Execution of some instructions during manipulator motion
Preparing the operation instructions for each application Arc (ON), Arc (OFF), etc.
Global variable, Local variable
Byte type, Integer-type, Double precisiontype, Real type, Position type
Discrete I/O, Pattern I/O processing
12.3
Programming Pendant
Material Reinforced thermoplastic enclosure with a detachable suspending strap
Dimensions 169(W) × 314.5(H) × 50(D) mm (excluding protrusions)
Displayed Units TFT Color liquid crystal display, VGA (640 × 480)
Touch panel
Operated Units Three-position Enable switch, Start switch, Hold switch,
Mode select switch (with key, three mode)
Others Provided with CF (Compact Flash) card slot
USB port (USB1.1) X 1
长沙工控帮教育科技有限公司
12-4
工控帮助教小舒QQ:2823408167
12 DX100 Specification
12.4 Equipment Configuration DX100
12.4
Equipment Configuration
The DX100 is comprised of individual units and modules (circuit boards).
Malfunctioning components can generally be easily repaired after a failure by replacing a unit or a module.
This section explains the configuration of the DX100 equipment.
12.4.1 Arrangement of Units and Circuit Boards
The arrangements of units and circuit boards in small-capacity, mediumcapacity, and large-capacity DX100s are shown.
Small Capacity
SERVOPACK Breaker Power Supply Contact Unit
Fig. 12-1: Configuration for Small-Capacity A-Type (Standard)
Breaker
(Refer to the following table)
A
Machine Safety Unit
JZNC-YSU01-1E
Emergency Stop
Button (S1)
HW1B-V404R
Brake Control Board
JANCD-YBK01-1E
Backside Duct Fan
4715MS-22T-B50-B00
Interior Circuration Fan
4715MS-22T-B50-B00
Back View
(without cover)
Model
Type
MH5
MH5L
MH6
MA1400
VA1400
MA1900
Power Supply Contactor Unit
JZRCR-YPU01-1
I/O Unit
JZNC-YIU01-E
Converter
(Refer to the following table)
SERVOPACK
(Refer to the following table)
Regenerative Resistor
(
SMRK220W12R5K A5979
*for HP20D, HP20D-6
RDC50N12R5JI800ZZ
( MXT NP
(MXT)
Robot System Input
Terminal Block
CPS Unit
JZNC-YPS01-E
Robot I/F Board
JANCD-YIF01-1E
A
CPU Unit
JZNC-YRK01-1E
Inside Controller F Door 长沙工控帮教育科技有限公司
Table 12-1: Configuration for Small Capacity
DX100 SERVOPACK Breaker
Sectional View A-A’
Power Supply
Contact Unit
ERDR-MH00005-A00
(Converter integrated)
JZRCR-YSV01-11 NF32-SW 3P 15A JZRCR-YPU01-1
ERDR-MH00006-A00
ERDR-MA01400-A00
ERDR-VA01400-A00
ERDR-MA01900-A00
JZRCR-YSV02-11
JZRCR-YSV02-11
JZRCR-YSV02-31
JZRCR-YSV03-11
NF32-SW 3P 15A
NF32-SW 3P 15A
NF32-SW 3P 15A
NF32-SW 3P 15A
JZRCR-YPU01-1
JZRCR-YPU01-1
JZRCR-YPU01-1
JZRCR-YPU01-1
HP20D
HP20D-6
ERDR-HP0020D-A00 JZRCR-YSV03-11 NF32-SW 3P 15A JZRCR-YPU01-1
12-5
工控帮助教小舒QQ:2823408167
12 DX100 Specification
12.4 Equipment Configuration DX100
Medium and Large Capacity
Fig. 12-2: Configuration for Medium and Large Capacity A-Type (Standard)
Backside Duct Fan
4715MS-22T-B50-B00
Regenerative Resistor
SMVK500W2R0J A5978
Back View
(without cover)
Breaker
(Refer to the following table)
A
Machine Safety Unit
JZNC-YSU01-1E
Emergency Stop
Button (S1)
HW1B-V404R
Converter
(Refer to the following table)
Power Supply Contactor Unit
JZRCR-YPU01-1
SERVOPACK
(Refer to the following table)
CPS Unit
JZNC-YPS01-E
A
Inside Controller
Front View
Brake Control Board
JANCD-YBK01-1E
I/O Unit
JZNC-YIU01-E
Interior Circuration Fan
4715MS-22T-B50-B00
(MXT)
Robot System Input
Terminal Block
MXT NP
Robot I/F Board
JANCD-YIF01-1E
CPU Unit
JZNC-YRK01-1E
Interior Circuration Fan
4715MS-22T-B50-B00
F Door
Inside View
Sectional View A-A’
Model
Type
MH50
MS80
VS50
SIA50D
DX100
Table 12-2(a): Configuration for Medium Capacity
SERVOPACK Converter Breaker Power Supply
Contact Unit
JZRCR-YPU01-1 ERDR-MH00050-A00 JZRCR-
YSV04-11
ERDR-MS00080-A00 JZRCR-
YSV05-11
SRDA-
COA30A01A-E
SRDA-
COA30A01A-E
NF32-SW 3P
30A
NF32-SW 3P
30A
ERDR-VS00050-A00 JZRCRSRDANF32-SW 3P
ERDR-SIA050D-A00
YSV05-41
JZRCR-
YSV05-41
COA30A01A-E
SRDA-
COA30A01A-E
30A
NF32-SW 3P
30A
JZRCR-YPU01-1
JZRCR-YPU01-1
JZRCR-YPU01-1
Model
Type
ES165D
ES200D
DX100
Table 12-3(a): Configuration for Large Capacity
SERVOPACK Converter
ERDR-ES0165D-A00 JZRCR-
YSV06-11
ERDR-ES0200D-A00 JZRCR-
YSV06-11
SRDA-
COA30A01A-E
SRDA-
COA30A01A-E
Breaker Power Supply
Contact Unit
JZRCR-YPU01-1 NF32-SW 3P
30A
NF32-SW 3P
30A
JZRCR-YPU01-1
12-6
工控帮助教小舒QQ:2823408167
12 DX100 Specification
12.4 Equipment Configuration DX100
12.4.2 Cooling System of the Controller Interior
The
backside duct fan
draws in air from the air intake and expels it from the air outlet to cool the SERVOPACK. The
fan mounted inside the door circulates the air to keep temperature even throughout the interior of the DX100. Make sure the door of the DX100 is closed when it’s used to keep this cooling system effective.
Fig. 12-3: .Cooling System
Interior Circuration Fan
Air Intake
Backside Duct Fan
Air Outlet
长沙工控帮教育科技有限公司
12-7
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
DX100
13 Description of Units and Circuit Boards
WARNING
• Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of DX100 and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency. The emergency stop buttons are located on the right of the front door of DX100 and the programming pendant.
• Always set the teach lock before starting teaching.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always have an escape plan in mind in case the manipulator comes toward you unexpectedly.
– Ensure that you have a place to retreat to in case of emergency.
Improper or unintentional manipulator operation can result in injury.
• When turning ON the power to DX100, be sure that there is no one within the P-point maximum envelope of the manipulator, and that you are in a safe place.
Injury may result from collision with the manipulator to anyone entering the P-point maximum envelope of the manipulator. Always press the
长沙工控帮教育科技有限公司
CAUTION
Perform the following inspection procedures prior to performing teaching operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to its specified position after use.
If the programming pendant is inadvertently left on the manipulator or fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injuries or equipment damage.
13-1
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
Cautions for Connection of Dual Input Signals
CAUTION
• Connect the switch (contact) that turns the dual signals ON and
OFF simultaneously.
• If the timing that turns the two signals ON and OFF is not right, a disagreement alarm occurs. Refer to the figure below.
DX100
Input for the robot system
+24V2
Input signal 1
Input signal 2
024V
-19
-20
-21
-22
Switch
Turn ON/OFF at the same time
CAUTION
(Prepare two indivisual contact points)
• Since the power supply for each signal is reversed, it will shortcircuit and may cause breakdown of DX100 Unit if the signals are connected to the same contact point.
DX100
Input for the robot system
+24V2
Input signal 1
Input signal 2
024V
-19
-20
-21
-22
Switch
The same contact
Short-circuit current
13-2
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.1 Power Supply Contactor Unit
13.1
Power Supply Contactor Unit
The power supply contactor unit consists of the power supply contactor sequence circuit board (JARCR-YPC01-1) and the contactor (1KM, 2KM) for servo power and the line filter (1Z). It turns the contactor servo power
ON and OFF using the signal for servo power control from the power supply contactor sequence circuit board and supplies power(3-phase
AC200/220V) to the unit.
The power supply (single phase AC200/220V) is supplied to the control power supply via the line filter.
Table 13-1: Power Supply Contactor Unit Models
Model
JZRCR-
YPU01-
□
Robot Type
MH5, MH5L, MH6, MA1400, VA1400, MA1900, HP20D,
HP20D-6, MH50, MS80, VS50, ES165D, ES200D, SIA50D
Fig. 13-1: Power Supply Unit Configuration (JZRCR-YPU01-
□
)
(CN601)
Main Power Supply Input
(2FU),(1FU)
Fuse for AC Control Power Supply
0218010P(10A 250V)
(4FU),(3FU)
Fuse for AC Cooling Fan
GP25(2.5A 200V)
CN601
2FU
1 0 A
CN610
3FU
1FU 2FU
CN601
CN610
1 FU
1 0 A
CN611
CN611
CN607
4FU
CN607
(CN607)
Contactor Control Input
(CN606)
AC Cooling Fan
CN601
NCM
SVMX1 SVMX2 长沙工控帮教育科技有限公司
CN606
SVMX1 SVMX2
(CN605,CN604,CN603)
AC Control Power Supply
CN606 CN612
CN612
(CN608)
Brake Interlock Output CN605
CN605
CN604
CN604
CN603
CN603
CN602
CN602
(CN602)
Converter Output
13-3
工控帮助教小舒QQ:2823408167
DX100
13 Description of Units and Circuit Boards
13.2 Major Axes Control Circuit Board (SRDA-EAXA01 □ )
13.2
Major Axes Control Circuit Board (SRDA-EAXA01
□
)
13.2.1 Major Axes Control Circuit Board (SRDA-EAXA01
□
)
The major axes control circuit board (SRDA-EAXA01
□
) controls the servomotors of the manipulator’s six axes. It also controls the converter, the PWM amplifiers, and the power supply contactor circuit board of the power supply contactor unit. Mounting an external axes control circuit board of an option (SRDA-EAXB01
□
) makes it possible to control the servomotor of nine axes, including the robot axes.
The major axes control circuit board (SRDA-EAXA01
□
) also has the following functions.
• Brake Power Supply Control Circuit
• Shock sensor (shock) input circuit
• Direct-in circuit
Fig. 13-2: Major Axes Control Circuit Board (SRDA-EAXA01
□
)
(CN512)
SHOCK Signal Input
(CN510)
Converter Power Supply Output
(CN509)
Control Power Supply Input
(CN508)
Encoder Signal
(CN513)
Brake Control Signal
(CN511)
Safety Unit I/F
(CN514)
Direct-in
(CN507)
Converter Control Signal
(CN518)
I/O Communication
(CN502)
AMP2 PWM Signal
(CN517)
(CN516)
长沙工控帮教育科技有限公司 (CN501)
AMP1 PWM Signal
(CN504)
Control Communication
AMP4 PWM Signal
(CN515)
Control Communication (CN503)
AMP3 PWM Signal
AMP6 PWM Signal
(CN505)
AMP5 PWM Signal
13-4
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.2 Major Axes Control Circuit Board (SRDA-EAXA01 □ ) DX100
13.2.2 Connection for Tool Shock Sensor (SHOCK)
13.2.2.1 To connect the tool shock sensor directly to the tool shock sensor signal line
1. Disconnect the minus SHOCK (-) and plus SHOCK (+) pin terminal from the DINAMIC connector, the EAXA-CN512 major axes control circuit board.
2. Connect the minus SHOCK (-) and plus SHOCK (+) pin terminals to the signal line of the tool shock sensor. Use the following pin terminals for preparing the end of the signal line.
Pin Terminal Name Pin Terminal Model Signal Line Terminal Model
SHOCKTMEDN-630809-MA TMEDN-630809-FA
(manufactured by NICHIFU Co.,
Ltd.)
SHOCK+ TMEDN-630809-FA TMEDN-630809-MA
(manufactured by NICHIFU Co.,
Ltd.)
Fig. 13-3: Direct Connection to Tool Shock Sensor Signal Line
Major Axes Control Circuit Board
SRDA-EAXA01
CN512 TMEDN-630809-FA NICHIFU
SHOCK+
Manipulator cable (signal)
Manipulator
-3
+24V
SHOCK
-4
TMEDN-630809-MA
NICHIFU Shock sensor
(Option) TMEDN-630809-FA
NICHIFU 长沙工控帮教育科技有限公司
SHOCK-
TMEDN-630809-MA NICHIFU Shock sensor signal cable
13-5
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.2 Major Axes Control Circuit Board (SRDA-EAXA01 □ ) DX100
13.2.2.2 To connect the tool shock sensor with the cable that is built into the manipulator
1. Disconnect the minus SHOCK (-) and plus SHOCK (+) pin terminal from the DINAMIC connector, the EAXA-CN512 major axes control circuit board.
2. Connect the minus SHOCK (-) pin terminal to the minus SHOCK (-) pin terminal of the manipulator.
NOTE
Cable that is built into the manipulator is not connected to shocks sensor because the tool shock sensor is a option.
For connecting the tool shock sensor, refer to the wiring diagrams in the INSTRUCTIONS for the manipulator.
Fig. 13-4: Connection with Manipulator Cable
Power supply contactor unit
JZRCR-NTU
+24V2
CN07
-1
-3
-4
+24V
PC-2005M
(manufactured by NICHIFU Co., Ltd.)
SHOCK-
PC2005M
(manufactured by
NICHIFU Co., Ltd.)
SHOCK
SHOCK-
PC-2005W Supply cables (PG)
(manufactured by NICHIFU Co., Ltd.)
Manipulator
Shock sensor
(Option)
Use the manipulator cable
SUPPLE
-MENT stopping method of the robot can be specified. The stopping methods are hold stop and servo power supply OFF.
Selection of the stopping method is set in the display of the programing pendant. Refer to explanations in
“System Setup” at page 8-1 for details.
13-6
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.2 Major Axes Control Circuit Board (SRDA-EAXA01 □ ) DX100
13.2.3 Connection for Direct-in
Direct-in (Servo) 1 to 6
This signal is used to input a responsive signal in search functions.
Fig. 13-5: Connection for Direct-in (Servo) 1 to 6
Major Axes Control Circuit Board
(SRDA-EAXA01 )
AXDIN1
AXDIN2
CN514
024V
B1
B3
A4
AXDIN3
AXDIN4
B4
A5
AXDIN5
AXDIN6
B5
AXINCOM
A6
A3
+24V2
A1
Applicable
Connector
JFA J2000 Series
J21DF-20V-KX-L Maker JST
SJ2F-01GF-P1.0(AWG20 24)
B1
B3
A4
B4
A5
B5
A6
A3
A1
Direct-in (Servo) 1
Direct-in (Servo) 2
Direct-in (Servo) 3
Direct-in (Servo) 4
Direct-in (Servo) 5
Direct-in (Servo) 6
Connect the jumper cable.
Slave for the coordinated control side
Major Axes Control Circuit Board
SRDA-EAXA01D
CN514
B1
024V
B1
AXDIN1 长沙工控帮教育科技有限公司
AXDIN3
B4 B4
AXDIN4
A5 A5
AXDIN5
AXDIN6
AXINCOM
B5
A6
A3
B5
A6
A3
A1
+24V2
A1
Connect the jumper cable.
Applicable Connector
JFA J2000 Series
J21DF-20V-KX-L JST
SJ2F-01GF-P1.0(AWG20 24)
The part of wiring is for the slave for the coordinated control side major axes control circuit board, SRDA-EAXA01
13-7
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.3 CPU Unit
13.3
CPU Unit
13.3.1 CPU Unit Configuration
CPU unit consists of circuit board racks, control circuit boards, robot I/F board. The JZNC-YRK01-E CPU unit contains only circuit board racks and control circuit boards. It does not contain robot I/F board.
Fig. 13-6: CPU Unit Configuration (JZNC- YRK01-1E)
PCI Slot X2
PCI Slot for Sensor Board x 1
(CN114)
IO I/F( Communication with YIU)
Robot I/F Circuit Board
JANCD-YIF01- E
Control Circuit Board
JANCD-YCP01-E
LED
(CN107)
Compact Flash
(CN113)
Drive I/F( Communication with EAXA)
(CN106)
USB
(CN105)
For Programming Pendant
(CN104)
For LAN
长沙工控帮教育科技有限公司
Serial Port(RS232C)
Battery
13-8
工控帮助教小舒QQ:2823408167
DX100
13 Description of Units and Circuit Boards
13.3 CPU Unit
13.3.2 Unit and Circuit Board in the CPU Unit
13.3.2.1 Control Circuit Board (JANCD-YCP01-E)
This board performs to control the entire system, display to the programming pendant, control the operating keys, control operation and calculate interpolation. This board has the Serial interface for RS-232C and LAN (100BASE-TX/10BASE-T).
13.3.2.2 Robot I/F Board (JANCD-YIF01-1E)
The robot I/F board controls the entire robotic system. It is connected to the control circuit board (JANCD-YCP01-E) with a PCI bus interface on the backboard, and to the major axes control circuit board (SRDA-
EAXA01A-
□
) with high-speed serial transmissions.
长沙工控帮教育科技有限公司
13-9
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.4 CPS Unit (JZNC-YPS01-E)
13.4
CPS Unit (JZNC-YPS01-E)
This unit (JZNC-YPS01-E)supplies the DC power (DC5V, DC24V) for control (system, I/O, brake). It is also equipped with the input function for turning the control power supply ON and OFF.
Fig. 13-7: CPU Unit JZNC-YPS01-E
Monitor Alarm Display
SOURCE
P-ON
+5V
+24V
FAN
OHT
CN156/157
(+24V2)
CN159
(ALM)
CN158
(+5V)
(CN151)
AC Power Supply Input
POWER SUPPLY
CPS-520F
NO.
DATE
C90AD XXXXX
YYYY-MM
Fuji Electric Hi-Tech Corp.
MADE IN JAPAN
01
11
01
11
02
12
02
12
03
13
03
13
04
14
04
14
05
15
05
15
06
16
06
16
07
17
07
17
08
18
08
18
09
19
09
19
10
20
10
20
A A
L L
B B C C
N N
D D
P P
E E
Q Q
F F
R R
G G
S S
H H
T T
J J
U U
K K
V V
CN155
(+24V1/+24V2)
CN154
(+24V1/+24V2)
CN153
(+24V3)
CN151
(AC IN)
INPUT
200-240V AC
50/60Hz
3.4A-2.8A
CN152
(REMOTE)
Connection with CPU 1 (CN158)
Connection with CPU 2 (CN159)
(CN156/CN157)
+24V2 Power Supply Output
(CN154/CN155)
+24V1/+24V2 Power Supply Output
(CN153)
+24V3 Power Supply Output
(CN152)
Remote Control
长沙工控帮教育科技有限公司
13-10
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.4 CPS Unit (JZNC-YPS01-E)
Items
Input
Output Voltage
Indicator
Control Power
ON/OFF
Specifications
Rating Input Voltage: 200/220VAC
Voltage Fluctuation Range: +10% to -15% (170 to 242VAC)
Frequency: 50/60Hz ± 2Hz (48 to 62Hz)
DC + 5V
DC +24V (24V1: System, 24V2: I/O, 24V3: Brake)
DISPLAY
SOURCE
Color Status
Green Lights with power supply input.
Lights out when internal live part completes discharge.
(Power supply status: being input)
POWER ON Green Lights when PWR_OK output signal is ON.
(Power supply status: being output)
+5V Red Lights with +5V over-current
(ON when abnormal)
+24V Red
FAN
OHT
Red
Red
Lights with +24V over-current
(ON when abnormal)
Lights when FAN error occurs.
Lights when unit interior overheats
To turn ON the DX100 controller power, turn ON the non-fuse breaker of the controller so that the control power supply is turned ON. If the controller is not located at the workplace, the control power supply can be turned ON/OFF by an external device, etc. after the non-fuse breaker of the controller is turned ON. It is operated by the external switch connected with CN152 of the CPS unit as shown in the following figure. (CN152-1 and CN152-2 is shortaged when shipment)
Fig. 13-8: Connection to Control Power Supply Unit
DX100
长沙工控帮教育科技有限公司
Remove the short-circuit positioner CPS-420F
CN152
-1 Control Power Supply ON/OFF Switch
R-IN
-2
R-INCOM
See chapter 13.8 “WAGO Connector” at page 13-21 for wiring of CN152 connector.
13-11
工控帮助教小舒QQ:2823408167
DX100
13 Description of Units and Circuit Boards
13.5 Brake Control Board (JANCD-YBK01□ E)
13.5
Brake Control Board (JANCD-YBK01-
□
E)
13.5.1 Brake Control Board (JANCD-YBK01-
□
E)
Brake Control Board controls ON/OFF of the brakes of total nine axes
(Robot + external axes) according to the command signal from Major
Axes Control Circuit Board (SRDA-EAXA01
□
).
(CN405)
Brake Command Input
(CN404)
For Switching External Power Supply
(CN403)
Brake Power Supply Input
(CN402)
Contactor Interlock Input
F1:Fuse
3A/250V
(CN400)
Brake Output
长沙工控帮教育科技有限公司
13-12
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.6 Robot I/O Unit (JZNC-YIU01-E)
13.6
Robot I/O Unit (JZNC-YIU01-E)
13.6.1 Robot I/O Unit (JZNC-YIU01-E)
Four digital I/O connectors for the robot universal I/O are provided:
40 inputs and 40 outputs.
The I/Os are divided into two types: universal I/O and specific I/O.
The I/O assignment differs depending on the application. Specific I/O is a signal in which the part is decided in advance. Specific I/O is used when the external operation equipment such as positioner controller and centralized controller control the manipulator and related equipment as a system. Universal I/O are mainly used as timing signals for the manipulator and peripheral devices in jobs that require robot motion.
Refer to
chapter 13.12 “Universal I/O Signal Assignment” at page 13-40
for more details on signal allocation.
For the connection of the robot’s universal I/O signal connectors, and the
I/O signal related to start and stop, refer to “Connection wire with
Universal I/O Connector (CN306, 307, 308, 309)” at page 13-14 and
“Specific I/O Signal Related to Start and Stop” at page 13-15
Fig. 13-9: I/O Unit (JZNC-YIU01-E)
(CN305)
Power Supply Input
(CN304)
Power Supply Output
(CN309)
Digital I/O
D1:24V2IN LED
(CN308)
Digital I/O
(CN303)
For Switching External Power Supply
F1,F2
Power Supply Protective Fuse 长沙工控帮教育科技有限公司
(CN302)
(CN307)
Direct-in
Digital I/O
(optional)
(CN301)
Panel IO (CN306)
Digital I/O
D2:FUSE CUT LED
S1: Rotary Switch
(CN300)
Communication Connector
13-13
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.6 Robot I/O Unit (JZNC-YIU01-E)
Connection wire with Universal I/O Connector (CN306, 307, 308, 309)
Please refer to the figure below when you manufacture the cable connecting with robot universal I/O connector (CN306, 307, 308, 309) of robot I/O unit (JZNC-YIU01-E). Unshielded twisted pair cable must be used.(The cable side connector and the I/O terminal block are the options)
Connector A detail (cable side)
B20 B1
A20 A1
Connector Model: FCN-361J040-AU (FUJITSU)
(Soldered Pin type)
Hood Model : FCN-360C040-B (FUJITSU)
I/O Unit
(JZNC-YIU01-E)
CN309 CN308
Connector C detail (cable side)
B20 B1
A20 A1
Connector Model: 1903404-1
(Tyco Electronics Amp)
(MT Type)
Connector A
I/O Cable (YIU ~ external)
Connector C
CN307 CN306
I/O Cable (YIU ~ Terminal Block)
长沙工控帮教育科技有限公司
CN306,307,308,309
B1
Connector B details
B20
A1 A20
Connector Model: 1747053-1
(Tyco Electronics Amp)
Connector B
TIFS553YS 21-187-3201 R
+24VU +24VU FG
B1 B2 B3 B4 B5 B6 024VU 024VU 024VU 024VU 024VU 024VU B8 B9 B10 B11 B12 B13 B14 B15 +24VU +24VU +24VU +24VU +24VU
A1 A2 A3 A4 A5 A6 024VU 024VU 024VU 024VU 024VU 024VU A8 A9 A10 A11 A12 A13 A14 A15 +24VU +24VU +24VU +24VU +24VU
I/O Terminal Block
Stripped length: 10mm
Applicable max cable outside diameter: 3mm dia.
Model: TIFS553YS (KASUGA ELECTRIC)
13-14
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.6 Robot I/O Unit (JZNC-YIU01-E)
Specific I/O Signal Related to Start and Stop
The following signals are specific I/O signals related to start and stop.
• Servo ON (depending on application: JZNC-YIU01-E)
• External Servo ON (common to all application: Specific input terminal block MXT)
• External Start (depending on application: JZNC-YIU01-E)
• Operating (depending on application: JZNC-YIU01-E)
• External Hold (common to all application:
Specific input terminal block MXT)
• External Emergency Stop (common to all application:
Specific input terminal block MXT)
<Timing Chart>
Manipulator
RUN
STOP
While Servo ON
ON
OFF
ON
OFF Servo ON
T
External Start
ON
OFF
T
Operating
External Hold
ON
OFF
ON
OFF
T
Ext. E-Stop ON
长沙工控帮教育科技有限公司
13-15
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.6 Robot I/O Unit (JZNC-YIU01-E)
Example of Servo ON Sequence Circuit from External Device
Only the rising edge of the servo ON signal is valid. This signal turns ON the manipulator servo power supply. The set and reset timings are shown in the following.
Servo ON PB
X1
Servo Power ON
X3 (30011)
Servo ON
Confirmation
X2
Servo ON
Command
X1
Servo ON
Confirmation
X2
PL
Servo ON
Command
X1
Servo Power ON
X3
DX100
System Input Terminal
Block (MXT)
MXT
-29
+24VU
-30
External Servo
ON Input
(EXSVON)
Robot I/O Unit
JZNC-YIU01
+24VU
CN308
-A18
-A8
Servo ON
Output
(30011)
Note: Number in ( ) means output signal number assigned to YIU01.
PL: Pilot Lamp
Example of Start Sequence Circuit from External Device
Only the rising edge of the external start signal is valid. This signal starts the manipulator. Reset this signal with the interlock configuration that determines if operation can start and with the playback (RUNNING) signal confirming that the manipulator has actually started moving.
Run PB
X3
Running
X6 (30010)
长沙工控帮教育科技有限公司
Servo ON
(30011) select
(30016)
Occuring
(30013)
Confirmation
X5
Start
(Command)
Ex. Start
X4
Command
X4
DX100
Robot I/O Unit
JZNC-YIU01
CN308
External Start
-B1
Input
(20010)
-B7
Running
Confirmation
OVU
X5
Running, etc.
-B18
X6 +24VU
PL
-B8
Running Output
(30010), etc.
Note: Number in ( ) means output signal number assigned to YIU01.
13-16
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.6 Robot I/O Unit (JZNC-YIU01-E)
Connection of External Power Supply for I/O
At factory setting, the internal power supply for I/O is used. If the external power supply for I/O is used, connect it with following procedure.
1. Remove the wire connected between CN303-1 to -3 and CN303-2 to -4 of the robot I/O unit.
2. Connect +24V of the external power supply to CN303-1 and 0V to
CN303-2 of the robot I/O unit.
For the connection of the CN303 connector, refer to chapter 13.8 “WAGO
Fig. 13-10: Connection of External Power Supply for I/O
Robot I/O unit (JZNC-YIU01-E) Robot I/O unit (JZNC-YIU01-E)
CN303
-1 (EX24VIN)
-2 (EX024VIN)
+24VU
F1
3.15A
F2
3.15A
024VU
+24V
-3 (+24V)
-4 (024V)
+24VU
F1
External
Power Supply
3.15A
+24V
F2
0V
3.15A
024VU (Ready by Customer)
CN303
-1 (EX24VIN)
-2 (EX024VIN)
+24V
-3 (+24V)
-4 (024V)
024V 024V
长沙工控帮教育科技有限公司
In case of using internal power supply In case of using external power supply
NOTE
• The internal power supply of 24V of about 1.5A of
DX100 can be used for I/O.
Use external 24V power supply for higher currents and to isolate the circuit inside and outside the DX100.
• Power supply circuit for I/O (+24 VU, 024 VU) has 3.15A fuses (F1, F2).
• Install the external power supply outside the DX100 to avoid electric noise problems.
• If the internal power supply is selected and the external power supply is connected to CN303-1 to -3 and
CN303-2 to -4, do not connect the line of the external power supply to the +24VU and 0VU terminals. The unit may malfunction if the external power supply is also connected.
13-17
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.7 Machine Safety Unit (JZNC-YSU01-1E)
13.7
Machine Safety Unit (JZNC-YSU01-1E)
13.7.1 Machine Safety Unit (JZNC-YSU01-1E)
This unit contains dual processing circuits for safety signal.
It processes external safety signals with the dual processing circuits and control ON/OFF of the contactor for SERVO power supply of the contactor unit (JZRCR-YPU) according to conditions.
Followings are the main functions of Machine Safety Unit.
• Robot specific I/O circuit (safety signal dual circuits)
• Servo-ON Enable (ONEN) Input Circuit (dual circuits)
• Overrun (OT, EXOT) Input Circuit (dual circuits)
• Programming Pendant Signal PPESP, PPDSW, etc. Input Circuit
(safety signal dual circuits)
• Contactor Control Signal Output Circuit (dual circuits)
• Emergency Stop Signal Input Circuit (dual circuits)
(CN207)
I/F for Machine Safety Unit
(CN206)
I/F-IN for Machine Safety Unit
(CN202)
I/F for Major Axes Control Circuit Board - Communication
I/F-OUT for Machine Safety Unit
F1,F2: Fuse
3.15A/250V
(CN201)
Power Supply Output Connector
(CN200)
Power Supply Input Connector
(CN203)
OT Input Connector s
(CN214)
Contactor Control 1
(CN213)
Contactor Control 2
(CN212)
FANALM,FANCTL,LAMP
(CN216)
MXT Connection
(CN211)
ONEN,EXONEN,EXOT
(CN210)
I/F between Major Axes
Control Circuit Boards
(CN215)
For Contactor Control 3 and 4
(CN209)
PP I/F
(CN208)
Door Emergency Stop Button
13-18
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.7 Machine Safety Unit (JZNC-YSU01-1E) DX100
13.7.2 Connection for Servo-ON Enable Input (ONEN1 and ONEN2)
Connect the ONEN signal lines to enable the function to turn ON or OFF the servo power supply of an individual servo when a robotic system is divided into areas. Because these signals are not used for units of standard specifications, a jumper cable is connected as shown in the following figure.
For safety reasons, dual circuits are used for the Servo-ON Enable input signals. Connect the signal so that both input signals are turned ON or
OFF at the same time. If only one signal is turned ON, an alarm occurs.
Refer to “8 Servo Power Supply Individual Control Function” of
“Independent/Coordinated Function Instructions Manual” for the usage of the Servo-ON Enable signals.
For the connection of CN211 Connector, refer to chapter 13.8 “WAGO
Fig. 13-11: Connection for Servo-ON Enable Input
DX100
Machine safety unit
JZNC-YSU01-1E Remove the jumper cable
CN211
-1
Servo-ON enable input signal
ONEN1_1+
-2
ONEN1_1-
-3
ONEN1_2+
-4
ONEN1_2-
长沙工控帮教育科技有限公司
Turn ON/OFF at the same time
13-19
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.7 Machine Safety Unit (JZNC-YSU01-1E) DX100
13.7.3 Connection for External Axis Overrun (EXOT)
With a unit of standard specifications without an external axis, the external axis overrun input signal is not used. In this case, a jumper cable is connected as shown in the following figure.
If an overrun input signal for an axis other than manipulator axes, for example the external axis, is required, connect the signal input circuit in the following manner.
For safe reason, a dual circuits are used for the external axis overrun signal input. Connect the external axis overrun signal so that both input signals are turned ON or OFF at the same time. If only one signal is turned ON, an alarm occurs.
1. Remove the jumper cable between the connectors CN211-9 and -10 and between the connectors CN211-11 and -12 of the JZNC-YSU01-
1E machine safety unit.
2. Connect the external axis overrun wiring between the connectors
CN211-9 and -10 and between the connectors CN211-11 and -12 of the JZNC-YSU01-1E machine safety unit.
For the connection of CN211 Connector, refer to
CAUTION
• Remove jumper cable installed on specific input signal before connecting the input signal lines.
Failure to observe this caution could lead to injury or mechanical failure.
Fig. 13-12: Connection for External Axis Overrun 长沙工控帮教育科技有限公司
DX100
Machine Safety Unit
JZNC-YSU01-1E
OT2_1+
CN211
-9
-10
OT2_1-
-11
OT2_2+
-12
OT2_2 -
Remove the jumper cable
External axis overrun
Turn ON/OFF at the same time
13-20
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.8 WAGO Connector
13.8
WAGO Connector
CN211 on the machine safety unit (JZNC-YSU01-1E), CN152 on the CPS unit (JZNC-YPS01-E), and CN303 on the robot I/O unit (JZNC-YIU01-E) are equipped with a connector made by WAGO.
The “wiring tool for the WAGO connector” is necessary to wire the WAGO connector.
The tools (total 3, 2 types) are supplied with the DX100.
Use them with the appropriate sizes of connectors.
The wiring procedure is described as follows:
1. Insert part A of the wiring tool into one of the holes designed for the tool.
Wiring tool for WAGO connector
(Supplied parts - 2 types)
Hole for the wiring tool
Part A
WAGO connector (e.g. 4 pins type)
Wire 长沙工控帮教育科技有限公司
Connector to be applied Specification
CPS unit: (JZNC-YPS01-E) CN152
Max cable outside diameter: 4.1mm dia.
Stripped lentgh: 8-9mm
Machine safety unit: (JZNC-YSU01-1E) CN211
Robot I/O unit: (JZNC-YIU02-E) CN303
Max cable outside diameter: 3.4mm dia.
Stripped lentgh: 7mm
13-21
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.8 WAGO Connector
2. Insert or pull out the wire while pushing the wiring tool downward
(Direction of the arrow).
Wiring tool for WAGO connector
Push
3. Remove the wiring tool from the connector. (Complete)
Keep this wiring tool for the future use.
长沙工控帮教育科技有限公司
13-22
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
13.9
Robot Specific Input Terminal Block (MXT)
The robot specific input termial block (MXT) is equipped at lower part of the right side of DX100 as shown below. The input termilnal block (MXT) is used for the input of robot system signals.
For connections, refer to connection diagrams for each corresponding items.
Fig. 13-13: Robot Specific Input Terminal Block (MXT)
(MXT)
长沙工控帮教育科技有限公司
DX100 Inside Right Side
13-23
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
Wiring Procedure of the MXT Connector
For your safety, appropriate work must be done by following the instructions below.
1. Tool: Screwdriver
– For the connection, be sure to use a screwdriver of an applicable size and configuration.
* WAGO standard screwdriver
WAGO 210-119
WAGO 210-119SB (Short,
delivered with the product)
2. Applicable Wires
(1) The length of the exposed conductor (L) should be as follows:
– * The length of the exposed conductor set for the terminal block (L)
WAGO series 250 (with 5.0 mm pitch): 9-10 mm
– * Applicable max cable outside diameter: 3.1 mm dia.
L
(2) In case that the conductor is bent or feazed, make it straight as
13-24
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
3. Wire Connection
Terminal block: screwless clamp terminal WAGO series 250
209-188
(1) Place the screwdriver on the lever upright as shown in the figure below and push straight down.
(2) Insert the wire into the connection hole slowly until its leading end
For thin wires, never insert the wire with force, or the wire jacket may get caught in.
(3) Pull out the screwdriver to clamp the conductor with a spring.
(4) Check if the wire is connected firmly by pulling the wire softly.
13-25
DX100
JZNC
-YSU01-1E
EXESP1+
EXESP1-
EXESP2+
EXESP2-
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
External Emergency Stop
This signal is used to connect the emergency stop switch of an external device. If the signal is input, the servo power is turned OFF and the job is stopped. While the signal is input, the servo power cannot be turned ON.
CAUTION
• Always connect the signals after removing jumper cable.
If the cables are not removed, injury or damage to machinery may result and the external emergency stop will not work even if the signal is input.
Fig. 13-14: Connection for External Emergency Stop
JANCD-
YSF03
DX100
Robot system input terminal block
MXT
-19
Remove the jumper cable
-20 External emergency stop
-21
Turn ON/OFF at the same time
-22
长沙工控帮教育科技有限公司
13-26
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
Safety Plug
This signal is used to turn OFF the servo power if the door on the safeguarding is opened. Connect to the interlock signal from the safety plug on the safeguarding door. If the interlock signal is input, the servo power turns OFF. While the signal is turned ON. The servo power cannot be turned ON. Note that these signals are disabled in teach mode.
CAUTION
• Always connect the signals after removing jumper cable.
If the cables are not removed, injury or damage to machinery may result and the external emergency stop will not work even if the signal is input.
JZNC
-YSU01-1E
JANCD
-YSF03
Fig. 13-15: Connection for Safety Plug
DX100
Robot system input terminal block
MXT
Remove the jumper cable
-9
SAFF1+
-10 Safety plug
SAFF1-
-11
SAFF2+
-12
SAFF2-
长沙工控帮教育科技有限公司
Turn ON/OFF at the same time
13-27
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
Installation of Safety Plug
The manipulator must be surrounded by a safeguarding and a door protected by an interlock function. The door must be opened by the technician to enter and the interlock function stops the robot operation when the door is open. The safety plug input signal is connected to the interlock signal from the gate.
Manipulator
Working Area
Safeguarding
Servo ON Lamp (Option)
DX100
Safety Plug
Taked Plug
Emergency
Stop
Safeguarding
If the servo power is ON when the interlock signal is input, the servo power turns OFF. The servo power cannot be turned ON while the interlock signal is input. However, the servo power does not turn OFF when the door is opened only during the teach mode. In this case, the
长沙工控帮教育科技有限公司
13-28
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
Full-speed Test
This signal is used to reset the slow speed limit for the test run in the teach mode.
If this signal input circuit is short-circuited, the speed of the test run becomes 100% in the play mode.
If this signal’s circuit is open, the status SSP input signal determines the slow speed: The first slow speed (16%) or second slow speed (2%).
Fig. 13-16: Connection for Full-speed Test
D X100
JZNC
-YSU01-1E
JANCD
-YSF03
Robot system input terminal block
MXT
Full-speed test
FST1+
FST1-
FST2+
FST2-
-23
-24
-25
-26
Turned ON/OFF at the same time
长沙工控帮教育科技有限公司
13-29
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
Slow Speed Mode Selection
This signal is used to determine the speed of the test run when the FST
(full-speed test) signal input circuit is open.
Open: Second slow speed (2%)
Short-circuit: First slow speed (16%)
Fig. 13-17: Connection for Slow Speed Mode Selection
DX100
JZNC
-YSU01-1E
JANCD
-YSF03
Robot system input terminal block
MXT
Remove the jumper cable
Slow speed mode selection
SSP+
SSP-
-27
-28
External Servo ON
This signal is used to connect the servo ON switch of an external operation device.If the signal is input, the servo power supply is turned
ON.
Fig. 13-18: Connection for External Servo ON
DX100 长沙工控帮教育科技有限公司
JZNC
-YSU01-1E
JANCD
-YSF03
Robot system input terminal block
MXT
External servo ON
EXSVON+
EXSVON-
-29
-30
13-30
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
External Hold
This signal is used to connect the temporary stop switch of an external device. If the signal is input, the job is stopped. While the signal is input, starting and axis operations are disabled.
CAUTION
• Always connect the signals after removing jumper cable.
If the cables are not removed, injury or damage to machinery may result and the external emergency stop will not work even if the signal is input.
Fig. 13-19: Connection for External Hold
DX100
JZNC
-YSU01-1E
JANCD
-YSF03
Robot system input terminal block
MXT
Remove the jumper cable
EXHOLD+
EXHOLD-
-31
-32 External Hold
长沙工控帮教育科技有限公司
13-31
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT)
External Enable Switch
This signal is used to connect Enable switch other than the one on the programming pendant when two people are teaching.
CAUTION
• Always connect the signals after removing jumper cable.
Injury or damage to machinery may result because the external emergency stop do not work even if the signal is input.
Fig. 13-20: Connection for External Enable Switch
JZNC
-YSU01-1E
JANCD
-YSF03
DX100
Robot system input terminal block
MXT Remove the jumper cable
EXDSW1+
EXDSW1-
EXDSW2+
EXDSW2-
-33
-34
-35
-36
External Enable Switch
Turned ON/OFF at the same time
长沙工控帮教育科技有限公司
13-32
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.9 Robot Specific Input Terminal Block (MXT) DX100
Signal Name Connection
No. (MXT)
Dual
EXESP1+
EXESP1-
-19
-20
Function input
Applicable External Emergency Stop
EXESP2+
EXESP2-
-21
-22
Used to connect the emergency stop switch of an external device.
If the signal is input, the servo power is turned
OFF and the job is stopped.
While the signal is input, the servo power cannot be turned ON.
Factory Setting
Short-circuit with a jumper cable
SAFF1+
SAFF1-
SAFF2+
SAFF2-
FST1+
FST1-
FST2+
FST2-
SSP+
SSP-
EXSVON+
EXSVON-
EXHOLD+
EXHOLD-
EXDSW1+
EXDSW1-
EXDSW2+
EXDSW2-
-9
-10
-11
-12
-33
-34
-35
-36
-23
-24
-25
-26
-27
-28
-29
-30
-31
-32
Applicable Safety Plug
Used to turn OFF the servo power if the door on the safeguarding is opened. Connect to the interlock signal from the safety plug on the safeguarding door. If the interlock signal is input, the servo power turns OFF. While the signal is turned ON. The servo power cannot be turned
ON. Note that these signals are disabled in teach mode.
Applicable Full-speed Test
Short-circuit with a jumper cable
Open
Used to reset the slow speed limit for the test run in the teach mode.
If this signal input circuit is short-circuited, the speed of the test run becomes 100% in the teach mode.
If this signal’s circuit is open, the status SSP input signal determines the safety speed: The first slow speed (16%) or second slow speed
(2%).
Slow Speed Mode Selection Short-circuit with a jumper cable
Used to determine the speed of the test run when the FST (full-speed test) signal input circuit is open.
长沙工控帮教育科技有限公司
Short-circuit: First slow speed (16%)
External Servo ON Open
-
Use to connect the servo ON switch of an external operation device.
If the signal is input, the servo power supply is turned ON.
External Hold Short-circuit with a jumper cable
Used to connect the temporary stop switch of an external device.
If the signal is input, the job is stopped.
While the signal is input, starting and axis operations are disabled.
Applicable External Enable Switch
Used to connect a Enable switch other than the one on the programming pendant when two people are teaching.
Short-circuit with a jumper cable
13-33
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.10 Contact Output of Emergency Stop Button
13.10
Contact Output of Emergency Stop Button
The contact output terminals for the emergency stop button on the programming pendant and the door front are provided on the terminal block
2XT (screw size M3.5) at lower part of the right side of DX100.
These contact outputs are always valid no matter of the DX100 main power supply status ON or OFF. (Status output signal: normally closed contact)
CAUTION
• Do not use the emergency stop button with 24 VAC, 0.5 A or more.
Failure to observe this instruction may result in damage to equipment.
Fig. 13-21: Contact Output Terminal Block of Emergency Button (2XT)
Front door of DX100
Emergency stop button
EXT
2XT
PBESP3+
PBESP3+
PBESP3
−
PBESP4+
PBESP3
−
PBESP4+
PBESP4
−
长沙工控帮教育科技有限公司 PBESP4
−
Programming pendant
Emergency stop button
PPESP3+
PPESP3 −
PPESP4+
PPESP4 −
PPESP3+
PPESP3
−
PPESP4+
PPESP4
−
13-34
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.11 SERVOPACK DX100
13.11
SERVOPACK
A SERVOPACK consists of a converter and a PWM amplifier of which there are two types. One type is the SERVOPACK with a combined converter and a PWM amplifier and the other type is one where both units are separate. (Refer to attached table “SERVOPACK Configuration”).
13.11.1 Description of Each Unit
13.11.1.1 Converter
This exchanges the power supply (3-phase : AC200/220V) supplied by the contactor unit for DC power supply and supplies the power to PWM amplifiers for each axis.
13.11.1.2 PWM Amplifier
This exchanges the DC power supply supplied by a converter for a
3-phase motor power source and outputs to each servo motor.
13.11.2 SERVOPACK Configuration
Table 13-2:
Configuration Device
SERVOPACK
Converter
PWM
Amplifier
S
L
U
R
B
T
E
MH5/MH5L
Model
MH6
Model
MA1400
Model
VA1400
Model
JZRCR-YSV01-11 JZRCR-YSV02-11 JZRCR-YSV02-11 JZRCR-YSV02-31
SRDA-
COA12A01A-E
SRDA-
COA12A01A-E
SRDA-
COA12A01A-E
SRDA-
COA12A01A-E
SRDA-
SDA14A01A-E
SRDA-
SDA14A01A-E
SRDA-
SDA14A01A-E
SRDA-
SDA14A01A-E
SRDA-
SDA14A01A-E
SRDA-
SDA14A01A-E
SRDA-
SDA14A01A-E
SRDA-
SDA14A01A-E
SRDA-
SRDA-
SRDA-
SRDA-
SRDA-
SRDA-
SRDA-
SRDA-
SDA03A01A-E SDA06A01A-E SDA06A01A-E SDA06A01A-E
SRDA-
SDA03A01A-E
SRDA-
SDA03A01A-E
SRDA-
SDA06A01A-E
SRDA-
SDA06A01A-E
SRDA-
SDA06A01A-E
SRDA-
SDA06A01A-E
SRDA-
SDA06A01A-E
SRDA-
SDA06A01A-E
SRDA-
SDA14A01A-E
13-35
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.11 SERVOPACK
Table 13-3:
Configuration Device
SERVOPACK
Converter
PWM
Amplifier
B
T
E
U
R
S
L
MA1900 HP20D
Model
HP20D-6
Model
JZRCR-YSV03-11 JZRCR-YSV03-11
SRDA-COA12A01A-E SRDA-COA12A01A-E
SRDA-SDA14A01A-E SRDA-SDA14A01A-E
SRDA-SDA21A01A-E SRDA-SDA21A01A-E
SRDA-SDA14A01A-E SRDA-SDA14A01A-E
SRDA-SDA06A01A-E SRDA-SDA06A01A-E
SRDA-SDA06A01A-E SRDA-SDA06A01A-E
SRDA-SDA06A01A-E SRDA-SDA06A01A-E
Table 13-4:
Configuration Device
Converter
SERVOPACK
PWM
Amplifier
U
R
S
L
MH50
Model
SRDA-COA30A01A-E
JZRCR-YSV04-11
SRDA-SDA71A01A-E
SRDA-SDA71A01A-E
SRDA-SDA35A01A-E
SRDA-SDA14A01A-E
MS80
Model
SRDA-COA30A01A-E
JZRCR-YSV05-11
SRDA-SDA71A01A-E
SRDA-SDA71A01A-E
SRDA-SDA71A01A-E
SRDA-SDA14A01A-E
VS50/SIA50D
Model
SRDA-COA30A01A-E
JZRCR-YSV05-41
SRDA-SDA71A01A-E
SRDA-SDA71A01A-E
SRDA-SDA71A01A-E
SRDA-SDA14A01A-E
B SRDA-SDA14A01A-E SRDA-SDA14A01A-E SRDA-SDA14A01A-E
T
E
SRDA-SDA14A01A-E SRDA-SDA14A01A-E SRDA-SDA14A01A-E
长沙工控帮教育科技有限公司
Table 13-5:
Configuration Device
Converter
SERVOPACK
PWM
Amplifier
B
T
E
U
R
S
L
ES165D
Model
ES200D
Model
SRDA-COA30A01A-E SRDA-COA30A01A-E
JZRCR-YSV06-11 JZRCR-YSV06-11
SRDA-SDA71A01A-E SRDA-SDA71A01A-E
SRDA-SDA71A01A-E SRDA-SDA71A01A-E
SRDA-SDA71A01A-E SRDA-SDA71A01A-E
SRDA-SDA35A01A-E SRDA-SDA35A01A-E
SRDA-SDA21A01A-E SRDA-SDA21A01A-E
SRDA-SDA21A01A-E SRDA-SDA21A01A-E
13-36
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.11 SERVOPACK
Fig. 13-22: SERVOPACK Configuration for MH5, MH5L, MH6, MA1400, MA1900, HP20D, HP20D-6
EAXA Base Fixing Screw (top)
(CN512)
SHOCK Signal Input
(CN509)
Control Power Supply Input
(CN508)
Encoder Signal
(CN518)
I/O Communication
(CN517)
I/O Communication
(CN516)
Control Communication
(CN515)
Control Communication
EAXA Base
Ground Terminal
EAXA Base Fixing
Screw (bottom)
(CN554)
Grounding Detection Input
Ground Terminal
(CN557)
Regenerative Resister
(CN555)
Main Circuit Power Supply Input
(CN553)
Converter Control Signal
Monitor Alarm
Display LED
(CN551)
Control Power Supply Input
(CN552A)
Control Power SupplyOutput
for 6-Axis Amplifier
Converter
(CN552B)
Control Power SupplyOutput
for External Axis Amplifier
(CN556)
Control Power SupplyOutput for 6-Axis Amplifier
(CN558)
Main Circuit Power Supply Output for External Axis Amplifier
Charge Lamp
EAXA Base Fixing Screw (top)
(AMP1,3,5-CN581)
PWM Signal
EAXA Board
(CN513)
Brake Control Signal
(CN511)
Safety Unit I/O
(CN514)
Direct-in
(CN507)
Converter Control Signal
(CN502)
AMP2 PWM Signal
(CN501)
AMP1 PWM Signal
(CN504)
AMP4 PWM Signal
(CN503)
AMP3 PWM Signal
AMP1
AMP3
AMP5
(AMP1,3,5-CN584)
Motor Power Output
(AMP1,3,5-CN583)
Amplifier Main Circuit
Power Supply
(CN505)
(CN506)
AMP6 PWM Signal
AMP5 PWM Signal
(AMP1,3,5-CN582)
Amplifier Control Power Supply
(EAXA Base is closed)
(AMP2,4,6-CN583)
Amplifier Main Circuit
Power Supply
(EAXA Base is open)
(AMP2,4,6-CN584)
Motor Power Output
AMP2
AMP4
AMP6
(AMP2,4,6-CN581)
PWM Signal
(AMP2,4,6-CN582)
Amplifier Control
Power Supply
Fig. 13-23: SERVOPACK Configuration for VA1400
(CN554)
Grounding Detection Input
Ground Terminal
(CN557)
Regenerative Resister
(CN555)
Main Circuit Power Supply Input
EAXA Base Fixing Screw (top)
(CN512)
SHOCK Signal Input
(CN553)
Converter Control Signal
Monitor Alarm
Display LED
(CN551)
Control Power Supply Input
(CN552A)
Control Power Supply Output
for 6-Axis Amplifier
Converter
(CN552B) Control Power Supply Output
for External Axis Amplifier
(CN556) Main Circuit Power Supply
Output for 6-Axis Amplifier
(CN558) Main Circuit Power Supply
Output for External Axis Amplifier
(AMP1,3,5,7-CN583)
Amplifier Main Circuit
Power Supply
(AMP1,3,5,7-CN581)
PWM Signal
(CN509)
Control Power Supply Input
(CN508)
Encoder Signal
(CN531)
(CN532)
PWM Amplifier 7 Signal
(back)
PWM Amplifier 8 Signal
(frond)
(CN517,CN518)
I/O Communication
(CN533)
PWM Amplifier 9 Signal
(CN515,CN516)
Control Communication
EAXA Base
Ground Terminal
EAXA Base Fixing
Screw (bottom)
EAXA Base Fixing Screw (top)
EAXA Board
(CN511)
Safety Unit I/O
(CN513)
Brake Control Signal
(CN514)
Direct-in
(CN507)
Converter Control Signal
(CN502)
AMP2 PWM Signal
(CN501)
AMP1 PWM Signal
(CN504)
AMP4 PWM Signal
(CN503)
AMP3 PWM Signal
AMP1
AMP3
AMP5
(AMP1,3,5,7-CN584)
Motor Power Output
AMP7
(CN506)
AMP6 PWM Signal
(CN505)
AMP5 PWM Signal
(AMP1,3,5,7-CN582)
Amplifier Control Power Supply
(EAXA Base is closed)
(AMP2,4,6-CN583)
Amplifier Main Circuit
Power Supply
(EAXA Base is open)
(AMP2,4,6-CN584)
Motor Power Output
AMP2
AMP4
AMP6
(AMP2,4,6-CN581)
PWM Signal
(AMP2,4,6-CN582)
Amplifier Control
Power Supply
13-37
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.11 SERVOPACK DX100
(CN553)
Converter Control Signal
(CN554)
Grounding Detection Input
Monitor Alarm Display LED
Upper Grip
Ground Terminal
(CN557)
Regenerative Resister
(CN555)
Main Circuit Power Supply Input
(CN510)
Control Power Supply Output for Converter
EAXA Base Fixing
Screw (top)
(CN512)
SHOCK Signal Input
(CN509)
Control Power Supply Input
(CN508)
Encoder Signal
(CN518)
I/O Communication
(CN517)
I/O Communication
(CN516)
Control Communication
(CN515)
Control Communication
EAXA Base
Ground Terminal
EAXA Base Fixing
Screw (bottom)
Fig. 13-24: SERVOPACK Configuration for MH50, MS80
(CN551)
Control Power Supply Input
(CN552A) Control Power Supply
Output for 6-Axis Amplifier
(CN552B) Control Power Supply
Output for External Axis Amplifier
Converter
Charge Lamp
(CN556)
Main Circuit Power Supply Output
(CN558)
Main Circuit Output for External Axis
Upper Grip
EAXA Base Fixing
Screw (top) AMP1
EAXA Board
(CN511)
Safety Unit I/F
(CN513)
Brake Control Signal
(AMP1,3,5-CN581)
PWM Signal
(CN514)
Direct-in
(CN507)
Converter Control Signal
(CN502)
AMP2 PWM Signal
(CN501)
AMP1 PWM Signal
AMP3
(CN504)
AMP4 PWM Signal
(CN506)
AMP6 PWM Signal
AMP5
(CN505)
AMP5 PWM Signal
(AMP1,3,5-CN584)
Motor Power Output
(CN503)
AMP3 PWM Signal
(AMP1,3,5-CN582)
Amplifier Control
Power Supply
(AMP1,3,5-CN583)
Amplifier Main Circuit
Power Supply
(AMP2,4,6-CN583)
Amplifier Main Circuit Power Supply
(AMP2,4,6-CN582)
Amplifier Control Power Supply
(AMP2,4,6-CN584)
Motor Power Output
AMP2
AMP4
(AMP2,4,6-CN581)
PWM Signal
AMP6
Lower Grip
(EAXA Base is closed)
Lower Grip
(EAXA Base is open)
Fig. 13-25: SERVOPACK Configuration for VS50, SIA50D
(CN553)
I/O Signal Connecting Terminal
(CN554)
Grounding Detection Input
Ground Terminal
(CN557)
Regenerative Resister
(CN555) Main Circuit
Power Supply Input
(CN510) Control Power Supply
Output for Converter
EAXA Base Fixing Screw (top)
(CN509)
Control Power Supply Input
(CN512)
SHOCK Signal Input
(CN508)
Encoder Signal
(CN531) PWM Amplifier 7
Signal (back)
(CN532) PWM Amplifier 8
Signal (front)
(CN517,CN518)
I/O Communication
(CN533)
PWM Amplifier 9 Signal
(CN515,CN516)
Control Communication
EAXA Base
Ground Terminal
EAXA Base Fixing
Screw (bottom)
(CN534)
Encoder Signal
(7th Axis)
(CN535)
Encoder Signal
(8th Axis)
Monitor Alarm
Display LED
Upper Grip
(CN536)
Encoder Signal
(9th Axis)
(CN551)
Control Power Supply
(CN552A)
Control Power Supply
Lower Grip
(EAXA Base is closed)
(CN552B)
Control Power Supply
(AMP1,3,5,7-CN583)
Amplifier Main Circuit Power Supply
(AMP1,3,5,7-CN581)
PWM Signal
Charge Lamp
Main Circuit Power Supply Output
(CN558)
Main Circuit Output for External Axis
Upper Grip
EAXA Base Fixing
Screw (top)
EAXA Board
(CN511)
Safety Unit I/F
AMP1
(CN513)
Brake Control Signal
(CN514)
Direct-in
(CN507)
Converter Control Signal
(CN502)
AMP2 PWM Signal
(CN501)
AMP1 PWM Signal
(CN504)
AMP4 PWM Signal
(CN506)
AMP6 PWM Signal
AMP3
AMP5
(CN505)
AMP5 PWM Signal
(AMP1,3,5,7-CN584)
Motor Power Output
AMP7
EAXA Base Fixing
Screw (bottom)
(CN503)
AMP3 PWM Signal
(AMP1,3,5,7-CN582)
Amplifier Control Power Supply
(AMP2,4,6-CN583)
Amplifier Main Circuit Power Supply
(AMP2,4,6-CN582)
Amplifier Control Power Supply
Lower Grip
(EAXA Base is open)
(AMP2,4,6-CN584)
Motor Power Output
AMP2
AMP4
(AMP2,4,6-CN581)
PWM Signal
AMP6
13-38
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.11 SERVOPACK DX100
Fig. 13-26: SERVOPACK Configuration for ES165D, ES200D
(CN553) I/O Signal Connecting Terminal
Monitor Alarm Display LED (CN551)
Control Power Supply
(CN554)
Grounding Detection Input
Ground Terminal
Upper Grip (CN552A)
Control Power Supply
(CN557)
Regenerative Resister
(CN555) Main Circuit
Power Supply Input
(CN552B)
Control Power Supply
Converter
Charge Lamp
(CN556)
Main Circuit Power Supply Output
(CN558)
Main Circuit Output for External Axis
(CN510)
Control Power Supply
Output for Converter
EAXA Base
Fixing Screw (top)
(CN512)
SHOCK Signal Input
(CN509)
Control Power Supply Input
(CN508)
Encoder Signal
(CN518)
I/O Communication
(CN517)
I/O Communication
(CN516)
Control Communication
(CN515)
Control Communication
Upper Grip
EAXA Base
Fixing Screw (top)
EAXA Board
(CN513)
Brake Control Signal
AMP1
(CN511)
Safety Unit I/F
(AMP1,3,5-CN581)
PWM Signal
(CN514)
Direct-in
(CN507)
Converter Control Signal
(CN502)
AMP2 PWM Signal
(CN501)
AMP1 PWM Signal
AMP3
(CN504)
AMP4 PWM Signal
(CN503)
AMP3 PWM Signal
AMP5
(AMP1,3,5-CN584)
Motor Power Output
(CN506)
AMP6 PWM Signal
(AMP1,3,5-CN583)
Amplifier Main Circuit
Power Supply
EAXA Base
Ground Terminal
EAXA Base Fixing
Screw (bottom)
(CN505)
AMP5 PWM Signal
(AMP1,3,5-CN582)
Amplifier Control
Power Supply
(AMP2,4,6-CN583)
Amplifier Main Circuit Power Supply
(AMP2,4,6-CN582)
Amplifier Control Power Supply
AMP2
(AMP2,4,6-CN584)
Motor Power Output
AMP4
(AMP2,4,6-CN581)
PWM Signal
AMP6
Lower Grip
(EAXA Base is closed)
Lower Grip
(EAXA Base is open)
长沙工控帮教育科技有限公司
13-39
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
13.12
Universal I/O Signal Assignment
13.12.1 Arc Welding
Fig. 13-27: JZNC-YIU01-E (CN308 Connector) I/O Allocation and
Connection Diagram (For Arc Welding)
External
Power Supply
+24 VE
0
24
VE
DX100
Robot I/O Unit (JZNC-YIU01-E)
Each Point
24VDC
8mA max.
Each Point
24VDC
50mA max.
+24VU
Logical
Number
Connector
Number
CN308 Connector
Name
20010 B1 External Start
20011 A1
-
20012 B2
Call Master Job
20013 A2 Alarm/Error Reset
20014 B3
-
20015 A3
Select Play Mode
20016 B4
Select Teach Mode
20017
20020
20021
20022
A4
B5
A5
B6
-
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
Work Prohibited
20023 A6 Work Response
B7
A7
0 24 VU
30010
30011
B8
A8
0
24
VU
Running
Servo is ON
Signal
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
OUT
OUT
30012
30013
30014
B9
A9
B10
Top of Master Job
Alarm/Error Occurred
Battery Alarm
OUT
OUT
OUT
30015 A10
30016
30017
B11
A11
Remote Mode Selected OUT
Play Mode Selected OUT
Teach Mode Selected
In Cube 1
OUT
OUT 30020
30021
30022
B12
A12
B13
30023 A13
In Cube 2
Work Home Position
Intermediate Start OK
(continuousing Sequence)
OUT
OUT
OUT
B14
CN303
-3
-4
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
-1
-2
+24VU
024VU
A15
B16
A16
B17
A17
024VU
024VU
024VU
024VU
+24VU
B18
A18 +24VU
B19
A19
B20
A20
+24VU
+24VU
FG
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
Connector Terminal Converter
(Optional)
Model:TIFS553YS
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
024VU
024VU
B13
A13
B14
A14
B15
A15
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
024VU
024VU
024VU
+24VU
+24VU
B17
A17
B18
A18
B19
A19
B20
A20
B13
A13
B14
A14
B15
A15
B16
A16
A5
B6
A6
B7
A7
B8
A3
B4
A4
B5
A8
B9
A9
B1
A1
B2
A2
B3
B10
A10
B11
A11
B12
A12
13-40
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-28: JZNC-YIU01-E (CN309 Connector) I/O Allocation and
Connection Diagram (For Arc Welding)
External
Power Supply
+24 VE
0 24 VE
DX100
Robot I/O Unit (JZNC-YIU01-E)
Each Point
24VDC
8mA max.
Each Point
24VDC
50mA max.
+24VU
Logical
Number
Connector
Number
CN309 Connector
Name
20024
20025
B1
A1
-
-
Weaving Prohibited
20026 B2
20027 A2
20030 B3
20031 A3
20032 B4
20033 A4
Sensing Prohibited
IN01 User Output
IN02
IN03
IN04
20034
20035
20036
20037
B5
A5
B6
A6
IN05
IN06
IN07
IN08
Signal
B7
A7
024VU
024VU
Gas Shortage (Monitor) OUT 30024 B8
30025 A8
30026 B9
Wire Shortage (Monitor) OUT
Wire Sticking (Monitor) OUT
30027 A9 Arc Shortage (Monitor)
30030 B10 OUT01 User Output
OUT
OUT
30031 A10 OUT02
30032 B11
30033 A11
OUT03
OUT04
30034 B12 OUT05
30035 A12 OUT06
30036 B13
30037 A13
OUT07
OUT08
OUT
OUT
OUT
OUT
OUT
OUT
OUT
B14
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
CN303
-3
-4
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
-1
-2
+24VU
024VU
A14
B15
A15
024VU
A16
024VU
B17 024VU
A17 024VU
B18 +24VU
A18 +24VU
B19 +24VU
A19 +24VU
B20
FG
A20
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
Connector Terminal Converter
(Optional)
Model:TIFS553YS
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
024VU
A15
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
A6
024VU
024VU
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A10
B11
A11
B12
A12
B13
A13
B14
A14
B7
A7
B8
A8
B9
A9
B10
B15
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
A20
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
13-41
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-29: JZNC-YIU01-E (CN306 Connector) I/O Allocation and
Connection Diagram (For Arc Welding)
External
Power Supply
+24 VE
0 24 VE
DX100
Robot I/O Unit JZNC-YIU01-E
-1
-2
Each Point
24VDC
8mA max.
Each Point
24VDC
50mA max.
CN303
-3
-4
Power Supply
+24 V
0
24
V
(24V,1A)
+24VU
024VU
+24VU
30040
30041
30042
30043
30044
30045
30046
30047
20040
20041
20042
20043
20044
20045
20046
20047
Logical
Number
Connector
Number
CN306
Name
B1
A1
IN09 User Input
IN10
IN11 B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
B7
A7
B8
024VU
024VU
OUT09 User Input
OUT10
A8
B9
A9
OUT11
OUT12
B10 OUT13
A10
B11
OUT14
OUT15
A11 OUT16
B12
A12
B13
A13
B14
IN12
IN13
IN14
IN15
IN16
A14
B15
A15
024VU
024VU
B17 024VU
A17
B18
024VU
+24VU
A18 +24VU
B19
A19
B20
+24VU
+24VU
FG
A20
Signal
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
IN
IN
IN
IN
IN
IN
IN
IN
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
Connector Terminal Converter
(Optional)
Model: TIFS553YS
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
A15
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
024VU
024VU
024VU
+24VU
+24VU
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
A6
024VU
024VU
B8
A8
B9
A9
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A10
B11
A11
B12
A12
B13
A13
B14
A14
B7
A7
B8
A8
B9
A9
B10
B15
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
A20
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
13-42
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-30: JZNC-YIU01-E (CN307 Connector) I/O Allocation and
Connection Diagram (For Arc Welding)
External
Power Supply
+24 VE
0 24 VE
DX100
Robot I/O Unit
JZNC-YIU01-E
-1
-2
Each Point
24VDC
8mA max.
Each Point
24VDC
500mA max.
CN303
-3
-4
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
+24VU
024VU
+24VU
Logical
Number
Connector
Number
CN307 Connector
Name
20050 B1
20051 A1
IN17
20052
20053
B2
A2
IN18
IN19
IN20
20054
20055
B3
A3
IN21
IN22
IN23
20056
20057
B4
A4 IN24
B5
A5
B6
A6
B7
A7
024VU
024VU
30050 B8
A8
30051 B9
A9
OUT17-
OUT17+
OUT18-
OUT18+
30052 B10
A10
OUT19-
OUT19+
30053 B11
OUT20-
A11 OUT20+
30054 B12 OUT21-
30055
A12 OUT21+
OUT22-
B13
A13
30056
B14
OUT22+
OUT23-
30057
A14
OUT23+
B15
A15
OUT24-
OUT24+
B16 024VU
A16 024VU
B17 024VU
A17 024VU
B18 +24VU
A18 +24VU
B19 +24VU
A19 +24VU
B20 FG
A20
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
Signal
IN
IN
IN
IN
IN
IN
IN
IN
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
B16
A16
B17
A17
B18
A18
B19
A19
B20
A20
Connector Terminal Converter
(Optional)
Model: TIFS553YS
A15
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
024VU
024VU
024VU
+24VU
+24VU
A6
024VU
024VU
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A10
B11
A11
B12
A12
B13
A13
B14
A14
B7
A7
B8
A8
B9
A9
B10
A3
B4
A4
B5
A5
B6
A6
B1
A1
B2
A2
B3
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
* means internal relay
13-43
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-6: Specific Input (Arc Welding)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20022
20023
20026
20027
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
长沙工控帮教育科技有限公司
Arc generation is prohibited while this signal is ON. Arc generation starts when this signal turns OFF inside the arc-generation area. Use this signal to confirm teaching.
WORK RESPONSE (Pseudo Arc ON Response)
This signal is used as a pseudo signal in cases that “Arc Generation Confirmation” signal is not equipped on a welding power supply. Wire this signal ON normally (short to OV).
WEAVING PROHIBITED
Weaving is prohibited while this signal is ON. Use this signal to check taught steps and movements without performing the weaving operation.
SENSlNG PROHIBITED
Arc sensing is prohibited while this signal is ON. Use this signal to check taught steps and movements if an arc sensor is mounted.
1 A master job is a job (program) which can be called by CALL MASTER JOB.Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the master job.
2 See chapter 8.6 “Interference Area” at page 8-56 .
13-44
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-7: Specific Output (Arc Welding)
Logical Output Name / Function
Number
30010
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
RUNNING
This signal signifies that the job is running. (Signifies that the job is running, system status is waiting reserved start, or test run is running.) This signal status is the same status as [START] in the programming pendant.
SERVO IS ON
This signal signifies that the servo power is turned ON, internal processing such as current position creation is complete, and the system is able to receive the START command. This signal turns OFF when the servo power supply turns OFF. It can be used for DX100 status diagnosis for an external start.
TOP OF MASTER JOB
This signal signifies that the execution position is the top of the master job. This signal can be used to confirm that the master job has been called.
1)
ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error occurred. If a major error occurs, this signal remains ON until the main power is turned OFF.
BATTERY ALARM
This signal turns ON to notify that the battery requires replacing when the voltage drops from the battery for backup memory of the encoder. Major problems may result if memory data is lost because of an expired battery. It is recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2).
Use this signal to prevent interference with other manipulators and positioners.
WORK HOME POSITION (IN CUBE 32)
2)
30023
30024
30025
30026
30027
Use this signal to evaluate whether the manipulator is in the start position.
INTERMEDIATE START OK
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the cursor or when editing operation is carried out after
HOLD is applied during operation. Therefore, this signal can be used as a restart interlock after a HOLD is applied. However, it also turns ON in the teach mode and
TEACH MODE SELECTED signal must be referred together.
GAS SHORTAGE (MONITOR)
This signal stays ON while the gas shortage signal from the welding power supply is
ON.
WIRE SHORTAGE (MONITOR)
This signal status ON while the wire shortage signal from the welding power supply is
ON.
WIRE STICKING (MONITOR)
The wire sticking check is conducted automatically when the arc turns OFF. If wire sticking is detected, this signal remains ON until the wire sticking is released.
ARC SHORTAGE (MONITOR)
This signal stays ON while the arc shortage signal from the welding power supply is
ON.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are same.
13-45
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
13.12.2 Handling
External
Power Supply
+24 VE
0
24
VE
-1
-2
Fig. 13-31: JZNC-YIU01-E (CN308 Connector) I/O Allocation and
Connection Diagram (For Handling)
DX100
Robot I/O Unit
Each Point
24VDC
8mA max.
Each Point
24VDC
50mA max.
+24VU
Logical
Number
Connector
Number
20010 B1
CN308
Name
External Start
20011 A1 -
Signal
IN
20012 B2
20013 A2
20014 B3
20015 A3
20016 B4
20017 A4
Call Master Job
Alarm/Error Reset
-
Select Play Mode
Select Teach Mode
IN
IN
IN
IN
IN
IN
20020 B5
20021 A5
20022 B6
20023 A6
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
-
-
IN
IN
IN
IN
IN
B7
A7
30010 B8
30011 A8
30012 B9
024VU
024VU
Running
Servo is ON
Top of Master Job
30013 A9
30014 B10
30015 A10
Alarm/Error Occurred
Battery Alarm
Remote Mode Selected
30016 B11
30017 A11
Play Mode Selected
Teach Mode Selected
30020 B12 In Cube 1
30021 A12
30022 B13
30023 A13
In Cube 2
Work Home Position
Intermediate Start OK
(continuousing Sequence)
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
B14
A14
B15
Connector Terminal Converter
(Optional)
Model: TIFS553YS
CN303
-3
-4
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
+24VU
024VU
024VU
A16
B17
024VU
024VU
A17 024VU
B18 +24VU
A18 +24VU
B19
+24VU
A19 +24VU
B20
FG
A20
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
024VU
B15
A15
024VU
024VU
024VU
024VU
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
A6
024VU
024VU
B8
A8
B9
A9
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
B10
A10
B11
A11
B12
A12
B13
A13
B14
B7
A7
B8
A8
B9
A9
A14
B15
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
A20
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
13-46
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-32: JZNC-YIU01-E (CN309 Connector) I/O Allocation and
Connection Diagram (For Handling)
External
Power Supply
+24 VE
0 24 VE
DX100
Robot I/O Unit
Each Point
24VDC
8mA max.
JZNC-YIU01-E
+24VU
CN309 Connector
Logical
Number
Connector
Number
20024 B1 -
Name
20025
20026
20027
A1
B2
A2
20030
B3
-
Shock Sensor (NC)
- Hold
Low Air Pressure
IN01
20031
20032
A3
B4
20033 A4
IN02
IN03
IN04
20034 B5
20035 A5
20036 B6
20037 A6
IN05
IN06
IN07
IN08
Signal
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
Connector Terminal Converter
(Optional)
Model: TIFS553YS
A3
B4
A4
B5
A5
B6
A6
B1
A1
B2
A2
B3
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
024VU B7
A7
B7
A7
024VU
024VU
024VU
OUT B8 B8
30024 B8
OUT A8 A8
30025 A8
OUT
B9 B9
30026 B9
- OUT
A9 A9
30027
A9
OUT01 User Output OUT
B10 B10
30030 B10
OUT02 A10 A10
30031 A10 OUT
OUT03 OUT B11 B11
30032 B11
30033 A11
A11
OUT04 OUT A11
30034 B12
OUT05 B12 B12
OUT
A12 OUT06 OUT
A12 A12
30035
-2
-1
30036 OUT07
B13
A13 A13
30037 A13 OUT08 OUT
Each Point
B14 B14
B14
-4
24VDC
-3
+24 V
0
24
V
A14
50mA max.
CN303
Internal
Power Supply
B15 长沙工控帮教育科技有限公司
A16
024VU
024VU
B15
A15
B16
A16
B15
A15
024VU
024VU
024VU B17 024VU
B17
A14 A14
A17
024VU
A17 024VU
(24V,1A)
+24VU
B18
+24VU
OUT
B13
B18
B13
+24VU
A18 +24VU
A18
+24VU +24VU
B19
+24VU
B19
A19 +24VU
024VU
A19 +24VU
B20
B20 FG
FG
024VU
A20
A20
024VU
024VU
024VU
024VU
024VU
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
13-47
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-33: JZNC-YIU01-E (CN306 Connector) I/O Allocation and
Connection Diagram (For Handling)
External
Power Supply
+24 VE
0 24 VE
DX100
Robot I/O Unit JZNC-YIU01-E
Connector Terminal Converter
(Optional)
Model: TIFS553YS
+24VU
Logical
Number
Connector
Number
CN306 Connector
Name
20040
20041
B1
A1
IN09
IN10
Signal
Each Point
24VDC
8mA max.
B2 IN11
IN
IN
IN
B1
A1
B2
Terminal
Number
B1
A1
B2
20042
20043 A2 IN
20044
IN12
IN13
A2
B3
A2
B3
B3 IN
20045 A3 IN14
20046 IN15
IN
IN
A3
B4
A3
B4
20047
B4
A4 IN16 IN
A4
B5
A4
B5
A5
B5
A5
A5
B6
B6
B6
A6
A6
A6
B7 024VU 024VU B7
A7 024VU
A7 024VU
OUT B8 B8
30040 B8 OUT09
30041 OUT10 OUT
A8 A8
A8
OUT11 OUT
B9 B9
30042 B9
30043 A9 OUT12
A9 A9
OUT
30044 OUT13 OUT
B10 B10
B10
30045 OUT14 A10 A10
A10 OUT
OUT15 OUT B11 B11
30046 B11
OUT16 A11
A11
30047 A11 OUT
B12 B12
B12
A12 A12
A12
Each Point
B13
B13 B13
24VDC
A13
A13 A13
50mA max.
B14 B14
B14
-2
-1
CN303
-3
-4
长沙工控帮教育科技有限公司
Internal
Power Supply
+24 V
0 24 V
(24V,1A)
A14
B15
B16
A16
B17
A17
024VU
024VU
024VU
B15
A15
B16
A16
B15
A15
024VU
024VU
024VU
A14
B17
A17
B18
A14
024VU
024VU
+24VU
B18 +24VU
A18 +24VU
A18 +24VU
+24VU B19 +24VU
B19 +24VU
A19 +24VU
024VU
A19 +24VU
B20 FG
B20 FG
024VU
A20
A20
024VU
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
13-48
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-34: JZNC-YIU01-E (CN307 Connector) I/O Allocation and
Connection Diagram (For Handling)
External
Power Supply
+24 VE
0
24
VE
-1
-2
DX100
Robot I/O Unit JZNC-YIU01-E
Each Point
24VDC
8mA max.
Each Point
24VDC
500mA max.
CN303
-3
-4
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
+24VU
024VU
+24VU
Logical
Number
Connector
Number
20050 B1
20051 A1
CN307 Connector
Name
Sensor Input 1
Sensor Input 2
Sensor Input 3
Sensor Input 4
20052 B2
20053 A2
20054 B3
20055 A3
20056 B4
20057 A4
Sensor Input 5
Sensor Input 6
Sensor Input 7
Sensor Input 8
B5
A5
B6
A6
B7
A7
024VU
30050 B8
A8
30051 B9
A9
30052 B10
024VU
Hand Value 1-1-
Hand Value 1-1+
Hand Value 1-2-
Hand Value 1-2+
Hand Value 2-1-
A10
30053 B11
A11
Hand Value 2-1+
Hand Value 2-2-
30054 B12
A12
30055 B13
A13
30056 B14
Hand Value 2-2+
Hand Value 3-1-
Hand Value 3-1+
Hand Value 3-2-
Hand Value 3-2+
Hand Value 4-1-
30057
A14
B15
Hand Value 4-1+
Hand Value 4-2-
Hand Value 4-2+
024VU
A16 024VU
B17 024VU
A17 024VU
B18 +24VU
A18 +24VU
B19 +24VU
A19 +24VU
B20 FG
A20
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
Signal
IN
IN
IN
IN
IN
IN
IN
IN
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
Connector Terminal Converter
(Optional)
Model: TIFS553YS
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
A20
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
B7
A7
B8
A8
B9
A9
B10
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
A15
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
A6
024VU
024VU
B8
A8
B9
A9
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
* means internal relay
13-49
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-8: Specific Input (Handling)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20026
20027
20050 to
20057
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
长沙工控帮教育科技有限公司
This is normally ON (NC) signal input. When it turns OFF, an DX100 displays a message "HAND TOOL SHOCK SENSOR OPERATING" and a HOLD is applied. The releasing in teach mode is done on the handling application diagnostic display. Set tool shock sensor function “NOT USE” on the handling applications diagnostic display if this signal is not be used.
LOW AIR PRESSURE
This signal is normally OFF (NO). When it turns ON, DX100 displays user alarm in the
PLAY mode or displays user message in the teach mode.
SENSOR INPUT 1 - 8
Inputs 1 to 8 are monitored with the HSEN handling specific instructions. Sensor inputs 1 to 8 correspond to HSEN 1 to 8.
1 A master job is a job (program) which can be called by CALL MASTER JOB. Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the master job.
2 See chapter 8.6 “Interference Area” at page 8-56 .
13-50
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-9: Specific Output (Handling)
Logical
Number
30010
Output Name / Function
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
30023
30050 to
30057
RUNNING
This signal signifies that the job is running. (Signifies that the job is running, system status is waiting reserved start, or test run is running.) This signal status is the same status as [START] in the programming pendant.
SERVO IS ON
This signal signifies that the servo power is turned ON, internal processing such as current position creation is complete, and the system is able to receive the START command. This signal turns OFF when the servo power supply turns OFF. It can be used for DX100 status diagnosis for an external start.
TOP OF MASTER JOB
This signal signifies that the execution position is the top of the master job. This signal can be used to confirm that the master job has been called.
1)
ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error occurred. If a major error occurs, this signal remains ON until the main power is turned OFF.
BATTERY ALARM
This signal turns ON to notify that the battery requires replacing when the voltage drops from the battery for backup memory of the encoder. Major problems may result if memory data is lost because of an expired battery. It is recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2).
长沙工控帮教育科技有限公司
This signal turns ON when the current TCP lies inside the work home position area.
Use this signal to evaluate whether the manipulator is in the start position.
INTERMEDIATE START OK
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the cursor or when editing operation is carried out after
HOLD is applied during operation. Therefore, this signal can be used as a restart interlock after a HOLD is applied. However, it also turns ON in the teach mode and
TEACH MODE SELECTED signal must be referred together.
HAND VALVE 1-4
These outputs are controlled by the HAND handling specific instructions.
Hand valves 1 to 4 correspond to HAND 1 to 4.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are same.
13-51
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
13.12.3 General Application
Fig. 13-35: JZNC-YIU01-E (CN308 Connector) I/O Allocation and
Connection Diagram (For General Application)
External
Power Supply
+24 VE
0
24
VE
DX100
Robot I/O Unit JZNC-YIU01-E
Connector Terminal Converter
(Optional)
Model: TIFS553YS
+24VU
CN308 Connector
Logical
Number
Connector
Number
20010 B1
20011 A1
Name
External Start
Signal
Each Point
24VDC
8mA max.
Call Master Job
IN
IN
IN
B1
A1
B2
Terminal
Number
B1
A1
B2
20012 B2
20013 A2 Alarm/Error Reset IN
IN
A2
B3
A2
B3
20014 B3
20015 A3
Select Play Mode
Select Teach Mode
IN
IN
A3
B4
A3
B4
20016 B4
20017 A4
A4
20020 B5
20021 A5
IN
IN
A4
B5
20022 B6
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
Work Prohibited
IN
IN
A5
B5
A5
B6
IN
B6
A6
A6
20023 A6
024VU B7 024VU B7
A7
024VU
A7 024VU
Running OUT B8 B8
30010 B8
30011 Servo is ON OUT
A8 A8
A8
OUT
B9 B9
30012 B9 Top of Master Job
A9 Alarm/Error Occurred OUT
A9 A9
30013
30014 OUT
B10 B10
B10 Battery Alarm
A10
A10
30015 A10 Remote Mode Selected OUT
B11 Play Mode Selected OUT
B11 B11
30016
A11 Teach Mode Selected OUT
A11
A11
30017
-2
-1
CN303
-3
-4
30020 B12
A12 In Cube 2 OUT
A12 A12
30021
B13
B13
30022 B13 Work Home Position OUT
A13 A13
30023 A13
Intermediate Start OK
(continuousing Sequence)
OUT
Each Point
B14 B14
24VDC
B14
A14 A14
50mA max. A14
长沙工控帮教育科技有限公司
B16 024VU
B15
A15
B16
B15
A15
024VU
A16
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
A16
B17
A17
In Cube 1
024VU
024VU
OUT
B12 B12
024VU
024VU
B17
A17
B18
024VU
024VU
+24VU
B18
+24VU
A18 +24VU
A18 +24VU
+24VU B19 +24VU
B19 +24VU
A19 +24VU
024VU
A19 +24VU
B20 FG
B20
FG
024VU
A20
A20
024VU
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
13-52
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-36: JZNC-YIU01-E (CN309 Connector) I/O Allocation and
Connection Diagram (For General Application)
External
Power Supply
+24 VE
0
24
VE
DX100
Robot I/O Unit JZNC-YIU01-E
Each Point
24VDC
8mA max.
+24VU
CN309 Connector
Logical
Number
Connector
Number
20024 B1
20025 A1
20026 B2
20027 A2
20030 B3
20031 A3
20032 B4
20033 A4
20034 B5
20035 A5
20036 B6
20037 A6
Name
Interference3 Entrance
Prohibited
Interference4 Entrance
Prohibited
IN01 User Input
IN02
IN03
IN04
IN05
IN06
IN07
IN08
Signal
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
Connector Terminal Converter
(Optional)
Model: TIFS553YS
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
B7
A7
024VU
024VU
B7
A7
024VU
024VU
In Cube 3 OUT B8 B8
30024 B8
30025 A8
30026 B9
30027 A9
In Cube 4
Work Instruction
OUT
OUT
OUT
A8
B9
A9
A8
B9
A9
OUT01 User Output
B10 B10
30030 B10 OUT
30031 OUT02 OUT A10 A10
A10
OUT03 OUT B11 B11
30032 B11
A11 OUT04 OUT A11
A11
30033
B12 B12
30034 B12 OUT05 OUT
A12 OUT06 OUT
A12 A12
30035
OUT07 OUT B13 B13
30036 B13
30037 A13 OUT08 OUT
A13 A13
Each Point
B14
B14 B14
24VDC
-3
-4
-1
-2
A14 A14
50mA max.
CN303
A14
Internal
Power Supply
+24 V
0 24 V
(24V,1A)
B15
A16
B17
A17
024VU
024VU
024VU
B15 长沙工控帮教育科技有限公司
A16
B17
A17
B18
B15
A15
024VU
024VU
024VU
B18 +24VU
024VU
+24VU
+24VU
A18 +24VU
A18
+24VU
B19
+24VU
B19 +24VU
A19 +24VU
024VU
A19 +24VU
B20 FG
B20
FG
024VU
A20
A20
024VU
024VU
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
13-53
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-37: JZNC-YIU01-E (CN306 Connector) I/O Allocation and
Connection Diagram (General Application)
External
Power Supply
+24 VE
0
24
VE
DX100
Robot I/O Unit
+24VU
JZNC-YIU01-E
CN306 Connector
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Logical
Number
Connector
Number
Name Signal
Terminal
Number Each Point
20040 B1 IN09 User Input IN
B1 B1
24VDC
20041 A1 IN10 IN
A1 A1
8mA max.
B2 IN11 IN
B2 B2
20042
A2 A2
20043 A2 IN12 IN
20044 IN
B3 B3
B3 IN13
A3 A3
20045 A3 IN14 IN
B4 B4
20046 B4 IN15 IN
A4 A4
20047 A4 IN16 IN
B5 B5
B5
A5 A5
A5
B6
B6
B6
A6
A6
A6
B7 024VU
B7 024VU
A7 024VU
A7 024VU
B8 B8
30040 B8 OUT09 User Output OUT
A8 A8
30041 A8 OUT10 OUT
B9 B9
30042 B9 OUT11 OUT
A9
A9
30043 A9 OUT12 OUT
B10 B10
30044 B10 OUT13 OUT
A10 A10
30045
A10
OUT14 OUT
B11
B11
30046 B11
OUT15 OUT
A11
A11
30047 A11 OUT16 OUT
B12
B12
B12
A12 A12
A12
Each Point B13 B13
B13
A13 A13 24VDC
A13
50mA max. B14 B14
-2
-1
B14
A14
CN303
-3
-4
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
B15
A15
长沙工控帮教育科技有限公司
B17
A17
024VU
024VU
B15
A15
B16
B17
A17
A15
024VU
024VU
024VU
024VU
B18
B15
+24VU
B18 +24VU
A18 +24VU
A18 +24VU
A14
+24VU
B19
A14
+24VU
B19 +24VU
A19 +24VU
024VU
A19 +24VU
B20 FG
FG B20
A20
024VU
A20
024VU
024VU
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
024VU
024VU
024VU
+24VU
+24VU
13-54
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-38: JZNC-YIU01-E (CN307 Connector ) I/O Allocation and
Connection Diagram (For General Application)
External
Power Supply
+24 VE
0
24
VE
DX100
Robot I/O Unit JZNC-YIU01-E
+24VU
CN306 Connector
Logical
Number
Connector
Number
Name Each Point
24VDC
8mA max.
20040
20041
B1
A1
IN09 User Input
IN10
20042 B2
20043 A2
IN11
IN12
20044 B3
20045 A3
20046 B4
20047 A4
IN13
IN14
IN15
IN16
Each Point
24VDC
50mA max.
CN303
-3
-4
Internal
Power Supply
+24 V
0
24
V
(24V,1A)
-1
-2
+24VU
024VU
B5
A5
B6
A6
B7
A7
024VU
024VU
30040 B8
30041
A8
30042 B9
30043 A9
OUT09 User Output
OUT10
OUT11
OUT12
30044 B10
30045
A10
30046 B11
30047 A11
B12
A12
OUT13
OUT14
OUT15
OUT16
B13
A13
B14
A14
B15
A15
024VU
024VU
B17 024VU
A17 024VU
B18 +24VU
A18 +24VU
B19 +24VU
A19 +24VU
B20 FG
A20
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
Signal
IN
IN
IN
IN
IN
IN
IN
IN
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
Connector Terminal Converter
(Optional)
Model: TIFS553YS
A6
024VU
024VU
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A15
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
A14
B15
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
A10
B11
A11
B12
A12
B13
A13
B14
B7
A7
B8
A8
B9
A9
B10
A20
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
13-55
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-10: Specific Input (General Application)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20022
20024
20025
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach-lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
长沙工控帮教育科技有限公司
Even if TOOLON instruction is executed, DX100 doesn’t output to external while this signal is ON.
INTERFERENCE 3 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 3
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 4 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 4
2) area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
1 A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the master job.
2 See chapter 8.6 “Interference Area” at page 8-56 .
13-56
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-11: Specific Output (General Application)
Logical
Number
30010
Output Name / Function
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
30023
30024
30025
30026
RUNNING
This signal signifies that the job is running. (Signifies that the job is running, system status is waiting reserved start, or test run is running.) This signal status is the same status as [START] in the programming pendant.
SERVO IS ON
This signal signifies that the servo power is turned ON, internal processing such as current position creation is complete, and the system is able to receive the START command. This signal turns OFF when the servo power supply turns OFF. It can be used for DX100 status diagnosis for an external start.
TOP OF MASTER JOB
This signal signifies that the execution position is the top of the master job. This signal can be used to confirm that the master job has been called.
1) *1
ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error occurred. If a major error occurs, this signal remains ON until the main power is turned OFF.
BATTERY ALARM
This signal turns ON to notify that the battery requires replacing when the voltage drops from the battery for backup memory of the encoder. Major problems may result if memory data is lost because of an expired battery. It is recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2).
Use this signal to prevent interference with other manipulators and positioners.
WORK HOME POSITION (IN CUBE 32)
2) 长沙工控帮教育科技有限公司
Use this signal to evaluate whether the robot is in the start position.
INTERMEDIATE START OK
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the cursor or when editing operation is carried out after
HOLD is applied during operation. Therefore, this signal can be used as a restart interlock after a HOLD is applied. However, it also turns ON in the teach mode and
TEACH MODE SELECTED signal must be referred together.
IN CUBE 3
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 3).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 4
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 4).
Use this signal to prevent interference with other manipulators and positioners.
WORK COMMAND
This signal provides the command for the general tool to operate. TOOL ON instruction execution or the [TOOL ON] key in the programming pendant turns this signal ON and TOOL OFF instruction execution or the [TOOL OFF] key in the programming pendant turns it OFF. However, it remains OFF while the WORK
PROHIBITED signal (2022) is input or while the robot is stopped.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are same.
13-57
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
13.12.4 Spot Welding
Fig. 13-39: JZNC-YIU01-E (CN308 Connector) I/O Allocation and
Connection Diagram (For Spot Welding)
External
Power Supply
+24 VE
0
24
VE
DX100
Robot I/O Unit JZNC-YIU01-E
Connector Terminal Converter
(Optional)
Model: TIFS553YS
+24VU
CN308
Logical
Number
Connector
Number
Name Signal Terminal
Number
B1 Each Point
24VDC
8mA max.
20010
20011
B1
A1
20012 B2
-
External Start
Call Master Job
IN
IN
IN
B1
A1
B2
A1
B2
20013 A2
Alarm/Error Reset IN
A2
-
A2
B3 B3
20014 B3 IN
Select Play Mode IN
A3 A3
20015 A3
20016 Select Teach Mode IN
B4 B4
20017
20020
B4
A4
B5
20021 A5
-
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
IN
IN
IN
A4
B5
A5
A4
B5
A5
B6 B6
20022 B6 Welding ON/OFF IN
Welding Pause IN
A6
A6
20023 A6
B7 024VU
B7 024VU
A7 024VU
A7 024VU
Running OUT
B8 B8
30010 B8
Servo is ON OUT
A8 A8
30011 A8
Top of Master Job
B9 B9
30012 B9 OUT
A9 Alarm/Error Occurred OUT
A9 A9
30013
30014 Battery Alarm OUT
B10 B10
B10
Remote Mode Selected OUT
A10 A10
30015 A10
-2
-1
Play Mode Selected OUT
CN303
-3
-4
30017 A11
30020 In Cube 1 OUT
B12 B12
B12
In Cube 2 OUT
A12 A12
30021 A12
Work Home Position
B13 B13
30022 B13 OUT
Intermediate Start OK
A13 A13
Each Point 30023 A13
(continuousing Sequence)
OUT
B14 B14
24VDC B14
A14 A14
50mA max.
A14
长沙工控帮教育科技有限公司
B16 024VU
B15
A15
B16
B15
A15
024VU
A16
Internal
Power Supply
+24 V
0 24 V
(24V,1A)
30016 B11
A16
B17
A17
Teach Mode Selected
024VU
024VU
OUT
A11
A11
024VU
024VU
B11
B17
A17
B18
B11
024VU
024VU
+24VU
B18
+24VU
A18 +24VU
A18 +24VU
+24VU
B19 +24VU
B19
+24VU
A19 +24VU
024VU A19 +24VU
B20 FG
B20 FG
024VU
A20
A20
024VU
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
13-58
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-40: JZNC-YIU01-E (CN309 Connector) I/O Allocation and
Connection Diagram (For Spot Welding)
External
Power Supply
+24 VE
024 VE
I/O
-1
-2
Each Point
24VDC
8mA max.
Each Point
24VDC
50mA max.
CN303
-3
-4
Internal
Power Supply
+24 V
024 V
(24V,1A)
+24VU
024VU
DX100
JZNC-YIU01-E
+24VU
CN309 Connector
Logical
Number
Connector
Number
20024 B1
20025 A1
Interference3 Entrance
Prohibited
Interference4 Entrance
Prohibited
20026 B2
20027 A2
20030 B3
20031 A3
20032 B4
20033 A4
20034 B5
20035 A5
IN1 USER INPUT
IN2
IN3
IN4
IN5
IN6
20036
20037
B6
A6
IN7
IN8
024VU B7
A7
30024 B8
30025 A8
024VU
In Cube 3
In Cube 4
30026 B9
30027 A9
30030 B10 OUT01 User Output
30031 A10 OUT02
30032 B11 OUT03
30033 A11 OUT04
30034 B12
OUT05
30035 A12 OUT06
30036 B13
30037 A13
OUT07
OUT08
B14
A14
B15
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
Signal
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
024VU
A16
B17
024VU
024VU
A17 024VU
B18 +24VU
A18 +24VU
B19
+24VU
A19 +24VU
B20
FG
A20
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
Connector Terminal Converter
(Optional)
Model: TIFS553YS
A15
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
A6
024VU
024VU
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
B13
A13
B14
A14
B15
A10
B11
A11
B12
A12
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
B7
A7
B8
A8
B9
A9
B10
A20
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
13-59
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-41: JZNC-YIU01-E (CN306 Connector) I/O Allocation and
Connection Diagram (For Spot Welding)
DX100
External
Power Supply
+24 VE
0
24
VE
Robot I/O Unit JZNC-YIU01-E Connector Terminal Converter
(Optional)
Model: TIFS553YS
+24VU
CN306 Connector
Logical
Number
Connector
Number
Name Signal
Terminal
Number
20040 B1 IN17 IN B1 B1 Each Point
20041 A1 IN18 IN
A1 A1
24VDC
8mA max. B2 IN19 IN
B2 B2
20042
A2 A2
20043 A2 IN20 IN
20044 IN21 IN
B3 B3
B3
A3 A3
20045 A3 IN22 IN
B4 B4
20046 B4 IN23
IN
A4
A4
20047 A4 IN24 IN
B5 B5
B5
A5 A5
A5
B6
B6
B6
A6
A6
A6
024VU
B7 024VU
B7
024VU
A7 024VU
B8 B8
30040 B8 OUT17 OUT
A8 A8
30041 A8 OUT18 OUT
B9 B9
30042 B9
OUT19
OUT
A9 A9
30043 A9
OUT20
OUT
30044 OUT
B10 B10
B10 OUT21
A10 A10
30045 A10 OUT22 OUT
30046
B11 B11
B11 OUT23
OUT
A11
A11
30047 A11
OUT24
OUT
B12 B12
B12
-2
A12
-1
B13
Each Point
A13
24VDC
Internal
Power Supply
0 24 V
(24V,1A)
B14
CN303
-3
-4
50mA max.
B15
长沙工控帮教育科技有限公司
+24 V
A14
B15
A16
B17
A17
024VU
024VU
024VU
A14
B15
A16
B17
A17
024VU
024VU
024VU
B18
A14
+24VU
B18 +24VU
B14 B14
A18 +24VU
A18 +24VU
A13
B19
A13
+24VU
+24VU
B19 +24VU
B13 B13
A19 +24VU
024VU
A12 A12
A19 +24VU
B20 FG
FG B20
A7
A20
024VU
A20
024VU
024VU
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
13-60
DX100
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment
Fig. 13-42: JZNC-YIU01-E (CN307 Connector) I/O Allocation and
Connection Diagram (For Spot Welding)
External
Power Supply
+24 VE
0
24
VE
CN303
-3
-4
Internal
Power Supply
+24 V
0 24 V
(24V,1A)
-1
-2
Each Point
24VDC
8mA max.
Each Point
24VDC
500mA max.
+24VU
024VU
DX100
Robot I/O Unit
JZNC-YIU01-E
+24VU
Logical
Number
Connector
Number
CN307
20050
20051
B1
A1
Name
Timer Cooling Water
Error (IN09)
Gun Cooling Water
Error (IN10)
20052
20053
20054
20055
B2
A2
B3
Transthermo Error (IN11)
Low Air Pressure (IN12)
IN13
IN14
20056
20057
A3
B4
A4
IN15
IN16
Signal
IN
IN
IN
IN
IN
IN
IN
IN
B5
A5
B6
A6
B7
A7
30050 B8
024VU
024VU
OUT
30051
A8
B9
A9
30052 B10
30053
A10
B11
A11
30054 B12
A12
30055 B13
A13
30056
30057
B14
A14
B15
A16
B17
A17
B18
A18
024VU
024VU
024VU
024VU
+24VU
+24VU
B19
A19
B20
A20
+24VU
+24VU
FG
OUT
Weld Error Reset (OUT10)** OUT
OUT
Weld Condition 1 (OUT11)** OUT
OUT
Weld Condition 2 (OUT12)** OUT
OUT
Weld Condition 3 (OUT13)** OUT
OUT
Weld Condition 4 (OUT14)** OUT
OUT
Weld Condition 5 (OUT15) ** OUT
OUT
Tip Change Request (OUT16)** OUT
Connector Terminal Converter
(Optional)
Model: TIFS553YS
* Remove Jumper-pin between CN303-1 and -3, CN303-2 and -4
when a external power supply is used.
** This assignment can be changed at the I/O assignment display.
Refer to System Input List YIU01 and System Output List YIU01 for detail.
*** This assignment can be changed at the PSEDU input display.
Refer to System Input List YIU01 and System Output List YIU01 for detail.
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
B7
A7
B8
A8
B9
A9
B10
A20
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
A6
024VU
024VU
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
A15
024VU
024VU
024VU
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
Terminal
Number
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
* means internal relay
13-61
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-12: Specific Input (Spot Welding) (Sheet 1 of 2)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20022
20023
20024
20025
20050
3)
20051
3)
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach-lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
长沙工控帮教育科技有限公司
This signal inputs the welding ON/OFF selector switch status from the sequencer in the interlock unit. The WELD ON/OFF signal is output to the Power Source according to this signal and the manipulator status.
WELDING PAUSE (From sequencer)
This signal is used to move the manipulator to the home position when an error occurs in the Power Source or the gun.
The robot ignores the spot welding instruction and operates playback motion.
INTERFERENCE 3 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 3
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 4 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 4
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
TIMER COOLING WATER ERROR
This signal monitors the status of timer cooling water. The manipulator displays alarm and stops when this signal is input. The servo power remains ON.
GUN COOLING WATER ERROR
This signal monitors the status of gun cooling water. The manipulator displays alarm and stops when this signal is input. The servo power supply remains ON.
13-62
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-12: Specific Input (Spot Welding) (Sheet 2 of 2)
Logical
Number
20052
3)
Input Name / Function
20053
3)
4)
4)
4)
4)
4)
4)
4)
TRANSTHERMO ERROR
Error signal is sent from the transformer in the gun to the robot. This signal is ON normally (NC) and an alarm occurs when the signal is OFF. The servo power supply remains ON.
LOW AIR PRESSURE
When air pressure is reduced and this input is turned ON, an alarm occurs. The servo power supply remains ON.
WELD COMPLETION
This signal indicates that the Power Source completed welding without error. This signal is used as a confirmation signal for welding instruction execution and manual spot welding.
After this signal is input, the welding sequence is completed and the next step is executed when confirmation limit switch is not provided.
WELDING ERROR
This signal indicates an abnormal welding result or Power Source’s error. Alarm occurs and the manipulator stops if this signal is input during welding.
STICK DETECTION
This signal indicates an abnormal welding result or Power Source’s error. Alarm occurs and the manipulator stops if this signal is input during welding.
GUN FULL OPEN DETECTION
This signal indicates that the stroke of the double stroke gun is full open.
GUN SHORT OPEN DETECTION
This signal is connected with a single gun open verification limit switch or a double stroke gun short open verification limit switch to verify the gun open.
GUN PRESSURE DETECTION
This signal indicates that a gun is in pressing status.
TIP REPLACE COMPLETION
When this signal is input after tip replacement, the TIP REPLACE REQUEST signal turns OFF, and the stored number of welding is cleared.
1 A master job is a job (program) which can be called by CALL MASTER JOB.
长沙工控帮教育科技有限公司
2 See
chapter 8.6 “Interference Area” at page 8-56
.
3 This signal can be set as “USE” or “NOT USE” by pseudo input signal ”8202x”. If “NOT USE” is selected, this signal can be used as the universal I/O signal described in parentheses.
4 This signal can be allocated to any universal I/O signal at the I/O allocation display in operation condition.
Pseudo Input
Signal 8202x
7 6 5 4 3 2 1 0
0 0 0 1 1 1 1 1
Timer Cooling Water Error Validating (or IN09)
Gun Cooling Water Error Validating (or IN10)
Transthermo Error Validating (or IN11)
Low Air Pressure Validating (or IN12)
Weld ON/OFF Validating (or OUT09)
13-63
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-13: Specific Output (Spot Welding) (Sheet 1 of 2)
Logical
Number
30010
Output Name / Function
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
30057
3)
30023
30024
30025
30050
3)
RUNNING
This signal signifies that the job is running. (Signifies that the job is running, system status is waiting reserved start, or test run is running.) This signal status is the same status as [START] in the programming pendant.
SERVO IS ON
This signal signifies that the servo power is turned ON, internal processing such as current position creation is complete, and the system is able to receive the START command. This signal turns OFF when the servo power supply turns OFF. It can be used for DX100 status diagnosis for an external start.
TOP OF MASTER JOB
This signal signifies that the execution position is the top of the master job. This signal can be used to confirm that the master job has been called.
1)
ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error occurred. If a major error occurs, this signal remains ON until the main power is turned OFF.
BATTERY ALARM
This signal turns ON to notify that the battery requires replacing when the voltage drops from the battery for backup memory of the encoder. Major problems may result if memory data is lost because of an expired battery. It is recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2).
长沙工控帮教育科技有限公司
This signal turns ON when the current TCP lies inside a the work home position area.
Use this signal to evaluate whether the robot is in the start position.
TIP REPLACE REQUEST
This signal is output when the stored number of welding reaches the number of welding set for the tip replacement.
INTERMEDIATE START OK
This signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the cursor or when editing operation is carried out after
HOLD is applied during operation. Therefore, this signal can be used as a restart interlock after a HOLD is applied. However, it also turns ON in the teach mode and
TEACH MODE SELECTED signal must be referred together.
IN CUBE 3
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 3).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 4
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 4).
Use this signal to prevent interference with other manipulators and positioners.
WELD ON/OFF
Outputs a signal input from the interlock panel, etc.considering the robot status.
13-64
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
Table 13-13: Specific Output (Spot Welding) (Sheet 2 of 2)
Logical
Number
30051
4)
30052 to
30056
4)
4)
4)
4)
Output Name / Function
WELD ERROR RESET
This signal commands the reset error status of the Power Source. This is operated with the programing pendant operation.
WELD CONDITION (Level signals)
1(1), 2(2), 4(3), 8(4), 16(5), 32(6), 64(7), 128(8)
Sets the welding conditions for the Power Source.
The output format can be selected as binary or discrete (bit number). It can handle up to 255 conditions. Most-significant bit is the parity bit (when specified).
WELDING COMMAND
This signal outputs execution command signal to the Power Source. This signal is not necessary for a Power Source which is executed using the WELDING CONDITION signal.
STROKE CHANGE1
SINGLE SOLENOID
DOUBLE SOLENOID
This is a signal, when a double stroke gun is used, to change the open stroke of the welding gun.
GUN PRESS COMMAND
This outputs gun press command.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are same.
3 This signal can be select “USE” or “NOT USE” by pseudo input signal ”8202x”. If “NOT USE” is selected, this signal can be used as the universal I/O signal described in parentheses.
4 This signal can be allocated to any universal I/O signal at the I/O allocation display in operation condition.
Pseudo Input
Signal 8202x
7 6 5 4 3 2 1 0
0 0 0 1 1 1 1 1
Gun Cooling Water Error Validating (or IN10)
Transthermo Error Validating (or IN11)
Low Air Pressure Validating (or IN12)
Weld ON/OFF Validating (or OUT09)
13-65
工控帮助教小舒QQ:2823408167
13 Description of Units and Circuit Boards
13.12 Universal I/O Signal Assignment DX100
13.12.5 JANCD-YEW01-E Circuit Board (Standard)
13.12.5.1 Arc Welding
JANCD-YEW01-E Circuit Board: Analog outputs × 2 ports, Analog inputs ×
2 ports + Status signal I/O of a Welder.
DX100
MR Connector MS Connector
1
SW2
Name Signal
Logical
Number
Connector
Pin No.
Each point
24 VDC
5mA MAX
CN322-1
22550 CN322-2 +GASOF Gas Shortage
CN322-3 -GASOF Gas Shortage
22551 CN322-4
CN322-5
+WIRCUT Wire Shortage
-WIRCUT Wire Shortage
22553 CN322-6 +ARCACT (
Arc Generation Confirm
CN322-7
CN322-8
-ARCACT
Arc Generation Confirm
CH2 Current Input
IN
IN
IN
IN
IN
IN
IN
1
2
3
4
5
6
7
8
A/D +5V CN322-9
A/D +5V
CN322-10
CN322-11
CH1 Voltage Input
CN322-12
IN
IN
9
10
11
12
DC24V
5mA MAX
IN 13 22552 CN322-13 +ARCOFF Arc Shortage
CN322-14 -ARCOFF Arc Shortage IN 14
OUT 15 DC24V
0.5A MAX
32551 CN322-15 ARCON Arc ON A
CN322-16 ARCON Arc ON B OUT 16
32552 CN322-17 WIRINCH Wire Inching A OUT
CN322-18 WIRINCH Wire Inching B OUT
32553 CN322-19 WIRINCH (Wire Retract) A OUT
17
18
19
CN322-20 WIRINCH (Wire Retract) B OUT 20
32567 CN322-21 GAS Checking OUT A
GAS Checking OUT B
OUT
OUT
21
长沙工控帮教育科技有限公司
CN322-24 24
3
Detector
D/A –14V
D/A –14V
CN322-25
22554 CN322-26 STICK Wire Sticking
CN322-27
*STICK Wire Sticking
CN322-28
CN322-29 +24VU
CN322-30 0
24
VU
CN322-31 CH1 Voltage Command
CN322-32
CN322-33 CH2 Current Command
CN322-34
IN
IN
IN
OUT
OUT
OUT
OUT
25
26
27
28
29
30
31
32
33
34
17BYTE 32BYTE
DC24V
0.5A MAX
CN321-1
32555
CN321-2
+24VU
Search Command A (Optional)
CN321-4 Search Command B (Optional
CN321-5 0
24
VU
OUT
OUT
S
M
N
E
A
B
C
D
H
J
L
F
G
R
K
T
P
Power
Source
MRP-34M01 Insulator
MRP-M112 Contactor
RP-34 Casing WAGO Connector(231-105/026-A0)
MS3106 A, 20-29P
MS3106 A, 20-29S
13-66
DX100
工控帮助教小舒QQ:2823408167
Index
A absolute data .........................................................................................
absolute encoder ...................................................................................
ACCELARATION SPEED
ACCELARATION TIME
...................................................................
......................................................................
Acceleration/Deceleration
..................................................................... 12-2
Addition of Base and Station Axes
......................................................... 11-3
........................................................................ 11-1
Addition of I/O Modules
Alarm Display
...................................................................................... 12-3
ALARM HISTORY ..................................................................................
.................................................................... 8-91
All Limit Release Function
Allocating an Operation ......................................................................
Allocation of I/O Control Instructions
Allocation Window
....................................................
..............................................................................
Alternate Output Allocation .................................................................
...................................................................
alternate output allocation
Ambient Temperature
........................................................................... 12-2
Analog Incremental Output Allocation ..................................................
....................................................
analog incremental output allocation
ANALOG MONITOR ..............................................................................
analog output allocation
Application
............................................................
,
.......................................................................................... 12-3
ARC SHORTAGE (MONITOR) ............................................................
....................................................................................
ARM CONTROL
ARM control
........................................................................................ 8-38
Automatic Measurement of the Tool Load and the Center of Gravity
AXES CONFIG window
Axis Interference Area
Axis keys
........................................................................ 11-9
.......................................................................... 8-64
..............................................................................................
B
BALL-SCREW PITCH base coordinate
B-Axis
..............................................................
,
长沙工控帮教育科技有限公司
...................................................................................................
C
Cable Junctions .....................................................................................
Cautions for Connection of Dual Input Signals
........................................ 13-2
...................................................................
Changing the Absolute Data
Changing the Output Status ................................................................
Changing the Parameter Setting
Checking the TCP
..........................................................
................................................................................ 8-31
circuit board racks
................................................................................ 13-8
Clearing Absolute Data ...........................................................................
Clearing Calibration Data
...................................................................... 8-29
Clearing the Interference Area Data
....................................................... 8-72
.............................................................. 8-87
Clearing the User Coordinates
Collision proof Frames
.......................................................................... 12-3
COMMAND POSITION
Condition Number
..........................................................................
................................................................................ 8-75
Connecting the Manipulator Cable
......................................................... 4-11
Connecting the Primary Power Supply .....................................................
Connecting the Programming Pendant
Connection
................................................... 4-12
............................................................................................
Index-1
DX100
工控帮助教小舒QQ:2823408167
Index
Construction ........................................................................................
Contents Confirmation
........................................................................... 2-1
...............................................
Control Circuit Board (JANCD-YCP01-E) control circuit boards control group
Converter
............................................................................
.......................................................................................
.......................................................................................... 13-35
Cooling System ...................................................................................
Coordinate System ..............................................................................
CPU Unit Configuration
CREATE NEW JOB cube
........................................................................
............................................................................... 7-2
...................................................................................................
Cube Interference cube number
................................................................................
.......................................................................................
Cubic Interference Area
CURRENT POSITION
.......................................................................
........................................................................... 7-3
D
DATE/TIME
........................................................................................... 7-4
Definition of the User Coordinates
DELETE
.........................................................
............................................................................................... 7-3
detection level (level range: 1 to 500)
Detection Mode
DEVICE
...............................................
...................................................................................
................................................................................................ 7-3
Digital I/O ............................................................................................
Dimensions .........................................................................................
..................................................................... 8-100 ,
display allocation
Door Interlock ......................................................................................
Drive Unit ............................................................................................
DROP AMOUNT
................................................................................... 7-3
E
长沙工控帮教育科技有限公司
Editing Mode
Enable Switch
......................................................................................... 7-1
emergency stop
..................................................................................... 5-5
...............................................................................
,
Essential Measures .............................................................................
Executing the Display Allocation
......................................................... 8-112
Executing the I/O Control Allocation
Executing the Instruction/Output Control Allocation
Executing the Job Call Allocation
Execution of Allocation
.................................................... 8-112
............................... 8-112
........................................................ 8-112
....................................................................... 8-112
Expanded Instruction Set
External Emergency Stop
.....................................................................
...............................................
............................................................ 13-32 ,
External Enable Switch
External Hold ................................................................
External Servo ON
External Start eyebolt
.........................................................
.................................................................................... 13-15
F
FD/CF
File Initialization
................................................................................. 8-119
Index-2
DX100
工控帮助教小舒QQ:2823408167
Index
Full-speed Test
Function List
........................................................................
,
........................................................................................ 12-3
Function Select
.................................................................................... 8-75
G
GAS SHORTAGE (MONITOR)
Grounding
............................................................
.................................................................................... 1-5 ,
Group (4-bit/8-bit) Output Allocation group output allocation (4-bit/8-bit)
GRP CONBINATION
.....................................................
......................................................
..............................................................................
GUN COOLING WATER ERROR ........................................................
GUN FULL OPEN DETECTION
GUN PRESSURE DETECTION
..........................................................
..........................................................
GUN SHORT OPEN DETECTION .......................................................
H
HAND VALVE ....................................................................................
Handling Procedure
HOME POSITION
Home Position
...............................................................................
..................................................................................
.......................................................................................
Home Position Calibration ......................................................................
How to Calculate Tool Load Information
................................................. 8-43
I
I/O Diagnosis
I/O modules
.........................................................................................
I/O MSG HISTORY ................................................................................
I/O Unit (JZNC-YIU01-E)
IN/OUT
....................................................................................... 12-3
I/O Instructions
....................................................................................
长沙工控帮教育科技有限公司
....................................................................
.................................................................................................
Inching Operation
INERTIA RATIO
Initial Diagnosis
................................................................................ 12-3
......................................................................
,
.....................................................................................
Initializing Data File
Initializing I/O Data
Initializing Job File
............................................................................
.............................................................................
..............................................................................
Initializing Parameter File
Initializing System Data
....................................................................
......................................................................
Installation and Wiring Safety
Instruction Allocation
..................................................................
................................................................
,
Instruction of Shock Detection Function
................................................. 8-77
..................................................................................... 8-93
Instruction Set
Interface
.............................................................................................. 12-3
INTERFERENCE
Interference area
...................................................................................
................................................................................. 8-56
J
JANCD-YEW01-E Circuit Board (Standard) ..........................................
Index-3
DX100
工控帮助教小舒QQ:2823408167
Index
JOB
Job Call Allocation
JOB CAPACITY
................................................................... 8-100 ,
.................................................................................... 7-2
K
KEY ALLOCATION
Key Allocation (SIM)
................................................................................ 7-4
Key Allocation (EACH)
....................................................................... 8-100
.......................................................................... 8-100
L
Language
L-axis
...........................................................................................
Leakage Breaker Installation
.................................................................. 4-4
................................................................................
Learning Function lifting the DX100
.................................................................................... 1-6
LIMIT RELEASE
.................................................................................... 7-3
..........................................................................................
limit switch
LOAD
LOW AIR PRESSURE
L-U Interference
............................................................. 13-50 ,
..................................................................................
M
Machine Lock ......................................................................................
Management Mode
................................................................................ 7-1
MANIPULATOR TYPE
Manufacturer allocation
MASTER JOB
Max. Disturbance Force
MAX. RPM
........................................................................... 7-3
......................................................................
长沙工控帮教育科技有限公司
.............................................................................. 11-12 ,
Measurement of the Tool Load and the Center of Gravity
Mechanical Limit
........................
..................................................................................
MECHANICAL SPEC window
Memory Capacity
...............................
,
.................................................................................
Modification of System Configuration .....................................................
Modification of Teaching Points momentary output allocation
............................................................
..................................................... 8-101 ,
.............................................................................. 7-3
MONITORING TIME
MOTION RANGE
...................................... 11-10 ,
,
MOTOR SPEC window
Moving the MOTOMAN
...................................................................... 11-12
........................................................................
N
Noise Filter
........................................................................................... 4-3
Number of Tool Files ............................................................................
Numeric Key Customize Function
....................................................... 8-100
Index-4
DX100
工控帮助教小舒QQ:2823408167
Index
O
OPERATE COND
Operating
..................................................................................
..........................................................................................
Operation Instructions
Operation Mode
.......................................................................... 12-4
.....................................................................................
Operation Time Display
........................................................................ 12-3
.......................................................................................
Order Number
ORG
Output of the Work Home Position Signal
Overrun
............................................... 8-55
.............................................................................................. 8-88
OVERRUN&S-SENSOR .........................................................................
P
PARAMETER ........................................................................................
Path Confirmation
................................................................................ 12-3
PINION DIAMETER
Positioning System
.................................................................
,
.............................................................................. 12-2
POWER ON/OFF POS
Power Supply
...........................................................................
............................................................................... 4-3 ,
Power Supply Contactor Unit
Program Control Instructions
Programming
................................................................ 13-3
Primary Power Supply Breaker Installation ...............................................
.................................................................
....................................................................................... 12-4
Programming Pendant
.......................................................................... 12-4
pulse output allocation
PWM Amplifier
..............................................................
,
...................................................................................
R
,
Registering/Changing the Work Home Position
Relative Humidity
....................................... 8-54
................................................................................. 12-2
RES. STARG (CNCT)
RES. START (JOB)
RES. STATUS
............................................................................
................................................................................
.......................................................................................
RESERVE JOB NAME ...........................................................................
Resetting the Shock Detected
............................................................... 8-82
Returning to the Work Home Position
ROBOT
.................................................... 8-55
.................................................................................................
robot coordinate robot I/F board
................................................................................... 8-56
..................................................................................... 13-8
Robot I/F Board (JANCD-YIF01-1E) robot I/O unit (JZNC-YIU01-E)
Robot installation angle
Robot Motion Control robot programming language (INFORM III)
Robot Setup Condition
Running Speed Limit
...................................................... 13-9
............................................................
........................................................................ 8-39
........................................................................... 12-4
............................................. 8-93
......................................................................... 8-38
............................................................................ 12-3
Index-5
DX100
工控帮助教小舒QQ:2823408167
Index
S safeguarding
Safety
......................................................................................... 5-3
Safety Plug
SAVE
............................................................................. 13-27 ,
S-Axis
SECOND HOME POS
Security Mode
SELECT JOB
........................................................................... 7-3
....................................................................................... 7-1
........................................................................................ 7-2
Selecting the User Coordinate File
Self-Diagnosis
........................................................
.....................................................................................
SENSOR INPUT
............................................................................... 13-50
................................................................................ 7-3
SERVO MONITOR
SERVO ON
................................................................................. 5-3 ,
SERVO ON READY
............................................................................... 5-3
Servo-ON Enable Input
SERVOPACK
...................................................................... 13-19
............................................................................
SET SPEED
.......................................................................................... 7-4
Setting Contents ..................................................................................
..................................................................
Setting the Controller Clock
Setting the Play Speed .........................................................................
Setting the Tool Load Information ..........................................................
.................................................................
Setting Work Home Position
SETUP
SHCKRST instruction ...........................................................................
SHCKSET ...........................................................................................
SHCKSET instruction ...........................................................................
S-head payload ...................................................................................
Shock Detection Function .....................................................................
Shock Detection Function Setting
Shock Sensor
..........................................................
......................................................................................
Short-cut Function ...............................................................................
..................................................... 13-30 ,
Slow Speed Mode Selection
Soft Limit on Each Axis ........................................................................
Soft Limit Release Function software limit
..................................................................
.......................................................................................
长沙工控帮教育科技有限公司
Speed Adjustment
Speed Setting
...............................................................................
.....................................................................................
Standard Instruction Set
Station Axis Setting
.......................................................................
............................................................................ 11-13
STICK DETECTION
........................................................................... 13-63
Subset Instruction Set
Switch of the tool file
SYSTEM INFO
..........................................................................
............................................................................
...................................................................................... 7-3
T
T.C.P. Calibration
T-Axis
................................................................................
TEACHING COND
................................................................................. 7-4
Teaching the User Coordinates .............................................................
three-phase noise filter
........................................................................... 4-3
Three-Phase Power Supply
.................................................................... 4-3
TIMER COOLING WATER ERROR
Timer Setting
.................................................... 13-62
.......................................................................................
TIP REPLACE COMPLETION
TIP REPLACE REQUEST
............................................................ 13-63
.................................................................. 13-64
Index-6
DX100
工控帮助教小舒QQ:2823408167
Index
TOOL ...................................................................................................
Tool Calibration
................................................................................... 8-23
Tool Data Setting
Tool File
................................................................................. 8-18
.............................................................................................. 8-18
Tool Load Information
.......................................................................... 8-43
Tool Load Information Registering
......................................................... 8-49
.......................................................
Tool Load Information Setting
Tool Shock Sensor
............................................................................... 13-5
Tool Shock Sensor Releasing
Transferring the MOTOMAN
TRANSTHERMO ERROR
............................................................... 8-88
................................................................. 1-13
..................................................................
Turning OFF the Main Power
Turning OFF the Servo Power
..................................................................
.................................................................
Turning ON the Main Power Supply
Turning ON the Servo Power
.........................................................
..................................................................
U
U-arm payload
U-Axis
..................................................................................... 8-40
...................................................................................................
User Alarm Display
.............................................................................. 12-3
............................................................................
USER COORDINATE
User Coordinate ..........................................................................
User Coordinate Files
........................................................................... 8-83
User Coordinate Setting user ID
....................................................................... 8-83
...........................................................................................
,
V
VARIABLE
Variable
............................................................................................
.............................................................................................. 12-4
Variable Type
VERIFY ................................................................................................
VERSION
...................................................................................... 12-4
长沙工控帮教育科技有限公司
W
WEAVING PROHIBITED
WELD COMPLETION
WELD CONDITION
....................................................................
........................................................................
............................................................................
WELD ERROR RESET
WELD ON/OFF
......................................................................
..................................................................................
WELDING COMMAND
WELDING ERROR
.......................................................................
............................................................................
WELDING ON/OFF (from sequencer)
WELDING PAUSE (from sequencer)
WIRE SHORTAGE (MONITOR)
WIRE STICKING (MONITOR)
WORK COMMAND
..................................................
...................................................
..........................................................
.............................................................
............................................................................
WORK HOME POS
Work Home Position
................................................................................
............................................................................ 8-52
work home position cube length of its sides
............................................ 8-54
WORK PROHIBITED (arc generation prohibited)
WORK RESPONSE (pseudo arc ON response)
..................................
....................................
Index-7
DX100
工控帮助教小舒QQ:2823408167
Index
X
XX ......................................................................................................
XY ......................................................................................................
长沙工控帮教育科技有限公司
Index-8
工控帮助教小舒QQ:2823408167
DX100
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844 Fax +82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919 Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541 Fax +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India
Phone +91-124-475-8500 Fax +91-124-475-8542
长沙工控帮教育科技有限公司
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice for ongoing product modifications and improvements.
C
MANUAL NO. RE-CTO-A215 1
Printed in Japan April 2009 08-12
Λήψη
Δημόσιος σύνδεσμος ενημερώθηκε
Ο δημόσιος σύνδεσμος για τη συνομιλία σας ενημερώθηκε. You may view and manage your chat links after registration here.
Δημόσιος σύνδεσμος εγγράφου
Διαφήμιση
