YASKAWA MOTOMAN DX100 User manual

MANUAL NO.
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YASKAWA ELECTRIC CORPORATION
DX100 OPTIONS
INSTRUCTIONS
ARM INTERFERE CHECK FUNCTION OPERATING INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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Part Number: 156440-CD
Revision: 0

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MANDATORY
• This manual explains the arm interfere check function of the DX100
system. Read this manual carefully and be sure to understand its
contents before handling the DX100.
• General Items related to safety are listed in chapter 1 “Safety” of the
Setup Manual. To ensure correct and safe operation, carefully read
the Setup manual before reading this manual.
CAUTION
• The drawing 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 drawing 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 DX100.
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 alert against
unsafe practice.
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
DX100 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.
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.
– 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 DX100.
– 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 front door of the
DX100 and the programming 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 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 DX100 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
Setup manual before operating the manipulator.
Equipment Manual Designation
DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between manipulator and DX100 Manipulator cables
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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 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 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 programming
pendant is denoted with { }.
ex. {JOB}
PAGE
GO BACK
PAGE
GO BACK
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DX100 Contents
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1 Arm Interfere Check Function ......................................................................................................... 1-1
1.1 Outline of Arm Interfere Check Function ........................................................................... 1-1
1.2 Setting of Arm Interfere Check Function............................................................................ 1-2
1.2.1 Tool Interfere File ................................................................................................. 1-2
1.2.2 Release of Arm Interfere Check ........................................................................... 1-3
1.2.3 Calibration between Manipulators (Robots) ......................................................... 1-3
1.3 Example of Setting Tool Interfere File ............................................................................... 1-4
1.4 Alarm/Error ........................................................................................................................ 1-5
1.4.1 Axis Operation ...................................................................................................... 1-5
1.4.2 PLAYBACK/FWD/BWD/TEST Operation ............................................................. 1-5
1.5 Notes ................................................................................................................................. 1-5
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1 Arm Interfere Check Function
DX100 1.1 Outline of Arm Interfere Check Function
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1 Arm Interfere Check Function
1.1 Outline of Arm Interfere Check Function
This function checks the interference among robot arms and tools in the
system consisting of one controller and multiple robots.
Interference between each of the following is checked:
(1) An arm and an arm
(2) An arm and a tool
(3) A tool and a tool
The checking method is to approximate each axis arm and tool in cylinder
and then the interference is checked between the approximated cylinders.
Spheres are set at both ends of the cylinder, and the interferences are
checked between spheres and between sphere and cylinder.
If this cylinder or sphere is intersected, the robot stops.
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1 Arm Interfere Check Function
DX100 1.2 Setting of Arm Interfere Check Function
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1.2 Setting of Arm Interfere Check Function
1.2.1 Tool Interfere File
The arm interfere check function requires setting of cylinder and sphere
for the robot arm. These setting values need not be set by the customer
because they are factory-set.
The tool part must be set by the customer because the tool shape
depends on the work that the robot performs. These settings are set in the
tool interfere file.
The tool interfere file is shown by using the procedure to select {TOP
MENU} →{ROBOT} →{TOOL INTERFERE}.
• A maximum of 64 tool interfere files can be set.
In accordance with the tool number specified in operation, one file is
selected out of 64 files.
• A maximum of 5 cylinders and spheres can be set.
1 to 5 points can be set by moving the cursor below.
• Point 1 and Point 2 set both end positions that set the cylinder.
Like the setting of the tool dimensions, the setting values are set with
the center of T-axis flange regarded as the starting point (X=0, Y=0,
Z=0).
• Radius sets the radius of the cylinder and sphere between Point 1
and Point 2. The sphere is set for Point 1 and Point 2.
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1 Arm Interfere Check Function
DX100 1.2 Setting of Arm Interfere Check Function
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1.2.2 Release of Arm Interfere Check
The release of the arm interfere check can be set in the limit release
screen.
The limit release screen is shown by using the procedure to select {TOP
MENU} →{ROBOT} →{LIMIT RELEASE}.
When the cursor is moved to {INVALID} of the arm interfere check release
and the {SELECT} key is pressed, {INVALID} is changed to {VALID} or
{VALID} is changed to {INVALID}.
Setting {INVALID} invalidates the arm interfere check release and checks
the arm interfere.
Setting {VALID} validates the arm interfere check release and does not
check the arm interfere.
1.2.3 Calibration between Manipulators (Robots)
To use this function, perform the calibration between manipulators. For the
procedure of the calibration between manipulators, refer to “DX100
Independent/Coordinated Control Function Instructions (R-CHI-A454),
Chapter 3 Jigless System, 3.5 System Setup”.
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1 Arm Interfere Check Function
DX100 1.3 Example of Setting Tool Interfere File
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1.3 Example of Setting Tool Interfere File
Tool coordinate origin position
(T-axis flange face)
140
400
85
250
1 Point1
1 Point2
2 Point1
2 Point2
3 Point1
3 Point2
* No offset shall be set in Y direction.
50
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1 Arm Interfere Check Function
DX100 1.4 Alarm/Error
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1.4 Alarm/Error
1.4.1 Axis Operation
If the arm (tool) interference occurs during the axis operation, “ARM
(TOOL) INTERFERE” is shown in the message line and the manipulators
stop.
In this case, perform the axis operation in the direction with no arm
interfere. If the axis operation is not allowed in the direction with no arm
interfere in this case, temporally invalidate the arm interfere check as
described in chapter 1.2.2 “Release of Arm Interfere Check” at page 1-3.
1.4.2 PLAYBACK/FWD/BWD/TEST Operation
If the arm (tool) interfere occurs in PLAYBACK/FWD/BWD/TEST
operation, “Alarm 4620 ARM (TOOL) INTERFERE” is issued and the
manipulators stop.
In this case, perform the axis operation to move to the position with no
arm interfere.
If the arm interfere occurs during playback, review the job to prevent the
arm interfere.
1.5 Notes
(1) About accuracy of arm (tool) interfere check
The robot accuracy has an error due to the calibration accuracy
between robots or a delay in the servo system.
Therefore, set the radius of the tool interfere file with an allowance.
(2) Determine the setting value of the TOOL INTERFERE file in
accordance with the drawing.
(3) The arm interfere check function may not be used depending on
the robot type.
Contact a YASKAWA representative nearest you.
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MANUAL NO.
Printed in Japan March 2011 11-03
C
Specifications are subject to change without notice
for ongoing product modifications and improvements.
YASKAWA ELECTRIC CORPORATION
DX100 OPTIONS
INSTRUCTIONS
ARM INTERFERE CHECK FUNCTION OPERATING INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu, Fukuoka, 806-0004, Japan
Phone [phone] Fax [phone]
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone [phone] Fax [phone]
YASKAWAAmerica Inc. MOTOMAN Robotics Division
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone [phone] Fax [phone]
YASKAWA Nordic AB
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone [phone] Fax [phone]
Y
ASKAWAEurope GmbH Robotics Division
7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone [phone] Fax [phone]
YASKAWA Electric Korea Co., Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone [phone] Fax [phone]
YASKAWA Electric (Singapore) PTE Ltd.
252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone [phone] Fax [phone]
Y
ASKAWAElectric (Thailand) Co., Ltd.
No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176
Phone [phone] Fax [phone]
Shougang MOTOMAN Robot Co. Ltd.
Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Fax [phone] Phone [phone]
MOTOMAN Motherson Robotics Ltd.
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