YASKAWA Motoman DX200 User manual

MANUAL NO.
0
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Part Number: 165473-1CD
Revision: 0
DX200 OPTIONS
INSTRUCTIONS
FOR I/O OUTPUT TIMING CONTROL FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONSNS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL
DX200 MAINTENACE MANUAL
The DX200 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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MANDATORY
• This manual explains the I/O output timing control function of the
DX200 system. Read this manual carefully and be sure to
understand its contents before handling the DX200.
• General items related to safety are listed in the Chapter 1: Safety of
the DX200 Instructions. To ensure correct and safe operation,
carefully read the DX200 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 DX200.
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 situa-
tion which, if not avoided, could result
in minor or moderate injury to person-
nel 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 “CAUTION”
and “WARNING”.
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX200 and the programming pendant are pressed.
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.
Figure 1: 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.
Figure 2: 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 DX200 power
– 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 the front door of the DX200 and the programming
pendant.
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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:
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 DX200
cabinet 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
DX200 Instructions before operating the manipulator.
Equipment Manual Designation
DX200 controller DX200
DX200 programming pendant Programming pendant
Cable between the manipulator and the
controller 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.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of (R) and
TM
are omitted.
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
simultaneou
sly
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}
PAGE
GO BACK
PAGE
GO BACK
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Table of Contents
1 About I/O Output Timing Control Function......................................................................................1-1
2 Setup of I/O Output Timing Control Function..................................................................................2-1
2.1 Instruction of I/O Output Timing Control Function .............................................................2-1
2.1.1 Configuration of Synchronized Signal Output Instruction at Move Instruction......2-1
2.1.2 Configuration of +DOUT Instruction .....................................................................2-2
2.1.3 Registration of +DOUT Instruction .......................................................................2-4
2.1.4 Configuration of +PULSE Instruction....................................................................2-8
2.1.5 Registration of +PULSE Instruction....................................................................2-10
2.2 Device Response Delay Time Compensate Parameter..................................................2-14
2.3 Signal Output Control Parameter During the FWD Operation........................................2-14
2.4 Notes ...............................................................................................................................2-14
2.5 The Examples of the I/O Output Timing Specifying Function..........................................2-15
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1 About I/O Output Timing Control Function
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1 About I/O Output Timing Control Function
I/O output timing control function is a function that can adjust the timing of
general output signal by distance or time which based on the teaching
position for the move instruction.
When the manipulator reaches to the specifying point which specified the
time or distance while the manipulator is operating the move instruction,
this function can output the general output signal. This function can adjust
to deviation of work timing from the operation delay of the manipulator or
devices which controlled by general output signal such as, valve and
cylinder. Therefore, the manipulator can operate correctly, when it
reaches to the expected position.
Fig. 1-1: I/O Output Timing Control Function
NOTE
In case of the signal output is specified as distance, and the
manipulator does not reach to the signal output position,
such as the movement of the inward turning operation, the
signal will be outputted when the manipulator comes to
closest approach.
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2 Setup of I/O Output Timing Control Function
2.1 Instruction of I/O Output Timing Control Function
2 Setup of I/O Output Timing Control Function
2.1 Instruction of I/O Output Timing Control Function
2.1.1 Configuration of Synchronized Signal Output Instruction at Move
Instruction
On the I/O output timing control function, as shown in Table 2-1
Configuration of Synchronized Output Signal. The synchronized signal
output instruction (+DOUT/+PULSE) added to the move instruction will
output the general output signal. The configuration of instruction is shown
as follows.
Fig. 2-1: Configuration of Synchronized Output Signal
+DOUT
Synchronized signal output instruction
+PULSE
Synchronized pulse output instruction
ADJD=
Adjustment distance tag (setting data range: -3276.8 to 0.0[mm])
ADJT=
Adjustment time tag (setting data range: -3276.8 to 0.0[mm])
NOTE
The synchronized signal output instruction (+DOUT/
+PULSE) can be added four move instructions, as follows
MOVJ/MOVL/MOVC/IMOV
NOTE
The I/O output timing control function can only adjust timing
of the signal output to the previous direction (-direction)
against the teaching position. For the backward direction
(+direction) from the teaching position, operate the signal
output to adjust to the previous direction against the
teaching position of the next move instruction.
1
2
3
4
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2 Setup of I/O Output Timing Control Function
2.1 Instruction of I/O Output Timing Control Function
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2.1.2 Configuration of +DOUT Instruction
+DOUT instruction which is added to the move instruction performs
adjustment to the output timing of the general output signal.
The additional item of the +DOUT instruction is shown as follows.
Fig. 2-2: Configuration of +DOUT
Choose of the tags from the following table
No Tag Explanation Note
1OT#
(Output No.) Specifies the output number signal. No:1 to 4096 Variable B/I/D/LB/LI/LD
can be used.
2 OG#
(Output group No.) Specifies the output number group signal (1group 8 points). No:1 to 512 Variable B/I/D/LB/LI/LD
can be used.
3 OGH#
(Output group No.) Specifies the output number group signal (1group 4 points). No:1 to 1024 Variable B/I/D/LB/LI/LD
can be used.
SUPPLE-
MENT
Output signal
Output signal OT#(x) is 1 point, OGH#(x) is 1 group 4 points,
and OG#(x) is 1 group 8 points.
㪦㪫㩺㩿㪏㪀 㪦㪫㩺㩿㪎㪀 㪦㪫㩺㩿㪍㪀 㪦㪫㩺㩿㪌㪀 㪦㪫㩺㩿㪋㪀 㪦㪫㩺㩿㪊㪀 㪦㪫㩺㩿㪉㪀 㪦㪫㩺㩿㪈㪀
㪦㪞㪟㩺㩿㪉㪀 㪦㪞㪟㩺㩿㪈㪀
㪦㪞㩺㩿㪈㪀
No Tag Explanation Note
4 B Variable number/
LB Variable number
/
B [Array number]/
LB [Array number]
The least significant bit of the specified byte type
variable specifies ON/OFF of the output signal. Least significant bit: 0: OFF
1: ON
5 ON/OFF Specifies ON/OFF of the output signal.
6 INVERT Refers the current signal status to output OFF when the
status is ON, and output ON when the status is OFF.
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2 Setup of I/O Output Timing Control Function
2.1 Instruction of I/O Output Timing Control Function
No Tag Explanation Note
7 Byte type constant When the constant byte type is expressed in bit form,
the corresponding ON/OFF output signal is specified.
Specifies ON/OFF of the output signal by bit value.
8 ADJD Based onthe teaching position for the move instruction,
specifies the distance of the previous direction
(-direction) against the teaching position. In case of
specified [ADJD=0.0], the signal will be outputted when
the manipulater passed the teaching position or comes
to the closest approach.
No:-3276.8 to 0.0 [mm]
Variable B/I/D/LB/LI/LD
can be used.
NOTE
If specified adjustment distance from [ADJD=] is longer than
the movement distance of the target step, the signal will be
outputted at the moment of the cursor moves to the move
instruction. Unable to adjust the signal output timing across
the steps.
No Tag Explanation Note
9 ADJT Based onthe teaching position for the move instruction,
specifies the time of the previous direction (-direction)
against the teaching position.
No: -327.68 to 0.00 [sec]
Variable B/I/D/LB/LI/LD
can be used.
NOTE
If specified adjustment time from [ADJT=] is longer than the
movement time of the target step, the signal will be
outputted at the moment of the cursor moves to the move
instruction. Unable to adjust the signal output timing across
the steps.
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2.1.3 Registration of +DOUT Instruction
Perform the registration of instructions while the cursor is in the address
area of the job content display on the teach mode.
1. Select {JOB} under the main menu.
2. Select {JOB CONTENT}.
3. Move the cursor to desired move instruction of the teaching position to
register the +DOUT instruction.
4. Press [SELECT].
– Move instruction appears in the input buffer line.
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2 Setup of I/O Output Timing Control Function
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5. Changing additional item of the +DOUT instructions
– Move the cursor to the input buffer line, and then press the
[SELECT] key to appear the detail edit display of the move
instruction.
– Move the cursor to the [UNUSED] of the [SYNC. OUTPUT], and
press [SELECT] key.
– When the selection dialog appears, select the [+DOUT] to display
the detail edit display of the [+DOUT].
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– To change from [OUTPUT TO] to [OG#()] or [OGH#()], move the
cursor to [OT#()] of [OUTPUT TO], and press [SELECT] key. The
selection dialog will appear, then select [OG#()] or [OGH#()].
– To add [ADJUST TIME], move the cursor to [ADJ=], and press
[SELECT] key. The selection dialog will appear, then select [ADJT=].
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2 Setup of I/O Output Timing Control Function
2.1 Instruction of I/O Output Timing Control Function
– After adding or changing of additional items, and press [ENTER]
key. The detail edit display of [+DOUT] will disappear, and the detail
edit display of the move instruction will appear again.
– Press [ENTER] key, and the detail edit display of the move
instruction will disappear. The job content display will appear.
6. Press [ENTER] key.
– The instruction in the input buffer line will be registered.
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2.1.4 Configuration of +PULSE Instruction
+PULSE instruction which is added to the move instruction performs
adjustment to the pulse output timing of the general output signal.
The additional item of the +PULSE instruction is shown as follows.
Fig. 2-3: The Configuration of +PULSE Instruction
Choose one of the tags from the following table
No Tag Explanation Note
1OT#
(Output No.) Specifies the number of the signal to which the pulse signal is output. No.: 1 to 4096 Variable B/I/D/LB/LI/
LD can be used.
2 OG#
(Output group No.) Specifies the group number of the signal (1 group 8 points) to which the pulse signal is output. No.: 1 to 512 Variable B/I/D/LB/LI/
LD can be used.
3 OGH#
(Output group No.) Specifies the group number of the signal (1 group 4 points) to which the pulse signal is output. No.: 1 to 1024 Variable B/I/D/LB/LI/
LD can be used.
SUPPLE-
MENT
Output signal
Output signal OT#(x) is 1 point, OGH#(x) is 1 group 4 points,
and OG#(x) is 1 group 8 points.
㪦㪫㩺㩿㪏㪀 㪦㪫㩺㩿㪎㪀 㪦㪫㩺㩿㪍㪀 㪦㪫㩺㩿㪌㪀 㪦㪫㩺㩿㪋㪀 㪦㪫㩺㩿㪊㪀 㪦㪫㩺㩿㪉㪀 㪦㪫㩺㩿㪈㪀
㪦㪞㪟㩺㩿㪉㪀 㪦㪞㪟㩺㩿㪈㪀
㪦㪞㩺㩿㪈㪀
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2 Setup of I/O Output Timing Control Function
2.1 Instruction of I/O Output Timing Control Function
No. Tag Explanation Note
4 B Variable number/
LB Variable number/
B [Array Number] /
LB [Array Number]
Specifies the number of the corresponding pulse output
signal when the contents of the specified byte type
variable is expressed in bits.
Bit:
0: OFF
1: ON
5 Byte type constant Specifies the number of the corresponding pulse output
signal when the specified byte type constant is
expressed in bits.
6 T=Time Specifies the time during which the pulse signal is
output.
The pulse signal is output during the specified time T.
Units: seconds
Variable I/LI/I[]/LI[] can
be used.
(Units: 0.01 seconds)
When the time is not
specified, the pulse
signal is output during
0.30 seconds.
7 ADJD Based onthe teaching position for the move instruction,
specifies the distance of the previous direction
(-direction) against the teaching position. In case of
specified "ADJD=0.0", the signal will be outputted when
the manipulater passed the teaching position or comes
to the closest approach.
No:-3276.8 to 0.0 [mm]
Variable B/I/D/LB/LI/LD
can be used.
NOTE
If specified adjustment distance from [ADJD=] is longer than
the movement distance of target step, the signal will be
outputted at the moment of the cursor moves to the move
instruction. Unable to adjust the timing of signal output
across the step.
No. Tag Explanation Note
8 ADJT Based onthe teaching position for the move instruction,
specifies the time of the previous direction (-direction)
against the teaching position.
No: -327.68 to 0.00 [sec]
Variable B/I/D/LB/LI/LD
can be used.
NOTE
If specified adjustment time from [ADJT=] is longer than the
movement time of target step, the signal will be outputted at
the moment of the cursor moves to the move instruction.
Unable to adjust the timing of signal output across the step.
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2.1.5 Registration of +PULSE Instruction
Perform the registration of instructions while the cursor is in the address
area of the job content display on the teach mode.
1. Select {JOB} under the main menu.
2. Select {JOB CONTENT}.
3. Move the cursor to desired move instruction of the teaching position to
register the +PULSE instruction.
4. Press [SELECT].
– Move instruction appears in the input buffer line.
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2 Setup of I/O Output Timing Control Function
2.1 Instruction of I/O Output Timing Control Function
5. Changing additional item of the +PULSE instructions
– Move the cursor to the input buffer line, and then press the
[SELECT] key to appear the detail edit display of the move
instruction.
– Move the cursor to the [UNUSED] of [SYNC OUTPUT], and press
[SELECT] key.
– When the selection dialog appears, select the [+PULSE] to display
the detail edit display of the [+PULSE].
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– To change from [OUTPUT TO] to [OG#()] or [OGH#()], move the
cursor to [OT#()] of [OUTPUT TO], and press [SELECT] key. The
selection dialog will appear, then select [OG#()] or [OGH#()].
– To add [ADJUST TIME], move the cursor to [ADJ=] ,and press
[SELECT] key. The selection dialog will appear, then select [ADJT=].
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