Yaskawa Motoman Logging Owner's Manual

DX100 OPTIONS
INSTRUCTIONS
FOR LOGGING 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 manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 158177-1CD
Revision: 0
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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DX100
MANDATORY
•
This manual explain the logging function 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
MANDATORY
PROHIBITED
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
items listed under this heading.
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 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 supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX100 controller
DX100
DX100 programming pendant
Programming pendant
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Descriptions of the programming pendant, 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
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.
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
2 Logging Function............................................................................................................................. 2-1
2.1 Data to be Logged ............................................................................................................. 2-1
2.2 Data to be Logged ............................................................................................................. 2-2
3 Operation ........................................................................................................................................ 3-1
3.1 List of Log .......................................................................................................................... 3-1
3.2 Display of detailed log........................................................................................................ 3-3
3.3 Update of Logging Information........................................................................................... 3-6
3.4 Delete of Logging Information............................................................................................ 3-6
3.5 Selecting Operation to be Logged ..................................................................................... 3-8
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1
1
Outline
Outline
This function stores the history (log) of operation on the controller and
data edit in chronological order, and shows them on the display.
This function also allows users to obtain the log, and enables the log data
to be stored in external memory devices.
NOTE
To use this function, the memory expansion board (JANCDYIF01-2E or JANCD-YIF01-3E) is required. This function is
unavailable if the memory expansion board is not used.
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2.1
DX100
2
Logging Function
Data to be Logged
Logging Function
2.1
Data to be Logged
This function logs the following data.
• Operation system
• START, HOLD, E-STOP (The operation in remote mode is also
logged.)
• Change of mode (PLAY/TEACH/REMOTE) (The operation in
remote mode is also logged.)
• Safety fence OPEN
• Selection of job (including direct open)
• Calling of master jobs
• Initialization of files and jobs
• Load and save of files and jobs (normal termination/abnormal
termination) (Load and save operation by DCI function and data
transmission function are not recorded in the log.)
• New creation, delete, rename, parallel shift job conversion, mirror
shift conversion, and PAM (position modification during playback)
of jobs
• Change of manipulator home position
• Login/logoff (only when the password protection function is used)
• Edit system
• Job:
Addition of instructions
Change of conditions in instructions
Delete of instructions
CUT, PASTE, and REVERSE PASTE operations
UNDO and REDO operations
Edit of job header
• Edit of condition files/general data
• Edit of parameters
• Edit of CIO
Edit in the ladder program display
In the execution of compile, the previous edit history
(addition/change/delete of lines) is output together.
Because the recorded time is the time when each edit was
actually performed, it may not equal to the time of compile
• Edit of variables (Edit in remote mode is not recorded in the log.)
• Edit of I/O
The log of switch ON/OFF of general input/output signals is
obtained.
NOTE
Only the edit operations performed by the user are logged.
Variables or I/O status changed by the execution of instructions or others in the job are not recorded in the log.
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2.2
DX100
2.2
Logging Function
Data to be Logged
Data to be Logged
The following shows the number of logging records for each data.
• Operation system: 100 pieces
• Edit system: 200 pieces
If those numbers are exceeded, the old data is deleted and the new data
is recorded.
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3.1
DX100
3
Operation
List of Log
Operation
3.1
List of Log
The list of log can be referred by using the following procedure.
Main Menu → {SYSTEM INFO} → {LOGDATA}
When {LOGDATA} is selected, the logging information window appears.
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3.1
Operation
List of Log
In the logging information window, the log can be listed by types
(operation/edit system). When {DISPLAY} is selected from the pull-down
menu, {ALL], {OPERATION}, and {EDITING} appears, and only the log for
the selected type is shown.
Only the operation system log is shown in the following example.
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3.2
DX100
Operation
Display of detailed log
Only the edit system log is shown in the following example.
3.2
Display of detailed log
In the logging information list window, when the cursor is moved to a log
and {SELECT} key is pressed, details of the selected log are shown.
When {RETURN} is touched at the lower part of the window, or {CANCEL}
key is pressed, the list window is returned.
Items that appear in the detailed log window are shown in the tables in the
following pages. The following items appear regardless of whether the
operation system or editing system is selected
• INDEX
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3.2
DX100
Operation
Display of detailed log
• Date and hour
• Event
• Login name
Operation system log
Log Name
Rem
arks
Display Item for Detailed Display Part
START
Series
Job
name
Line
number
Current
value
HOLD
Series
Job
name
Line
number
Current
value
ESP
Series
Job
name
Line
number
Current
value
Job selection
Series
Job
name
Safety fence
OPEN
Series
Job
name
Line
number
Current
value
Master job call
Series
Job
name
File initialization
File name
File load normal
termination
File name
File save normal
termination
File name
File load
abnormal
termination
File name
File save
abnormal
termination
File name
Setting
Current
value
TEACH mode
PLAY mode
REMOTE mode
JOB creation
Job name
JOB delete
Job name
JOB rename
Job name
Parallel shift
Job name
Mirror shift
Job name
PAM
Job name
Home position
absolute data
Group
number
Axis
number
LOGIN
LOGOUT
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3
3.2
Operation
Display of detailed log
Edit system log
Log Name
Rema
rks
Display Item for Detailed Display Part
JOB edit (addition)
Series
Job name
Line number
Value after
edit
Current
value
JOB edit (modification)
Series
Job name
Line number
Value after
edit
Current
value
JOB edit (delete)
Series
Job name
Line number
Deleted row
JOB edit (position set)
Series
Job name
Line number
Current value
JOB edit (position
modification)
Series
Job name
Line number
Current value
JOB edit (cut)
Series
Job name
Process start
position
Process end
position
JOB edit (paste)
Series
Job name
Process start
position
Process end
position
JOB edit (R paste)
Series
Job name
Process start
position
Process end
position
JOB edit (UNDO)
Series
Job name
JOB edit (REDO)
Series
Job name
Numer
ic
Job name
Element
number
Value before
edit
Value after
edit
Chara
cter
string
Job name
Element
number
Value after
edit
Numer
ic
File name
Element
number
Value before
edit
Chara
cter
string
File name
Element
number
Value after
edit
Parameter edit
Parameter
type
Parameter
number
Value before
edit
Ladder edit (addition)
Line
number
Value after edit
System/user
Ladder edit
(modification)
Line
number
Value after edit
System/user
Ladder edit (delete)
Line
number
Deleted row
System/user
Numer
ic
Variable
type
Edit number
Value before
edit
Chara
cter
string
Variable
type
Edit number
Value before
edit
Positio
n
variabl
e
Variable
type
Edit number
Setting value
I/O number
Value after edit
JOB edit (header)
Edit of other files
Value after
edit
Value after
edit
Compile
Variable edit
I/O edit
Value after
edit
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3.3
DX100
3.3
Operation
Update of Logging Information
Update of Logging Information
When the new log is added during the display of the logging information
window, pressing the {SELECT} key shows the confirmation dialog box
“The log was added. Update the display?”. If “Yes” is selected, the log
data is obtained again and the display is updated. If “No” is selected, the
display is not updated but the same dialog box is displayed again if the
{SELECT} key is pressed later.
When the type of the log is set to “operation” or “editing”, pressing the
{SELECT} key displays the above confirmation dialog box only if the same
type of log as that shown is added.
3.4
Delete of Logging Information
Only if the security is in the management mode, selecting pull-down menu
{DATA}, {CLEAR} is displayed. If {CLEAR} is selected, the confirmation
dialog box “Initialize?” is displayed, and then if {YES} is selected, all logs
of the type shown are deleted.
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3
3.4
Operation
Delete of Logging Information
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3.5
DX100
3.5
Operation
Selecting Operation to be Logged
Selecting Operation to be Logged
By selecting the operation to be logged, obtaining unnecessary logs can
be prohibited. Selecting {Main Menu} → {SETUP} → {LOGDATA COND.}
shows the logging information setting window.
When the cursor is moved to the item to be logged and the {SELECT} key
is pressed, the setting alternates between {SAVE} and {NOT SAVE}. The
operation items set to {NOT SAVE} are no longer logged even if the
operations are performed.
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3.5
Operation
Selecting Operation to be Logged
The following shows item names and the target logs.
Item Name
Target Log
START OPERATION LOG
START
HOLD OPERATION LOG
HOLD
EMERGENCY STOP
OPERATION LOG
ESP
SAFETY FENCE LOG
Safety fence OPEN
MODE SWITCH LOG
• TEACH mode
• PLAY mode
• REMOTE mode
JOB SELECTION JOB
Job selection
MASTER JOB SELECTION JOB
Master job selection
LOGIN/LOGOUT
• LOGIN
• LOGOUT
FILE INITIALIZE LOG
File initialization
FILE LOAD LOG
• File load normal termination
• File load abnormal termination
FILE SAVE LOG
• File save normal termination
• File save abnormal termination
JOB CREATE/DELETE LOG
• JOB creation
• JOB delete
JOB RENAME LOG
JOB rename
JOB SHIFT LOG
• Parallel shift
• Mirror shift
JOB PAM LOG
PAM
HOME POSITION LOG
Home position absolute data
JOB EDIT LOG
• JOB edit (addition)
• JOB edit (modification)
• JOB edit (delete)
• JOB edit (position set)
• JOB edit (position modification)
JOB CUT/PASET LOG
• JOB edit (cut)
• JOB edit (paste
• JOB edit (R paste)
JOB UNDO/REDO LOG
• JOB edit (UNDO)
• JOB edit (REDO)
JOB HEADER EDIT LOG
JOB edit (header)
FILE EDIT LOG
Edit of other files
PARAMETER EDIT LOG
Parameter edit
VARIABLE EDIT LOG
Variable edit
SIGNAL EDIT LOG
I/O edit
LADDER EDIT LOG
• Ladder edit (addition)
• Ladder edit (modification
• Ladder edit (delete)
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DX100 OPTIONS
INSTRUCTIONS
FOR LOGGING 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 August 2010 10-08
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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