YASKAWA Motoman DX200 User manual

Part Number: 166153-1CD
Revision: 1
TOUCHSENSE, ACCUFAST and
ACCUFAST II WITH MACRO JOBS
INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
YASKAWA INSTRUCTIONS
DX200 OPERATOR’S MANUAL
DX200 MAINTENANCE MANUAL
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
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Copyright © 2016, 2013 YASKAWA America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to
YASKAWA customers to assist in the operation of Motoman robots,
related equipment and software This manual is copyrighted property of
YASKAWA and may not be sold or redistributed in any way. You are
welcome to copy this document to your computer or mobile device for
easy access but you may not copy the PDF files to another website, blog,
cloud storage site or any other means of storing or distributing online
content.
Printed in the United States of America
First Printing, 2016
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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MANDATORY
• This manual explains the starting point detecting function of the
DX200/DX100/NX100 system. Read this manual carefully and be
sure to understand its contents before handling the DX200/DX100/
NX100.
• General items related to safety are listed in Section 1 of the DX200/
DX100/NX100 instructions. To ensure correct and safe operation,
carefully read the section 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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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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Notes for Safe Operation
TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200/DX100/NX100.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“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 “DANGER”,
“CAUTION” and “WARNING”.
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
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Notes for Safe Operation
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF by pressing the emergency stop button on the programming
pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is 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
• 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
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 there is 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 controller.
– 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 button is located on the programming pendant.
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Notes for Safe Operation
TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
WARNING
• Since detected voltage (200V), welding current, and welding
voltage are applied to the starting point detecting unit, install the unit
securely so that it does not fall.
• Failure to observe this warning may result in an electric shock or
damage to the unit.
• Before connecting the inter-unit cables and the welding cables, be
sure to turn OFF the power supply to the controller and the welder.
• Failure to observe this warning may result in an electric shock.
• Special attention should be paid during starting point detection,
since 200 VDC is applied across the wire and the workpiece
(welding jig).
• Failure to observe this warning may result in an electric shock.
• Do not place any object directly on the cable of the starting point
detecting unit.
• Failure to observe this warning may result in an injury or damage
caused by the disconnection of the cable.
• Attach the cable of the starting point detecting unit for the wire
feeder with the wire stand, to protect it from robot movement. If
interference between the cable and the peripheral devices are
unavoidable, cover the cable with a rubber plate or spiral tube, etc.
• Failure to observe this warning may result in an electric shock, an
injury, or damage to the cable.
• Do not lay the cable of the starting point detecting unit directly on
the floor, but install them in a pit or duct or shield the cable with a
protective cover.
• Failure to observe this warning may result in an injury or damage to
the cable.
• Since a high current flows through the welding cable, separate it
from the cables of the control circuit system. If the cables cannot be
separated, take preventative measures such as using metallic ducts
or tubes on the cables of the control circuit system.
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Definition of Terms Used Often in This Manual
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Definition of Terms Used Often in This Manual
The YASKAWA Motoman manipulator is an industrial robot product.
The manipulator usually consists of 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 cabinet
of the controller 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/DX100/NX100 Instructions before operating the
manipulator.
Equipment Manual Designation
DX200/DX100/NX100 controller DX200/DX100/NX100
DX200/DX100/NX100 programming
pendant
Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
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Description of the Operation Procedure
TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
Descriptions of the programming pendant, 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 &
Number Keys
“Axis Keys” and “Number 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.
[SHIFT]+[COORD]
Displays The menu displayed in the pro-
gramming pendant is denoted with
{ }.
ex. {JOB}
GO BACK
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Explanation of Warning Labels
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Explanation of Warning Labels
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Fig. : Warning Label Locations
MOTOMAN
TYPE
PAYLOAD
ORDER NO.
SERIAL NO.
MASS
DATE
YASKAWA ELECTRIC CORPORATION JAPAN
kg
kg
WARNING
Do not enter
robot
work area.
WARNING
Moving parts
may cause
injury
Nameplate:
WARNING Label B:
WARNING Label A:
WARNING Label B
Nameplate
WARNING Label A
WARNING Label A
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