Yaskawa Motoman Analog Output Corresponding to Speed Owner's Manual

YASKAWA
DX100 OPTIONS
INSTRUCTIONS
FOR ANALOG OUTPUT FUNCTION CORRESPONDING TO SPEED
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 156442-1CD
Revision: 0
YASKAWA
MANUAL NO.
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MANDATORY
•
This manual explains the analog output function corresponding to
speed 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 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.
Always be sure to follow explicitly the
MANDATORY items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items
NOTE
To ensure safe and efficient operation at all times, be sure to
follow all instructions, even if not designated as "CAUTION"
and "WARNING".
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WARNING
•
Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
•
Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
•
Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
•
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.
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CAUTION
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
•
Always return the programming pendant to the hook on the cabinet
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
•
Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
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, buttons, and displays are
shown as follows:
Equipment
Manual Designation
Programming Character
Pendant
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.
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 When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
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Contents
1 Analog Output Function Corresponding to Speed .......................................................................... 1-1
2 Instructions...................................................................................................................................... 2-1
2.1 Instructions for Analog Output Function Corresponding to Speed..................................... 2-1
2.1.1 ARATION.............................................................................................................. 2-1
2.1.2 ARATIOF .............................................................................................................. 2-2
2.2 Registration of Instructions ................................................................................................ 2-3
2.2.1 ARATION.............................................................................................................. 2-3
2.2.2 ARATIOF .............................................................................................................. 2-5
2.3 Analog Output Display ....................................................................................................... 2-6
3 Examples ........................................................................................................................................ 3-1
3.1 Examples of Output Characteristics................................................................................... 3-1
3.2 Example of Variation of Operating Speed and Analog Output Value ................................ 3-2
4 Filter Process .................................................................................................................................. 4-1
4.1 When Parameter is Set to “0” ............................................................................................ 4-1
4.2 When Parameter is Set to Values Other Than “0” ............................................................. 4-1
4.3 Parameter Setting .............................................................................................................. 4-2
5 Precautions ..................................................................................................................................... 5-1
5.1 When Analog Output Corresponding to Speed is Interrupted............................................ 5-1
5.2 When More than One Manipulator is Used........................................................................ 5-1
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Analog Output Function Corresponding to Speed
DX100
1
Analog Output Function Corresponding to Speed
The analog output function corresponding to speed changes the analog
output value automatically, according to the manipulator operating speed.
This function does not need resetting of the analog output value according
to the operating speed, so that the time required for job teaching can be
reduced.
For example, when the thickness of sealing or painting should be
constant, the discharged amount of seals or paints can be controlled by
the manipulator operating speed.
Speed : slow
Discharged amount : small
Speed : fast
Discharged amount : large
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2.1
DX100
2
Instructions
Instructions for Analog Output Function Corresponding to Speed
Instructions
2.1
Instructions for Analog Output Function Corresponding
to Speed
The instructions, ARATION and ARATIOF, are used for the analog output
function corresponding to speed.
2.1.1
ARATION
The analog output function corresponding to speed is performed after
executing ARATION instruction. This instruction is valid during circular
interpolation, linear interpolation or spline interpolation. It is executed only
at playback or FWD key operation; it is not executed during axis
operation.
This instruction is also used when each set value for the analog output
function corresponding to speed is to be changed.
ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00
Output port number
General analog output port to execute the analog output corresponding
to speed
Setting range : 1 to 40
Basic voltage
Voltage to be output at the speed set with the basic speed.
Basic speed
Operating speed which becomes the basis for when the set voltage is
output.
Offset voltage
Analog voltage when the operating speed is 0.
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2.1
DX100
Instructions
Instructions for Analog Output Function Corresponding to Speed
According to the set value of the ARATION instruction, the output
characteristics for the relation between the operating speed and the
analog voltage are calculated. The analog output function corresponding
to speed is executed depending on these output characteristics.
The following graph shows the output characteristics.
Fig. 2-1: Output Characteristics When Analog Output Function Corresponding to
Speed is Used
Analog voltage
14V
Basic
voltage
Offset
voltage
0
NOTE
2.1.2
Basic
speed
Operating
speed
When the analog output value exceeds ± 14.00 V because
of the operating speed, the value is limited within ± 14.00 V.
ARATIOF
When the ARATIOF instruction is executed, the analog output
corresponding to speed is completed, and the set offset voltage becomes
the fixed output.
ARATIOF AO#(1)
Output port number
General analog output port to end the analog output corresponding to
speed
Setting range : 1 to 40
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2.2
DX100
2.2
Instructions
Registration of Instructions
Registration of Instructions
The instructions can be registered when the cursor is in the address area
on the job content display in teach mode. Perform the following
operations before registering an instruction.
1. Select {JOB} under the main menu
2. Select {JOB CONTENT}
3. Move the cursor to the address area
Address
area
2.2.1
Instruction
area
ARATION
1. Move the cursor to one line above the place to register the ARATION
instruction
The line above the
place to register
ARATION instruction.
2. Press [INFORM LIST]
3. Select [IN/OUT]
– The instruction list dialog appears.
4. Select “ARATION”
– The ARATION instruction is indicated in the input buffer line.
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2.2
Instructions
Registration of Instructions
5. Change any additional items and numerical values
– <Register without changes>
To register without changes, perform operation of step 5.
– <Register with addition or change of the additional items>
• To change the output port number
In case of using [SHIFT] and the cursor key, move the cursor to
the output port number, and then press [SHIFT] and the cursor
key simultaneously, to change the output port number.
In case of using the number keys, move the cursor to the output
port number, and press [SELECT] to display an input buffer line.
Enter the number, and then press [ENTER] to change the number
displayed.
• To change the basic voltage, the speed, and the offset voltage
Move the cursor to the instruction in the input buffer line, and then
press [SELECT]. The detail edit display is shown.
Move the cursor to “UNUSED” of the additional item to be
changed, and then press [SELECT]. The selection dialog is displayed.
Move the cursor to the additional item to be changed, and press
[SELECT].
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2.2
DX100
Instructions
Registration of Instructions
When the additional item is changed, press [ENTER]. The detail
edit window closes, and the job content window appears.
6. Press [INSERT] and [ENTER]
– The instruction indicated in the input buffer line is registered.
The line where
ARATION
instruction is
registered.
2.2.2
ARATIOF
1. Move the cursor to one line above the place to register ARATIOF
instruction
The line above the
place to register
ARATIOF instruction.
2. Press [INFORM LIST]
3. Select [IN/OUT]
– The instruction list dialog appears.
4. Select “ARATIOF”
– The ARATIOF instruction is indicated in the input buffer line.
5. Press [INSERT] and [ENTER]
– The ARATIOF instruction is registered.
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2.3
DX100
2.3
Instructions
Analog Output Display
Analog Output Display
The current settings can be confirmed on the analog output window.
Terminal
General analog output port
OUTPUT (V)
Indicates the voltage which is currently output.
BASIC (V)
Indicates the basic voltage used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
TRAIT
Indicates the current output characteristics of the output port.
SP RAT : during execution of the analog output corresponding to speed
STATIC : fixed output status
OFFSET (V)
Indicates the offset voltage used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
BASIC SPD
Indicates the basic speed used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
ROBOT
Indicates the manipulator number for the analog output corresponding
to speed.
1. Select {IN/OUT} from the main menu
2. Select {ANALOG OUTPUT}
– The analog output window appears.
The output terminal numbers which follow
the AOUT4 can be switched and displayed by pressing the page key.
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3.1
DX100
3
Examples
Examples of Output Characteristics
Examples
3.1
Examples of Output Characteristics
The graph below shows the change in the output characteristics when the
following job is done.
Output Voltage (V)
MOVJ VJ=50.00
ARATION AO#(1) BV=7.00 V=150.0 OFV=-10.00
7.00
MOVL V=50.0
-4.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVC V=100.0
1.33
MOVL V=200.0
12.67
Analog voltage
(V)
14V
Basic
voltage
10
7
5
0
50
-5
100
150
Basic
speed
200
Operating speed
(mm/s)
Offset
-10
voltage
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3.2
DX100
3.2
Examples
Example of Variation of Operating Speed and Analog Output Value
Example of Variation of Operating Speed and Analog
Output Value
The following graph shows the change of the analog output according to the speed variation.
MOVL V=200.0
ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00
MOVC V=150.0
MOVC VR=20.0
(When the tool center point speed is 100 mm/s)
MOVC V=150.0
MOVL V=180.0
MOVL
(When the tool center point speed is 180 mm/s)
AOUT AO#(1) 10.00
Fig. 3-2: Analog Voltage according to Speed
Analog
voltage (V)
Operating
speed (mm/s)
10
7
1
8.8
200
5
6
7
180
4
2
4
150
3
100
Time
NOTE
• Since the analog output corresponding to speed is made
for the calculated speed, there may be little difference
from the actual operating speed of the manipulator.
• When a posture speed is specified, the analog output corresponding to speed is made for the operating speed at
the tool center point with the posture speed.
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4.1
DX100
4
Filter Process
When Parameter is Set to “0”
Filter Process
In the analog output function corresponding to speed, the output analog
signal can be filtered by setting a filter constant at the parameters.
4.1
When Parameter is Set to “0”
The analog signal according to the speed reference (the speed
determined by a path operation) is output.
Analog output signal
Manipulator actual speed
Voltage Speed
Time
4.2
When Parameter is Set to Values Other Than “0”
The analog signal according to the speed of filtered speed reference is
output. By the filter process, the output signal can be close to the
manipulator’s actual speed.
Analog output signal
Manipulator actual speed
Voltage Speed
Time
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4.3
DX100
4.3
Filter Process
Parameter Setting
Parameter Setting
Adjust the settings of parameters during actual operations.
Parameter
Number
Analog Output
Content
Unit
S3C1111
S3C1112
Analog output No.1
Analog output No.1
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1113
S3C1114
Analog output No.2
Analog output No.2
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1115
S3C1116
Analog output No.3
Analog output No.3
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1117
S3C1118
Analog output No.4
Analog output No.4
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1119
S3C1120
Analog output No.5
Analog output No.5
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1121
S3C1122
Analog output No.6
Analog output No.6
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1123
S3C1124
Analog output No.7
Analog output No.7
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1125
S3C1126
Analog output No.8
Analog output No.8
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1127
S3C1128
Analog output No.9
Analog output No.9
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1129
S3C1130
Analog output No.10
Analog output No.10
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1131
S3C1132
Analog output No.11
Analog output No.11
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1133
S3C1134
Analog output No.12
Analog output No.12
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1135
S3C1136
Analog output No.13
Analog output No.13
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1137
S3C1138
Analog output No.14
Analog output No.14
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1139
S3C1140
Analog output No.15
Analog output No.15
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1141
S3C1142
Analog output No.16
Analog output No.16
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1143
S3C1144
Analog output No.17
Analog output No.17
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1145
S3C1146
Analog output No.18
Analog output No.18
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1147
S3C1148
Analog output No.19
Analog output No.19
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1149
S3C1150
Analog output No.20
Analog output No.20
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1151
S3C1152
Analog output No.21
Analog output No.21
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1153
S3C1154
Analog output No.22
Analog output No.22
Primary filter constant
Secondary filter constant
[msec]
[msec]
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4.3
Filter Process
Parameter Setting
Parameter
Number
Analog Output
Content
Unit
S3C1155
S3C1156
Analog output No.23
Analog output No.23
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1157
S3C1158
Analog output No.24
Analog output No.24
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1159
S3C1160
Analog output No.25
Analog output No.25
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1161
S3C1162
Analog output No.26
Analog output No.26
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1163
S3C1164
Analog output No.27
Analog output No.27
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1165
S3C1166
Analog output No.28
Analog output No.28
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1167
S3C1168
Analog output No.29
Analog output No.29
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1169
S3C1170
Analog output No.30
Analog output No.30
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1171
S3C1172
Analog output No.31
Analog output No.31
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1173
S3C1174
Analog output No.32
Analog output No.32
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1175
S3C1176
Analog output No.33
Analog output No.33
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1177
S3C1178
Analog output No.34
Analog output No.34
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1179
S3C1180
Analog output No.35
Analog output No.35
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1181
S3C1182
Analog output No.36
Analog output No.36
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1183
S3C1184
Analog output No.37
Analog output No.37
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1185
S3C1186
Analog output No.38
Analog output No.38
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1187
S3C1188
Analog output No.39
Analog output No.39
Primary filter constant
Secondary filter constant
[msec]
[msec]
S3C1189
S3C1190
Analog output No.40
Analog output No.40
Primary filter constant
Secondary filter constant
[msec]
[msec]
The standard parameter settings are as follows.
• For small capacity robot with a payload 6 kg and 16 kg
Primary filter constant : 50 msec
Secondary filter constant : 50 msec
• For large capacity robot with a payload 60 kg and 130 kg
Primary filter constant : 100 msec
Secondary filter constant : 100 msec
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5.1
DX100
5
Precautions
When Analog Output Corresponding to Speed is Interrupted
Precautions
5.1
When Analog Output Corresponding to Speed is
Interrupted
If the manipulator is stopped for some reason and the editing operation is
performed, the analog output corresponding to speed is interrupted. This
interruption is performed in all output terminals, and the analog voltage
fixed immediately before the interruption is output to each output terminal.
The analog output corresponding to speed is not interrupted in any other
cases.
5.2
When More than One Manipulator is Used
The attribute of the job where the instruction is executed determines the
manipulator where the analog output corresponding to speed is
performed.
For a coordinated job, the analog output corresponding to speed is
performed at the operating speed of the manipulator at the slave side.
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DX100 OPTIONS
INSTRUCTIONS
FOR ANALOG OUTPUT FUNCTION CORRESPONDING TO SPEED
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
Fax +46-480-417999
Phone +46-480-417800
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
Fax +82-53-382-7845
Phone +82-53-382-7844
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Fax +65-6289-3003
Phone +65-6282-3003
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
Fax +86-10-6788-0542
Phone +86-10-6788-0541
MOTOMAN MOTHERSON ROBOTICS LTD.
Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India
Phone +91-124-475-8500
Fax +91-124-475-8542
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C Printed in Japan December 2009 09-12
MANUAL NO.
HW0485867
21/21
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