YASKAWA Motoman DX200 Manual

MANUAL NO.
0
HW1481993
Part Number: 165559-1CD
Revision: 0
DX200
SETUP PROCEDURE MANUAL
STANDARD SYSTEM
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL
DX200 MAINTENANCE MANUAL
The DX200 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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Table of Contents
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DX200 Standard Setup
1 Overview of DX200 Setup Procedure.............................................................................................1-1
2 YCP21 Setup ..................................................................................................................................2-1
2.1 Preparing the CF for YCP21..............................................................................................2-1
2.2 Setting Up the YCP21 Board.............................................................................................2-6
3 Programming Pendant Setup..........................................................................................................3-1
3.1 Preparing the CF/USB for Upgrading ................................................................................3-2
3.2 Setting Up the Programming Pendant...............................................................................3-8
4 EAXA21 Boot Setup........................................................................................................................4-1
5 Initialization of System Configuration in Maintenance Mode...........................................................5-1
6 Troubleshooting ..............................................................................................................................6-1
6.1 Possible Failures at Preparation of the CF........................................................................6-1
6.2 Possible Failure at Setup of the Programming Pendant....................................................6-3
6.3 Programming Pendant Flash Rom Format Procedure......................................................6-4
6.4 Redisplaying the Touch Calibration Display ......................................................................6-8
6.5 When the Message 'Cannot find YPP (or one of its components).' is Displayed.............6-10
6.6 Possible Failures at YCP21 Setup...................................................................................6-11
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1-1
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DX200 Standard Setup 1 Overview of DX200 Setup Procedure
1 Overview of DX200 Setup Procedure
The following flowchart overviews how to set up the DX200.
YCP01
Setup
Programming
Pendant
Setup
Servo
Setup
System
Setup
Required Items:
Personal computer
(Either Windows95, Windows98, Windows98SE,
Windows2000, Windows XP, Windows VISTA
or Windows7 which can use CD and CF)
Shipping CF
CD (with system version pre-installed) distributed
from Yaskawa design division
Operation Time:Approx. 10 minutes
Required Items:
Personal computer
(Windows which can use CD and CF)
CF (or UCB) for operation

Operation Time:Approx. 18 minutes
DX200 setup
START
CF preparation
for YCP21
YCP21 setup
CF/USB preparation
for programming pendant
Programming pendant
setup
System configuration
initialization
in maintenance mode
EAXA21
boot setup
Required Items:
Boot ROM
Boot ROM board (BT2004)
Operation Time:Approx. 5 minutes
END
CD (with system version pre-installed) distributed
from Yaskawa design division
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2 YCP21 Setup
2.1 Preparing the CF for YCP21
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DX200 Standard Setup
2 YCP21 Setup
Prepare the following items for the YCP21 setup operation.
• A personal computer: either Windows95, Windows98, or
Windows98SE, Windows2000, WindowsXP, WindowsVISTA,
Windows7, which can use CD and CF
• Shipping CF
• CD (with system version pre-installed) distributed from Yaskawa
design division
*The CF used for YCP21 requires no pretreatment because it is already formatted
by the CF manufacturer.
2.1 Preparing the CF for YCP21
Followings are the data writing procedures into the shipping CF which is to
be mounted on YCP21 (CPU) board.
1. Insert the CF into the CF reader/writer.
Insert
CF CF Reader/Writer
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2-2
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DX200 Standard Setup
2 YCP21 Setup
2.1 Preparing the CF for YCP21
2. Insert the CD (with system version pre-installed) distributed from
Yaskawa design division into the personal computer, and start up the
Explorer. Then select (double-click) the CD drive.
3. Start up (double-click) “mk_vx_cf.exe”.
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2 YCP21 Setup
2.1 Preparing the CF for YCP21
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DX200 Standard Setup
4. Click “Main CPU Board,” and then click the appropriate language in
“Language” part.
SUPPLE-
MENT
Each abbreviation indicates the language as follows:
JP: Japanese US: English DE: German IT: Italian
ES: Spanish FI: Finnish SE: Swedish FR: French
KR: Korean CN: Chinese TW: Taiwanese CZ: Czech
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DX200 Standard Setup
2 YCP21 Setup
2.1 Preparing the CF for YCP21
5. Confirm that the version described in the Software Modification
Instructions and the version in the following window are the same.
Then click “Set boot loader” check box and “Delete all file” check box
under “Operation,” and click {START}.
PROHIBITED
• Never execute the following operations while data is being written
into the CF.
– Do not turn OFF the USB hub power supply.
– Do not remove the USB port connection from the personal
computer.
– Do not remove the CF reader/writer from the USB hub.
– Do not remove the CF from the CF reader/writer.
Failure to observe these instructions may cause CF failure.
Version
The LED indicator blinks while
the data is being written-in.
Do not remove the USB
connection or the CF.
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2 YCP21 Setup
2.1 Preparing the CF for YCP21
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DX200 Standard Setup
6. When the data has been written into the CF successfully, “OK” is
displayed in the second column under “Target Drives”. To prepare
seven CFs, it takes approx. two minutes.
7. Remove the CF from the CF reader/writer.
B: Boot sector write-in completed
D: File deletion completed
F: File copy completed
V: File copy completed (for version-up)
/ : Processing failed
: Processing passed
SUPPLE-
MENT
“NG” is displayed if the CF is not inserted correctly.
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DX200 Standard Setup
2 YCP21 Setup
2.2 Setting Up the YCP21 Board
2.2 Setting Up the YCP21 Board
1. Insert the CF prepared in Section 2.1 “Preparing the CF for YCP21” on
page 2-1 into the YCP21 board.
<Board Layout of DX200>
<CF Slot and Inserting Direction>
2. Move the CF slot cover to prevent the CF from dropping, and fix the
cover with screws.
The YCP21 setup has been completed.
YCP21
YSF21
YIF01
Move the CF slot cover to fix the CF.
CF slot:
Insert the CF with this surface facing right.
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3 Programming Pendant Setup
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DX200 Standard Setup
3 Programming Pendant Setup
Prepare the following items.
Setting up operation requires either CF or USB memory (hereinafter
referred to as “USB”).
• A personal computer: Windows which can use CD and CF
• CF or USB for operations
1) 2
)
• CD (with system version pre-installed) distributed from Yaskawa
design division
1) The CF used for YCP21 requires no pretreatment because it is already
formatted by the CF manufacturer.
If it should not read the data, format it with the following OS or file system
before using.
○: Available file system format
2) Followings are the recommended CFs and USB.
PC
OS DOS Windows 98 Windows 2000 Windows XP Windows Vista Windows 7
File System FAT FAT32 FAT FAT32 FAT FAT32 FAT FAT32 FAT FAT32
CF ○○○○○○○○○○○
USB ○○○○○○○○○○○
[Recommended CF] MCF10P-256MS-YE2 (Hagiwara Solutions Co.,Ltd)
[Recommended CF] MCF10P-512MS (Hagiwara Solutions Co.,Ltd)
[Recommended CF] MCF10P-A01GS (Hagiwara Solutions Co.,Ltd)
[Recommended CF] MCF10P-A02GS (Hagiwara Solutions Co.,Ltd)
[Recommended USB] UDG4-xGDRJ [x: volume: 1/2/4 GB]
(Hagiwara Solutions Co.,Ltd)
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3-2
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DX200 Standard Setup
3 Programming Pendant Setup
3.1 Preparing the CF/USB for Upgrading
3.1 Preparing the CF/USB for Upgrading
Write the data into the “CF/USB for operations” which is to be inserted into
the programming pendant as follows:
1. Insert the CF into the CF reader/writer and the USB into the USB slot.
Any CF reader/writer of (D:) to (J:) can be used.
(In case of CF)
CF CF Reader/Writer
(In case of USB)
USB and USB Slot
Insert
Insert
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3 Programming Pendant Setup
3.1 Preparing the CF/USB for Upgrading
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DX200 Standard Setup
2. Insert the CD (with system version pre-installed) distributed from
Yaskawa design division into the personal computer, and start up
Explorer. Then select (double-click) “CD drive”.
3. Start up (double-click) “mk_vx_cf.exe”.
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3-4
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DX200 Standard Setup
3 Programming Pendant Setup
3.1 Preparing the CF/USB for Upgrading
4. Check “Main CPU Board,” and then click the appropriate language
under “Language”.
SUPPLE-
MENT
Each abbreviation indicates the language as follows:
JP: Japanese US: English DE: German IT: Italian
ES: Spanish FI: Finnish SE: Swedish FR: French
KR: Korean CN: Chinese TW: Taiwanese CZ: Czech
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3 Programming Pendant Setup
3.1 Preparing the CF/USB for Upgrading
3-5
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DX200 Standard Setup
5. Confirm that the version described in the Software Modification
Instructions and the version in the following window are the same.
Then click “START”.
Version
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3-6
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DX200 Standard Setup
3 Programming Pendant Setup
3.1 Preparing the CF/USB for Upgrading
PROHIBITED
• Never execute the following operations while data is being written
into the CF.
– Do not turn OFF the USB hub power supply.
– Do not remove the USB port connection from the personal
computer.
– Do not remove the CF reader/writer from the USB hub.
– Do not remove the CF from the CF reader/writer.
Failure to observe these instructions may cause CF failure.
• Never execute the following operations while data is being written
into the USB.
– Do not turn OFF the USB hub power supply.
– Do not remove the USB port connection from the personal
computer.
– Do not remove the USB slot from the USB hub.
– Do not remove the CF from the USB slot.
The LED indicator blinks while the
data is being written-in.
Do not remove the USB
connection or the CF.
The LED indicator blinks in
short intervals while the data is
being written in. Do not
remove the USB till the intervals
become longer.
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3 Programming Pendant Setup
3.1 Preparing the CF/USB for Upgrading
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DX200 Standard Setup
6. When the data has been written into the CF successfully, “OK” is
displayed in the second column under “Target Drives”. To prepare
seven CFs, it takes approx. five minutes.
7. Remove the CF from the CF reader/writer or the USB from the USB
slot.
SUPPLE-
MENT
“NG” is displayed if the CF is not inserted correctly.
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3-8
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DX200 Standard Setup
3 Programming Pendant Setup
3.2 Setting Up the Programming Pendant
3.2 Setting Up the Programming Pendant
The following two software need to be written into the programming
pendant.
For the normal setting up operation, the above two software need to be
installed. Also, upgrading of the application software (YPP.EXE, etc.) can
be solely executed to the already set-up programming pendant. In this
case, start from the step 9 of the following procedures.
1. Confirm that the main power supply of the DX200 is turned OFF.
2. Insert an USB or a CF to the programming pendant.
When inserting the CF, open the CF slot cover of the programming
pendant manually, insert the CF, and then close the CF slot cover. The
CF must be inserted with its front face upward.
<CF Slot Position>
<CF Inserting Direction>
(1) NK.BIN : Operating-system software for the programming
pendant (managing software)
(2) YPP.EXE, etc. : Application software for the programming pendant
CF slot
Insert the CF with this face upward.
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3 Programming Pendant Setup
3.2 Setting Up the Programming Pendant
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DX200 Standard Setup
Before inserting an USB, remove the rubber cap of the USB slot at the
back side of the programming pendant.
<USB Slot Position>
<USB Inserting Direction>
The rubber cap is removed.
Remove the rubber cap.
Insert the USB to the direction
shown here.
USB is inserted
The rubber cap is moved aside.
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DX200 Standard Setup
3 Programming Pendant Setup
3.2 Setting Up the Programming Pendant
3. While pressing [2], [8], and [HIGH SPEED] simultaneously, turn ON
the DX200 main power supply. Release the keys when the bit-map
image appears on the programming pendant screen or a buzzer
sounds.
4. NK.BIN (OS: WindowsCE.5.0) in the CF is written into the internal
memory (FlashRom) of the programming pendant from SDRAM. At
this time, the LED indicators blink as follows:
Bit-map image appears.
Press [2], [8], and [HIGH
SPEED] simultaneously.
The four LED indicators blink clock-
wise. The blinking cycle is irregular.
(The indicators sometimes blink every
one to two seconds, or sometimes
four to five seconds.) It takes approx.
three minutes to transfer the data.
The three LED indicators blink clock-
wise, every one to two seconds. It
takes approx. four minutes to write-in
the data.
Total time required for transfer and write-in is approx. ten minutes.
<While NK.BIN is being transferred
from CF to SDRAM> <While NK.BIN is being written into
FlashRom from SDRAM>
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3 Programming Pendant Setup
3.2 Setting Up the Programming Pendant
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DX200 Standard Setup
5. Approx. seven minutes after the DX200 main power supply is turned
ON, the data will be written into FlashRom completely and the window
for touch panel calibration appears on the programming pendant. Use
a pen for touch panel or anything having a soft and sharp tip end (such
as ballpoint pen cap) to touch the center of the window for approx. two
seconds.
6. The cross cursor moves to the center, left top, left bottom, right bottom,
and then right top of the window in this order. Touch the center of the
cross for approx. two seconds for each.
NOTE
The cross cursor returns to the center if calibration fails. Try
calibration as described in step 6 again.
Use a pen for touch panel or
anything having a soft and
sharp tip end to touch the
center of the window for
approx. two seconds.
The cross cursor moves in such
an order as shown on the left.
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