YASKAWA MOTOMAN DX100 User manual

MANUAL NO.
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DX100 OPTIONS
INSTRUCTIONS
FOR I/O TRACE FUNCTION
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.
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Part Number: 159118-1CD
Revision: 0

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MANDATORY
• This manual explains the details on I/O trace function of the DX100.
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.”
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items
WARNING Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION 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.
NOTE To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “CAU-
TION” 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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Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming
pendant, and supply cables.
In this manual, the equipment is designated as follows.
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, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator.
Equipment Manual Designation
DX100 Controller DX100
DX100 Programming Pendant Programming Pendant
Cable between the manipulator and DX100 Manipulator Cable
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
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.
Equipment Manual Designation
Programming
Pendant
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.
ex. page key
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 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}
GO
BACK
PAGE
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DX100 Contents
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1 I/O Trace Function .......................................................................................................................... 1-1
2 Basic Specification.......................................................................................................................... 2-1
3 Setting of I/O Trace Function .......................................................................................................... 3-1
3.1 Window .............................................................................................................................. 3-1
3.2 Operation Procedure ......................................................................................................... 3-2
3.3 Specified I/O Signal ........................................................................................................... 3-3
3.3.1 Specified Input Signal........................................................................................... 3-3
3.3.2 Specified Output Signal ........................................................................................ 3-3
4 I/O Trace Log Data ......................................................................................................................... 4-1
4.1 Window .............................................................................................................................. 4-1
4.2 Operation Procedure ......................................................................................................... 4-2
5 External Memory............................................................................................................................. 5-1
5.1 Operation Procedure ......................................................................................................... 5-1
5.2 Data Format....................................................................................................................... 5-2
6 I/O TraceViewer (Optional) ............................................................................................................. 6-1
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1 I/O Trace Function
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1 I/O Trace Function
I/O trace function is a function that can trace the signal status used by the
robot controller after synchronizing it to the concurrent I/O scanning
without using any measuring devices.
The trace log data can be saved in CSV format and utilize it in variety of
situations depending on the purpose of use.
For example, when setting up the system or a failure occurred, problems
can be easily analyzed to find their solutions by using the log data traced
by this function and thus the time to solve the problem is reduced.
Also, by using the PC software IO TraceViewer, the waveform of the
saved log data can be displayed and analyze it without any difficulty.
Fig. 1-1: System Configuration
No mearsuring
device required
Back up PC Software
I/OTraceViewer(Optional)
Log data
DX100
CF
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2 Basic Specification
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2 Basic Specification
Item Specification
Trace cycle 4 m sec (Synchronized to concurrent I/O cycle)
Trace target Concurrent I/O number
·General input
·General output
·External input
·External output
·Specific input
·Specific output
·Interface panel input
·Auxiliary relay
·Control status
·Pseudo Input
·Network Input
·Network output
(#00010 to #02567)
(#10010 to #12567)
(#20010 to #22567)
(#30010 to #32567)
(#40010 to #41607)
(#50010 to #52007)
(#60010 to #60647)
(#70010 to #79997)
(#80010 to #80647)
(#82010 to #82207)
(#25010 to #27567)
(#35010 to #37567)
Number of trace signal 16 signals at maximum
Trigger Edge (up and down)
Pre-trigger Specify the triggering point of the trace log data
(0 % to 100 %)
0 %: Save the log data for 10 sec from the
trigger point.
50 %: Save the log data for 10 sec from 5sec
previous to the trigger point.
100 %: Save the log data for 10 sec from 10 sec
previous to the trigger point.
Amount of log data Save the log data for 10sec including the trigger
point.
Trace start/end operation Can be operated by the programming pendant or a
specific input signal (#40600)
Tracing status Can be verified with the programming pendant or a
specific input signal (#50900)
NOTE
The trace log data is cleared with ON/OFF button.
Please backup the necessary trace log data to the external
memory device before turning OFF the control power
supply.
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3 Setup of I/O Trace
DX100 3.1 Window
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3 Setup of I/O Trace
3.1 Window
A. TRACE STOP/ START
Displays the tracing status
B. No. 1 to 16
Up to 16 tracing conditions can be set
C. SIGNAL
Set the concurrent I/O signal (#0xxxxx to #9xxxxx)
The tracing condition is cleared when “0” is input
D. SIGNAL STATUS
Show the signal status. ●: Signal is ON ○: Signal is OFF
E. TRIGGER
Set “VALID” or “INVALID” of the trigger condition
F. EDGE
Set “UP” or “DOWN” of the trigger condition edge
G. DETECT
Show the trigger detecting status
●: Trigger is detected ○: Trigger is undetected
H. NAME
Can set the signal name with up to 16 letters
I. COMMENT
Can set the I/O trace comment with up to 32 letters
A
B
C
D
E
F
G
H
I
J
K
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