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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3 Setup of I/O Trace
DX100 3.2 Operation Procedure
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J. PRE-TRIGGER
Specify the triggering point of the traced log data (initial value is 50%)
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.
K. {START}/{STOP} button
Press {START} button to start I/O tracing, display {STOP} button.
Also, press {START} button to save the data when trigger is detected
and display {STOP} button .
Press {STOP} button to end I/O tracing and display {START} button.
3.2 Operation Procedure
1. Change the security mode to management mode. ({I/O TRACE} menu
is not displayed under the operation/edit mode.)
2. Select {IN/OUT} under the main menu.
3. Select {I/O TRACE}.
– I/O TRACE SETUP window appears.
4. Set the trace signal.
– Move the cursor to {SIGNAL} part and press [SELECT] key to input
the concurrent I/O signal logical number.
Input “0” to clear the tracing condition.
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3 Setup of I/O Trace
DX100 3.3 Specified I/O Signal
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5. Set the trigger condition.
– Move the cursor to {TRIGGER} part and press [SELECT] key to
alternate {VALID} and {INVALID}.
– While the trigger is valid, move the cursor to {EDGE} and press
[SELECT] key to alternate {UP} and {IDOWN}.
6. Set the signal name.
– Move the cursor to {SIGNAL} and press [SELECT] key to input its
name with up to 16 letters.
7. Set the comment.
– Move the cursor to {COMMENT} and press [SELECT] key to input a
comment with up to 32 letters.
8. Set the pre-trigger.
– Move the cursor to {PRE-TRIGGER} and press [SELECT] key to set
the pre-trigger.
9. Start or end the tracing operation.
– Press {START} button to start tracing.
The status becomes in a tracing state.
– Press {STOP} button to end tracing.
The status becomes in a out-of-tracing state.
– After the trigger is detected and the data is saved, the status
becomes in a out-of-tracing state.
3.3 Specified I/O Signal
3.3.1 Specified Input Signal
#40600 I/O tracing start
Tracing operation starts when this signal is turned ON and stops when it is
turned OFF.
3.3.2 Specified Output Signal
#50900 While in I/O tracing mode
This number shows the tracing status. The signal is turned ON when it is
in a tracing state, and it is in a out-of-tracing state when the signal is
turned OFF.
NOTE
Whe sg
When the tracing operation is started with the programming
pendant, complete it with the programming pendant.
Also, when the tracing operation is started with specified
input signal, again complete it with the specified input sig-
nal.
In case the trigger is detected, the tracing operation com-
pletes automatically.
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4 I/O Trace Log Data
DX100 4.1 Window
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4 I/O Trace Log Data
4.1 Window
A. TRACE
Display the tracing condition No. from which a trigger is detected.
“**” is displayed when the trigger is undetected.
B. TRIGGER L
Display the line from which a trigger is detected.
“****” is displayed when the trigger is undetected.
C. Log data line No.
Display the line No. of the log data.
D. Log data
Display the data of logged 16 signal
“0” means the signal is in OFF state and “1” means it is in ON state.
The signal numbers from No.1 to No.16 are shown from right to left
of the line.
Example) The signal No. 1 and 15 are in ON state.
0100_0000_0000_0001
A
B
C
D
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4 I/O Trace Log Data
DX100 4.2 Operation Procedure
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4.2 Operation Procedure
1. Change the security to management mode. ({I/O TRACE LOG} menu
is not displayed under the operation/edit mode.)
2. Select {IN/OUT} under the main menu.
3. Select {I/O TRACE LOG}.
– I/O TRACE LOG window appears.
4. Search the line number.
– Move the cursor to a line number part, input a desired line number
and press [SELECT] key to search the line.
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4 I/O Trace Log Data
DX100 4.2 Operation Procedure
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5. Search the trigger number.
– Move the cursor to the log data part and press [SELECT] key to
search the desired trigger line.
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5 External Memory
DX100 5.1 Operation Procedure
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5 External Memory
5.1 Operation Procedure
1. Select {FD/PC CARD} under the main menu.
2. Select {SAVE}.
3. Select {SISTEM DATA}.
– System data window apepars.
4. Select “I/O TRACE DATA” on the window.
–“
” mark is displayed.
– Press [ENTER] key to display the confirmation dialog box.
Select [YES] to save the data.
5. Select [LOAD] or [VERIFY] to load or verify the I/O trace data.
– Note that the security should be in the management mode when
loading the data.
– No log data other than I/O trace setup data can be loaded.
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5 External Memory
DX100 5.2 Data Format
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5.2 Data Format
Following is the examples of output file data when I/O trace data is output
to the external memory.
File name : IOTRACE.DAT
//IOTRACE //IOTRACE
1 1) ///COMMENT
Robot I/O Report
///COMMENT <Comment , up to 32 letters>
50 <Pre-trigger>
80025,1,0,EXESP <Signal 1>, <Trigger 1>, <Edge 1>, <Signal name 1>
40066,0,0,EXSVOFF2 <Signal 2>, <Trigger 2>, <Edge 2>, <Signal name 2>
40067,0,0,EXHOLD <Signal 3>, <Trigger 3>, <Edge 3>, <Signal name 3>
40040,0,1,EACH SELECT <Signal 4>, <Trigger 4>, <Edge 4>, <Signal name 4>
70016,0,1,4 ms pulse 0,0,1 <Signal 5>, <Trigger 5>, <Edge 5>, <Signal name 5>
0,0,1, <Signal 6>, <Trigger 6>, <Edge 6>, <Signal name 6>
0,0,1, <Signal 7>, <Trigger 7>, <Edge 7>, <Signal name 7>
0,0,1, <Signal 8>, <Trigger 8>, <Edge 8>, <Signal name 8>
0,0,1, <Signal 9>, <Trigger 9>, <Edge 9>, <Signal name 9>
0,0,1, <Signal 10>, <Trigger 10>, <Edge 10>, <Signal name 10>
0,0,1, <Signal 11>, <Trigger 11>, <Edge 11>, <Signal name 11>
0,0,1, <Signal 12>, <Trigger 12>, <Edge 12>, <Signal name 12>
0,0,1, <Signal 13>, <Trigger 13>, <Edge 13>, <Signal name 13>
0,0,1, <Signal 14>, <Trigger 14>, <Edge 14>, <Signal name 14>
0,0,1, <Signal 15>, <Trigger 15>, <Edge 15>, <Signal name 15>
0,0,1, <Signal 16>, <Trigger 16>, <Edge 16>, <Signal name 16>
22) 4 <Trace scan time>
1,1250 <Trigger Signal Number>, <Trigger Line Number>
1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 1>, <Signal 2 log 1>, <Signal 3 log 1>,···, <Signal 16 log 1>
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 2>, <Signal 2 log 2>, <Signal 3 log 2>,···, <Signal 16 log 2>
1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 3>, <Signal 2 log 3>, <Signal 3 log 3>,···, <Signal 16 log 3>
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 4>, <Signal 2 log 4>, <Signal 3 log 4>,···, <Signal 16 log 4>
1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 5>, <Signal 2 log 5>, <Signal 3 log 5>,···, <Signal 16 log 5>
: :
0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 2499>, <Signal 2 log 2499>, <Signal 3 log 2499>, ···,
<Signal 16 log 2499>
0,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 2500>, <Signal 2 log 2500>, <Signal 3 log 2500>, ···,
<Signal 16 log 2500>
1Data 1: I/O trace setup data
2Data 2: I/O trace log data
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6 I/O TraceViewer (Optional)
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6 I/O TraceViewer (Optional)
By using the PC software, IO TraceViewer, the wave shape of the saved
I/O trace log data (IOTRACE.DAT) can be displayed.
A. Comment
The comment of the I/O trace setup window/IOTRACE.DAT is
displayed.
B. Trigger information
The information of the I/O trace log data/IOTRACE.DAT is displayed.
C. Waveform
The log of the I/O trace log data/IOTRACE.DAT is displayed in a
waveform .
Also, the setting of the waveform display can be changed with
“Wave Form Style” on the window.
A
C
D
E
B
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6 I/O TraceViewer (Optional)
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D. Signal name
The item displayed in this part can be changed to signal number, relay
number or signal name.
■Signal number
Display the signal number
■Relay number
Display I/O trace setup window / IOTRACE.DAT relay number
■Signal name
Display I/O setup window / IOTRACE.DAT signal name
E. Measure
The time between the two points can be measured.
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MANUAL NO.
Printed in Japan June 2010 10-06
C
Specifications are subject to change without notice
for ongoing product modifications and improvements.
DX100 OPTIONS
INSTRUCTIONS
FOR I/O TRACE FUNCTION
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu, Fukuoka, 806-0004, Japan
Phone [phone] Fax [phone]
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone [phone] Fax [phone]
YASKAWAAmerica Inc. MOTOMAN Robotics Division
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone [phone] Fax [phone]
YASKAWA Nordic AB
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone [phone] Fax [phone]
YASKAWA Europe GmbH Robotics Division
7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone [phone] Fax [phone]
YASKAWA Electric Korea Co., Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone [phone] Fax [phone]
YASKAWA Electric (Singapore) PTE Ltd.
252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone [phone] Fax [phone]
YASKAWA Electric (Thailand) Co., Ltd.
No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176
Phone [phone] Fax [phone]
Shougang MOTOMAN Robot Co. Ltd.
Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Fax [phone] Phone [phone]
MOTOMAN Motherson Robotics Ltd.
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