YASKAWA Motoman DX200 User manual

MANUAL NO.
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Part Number: 166242-1CD
Revision: 1
DX200 OPTIONS
INSTRUCTIONS
FOR MACRO COMMAND FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions below thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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Macro Command
MANDATORY
• This manual explains the macro command 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 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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Macro Command
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
DANGER
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
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 “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
DX200 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.
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:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– 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 DX200.
– 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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Macro Command
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:
Descriptions of the programming pendant keys, buttons, and displays are
shown 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 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 DX200 Manipulator Cable
Equipment Manual Designation
Programming
Pendant
Character Keys
/Symbol Keys
The keys which have characters or its
symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys
/Numeric Keys
[Axis Key] and [Numeric Key] 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}
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Macro Command
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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Macro Command Table of Contents
Table of Contents
1 Outline ............................................................................................................................................ 1-1
1.1 Features ............................................................................................................................ 1-1
2 Preparation of Macro Commands ................................................................................................... 2-1
2.1 Preparing a Macro Job ...................................................................................................... 2-1
2.2 Teaching a Macro Job ....................................................................................................... 2-3
2.2.1 GETARG Instruction............................................................................................. 2-3
2.2.1.1 Function .................................................................................................. 2-3
2.2.1.2 Format ..................................................................................................... 2-3
2.2.1.3 Job Example
................................................................................................................ 2-4
3 Registration of Macro Commands .................................................................................................. 3-1
3.1 Setting an Execution Macro Job ........................................................................................ 3-2
3.2 Setting the Contents of Argument Tag Added to the Macro Command ............................ 3-4
3.3 Setting an Interruption Macro Job...................................................................................... 3-7
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1 Outline
1.1 Features
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1Outline
The macro command function registers a prepared job as a macro
command and then carries out the job by the macro command.
With the macro command function, system integrators who apply various
MOTOMAN robot systems can freely create INFORM (a robot
programming language used in DX200) that corresponds to each system.
The macro command function enables an easier robot system with use of
the key customize function. (Refer to section 8.15 “Numeric Key
Customize Function” in the “DX200 INSTRUCTIONS” for details.)
1.1 Features
• A job prepared with the macro command function by user is
registered as a macro command.
• The contents of macro command can be prepared with INFORM,
which is the same manner as the normal job data.
• An argument tag can be added to a macro command like a normal
instruction. Macro commands and their argument tags can be easily
programmed at will in the job data display.
< Example > Macro command for sealing
• The macro commands can be used in the same way as the other
instructions. Unlike the CALL instruction, end users do not have to
consider the restarting method in case of a job interruption.
• The macro command function enables settings for post-processing
of the job interruption, such as the cancellation of current work
instruction, etc.
• If a macro command is interrupted during the execution, the
interrupted macro command is re-executed from the beginning when
the operation is restarted.
NOTE
• The macro command function is enabled only when the
security mode is in the management mode.
• The character strings and the character type variable of
the argument for macro command are available for
DN1.60-00 and later versions.
SEALON WIDTH=8
Argument tag to specify the sealing width
Macro command to start sealing
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Macro Command 2 Preparation of Macro Commands
2.1 Preparing a Macro Job
2 Preparation of Macro Commands
The execution sequence of a macro command is registered as a macro
job.
2.1 Preparing a Macro Job
Depending on the applications, there are three types of macro jobs as
follows:
• Robot macro job with a designated control group
A move instruction can be registered in a macro command.
A macro command prepared as a robot macro job can be used only
in the jobs configured for the same control groups. For example, the
macro command prepared as a robot macro job for R1 cannot be
used in a job for R2.
• Robot macro job without a control group
Can be used for all robot jobs. Since the control group is not
designated, no move instruction can be registered.
• Concurrent macro job
Can be used in a concurrent job. Since the control group is not
designated, no move instruction can be registered.
1. Select “Management Mode” for the security mode.
2. Select {JOB} from the top menu.
3. Select {NEW JOB CREATE}
4. Enter the job name.
NOTE
The macro command function is enabled only when the
security mode is in the management mode.
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2 Preparation of Macro Commands
2.1 Preparing a Macro Job
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Macro Command
5. Point the cursor to “JOB TYPE”, and press [SELECT].
– A selection list appears.
–Select “ROBOT MACRO” or “CONCURRENT MACRO”.
6. Select “EXECUTE”.
– A macro job is prepared, and the JOB CONTENT window appears.
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Macro Command 2 Preparation of Macro Commands
2.2 Teaching a Macro Job
2.2 Teaching a Macro Job
Teach a macro job which is prepared as a macro command in the same
manner as normal jobs.
A maximum of sixteen argument tags can be added to a macro command.
Since the data of the argument tag is stored in a local variable to be used,
the required number of local variables must be set in a “JOB HEADER”
before teaching the macro job.
2.2.1 GETARG Instruction
2.2.1.1 Function
The GETARG instruction is an instruction to receive an argument for
macro command. When a macro command is executed, the GETARG
instruction gets the data of the argument tag which is added to the macro
command, and stores it in a local variable to be used in the macro job.
2.2.1.2 Format
Designation of the local variable as the storage destination of the
argument data.
The following types of local variables can be used for storage
destination:
-Byte-type
-Integer-type
-Double-precision integer type
-Real-number type
-Character type
-Robot-axis-position type
-Base-axis-position type
-Station-axis-position type
Designation of argument data.
Specifies the number of the argument data to be taken.
SUPPLE-
MENT
For the setting procedure of the local variables, refer to
section 3.9.11 “Editing Local Variables” described in the
“DX200 OPERATOR'S MANUAL”.
NOTE
In a macro job, job execution instructions such as JUMP,
CALL, and PSTART cannot be registered.
GETARG LB000 IARG#(1)

Stores the data of the first argument
in the local variable LB000.
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2 Preparation of Macro Commands
2.2 Teaching a Macro Job
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2.2.1.3 Job Example
NOP
MOVJ VJ=100.00
WAIT IN#(1)=ON
MOVJ VJ=50.00
SEALON WIDTH=8
MOVL V=125
MOVL V=95
NOP
GETARG LI000 IARG#(1)
DOUT OT#(10) ON
MUL LI000 10
WAIT IN#(10)=ON
AOUT AO#(1) LI000
END
Stores the first argument
data "8" in the local variable
LI000.
Outputs the analog voltage
according to the first argument
data.
Robot Job Macro Job: SEALON
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Macro Command 3 Registration of Macro Commands
3 Registration of Macro Commands
To register the macro job prepared in section 2.1 “Preparing a Macro Job”
on page 2-1 as a macro command, display the MACRO (ROBOT) window
or MACRO (CONCURRENT) window following the procedure below.
1. Select “Management Mode” for the security mode.
2. Select {SETUP} from the top menu.
3. Select {MACRO INST.}.
– The macro command setting window appears.
– Press [PAGE] to alternately display the MACRO (ROBOT) window
and the MACRO (CONCURRENT) window.
NOTE
The macro command function is enabled only when the
security mode is in the management mode.
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3 Registration of Macro Commands
3.1 Setting an Execution Macro Job
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Macro Command
3.1 Setting an Execution Macro Job
The execution macro jobs are macro jobs in which the operations to be
carried out by a macro command are programmed. Note that the JOB
CONTENT window of a macro command displays the names of the jobs
which are specified as execution macro jobs.
1. Point the cursor to the “EXECUTE JOB” to be set in the macro
command setting display, and press [SELECT].
– A list box appears.
2. Select “SETTING MACRO JOB”.
– The MACRO JOB NAME window appears.
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Macro Command 3 Registration of Macro Commands
3.1 Setting an Execution Macro Job
3. Select the desired macro job.
– The selected macro job is registered as an execution macro job.
NOTE
Even if the macro job registration is canceled, the argument
setting of the macro command still remains. Confirm the
content of the argument setting of the macro command
before registering the macro job to the same macro number
which is already canceled.
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3 Registration of Macro Commands
3.2 Setting the Contents of Argument Tag Added to the Macro Command
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Macro Command
3.2 Setting the Contents of Argument Tag Added to the
Macro Command
Set the contents of argument tag to be added to the registered macro
command.
This setting is not necessary for the macro command with no argument.
1. Point the cursor to the macro number to which the argument is to be
set.
2. Press [SELECT].
(Continued on the next page.)
– The macro ARGUMENT DEFINITION window appears. There are
two windows to define the macro argument. Press [PAGE] to switch
the windows.
Argument number (ARG. 1 to 16)
Point the cursor to the desired argument number, and press [SELECT].
Select “USE” or “NOT USE” from the list box.
For the unused argument numbers, the window displays “------”.
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Macro Command 3 Registration of Macro Commands
3.2 Setting the Contents of Argument Tag Added to the Macro Command
COMMENT 1 (Up to 16 characters)
Point the cursor to COMMENT 1 and press [SELECT]. A character
input window appears.
Enter the contents of the argument tag added to the macro command
in the “COMMENT 1" column. These contents are displayed as the
comment for the argument tag in the detail editing window of the macro
command.
TYPE
Point the cursor to TYPE and press [SELECT]. A dropdown list
appears.
Select the data type of the argument tag. The following types of data
are available for the setting:
<Constants or variables>
Byte-type
Integer-type
Double-precision integer type
Real-number type
Character type
<Variables or teaching points>
Robot-axis-position type
Base-axis-position type
Station-axis-position type
COMMENT 2 (Up to 8 characters)
Point the cursor to COMMENT 2 and press [SELECT]. A character
input window appears.
Enter the unit for inputting data in the argument tag to be added to the
macro command in “COMMENT 2”. The units are displayed as the
comment for the argument tag data input units in the detail editing
window of the macro command.
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3 Registration of Macro Commands
3.2 Setting the Contents of Argument Tag Added to the Macro Command
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DISPLAY
Select whether to display the expression in the EXPRES'N column.
Pressing [SELECT] displays “ON” and “OFF” alternately: “ON” displays
the expression; “OFF” hides the expression.
When the teaching point for the robot position, base position, or station
position is set in “TYPE”, the screen does not display the tag set for the
teaching point even if “ON” is selected.
EXPRES'N (Up to 8 characters)
Point the cursor to EXPRES'N and press [SELECT]. The character
input box appears.
Enter the expression for the argument tag.
3. Perform the settings for each item.
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Macro Command 3 Registration of Macro Commands
3.3 Setting an Interruption Macro Job
3.3 Setting an Interruption Macro Job
If a post-processing is required when a macro command is interrupted,
add an interruption macro job (SUSPEND JOB) to the program.
The interruption macro job is carried out when a macro command that
includes an interruption macro job (SUSPEND JOB) is interrupted by
being putting on a status such as hold, emergency stop, or mode
switching.
1. Point the cursor to the “SUSPEND JOB” column of the macro job for
which an interruption macro job is to be added, and press [SELECT].
– A list box appears.
2. Select “SETTING MACRO JOB”.
– The MACRO JOB NAME window appears.
NOTE
Only a robot job without a designated control group can be
added to the interruption macro job of the robot macro
command.
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3 Registration of Macro Commands
3.3 Setting an Interruption Macro Job
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3. Select the desired macro job.
– The selected macro job is registered as the interruption macro job.
NOTE
If the following infinite loop is programmed in the interrup-
tion macro job, the start lamp stays lit but no operation is
carried out. Do not add such a job to the program.
Also note that the TIMER and WAIT instructions are not
carried out in the interruption macro job.
NOP
*LOOP
DOUT OT#(1) OFF
AOUT AO#(1) 10.00
JUMP *LOOP IF IN#(1)=ON
END
JOB example
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