YASKAWA MOTOMAN FS100 User manual

MANUAL NO.
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YASKAWA ELECTRIC CORPORATION
FS100 OPTIONS
INSTRUCTIONS
FOR LOGGING FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
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Part Number: 159655-1CD
Revision: 0

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MANDATORY
• This manual explain the logging function of the FS100 system.
Read this manual carefully and be sure to understand its contents
before handling the FS100
• General items related to safety are listed in Chapter 1: Safety of the
FS100 Instructions. To ensure correct and safe operation, carefully
read the FS100 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 FS100.
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 "CAUTION"
and "WARNING".
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WARNING
• Before operating the manipulator, check that servo power is turned
off when the emergency stop button on the programing pendant is
pressed.
When the servo power is turned off, the SERVO ON LED on the
programing 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
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and 16-
17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
prepare a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• 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 EM
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.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
The emergency stop button is located on the programing 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 FS100 controller,
manipulator cables, the FS100 programming pendant (optional), and the
FS100 programming pendant dummy connector (optional).
In this manual, the equipment is designated as follows:
WARNING
• 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 FS100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the working envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there are problems.
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 cabinet
of the FS100 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
FS100 Instructions before operating the manipulator:
Equipment Manual Designation
FS100 controller FS100
FS100 programming pendant Programming pendant
Cable between the manipulator
and the controller
Manipulator Cable
FS100 programming pendant
dummy connector
Programming pendant
dummy connector
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Descriptions of the programming pendant keys, buttons, displays and
keyboard of the PC 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 brand 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 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. SHIFTkey + COORD key
Mode Key Three kinds of modes that can be selected
by the mode key are denoted as follows:
REMOTE, PLAY, or TEACH
Button Three buttons on the upper side of the
programming pendant are denoted as
follows:
HOLD button
START button
EMERGENCY STOP button
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
PC Keyboard The name of the key is denoted
ex. Ctrl key on the keyboard
GO BACK
PAGE
SHIFT
TOOL SEL
COORD
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FS100 Contents
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1 Outline ............................................................................................................................................ 1-1
2 Logging Function ............................................................................................................................ 2-1
2.1 Data to be Logged ............................................................................................................. 2-1
2.2 Data to be Logged ............................................................................................................. 2-2
3 Operation ........................................................................................................................................ 3-1
3.1 List of Log .......................................................................................................................... 3-1
3.2 Display of detailed log........................................................................................................ 3-3
3.3 Update of Logging Information .......................................................................................... 3-6
3.4 Delete of Logging Information............................................................................................ 3-7
3.5 Selecting Operation to be Logged ..................................................................................... 3-8
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1 Outline
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1Outline
This function stores the history (log) of operation on the controller and
data edit in chronological order, and shows them on the display.
This function also allows users to obtain the log, and enables the log data
to be stored in external memory devices.
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2 Logging Function
FS100 2.1 Data to be Logged
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2 Logging Function
2.1 Data to be Logged
This function logs the following data.
• Operation system
• START, HOLD, E-STOP (The operation in remote mode is also
logged.)
• Change of mode (PLAY/TEACH/REMOTE) (The operation in
remote mode is also logged.)
• Safety fence OPEN
• Selection of job (including direct open)
• Calling of master jobs
• Initialization of files and jobs
• Load and save of files and jobs (normal termination/abnormal
termination) (Load and save operation by DCI function and data
transmission function are not recorded in the log.)
• New creation, delete, rename, parallel shift job conversion, mir-
ror shift conversion, and PAM (position modification during play-
back) of jobs
• Change of manipulator home position
• Login/logoff (only when the password protection function is used)
• Edit system
• Job: Addition of instructions
Change of conditions in instructions
Delete of instructions
CUT, PASTE, and REVERSE PASTE operations
UNDO and REDO operations
Edit of job header
• Edit of condition files/general data
• Edit of parameters
• Edit of CIO
Edit in the ladder program display
In the execution of compile, the previous edit history
(addition/change/delete of lines) is output together.
Because the recorded time is the time when each edit was
actually performed, it may not equal to the time of compile
• Edit of variables (Edit in remote mode is not recorded in the log.)
• Edit of I/O
The log of switch ON/OFF of general input/output signals is
obtained.
NOTE Only the edit operations performed by the user are logged.
Variables or I/O status changed by the execution of instruc-
tions or others in the job are not recorded in the log.
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2 Logging Function
FS100 2.2 Data to be Logged
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2.2 Data to be Logged
The following shows the number of logging records for each data.
• Operation system: 100 pieces
• Edit system: 200 pieces
If those numbers are exceeded, the old data is deleted and the new data
is recorded.
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3 Operation
FS100 3.1 List of Log
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3 Operation
3.1 List of Log
The list of log can be referred by using the following procedure. Main
Menu →{SYSTEM INFO} →{LOGDATA}
When {LOGDATA} is selected, the logging information window appears.
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3Operation
FS100 3.1 List of Log
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In the logging information window, the log can be listed by types
(operation/edit system). When {DISPLAY} is selected from the pull-down
menu, {ALL], {OPERATION}, and {EDITING} appears, and only the log for
the selected type is shown.
Only the operation system log is shown in the following example.
Only the edit system log is shown in the following example.
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3 Operation
FS100 3.2 Display of detailed log
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3.2 Display of detailed log
In the logging information list window, when the cursor is moved to a log
and {SELECT} key is pressed, details of the selected log are shown.
When {RETURN} is touched at the lower part of the window, or {CANCEL}
key is pressed, the list window is returned. Items that appear in the
detailed log window are shown in the tables in the following pages. The
following items appear regardless of whether the operation system or
editing system is selected
• INDEX
• Date and hour
• Event
• Login name
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3Operation
FS100 3.2 Display of detailed log
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Operation system log
Log Name Rem
arks
Display Item for Detailed Display Part
START Series Job
name
Line
number
Current
value
HOLD Series Job
name
Line
number
Current
value
ESP Series Job
name
Line
number
Current
value
TEACH mode
PLAY mode
REMOTE mode
Job selection Series Job
name
Safety fence
OPEN
Series Job
name
Line
number
Current
value
Master job call Series Job
name
File initialization File name
File load normal
termination
File name
File save
normal
termination
File name
File load
abnormal
termination
File name
File save
abnormal
termination
File name
JOB creation Job name
JOB delete Job name
JOB rename Job name
Parallel shift Job name
Mirror shift Job name
PAM Job name
Home position
absolute data
Group
number
Axis
number
Setting Current
value
LOGIN
LOGOUT
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3 Operation
FS100 3.2 Display of detailed log
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Edit system log
Log Name Remarks Display Item for Detailed Display Part
JOB edit
(addition)
Series Job name Line number Value after edit Current
value
JOB edit
(modification)
Series Job name Line number Value after edit Current
value
JOB edit
(delete)
Series Job name Line number Deleted row
JOB edit
(position set)
Series Job name Line number Current value
JOB edit
(position modification)
Series Job name Line number Current value
JOB edit
(cut)
Series Job name Process start
position
Process end
position
JOB edit
(paste)
Series Job name Process start
position
Process end
position
JOB edit
(R paste)
Series Job name Process start
position
Process end
position
JOB edit
(UNDO)
Series Job name
JOB edit
(REDO)
Series Job name
JOB edit
(header)
Numeric Job name Element
number
Value before edit Value after edit
Character
string
Job name Element
number
Value after edit
Edit of other files Numeric File name Element
number
Value before edit Value after edit
Character
string
File name Element
number
Value after edit
Parameter edit Parameter
type
Parameter
number
Value before edit Value after edit
Ladder edit
(addition)
Line number Value after edit System/user
Ladder edit
(modification)
Line number Value after edit System/user
Ladder edit
(delete)
Line number Deleted row System/user
Compile
Variable edit Numeric Variable type Edit number Value before edit Value after edit
Character
string
Variable type Edit number Value before edit
Position
variable
Variable type Edit number Setting value
I/O edit I/O number Value after edit
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3Operation
FS100 3.3 Update of Logging Information
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3.3 Update of Logging Information
When the new log is added during the display of the logging information
window, pressing the {SELECT} key shows the confirmation dialog box
“The log was added. Update the display?”. If “Yes” is selected, the log
data is obtained again and the display is updated. If “No” is selected, the
display is not updated but the same dialog box is displayed again if the
{SELECT} key is pressed later.
When the type of the log is set to “operation” or “editing”, pressing the
{SELECT} key displays the above confirmation dialog box only if the same
type of log as that shown is added.
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3 Operation
FS100 3.4 Delete of Logging Information
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3.4 Delete of Logging Information
Only if the security is in the management mode, selecting pull-down menu
{DATA}, {CLEAR} is displayed. If {CLEAR} is selected, the confirmation
dialog box “Initialize?” is displayed, and then if {YES} is selected, all logs
of the type shown are deleted.
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3Operation
FS100 3.5 Selecting Operation to be Logged
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3.5 Selecting Operation to be Logged
By selecting the operation to be logged, obtaining unnecessary logs can
be prohibited. Selecting {Main Menu} →{SETUP} →{LOGDATA COND.}
shows the logging information setting window.
When the cursor is moved to the item to be logged and the {SELECT} key
is pressed, the setting alternates between {SAVE} and {NOT SAVE}. The
operation items set to {NOT SAVE} are no longer logged even if the
operations are performed.
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3 Operation
FS100 3.5 Selecting Operation to be Logged
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The following shows item names and the target logs.
Item Name Target Log
START OPERATION LOG START
HOLD OPERATION LOG HOLD
EMERGENCY STOP OPERATION LOG ESP
SAFETY FENCE LOG Safety fence OPEN
MODE SWITCH LOG • TEACH mode
• PLAY mode
• REMOTE mode
JOB SELECTION JOB Job selection
MASTER JOB SELECTION JOB Master job selection
LOGIN/LOGOUT • LOGIN
• LOGOUT
FILE INITIALIZE LOG File initialization
FILE LOAD LOG • File load normal termination
• File load abnormal termination
FILE SAVE LOG • File save normal termination
• File save abnormal termination
JOB CREATE/DELETE LOG • JOB creation
• JOB delete
JOB RENAME LOG JOB rename
JOB SHIFT LOG • Parallel shift
• Mirror shift
JOB PAM LOG PAM
HOME POSITION LOG Home position absolute data
JOB EDIT LOG • JOB edit (addition)
• JOB edit (modification)
• JOB edit (delete)
• JOB edit (position set)
• JOB edit (position modification)
JOB CUT/PASET LOG • JOB edit (cut)
• JOB edit (paste
• JOB edit (R paste)
JOB UNDO/REDO LOG • JOB edit (UNDO)
• JOB edit (REDO)
JOB HEADER EDIT LOG JOB edit (header)
FILE EDIT LOG Edit of other files
PARAMETER EDIT LOG Parameter edit
VARIABLE EDIT LOG Variable edit
SIGNAL EDIT LOG I/O edit
LADDER EDIT LOG • Ladder edit (addition)
• Ladder edit (modification
• Ladder edit (delete)
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MANUAL NO.
Printed in Japan October 2011 11-10
C
Specifications are subject to change without notice
for ongoing product modifications and improvements.
YASKAWA ELECTRIC CORPORATION
FS100 OPTIONS
INSTRUCTIONS
FOR LOGGING FUNCTION
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