Yaskawa Motoman I/O Jog Owner's Manual

DX100 OPTIONS
INSTRUCTIONS
FOR I/O JOG OPERATION IN PLAY-MODE
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONSNS
MOTOMANINSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENACE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 158255-1CD
Revision: 0
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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MANDATORY
•
This manual explains the I/O JOG operation in play-mode 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 the Chapter 1: Safety of
the DX100 Instructions. To ensure correct and safe operation,
carefully read the DX100 Instructions before reading this manual.
CAUTION
•
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
•
The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
•
YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
•
If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
•
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
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NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”.
WARNING
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous situation which, if not avoided, could result
in minor or moderate injury to personnel and damage to equipment. It may
also be used to alert against unsafe
practices.
be sure to follow explicitly the
MANDATORY Always
items listed under this heading.
PROHIBITED Must never be performed.
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to
follow all instructions, even if not designated as “CAUTION”
and “WARNING”.
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WARNING
•
Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX100 and the 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.
Fig. : Emergency Stop Button
•
Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
•
Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
•
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the 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 is a problem. The emergency stop buttons are
located on the right of the front door of the DX100 and the programming
pendant.
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CAUTION
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
•
Always return the programming pendant to the hook on the DX100
cabinet after use.
The programming pendant can be damaged if it is left in the
manipulator’s work area, on the floor, or near fixtures.
•
Read and understand the Explanation of the Warning Labels in the
DX100 Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX100 Controller
DX100
DX100 Programming Pendant
Programming Pendant
Cable between the manipulator and the
controller
Manipulator cable
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character
Keys
The keys which have characters printed on
them are denoted with [ ].
ex. [ENTER]
Symbol
Keys
The keys which have a symbol printed on them
are not denoted with [ ] but depicted with a
small picture.
GO BACK
ex. page key PAGE
The cursor key is an exception, and a picture
is not shown.
Axis Keys
Numeric
Keys
“Axis Keys” and “Numeric Keys” are generic
names for the keys for axis operation and
number input.
Keys
When two keys are to be pressed
pressed
simultaneously, the keys are shown with a “+”
simultaneou sign between them, ex. [SHIFT]+[COORD]
sly
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.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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Contents
1 Outline............................................................................................................................................. 1-1
1.1 Operating Conditions ......................................................................................................... 1-1
2 Input Signals for I/O JOG Operation ............................................................................................... 2-1
3 Output Signals for I/O JOG Operation ............................................................................................ 3-1
4 Signal Allocation Setting Display for I/O JOG Operation ................................................................ 4-1
5 Servo Power Supply Individual Control Function ............................................................................ 5-1
5.1 Outline ............................................................................................................................... 5-1
5.2 Connection of Signals for Servo Power Supply Individual Control .................................... 5-2
5.3 Confirming Connection ...................................................................................................... 5-4
5.4 Application Examples......................................................................................................... 5-5
5.4.1 Turning ON Only the Servo Power Supply for the Selected Control Group
at Teaching ........................................................................................................... 5-5
5.4.2 Turning OFF Only the Servo Power Supply for the Selected Control Group
at Playback ........................................................................................................... 5-6
5.5 System Output Signals ...................................................................................................... 5-7
5.5.1 Servo Power ON Status Signal for Each Control Group....................................... 5-7
5.5.2 “During Servo ON” Signal ..................................................................................... 5-7
5.6 Operation of Job Without Control Group Specification ...................................................... 5-8
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1
Outline
Outline
The I/O JOG function in play mode executes JOG operation by using
universal input signals instead of the programming pendant.
The axis operation (JOG operation) of the station control group that is not
registered in the job under playback operation can be executed by the
allocated universal input signals.
1.1
Operating Conditions
1. The I/O JOG operation is valid only in play mode.
2. The I/O JOG operation is enabled for the station control group that is
not registered in the job under playback operation.
3. The I/O JOG operation is enabled when an external manual operation
request signal is input to the I/O JOG operation enabled control group.
The I/O JOG operation is valid only for one control group.
4. The axes that are enabled for the I/O JOG operation are operated by
forward/reverse signals.
5. The motion speed in the I/O JOG operation can be switched in steps:
inching, low, middle, high, and ultra-high, in the same way as the
teaching manual speed.
6. Only the link coordinate system is used for the motion coordinates.
7. During playback operation, if a job that includes the station control
group under the I/O JOG operation is called or jumped, an alarm
occurs to stop the operation of the robot/station.
8. The universal output signal which indicates that the robot/station is
under the I/O JOG operation can be set.
9. The universal I/O signals to be used for the I/O JOG operation can be
allocated in the setting display. (They can be changed in
“Management” mode.)
10. It is recommended to connect a robot/station to each power-on unit.
(It is recommended to turn off the servo for the control group that is not
operating.)
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Outline
Fig. 1-1: Outline of I/O JOG Operation
DX100
ON-EN
signal
Robot
base
axis
Peripheral device
Power-on
unit #1
I/O JOG operation
I/O allocation conditions
Concurrent I/O
Servo ON
In operation
ON-EN
signal
Power-on
unit #2
Station 1
ON-EN
signal
Power-on
unit #3
Servo ON
Servo ON
Station 2
I/O JOG operation
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2
2
Input Signals for I/O JOG Operation
Input Signals for I/O JOG Operation
Input
Signal
Meaning
Details
Universal
input
External manual operation request To validate the external manual
(Points for each station)
operation
* Invalid when plural inputs are
input.
Universal
input
Motion speed designation
(5 points)
To set the motion speed of
external manual operation
Motion speed: 1(inching) to
5(ultra-high)
* When plural speed levels are
input, the priority is given to the
lowest level.
Universal
input
Forward-direction motion
designation
(Points for the number of axes of
each station)
Forward-direction(+ direction)
motion when ON
* The axis does not move if the
forward-direction and the
reverse-direction motion
designation signals are input
simultaneously.
Universal
input
Reverse-direction motion
designation
(Points for the number of axes of
each station)
Reverse-direction(-direction)
motion when ON
* The axis does not move if the
forward-direction and the
reverse-direction motion
designation signals are input
simultaneously.
Safety Interlocks
NOTE
• If the forward/reverse direction motion designation signal
is input before the external manual operation request signal, the external manual operation request signal does not
validate the external manual operation.
• Turn OFF and ON again the forward/reverse direction
motion designation signal to restart the operation after
alarm, hold, or emergency stop (Servo OFF).
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3
3
Output Signals for I/O JOG Operation
Output Signals for I/O JOG Operation
Output
Signal
Meaning
Details
Universal
output
External manual operation enabled Indicates that the external
(Points for each station)
manual operation is enabled.
* This signal is not output when
the external manual operation
request signal is input while the
servo is off.
Universal
output
During external manual operation
(Points for each station)
Indicates that the station is
during external manual
operation.
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4
4
Signal Allocation Setting Display for I/O JOG Operation
Signal Allocation Setting Display for I/O JOG Operation
Displayed when plural
control groups exist.
1
MODE REQUEST (external manual operation request)
2
AXIS (forward/reverse direction motion designation)
3
SPEED (motion speed designation)
4
MODE (external manual operation enabled)
5
OPERATING (during external manual operation)
NOTE
• Reset Signal Number
Inputting “0” to the signal number resets the signal number
and “***” is displayed.
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5
Servo Power Supply Individual Control Function
Servo Power Supply Individual Control Function
5.1
Outline
The servo power supply individual control function is to turn ON/OFF the
servo power supply in units of specified control group freely in the robot
system with multiple control group configuration.
Using this function, without stopping whole the system operation, the
servo power supply only for the control group selected by an operator can
be turned OFF. Therefore, the safe operation for removing a workpiece
with the system running and maintenance for robot tool, is secured,
moreover, the operating efficiency is increased.
NOTE
The servo power supply individual control function is to control the servo power supply in units of contactor unit. To use
this function, use the contactor unit originally designed for
separation in units of control group.
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5.2
Servo Power Supply Individual Control Function
Connection of Signals for Servo Power Supply Individual Control
The servo power supply individual control function turns ON/OFF the
servo power supply in units of contactor unit. “ON_EN” signal of power
supply contactor unit is used.
“ON_EN” signals of each power supply contactor unit is connected to the
following terminals.
• power supply contactor unit (JZNC-YSU01-†E): 1 to 8 of CN211
• The ON/OFF of the servo power supply for the first system (robot) of
the contactor unit is controlled by the “ON-EN” signals of CN211-1 &
-2 and -3 & -4.
• The ON/OFF of the servo power supply for the second system
(external axes) of the contactor unit is controlled by the “ON-EN” signals of CN211-5 & -6 and -7 & -8.
NOTE
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.
Connect the servo power supply individual control signals in the following
manner.
1. Remove the jumpers connected to the above mentioned contactor unit
terminals.
2. Connect an output contact such as area sensor to “ON_EN” terminal
as shown in the figure below.
DX100
Power supply contactor unit
JZNC-YSU01-†E
Remove the jumper cable
CN211
+24V2
ONEN1-1
ONEN1-2
024V
Servo-ON enable input signal
-1
-2
Turn ON/OFF
at the same time
The first system
(robot)
-3
-4
Remove the jumper cable
CN211
+24V2
ONEN2-1
ONEN2-2
024V
Servo-ON enable input signal
-5
-6
Turn ON/OFF
at the same time
The second system
(external axes)
-7
-8
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Servo Power Supply Individual Control Function
SUPPLE
-MENT
For the wiring termination and connecting method, refer to
“WAGO Connector” in “12.3.2 Units and Circuit Boards in the
CPU Unit” of DX100 Instructions.
Short-circuited between the above terminals as a standard.
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5.3
Servo Power Supply Individual Control Function
Confirming Connection
The status of “ON_EN” signals connected to each contactor unit and the
servo power supply status can be confirmed on the SERVO POWER
STATUS window.
1. Select {IN/OUT} under the main menu.
2. Select {SV POWER STATUS}.
– The SERVO POWER STATUS window appears.
1
2
ON_EN SIGNAL
Displays the status of “ON_EN” signal of contactor unit connected to
each control group.
{: Open (OFF) status
Turns OFF the servo power supply.
z: Closed (ON) status
Turns ON the servo power supply when the servo ON lamp is lit.
SERVO ON
Displays the status of servo power supplied to each control group.
{: Servo power OFF status
z: Servo power supply ON completed status
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5.4
5.4.1
Servo Power Supply Individual Control Function
Application Examples
Turning ON Only the Servo Power Supply for the Selected Control Group at Teaching
At turning the servo ON, only the servo power supply for the selected
control group can be turned ON.
As shown below, when the servo power supply is turned ON with only the
“ON_EN” signal of contactor unit connected to S2 set to “ON,” the servo
power is supplied only to S2.
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5.4.2
5
Servo Power Supply Individual Control Function
Turning OFF Only the Servo Power Supply for the Selected Control Group at Playback
When an operator touches the positioner in such a case as replacement
of workpiece, only the servo power supply for the positioner to be touched
can be turned OFF for security.
During operation
(Servo power ON)
Workpiece replacing work
(Servo power OFF)
S2
R1
S1
Contactor Contactor Contactor
unit #2
unit #1
unit #3
DX100
As shown below, with the “ON_EN” signal of contactor unit connected to
S2 set to “OFF,” only the servo power supply to S2 can be turned OFF
even during playback operation.
While the servo ON lamp is lit, if “ON_EN” signal is turned ON, the servo
power supply for the corresponding control group is turned ON.
NOTE
To control individually the servo power supply for a selected
control group without stopping whole the system during
playback, it is necessary to prepare an application job,
using the independent control function.
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5.5
5.5.1
Servo Power Supply Individual Control Function
System Output Signals
Servo Power ON Status Signal for Each Control Group
The servo power ON status of each control group is output to the following
system output signal.
In the standard concurrent I/O ladder, these system output signals are not
output externally. When installing an interlock operated by PLC, etc.,
modify the concurrent I/O ladder so that the system output signals are
output externally.
50327
50326
50325
50324
50323
50322
50321
50320
SOUT#256
SOUT#255
SOUT#254
SOUT#253
SOUT#252
SOUT#251
SOUT#250
SOUT#249
Servo power
ON status
Robot 8
Servo power
ON status
Robot 7
Servo power
ON status
Robot 6
Servo power
ON status
Robot 5
Servo power
ON status
Robot 4
Servo power
ON status
Robot 3
Servo power
ON status
Robot 2
Servo power
ON status
Robot 1
50337
50336
50335
50334
50333
50332
50331
50330
SOUT#264
SOUT#263
SOUT#262
SOUT#261
SOUT#260
SOUT#259
SOUT#258
SOUT#257
Servo power
ON status
Station 8
Servo power
ON status
Station 7
Servo power
ON status
Station 6
Servo power
ON status
Station 5
Servo power
ON status
Station 4
Servo power
ON status
Station 3
Servo power
ON status
Station 2
Servo power
ON status
Station 1
50347
50346
50345
50344
50343
50342
50341
50340
SOUT#272
SOUT#271
SOUT#270
SOUT#269
SOUT#268
SOUT#267
SOUT#266
SOUT#265
Servo power
ON status
Station 16
Servo power
ON status
Station 15
Servo power
ON status
Station 14
Servo power
ON status
Station 13
Servo power
ON status
Station 12
Servo power
ON status
Station 11
Servo power
ON status
Station 10
Servo power
ON status
Station 9
50357
50356
50355
50354
50353
50352
50351
50350
SOUT#280
SOUT#279
SOUT#278
SOUT#277
SOUT#276
SOUT#275
SOUT#274
SOUT#273
Servo power
ON status
Station 24
Servo power
ON status
Station 23
Servo power
ON status
Station 22
Servo power
ON status
Station 21
Servo power
ON status
Station 20
Servo power
ON status
Station 19
Servo power
ON status
Station 18
Servo power
ON status
Station 17
5.5.2
“During Servo ON” Signal
The system output signal 50073 (during servo ON) is output in connection
with the servo ON lamp on the programming pendant.
After the servo power supply is turned ON, even if all the “ON_EN” signals
connected to contactor unit are set to “OFF”, the servo ON lamp remains
lit and the system output signal “During Servo ON” does not turn “OFF”.
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5.6
Servo Power Supply Individual Control Function
Operation of Job Without Control Group Specification
When the servo power supply is individually turned OFF where jobs in
multiple number of tasks are operated using the independent control
function, the job execution of the control group whose servo power supply
is turned OFF is interrupted.
The jobs of other control groups continue their execution.
For the jobs without control group specification such as master job, the
conditions for execution can be set by the parameter.
Parameter
Contents and Set Value
Initial
Value
S2C687
(Condition of
execution of job
without control group
specification)
0: Execution possible only when servo power
supply to all the axes have been turned
ON
1: Execution possible when servo power
supply to any axis is turned ON.
1
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DX100 OPTIONS
INSTRUCTIONS
FOR I/O JOG OPERATION IN PLAY-MODE
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone +81-93-645-7745
Fax +81-93-645-7746
YASKAWA America Inc. MOTOMAN Robotics Division
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800
Fax +46-480-417999
YASKAWA Europe GmbH Robotics Division
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Electric Korea Co., Ltd.
7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone +82-2-784-7844
Fax +82-2-784-8495
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek 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 E&T Development Area, China 100176
Phone +86-10-6788-2858
Fax +86-10-6788-2878
MOTOMAN Motherson Robotics Ltd.
Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Phone +91-124-475-8500
Fax +91-124-414-8016
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C Printed in Japan August 2010 10-08
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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