YASKAWA MOTOMAN FS100 User manual

MANUAL NO.
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YASKAWA ELECTRIC CORPORATION
FS100 OPTIONS
INSTRUCTIONS
FOR I/O JOG OPERATION IN PLAY-MODE
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONSNS
MOTOMAN- INSTRUCTIONS
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENACE MANUAL
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Part Number: 159650-1CD
Revision: 0

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MANDATORY
• This manual explains the I/O JOG operation in play-mode 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 the 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 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.
MANDATORYAlways 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
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the FS100 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 manipulator’s operating range
during operation. Always press the emergency stop button
immediately if there is a problem. The emergency stop button is
located on the right of the programming pendant.
• Observe the following precautions when performing teaching
operations within the manipulator’s operating range:
– 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.
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is 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 button does 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
supply 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.
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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
• 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
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 FS100
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
FS100 Instructions before operating the manipulator.
Turn
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.
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 [ ].
e.g. [ENTER]
Symbol Keys The keys which have a symbol printed on them
are not denoted with [ ] but depicted with a
small picture.
e.g. 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.
e.g. SHIFT key + 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 { }.
e.g. {JOB}
PC Keyboard The name of the key is denoted.
e.g. Ctrl key on the keyboard
GO BACK
PAGE
SHIFT
TOOL SEL
COORD
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1 Outline ............................................................................................................................................ 1-1
1.1 Operating Conditions......................................................................................................... 1-1
2 Input Signals for I/O JOG Operation............................................................................................... 2-1
3 Output Signals for I/O JOG Operation ............................................................................................ 3-1
4 Signal Allocation Setting Display for I/O JOG Operation ................................................................ 4-1
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1 Outline
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1Outline
The I/O JOG function in play mode executes JOG operation by using user
input signals instead of the programming pendant.
The axis operation (JOG operation) of the station control group that is not
registered in the job under playback operation can be executed by the
allocated user input signals.
1.1 Operating Conditions
1. The I/O JOG operation is valid only in play mode.
2. The I/O JOG operation is enabled for the station control group that is
not registered in the job under playback operation.
3. The I/O JOG operation is enabled when an external manual operation
request signal is input to the I/O JOG operation enabled control group.
The I/O JOG operation is valid only for one control group.
4. The axes that are enabled for the I/O JOG operation are operated by
forward/reverse signals.
5. The motion speed in the I/O JOG operation can be switched in steps:
inching, low, middle, high, and ultra-high, in the same way as the
teaching manual speed.
6. Only the link coordinate system is used for the motion coordinates.
7. During playback operation, if a job that includes the station control
group under the I/O JOG operation is called or jumped, an alarm
occurs to stop the operation of the robot/station.
8. The user output signal which indicates that the robot/station is under
the I/O JOG operation can be set.
9. The user I/O signals to be used for the I/O JOG operation can be
allocated in the setting display. (They can be changed in
“Management” mode.)
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2 Input Signals for I/O JOG Operation
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2 Input Signals for I/O JOG Operation
Input
Signal Meaning Details
User
input External manual operation request (Points for each station) To validate the external manual operation
* Invalid when plural inputs are
input.
User
input Motion speed designation (5 points) To set the motion speed of external manual operation
Motion speed: 1(inching) to
5(ultra-high)
* When plural speed levels are
input, the priority is given to the
lowest level.
User
input Forward-direction motion designation
(Points for the number of axes of
each station)
Forward-direction(+ direction)
motion when ON
* The axis does not move if the
forward-direction and the
reverse-direction motion
designation signals are input
simultaneously.
User
input Reverse-direction motion designation
(Points for the number of axes of
each station)
Reverse-direction(-direction)
motion when ON
* The axis does not move if the
forward-direction and the
reverse-direction motion
designation signals are input
simultaneously.
NOTE
Safety Interlocks
• If the forward/reverse direction motion designation signal
is input before the external manual operation request sig-
nal, the external manual operation request signal does not
validate the external manual operation.
• Turn OFF and ON again the forward/reverse direction
motion designation signal to restart the operation after
alarm, hold, or emergency stop (Servo OFF).
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3 Output Signals for I/O JOG Operation
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3 Output Signals for I/O JOG Operation
Output
Signal Meaning Details
User
output External manual operation enabled (Points for each station) Indicates that the external manual operation is enabled.
* This signal is not output when
the external manual operation
request signal is input while the
servo is off.
User
output During external manual operation (Points for each station) Indicates that the station is during external manual
operation.
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