YASKAWA MOTOMAN FS100 User manual

MANUAL NO.
HW1480766
FS100 OPTIONS
INSTRUCTIONS
FOR I/O TRACE 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
1/20
Part Number: 159651-1CD
Revision: 0

FS100
ii
HW1480766
HW1480766
MANDATORY
• This manual explains the details on I/O trace function of the FS100.
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.
2/20

FS100
iii
HW1480766
HW1480766
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 “CAU-
TION” and “WARNING”.
3/20

FS100
iv
HW1480766
HW1480766
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.
4/20

FS100
v
HW1480766
HW1480766
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 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:
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
5/20

FS100
vi
HW1480766
HW1480766
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 [ ].
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
6/20

FS100 Contents
vii
HW1480766
HW1480766
1 I/O Trace Function .......................................................................................................................... 1-1
2 Basic Specifications ........................................................................................................................ 2-1
3 Setup of I/O Trace........................................................................................................................... 3-1
3.1 Window .............................................................................................................................. 3-1
3.2 Operation Procedure ......................................................................................................... 3-2
3.3 System I/O Signal .............................................................................................................. 3-3
3.3.1 System Input Signal ............................................................................................. 3-3
3.3.2 System Output Signal........................................................................................... 3-3
4 I/O Trace Log Data ......................................................................................................................... 4-1
4.1 Window .............................................................................................................................. 4-1
4.2 Operation Procedure ......................................................................................................... 4-2
5 External Memory............................................................................................................................. 5-1
5.1 Operation Procedure ......................................................................................................... 5-1
5.2 Data Format....................................................................................................................... 5-2
6 I/O TraceViewer (Optional) ............................................................................................................. 6-1
7/20

1 I/O Trace Function
FS100
1-1
HW1480766
HW1480766
1 I/O Trace Function
I/O trace function is a function that can trace the signal status used by the
robot controller after synchronizing it to the concurrent I/O scanning
without using any measuring devices.
The trace log data can be saved in CSV format and utilize it in variety of
situations depending on the purpose of use.
For example, when setting up the system or a failure occurred, problems
can be easily analyzed to find their solutions by using the log data traced
by this function and thus the time to solve the problem is reduced.
Also, by using the PC software IO TraceViewer, the waveform of the
saved log data can be displayed and analyze it without any difficulty.
Fig. 1-1: System Configuration
No mearsuring
device required
Back up PC Software
I/OTraceViewer(Optional)
Log data
FS100
CF
8/20

2 Basic Specifications
FS100
2-1
HW1480766
HW1480766
2 Basic Specifications
Item Specification
Trace cycle 1 msec (Synchronized to concurrent I/O cycle)
Trace target Concurrent I/O number
·User input
·User output
·External input
·External output
·System input
·System output
·Interface panel input
·Auxiliary relay
·Control status
·Pseudo Input
·Network Input
·Network output
(#00010 to #01287)
(#10010 to #11287)
(#20010 to #21287)
(#30010 to #31287)
(#40010 to #41607)
(#50010 to #52007)
(#60010 to #60647)
(#70010 to #79997)
(#80010 to #80647)
(#82010 to #82207)
(#25010 to #26287)
(#35010 to #36287)
Number of trace signal 16 signals at maximum
Trigger Edge (up and down)
Pre-trigger Specify the triggering point of the trace log data
(0% to 100%)
0% : Save the log data for 10 sec from the
trigger point.
50% : Save the log data for 10 sec from 5sec
previous to the trigger point.
100%: Save the log data for 10 sec from 10 sec
previous to the trigger point.
Amount of log data Save the log data for 10sec including the trigger
point.
Trace start/end operation Can be operated by the programming pendant or a
specific input signal (#40600)
Tracing status Can be verified with the programming pendant or a
specific input signal (#50900)
NOTE
The trace log data is cleared with ON/OFF button.
Please backup the necessary trace log data to the external
memory device before turning OFF the control power
supply.
9/20

3 Setup of I/O Trace
FS100 3.1 Window
3-1
HW1480766
HW1480766
3 Setup of I/O Trace
3.1 Window
A. TRACE STOP/ START
Displays the tracing status
B. No. 1 to 16
Up to 16 tracing conditions can be set
C. SIGNAL
Set the concurrent I/O signal (#0xxxxx to #9xxxxx)
The tracing condition is cleared when “0” is input
D. SIGNAL STATUS
Show the signal status. ●: Signal is ON ○: Signal is OFF
E. TRIGGER
Set “VALID” or “INVALID” of the trigger condition
F. EDGE
Set “UP” or “DOWN” of the trigger condition edge
G. DETECT
Show the trigger detecting status
●: Trigger is detected ○: Trigger is undetected
H. NAME
Can set the signal name with up to 16 letters
I. COMMENT
Can set the I/O trace comment with up to 32 letters
A
B
C
D
E
F
G
H
I
J
K
10/20

3 Setup of I/O Trace
FS100 3.2 Operation Procedure
3-2
HW1480766
HW1480766
J. PRE-TRIGGER
Specify the triggering point of the traced log data (initial value is 50%)
0 % :Save the log data for 10 sec from the trigger point.
50 % :Save the log data for 10 sec from 5sec previous to the trigger point
100 % :Save the log data for 10 sec from 10 sec previous to the trigger point.
K. {START}/{STOP} button
Press {START} button to start I/O tracing, display {STOP} button.
Also, press {START} button to save the data when trigger is detected
and display {STOP} button.
Press {STOP} button to end I/O tracing and display {START} button.
3.2 Operation Procedure
1. Change the security mode to management mode. ({I/O TRACE} menu
is not displayed under the operation/edit mode.)
2. Select {IN/OUT} under the main menu.
3. Select {I/O TRACE}.
– I/O TRACE SETUP window appears.
4. Set the trace signal.
– Move the cursor to {SIGNAL} part and press [SELECT] key to input
the concurrent I/O signal logical number.
– Input “0” to clear the tracing condition.
5. Set the trigger condition.
– Move the cursor to {TRIGGER} part and press [SELECT] key to
alternate {VALID} and {INVALID}.
– While the trigger is valid, move the cursor to {EDGE} and press
[SELECT] key to alternate {UP} and {IDOWN}.
6. Set the signal name.
– Move the cursor to {SIGNAL} and press [SELECT] key to input its
name with up to 16 letters.
11/20

3 Setup of I/O Trace
FS100 3.3 System I/O Signal
3-3
HW1480766
HW1480766
7. Set the comment.
– Move the cursor to {COMMENT} and press [SELECT] key to input a
comment with up to 32 letters.
8. Set the pre-trigger.
– Move the cursor to {PRE-TRIGGER} and press [SELECT] key to set
the pre-trigger.
9. Start or end the tracing operation.
– Press {START} button to start tracing.
The status becomes in a tracing state.
– Press {STOP} button to end tracing.
The status becomes in a out-of-tracing state.
– After the trigger is detected and the data is saved, the status
becomes in a out-of-tracing state.
3.3 System I/O Signal
3.3.1 System Input Signal
#40600 I/O tracing start
Tracing operation starts when this signal is turned ON and stops when it is
turned OFF.
3.3.2 System Output Signal
#50900 While in I/O tracing mode
This number shows the tracing status. The signal is turned ON when it is
in a tracing state, and it is in a out-of-tracing state when the signal is
turned OFF.
NOTE
Whe sg
When the tracing operation is started with the programming
pendant, complete it with the programming pendant.
Also, when the tracing operation is started with system input
signal, again complete it with the system input signal.
In case the trigger is detected, the tracing operation com-
pletes automatically.
12/20

4 I/O Trace Log Data
FS100 4.1 Window
4-1
HW1480766
HW1480766
4 I/O Trace Log Data
4.1 Window
A. TRACE
Display the tracing condition No. from which a trigger is detected.
“**” is displayed when the trigger is undetected.
B. TRIGGER L
Display the line from which a trigger is detected.
“****” is displayed when the trigger is undetected.
C. Log data line No.
Display the line No. of the log data.
D. Log data
Display the data of logged 16 signal
“0” means the signal is in OFF state and “1” means it is in ON state.
The signal numbers from No.1 to No.16 are shown from right to left
of the line.
Example) The signal No. 1 and 15 are in ON state.
0100_0000_0000_0001
A
B
C
D
13/20

4 I/O Trace Log Data
FS100 4.2 Operation Procedure
4-2
HW1480766
HW1480766
4.2 Operation Procedure
1. Change the security to management mode. ({I/O TRACE LOG} menu
is not displayed under the operation/edit mode.)
2. Select {IN/OUT} under the main menu.
3. Select {I/O TRACE LOG}.
– I/O TRACE LOG window appears.
4. Search the line number.
– Move the cursor to a line number part, input a desired line number
and press [SELECT] key to search the line.
14/20

4 I/O Trace Log Data
FS100 4.2 Operation Procedure
4-3
HW1480766
HW1480766
5. Search the trigger number.
– Move the cursor to the log data part and press [SELECT] key to
– search the desired trigger line.
15/20

5 External Memory
FS100 5.1 Operation Procedure
5-1
HW1480766
HW1480766
5 External Memory
5.1 Operation Procedure
1. Select {FD/PC CARD} under the main menu.
2. Select {SAVE}.
3. Select {SISTEM DATA}.
– System data window apepars.
4. Select “I/O TRACE DATA” on the window.
–“
” mark is displayed.
– Press [ENTER] key to display the confirmation dialog box.
Select [YES] to save the data.
5. Select [LOAD] or [VERIFY] to load or verify the I/O trace data.
– Note that the security should be in the management mode when
loading the data.
– No log data other than I/O trace setup data can be loaded.
16/20

5 External Memory
FS100 5.2 Data Format
5-2
HW1480766
HW1480766
5.2 Data Format
Following is the examples of output file data when I/O trace data is output
to the external memory.
File name: IOTRACE.DAT
//IOTRACE //IOTRACE
1 1) ///COMMENT
Robot I/O Report
///COMMENT <Comment, up to 32 letters>
50 <Pre-trigger>
80025,1,0,EXESP <Signal 1>, <Trigger 1>, <Edge 1>, <Signal name 1>
40066,0,0,EXSVOFF2 <Signal 2>, <Trigger 2>, <Edge 2>, <Signal name 2>
40067,0,0,EXHOLD <Signal 3>, <Trigger 3>, <Edge 3>, <Signal name 3>
40040,0,1,EACH SELECT <Signal 4>, <Trigger 4>, <Edge 4>, <Signal name 4>
70016,0,1,4 ms pulse 0,0,1 <Signal 5>, <Trigger 5>, <Edge 5>, <Signal name 5>
0,0,1, <Signal 6>, <Trigger 6>, <Edge 6>, <Signal name 6>
0,0,1, <Signal 7>, <Trigger 7>, <Edge 7>, <Signal name 7>
0,0,1, <Signal 8>, <Trigger 8>, <Edge 8>, <Signal name 8>
0,0,1, <Signal 9>, <Trigger 9>, <Edge 9>, <Signal name 9>
0,0,1, <Signal 10>, <Trigger 10>, <Edge 10>, <Signal name 10>
0,0,1, <Signal 11>, <Trigger 11>, <Edge 11>, <Signal name 11>
0,0,1, <Signal 12>, <Trigger 12>, <Edge 12>, <Signal name 12>
0,0,1, <Signal 13>, <Trigger 13>, <Edge 13>, <Signal name 13>
0,0,1, <Signal 14>, <Trigger 14>, <Edge 14>, <Signal name 14>
0,0,1, <Signal 15>, <Trigger 15>, <Edge 15>, <Signal name 15>
0,0,1, <Signal 16>, <Trigger 16>, <Edge 16>, <Signal name 16>
22) 4 <Trace scan time>
1,1250 <Trigger Signal Number>, <Trigger Line Number>
1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 1>, <Signal 2 log 1>, <Signal 3 log 1>,···, <Signal 16 log 1>
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 2>, <Signal 2 log 2>, <Signal 3 log 2>,···, <Signal 16 log 2>
1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 3>, <Signal 2 log 3>, <Signal 3 log 3>,···, <Signal 16 log 3>
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 4>, <Signal 2 log 4>, <Signal 3 log 4>,···, <Signal 16 log 4>
1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 5>, <Signal 2 log 5>, <Signal 3 log 5>,···, <Signal 16 log 5>
: :
0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 9999>, <Signal 2 log 9999>, <Signal 3 log 9999>, ···,
<Signal 16 log 9999>
0,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0 <Signal 1 log 10000>, <Signal 2 log 10000>, <Signal 3 log 10000>, ···,
<Signal 16 log 10000>
1Data 1: I/O trace setup data
2Data 2: I/O trace log data
17/20

6 I/O TraceViewer (Optional)
FS100
6-1
HW1480766
HW1480766
6 I/O TraceViewer (Optional)
By using the PC software, IO TraceViewer, the wave shape of the saved
I/O trace log data (IOTRACE.DAT) can be displayed.
A. Comment
The comment of the I/O trace setup window/IOTRACE.DAT is
displayed.
B. Trigger information
The information of the I/O trace log data/IOTRACE.DAT is displayed.
C. Waveform
The log of the I/O trace log data/IOTRACE.DAT is displayed in a
waveform.
Also, the setting of the waveform display can be changed with
“Wave Form Style” on the window.
A
C
D
E
B
18/20

6 I/O TraceViewer (Optional)
FS100
6-2
HW1480766
HW1480766
D. Signal name
The item displayed in this part can be changed to signal number, relay
number or signal name.
Signal number
Displays the signal number.
Relay number
Displays I/O trace setup window/IOTRACE.DAT relay number.
Signal name
Display I/O setup window/IOTRACE.DAT signal name.
E. Measure
The time between the two points can be measured.
19/20

HW1480766
MANUAL NO.
Printed in Japan September 2011 11-09
C
Specifications are subject to change without notice
for ongoing product modifications and improvements.
FS100 OPTIONS
INSTRUCTIONS
FOR I/O TRACE FUNCTION
20/20