DX100 OPTIONS
INSTRUCTIONS
FOR EXTERNAL REFERENCE POINT CONTROL FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMANINSTRUCTIONS
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.
Part Number: 156429-1CD
Revision: 1
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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MANDATORY
•
This manual explains the functions of the DX100 external reference
point control. 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 External Reference Point ................................................................................................................ 1-1
1.1 Operation at Teaching ....................................................................................................... 1-2
1.1.1 Major Axes............................................................................................................ 1-3
1.1.2 Wrist Axes.............................................................................................................1-3
1.2 Operation at Playback........................................................................................................ 1-4
1.3 Preparations for External Reference Point Control............................................................ 1-5
1.3.1 Registration of User Coordinates.......................................................................... 1-5
1.4 Move Instructions............................................................................................................... 1-5
1.4.1 Type...................................................................................................................... 1-5
1.4.2 Play Speed ........................................................................................................... 1-5
1.4.3 User Coordinate No. ............................................................................................. 1-5
2 Teaching and Modification .............................................................................................................. 2-1
2.1 Teaching ............................................................................................................................ 2-1
2.2 Checking Paths.................................................................................................................. 2-2
2.3 Modifying Paths ................................................................................................................. 2-2
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1
1
External Reference Point
External Reference Point
The external reference point function makes it possible to use a point in
space as a control point of the manipulator for teaching and playback.
This point in space is called the external reference point.
During sealing or spot-welding where the workpiece is held by the
manipulator, by defining the tip of a nozzle or the gun as a reference point,
the orientation of the workpiece, etc. can be changed.
For interpolation during playback, the speed of an external reference point
is controlled in relation to the speed of the workpiece.
The external reference point function saves teaching time and makes it
easier to control relative speeds of the nozzle and the workpiece.
An external reference point is defined to the user coordinate origin (ORG).
Therefore, external reference point control is possible only when user
coordinates are registered.
Since up to 63 user coordinates can be stored in memory, up to 63
external reference points can be set up.
An example of sealing by a workpiece-holding manipulator is shown in the
following figure.
Z-axis
User coordinate
system
External
reference
point
Y-axis
X-axis
The external reference point is
the user coordinate origin (ORG).
SUPPLE
-MENT
NOTE
For the user coordinate system, refer to “2.7 User Coordinates” in the DX100 operator’s manual.
The external reference point control is not available with the
coordinated job.
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1.1
DX100
1.1
External Reference Point
Operation at Teaching
Operation at Teaching
Teaching must be performed in the user coordinate system. For
operations to change to the user coordinate system, refer to chapter 2.1
“Teaching” at page 2-1
The “Axis Key” operations are the same as that in a user coordinate
system, as explained in the following table.
Axis
Major Axes
Axis Keys
X-
X+
Y-
Y+
Z-
Z+
7-
7+
X-
X+
R-
R+
Y-
Y+
Z-
Z+
T-
T+
S-
L-
U-
Wrist Axes
B-
SUPPLE
-MENT
S+
Motion
Moves parallel to the X-, Y-, and/or Z-axis of the
selected user coordinate.
L+
U+
Executes the motion about TCP. (The external
reference point is set as the TCP.)
B+
For details, refer to “2.7 User Coordinates” and “2.8 Tool Tip
Operations” in the DX100 operator’s manual.
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1.1
DX100
1.1.1
External Reference Point
Operation at Teaching
Major Axes
Fig. 1-1: Parallel Movement
Y-axis
Y+
L+
User coordinates
External reference point
X-axis
X+
S+
1.1.2
Wrist Axes
With a motion about TCP by the wrist axes, the manipulator’s posture can
be changed without changing the position of the TCP (the external
reference point).
Fig. : Motion about TCP
Fig. 1-1: Without the External
Reference Point Control Function
Fig. 1-2: With the External Reference
Point Control Function
External reference
point
Manipulator’s
TCP
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1.2
DX100
1.2
External Reference Point
Operation at Playback
Operation at Playback
External reference point control with linear interpolation between teaching
points P1 and P2 is shown in the following figure.
Workpiece
External reference point
P2
P1
Manipulator
External reference
point path
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1.3
DX100
1.3
External Reference Point
Preparations for External Reference Point Control
Preparations for External Reference Point Control
To perform the external reference point control for teaching, user
coordinates must be registered.
1.3.1
Registration of User Coordinates
For registration of user coordinates, refer to “2.7 User Coordinates” in the
DX100 operator’s manual.
1.4
1.4.1
Move Instructions
Type
There are two move instructions for external reference point control.
EIMOVL : Used for external linear interpolation.
EIMOVC : Used for external circular interpolation.
1.4.2
Play Speed
The setting procedure is the same as that for linear or circular motions.
1.4.3
User Coordinate No.
When a move instruction for the external reference point control is
registered, the user coordinate number of the external reference point
selected at the time is automatically registered.
EIMOVL V=100 UF#(1)
Play speed
User coordinate No.
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1.4
External Reference Point
Move Instructions
<Examples of instruction registration and movement>
• An example of instruction registration for EIMOVL
Move instruction for manipulator’s TCP
P1
P2
Fig. (a): EIMOVL (Linear interpolation)
External reference point
P1
External reference
point path
P2
Workpiece
• An example of instruction registration for EIMOVC
P1
P2
P3
Fig. (b): EIMOVC (Circular interpolation)
P1
P2
P3
Manipulator
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2.1
DX100
2
Teaching and Modification
Teaching
Teaching and Modification
After registering user coordinates, move instructions for external
reference point control can be taught or modified.
2.1
Teaching
1. Call the JOB CONTENT window.
(1) Select {JOB} from {JOB} under the main menu.
(2) Move the cursor to the line above where the move instruction is to
be inserted.
2. Press [COORD] to set the external reference points’
coordinates.
3. When the desired user coordinate file is not shown, press [SHIFT] +
[COORD].
4. Move the cursor to the desired user coordinate file No., and then press
[SELECT]
5. By pressing the axis key, set the external reference point to the
desired position.
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2.2
DX100
Teaching and Modification
Checking Paths
6. Press [SHIFT] + [MOTION TYPE] to select the external reference point
interpolation mode.
– The interpolation mode is switched in the following order. (When the
special interpolation mode and the conveyor interpolation mode are
invalid, the mode is switched between the standard interpolation
mode and the external reference point interpolation mode.)
Standard
Special
External
reference
point
Conveyor
7. Press [MOTION TYPE] to select either EIMOVL (external linear
interpolation) or EIMOVC (external circular interpolation).
8. With the cursor on the line No., press [SELECT].
9. Press the right cursor key to move the cursor on the speed indication
“V=**.”
– Then hold down [SHIFT] and press the top or bottom of the cursor
key to change the play speed.
10. Press [ENTER] to register the move instruction.
2.2
Checking Paths
To check whether the taught step positions are correct, use [FWD] and
[BWD] on the programming pendant.
For details, refer to “3.3 Checking Steps” in the DX100 operator’s manual.
2.3
Modifying Paths
If the paths need to be modified, refer to the following sections in the
DX100 operator’s manual.
• 4.4.2 Inserting Move Instructions
• 4.4.3 Deleting Move Instructions
• 4.4 Modifying Move Instructions
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DX100 OPTIONS
INSTRUCTIONS
FOR EXTERNAL REFERENCE POINT CONTROL FUNCTION
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 November 2010 09-10
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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