YASKAWA Motoman DX200 User manual

MANUAL NO.
HW1484081
Part Number: 180367-1CD
Revision: 0
0
DX200
INSTRUCTIONS
FOR EXPLOSION-PROOF SPECIFICATIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN-□□□ INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL
DX200 MAINTENANCE MANUAL
THE DX200 OPERATOR’S MANUAL ABOVE CORRESPONDS TO A SPECIFIC USAGE.
BE SURE TO USE THE APPROPRIATE MANUAL.
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180367-1CD
HW1484081
DX200 Explosion-Proof
Specification
Copyright © 2017 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, 2017
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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1 Safety Information
DX200 Explosion-Proof
Specification
1 Safety Information
MANDATORY
• This instruction manual is intended to explain mainly the
mechanical part of the DX200 Explosion-Proof Specification for the
application to the actual operation and for proper maintenance and
inspection. It describes on safety and handling, details on
specifications, necessary items on maintenance and inspection, to
explain operating instructions and maintenance procedures. Be
sure to read and understand this instruction manual thoroughly
before installing and operating the manipulator.
• General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 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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1 Safety Information
HW1484081
DX200 Explosion-Proof
Specification
1.1 Safety Standards for Industrial Robots and Robot
Systems
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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1 Safety Information
DX200 Explosion-Proof
Specification
1.2 Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200.
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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1 Safety Information
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DX200 Explosion-Proof
Specification
1.3 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 the manipulator cables.
In this manual, the equipment is designated as follows:
1.4 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.
1.5 Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
Equipment Manual Designation
DX200 controller Controller
DX200 programming pendant Programming pendant
Cable between the manipulator and the
DX200
Manipulator cable
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1 Safety Information
DX200 Explosion-Proof
Specification
1.6 Mechanical Safety Devices
The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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1 Safety Information
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DX200 Explosion-Proof
Specification
1.7 Programming, Operation, and Maintenance Safety
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from YASKAWA will void the warranty.
• Some operations require a standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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1 Safety Information
DX200 Explosion-Proof
Specification
1.8 Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
YASKAWA-trained, qualified personnel.
1.9 Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to YASKAWA Customer Support.
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1 Safety Information
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DX200 Explosion-Proof
Specification
1.10 Customer Support Information
If you need assistance with any aspect of your DX200 Explosion-Proof
Specification system, please contact YASKAWA Customer Support at the
following 24-hour telephone number:
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
When using e-mail to contact YASKAWA Customer Support, please
provide a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
Please have the following information ready before you call Customer
Support:
[email protected]
NOTE
Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, you must contact YASKAWA Customer
Support at the telephone number shown above.
• System DX200 Explosion-Proof
Specification
• Primary Application ___________________________
• Controller DX200
• Software Version Access this information on the
Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} -
{VERSION}
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the DX200 controller
data plate
[phone]
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2 Introduction
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2 Introduction
Before using this product, read this manual and all other documents carefully
to ensure knowledge about the product and safety, including all the cautions.
As seen in the figure below, the DX200 consists of the painting unit part and
The standard unit part.
Hereinafter, the DX200 which consists of the painting unit part and the standard unit part
is referred to as the “ DX200”.
Painting unit
Standard unit
DX200
Alarm lamp
Emergency Stop Switch
Breaker
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3 Indications on Electric Equipment
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3 Indications on Electric Equipment
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33
3.1
.1 .1
.1 Explosion-Proof Indication Label and Warning Label
Warning labels are attached on the controller “DX200”.
For the details of the warning labels, refer to the INSTRUCTIONS for
explosion-proof specifications and strictly observe the items mentioned.
Also, identification labels with important information are placed on the
controller. Prior to operating the controller, thoroughly understand the
contents of the label.
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33
3.2
.2 .2
.2 Standards
This manipulator (or external axis) and controller meets the
following requirements:
• IEC60079-0:
for electrical apparatus for explosive gas atmospheres
- Part 0: General requirements
• IEC 60079-2:
for electrical apparatus for explosive gas atmospheres
- Part 2: Pressurized enclosures “p”
• IEC60079-11:
for electrical apparatus for explosive gas atmospheres
- Part 11: Intrinsic safety “ i ”
When classifying a manipulator (or external axis) environment
as a hazardous area (zone),observe the “Guidelines for the Avoid-
ance of Dangers due to Explosive Atmospheres with Collection of
Examples - Explosion Protection Guidelines - (EX-Directives)".
In special cases, or if you are not sure about the specification of areas
with the risk of explosion, contact the competent authorities or YASKAWA
and have them decide.
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33
3.3
.3 .3
.3 Using in the hazardous area
Controller(DX200) must not be installed in hazardous area.
Controller(DX200) mus be installed in Non-hazardous area (safety area).
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4 System Configuration
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4 System Configuration
4
44
4.1
.1.1
.1 Manipulator
The explosion-proof manipulator (or external axis) is to be installed in
hazardous locations such as in the painting booth and performs operations to
workpieces.
4
44
4.2
.2 .2
.2 DX200
The DX200 consists of the painting unit and the standard unit.
The DX200 has a built-in microcomputer that controls all motion of the manipulator
by saving motion signals when teaching and sending these signals to the
manipulator(or external axis).
The painting unit has barriers connected to intrinsically equipments.
4
44
4.3
.3.3
.3 Pressure Switch Unit
The pressure switch unit supplies protective air or gas to the manipulator to
prevent explosive gas from entering into the manipulator.
Never disassemble/remodel the pressure switch unit.
It is very dangerous to disassemble/remodel the pressure switch unit or to
operate a manipulator in the explosive environment after removing the
pressure switch unit.
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5 Installation
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5 Installation
5.1
5.15.1
5.1 Place of Installation
The conditions listed below must be met before installing the DX200:
• Non-Hazardous area
• Ambient temperature must be 0 to 45° C (32 to 113°F) during operation
and -10 to 60°C (14 to 140°F) during transportation and maintenance.
• Humidity must be low with no condensation (10~90%RH).
• It must be a place with little dirt, dust, or water.
• No flammable or corrosive liquids or gases, etc. in the area.
• Little jarring or potential for striking of the DX200 (under 0.5G oscillation).
• No large electric noise source nearby.
• No potential for collision with moving equipment such as forklifts.
If the external electric noise applies, the alarm occurs and the manipulator
may stop.
When the alarm occurs and the manipulator stops, refer to DX200
maintenance manual and reset the alarm.
WARNING
Devices that are not explosion-proof must not be installed in hazardous
locations. Failure to observe this warning may result in a fire.
5.2
5.25.2
5.2 Transport and Installation
・For the details of the Transport and Installation for "DX200", refer to the
INSTRUCTIONS for explosion-proof specifications.
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5 Installation
.
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Connection
5.3
5.35.3
5.3 Connection
5.3.1
5.3.15.3.1
5.3.1 Connecting the primary power supply
If the transformer unit is not attached to the DX200, refer to the “DX200
INSTRUCTIONS” to connect the primary power supply cable and ground wire.
For the details of Connection for "DX200", refer to the INSTRUCTIONS for
explosion-proof specifications.
The power capacity shown above is the continuous rating value.
When the robot is rapidly accelerated, the power capacity of
several times the continuous rating value may be needed instantly.
5.3
5.35.3
5.3.2
.2.2
.2 Connecting the Manipulator Cable
Confirm the apparatus sign of the connector of the manipulator cable, connect
the manipulator cable to the connectors on the back side of the DX200.
For the details of Connection for "DX200", refer to the INSTRUCTIONS for
explosion-proof specifications.
WARNING
• Ground resistance must be 100 Ωor less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply OFF, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
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5 Installation
.
HW1484081
5.3
5.35.3
5.3.3
.3.3
.3 Ground wire（
（（
（Explosion proof programming pendant）
））
）
For the details of Connection for "DX200", refer to the INSTRUCTIONS for
explosion-proof specifications.
MANDATORY
MANDATORYMANDATORY
MANDATORY
・ Ground resistance to be connected to the backside of the painting unit must be
10 ohms or less with independent ground connection.
The performance of explosion proof programming pendant cannot be maintained.
The customer must prepare the ground wire.
5.3
5.35.3
5.3.4
.4.4
.4 Intrinsically safe cable
Draw the intrinsically safe cable into the painting unit through the cable inlets for
intrinsically safe cable on the back side of the painting unit.
For the details of Connection for "DX200", refer to the INSTRUCTIONS for
explosion-proof specifications.
CAUTION
･
･･
･Connect the intrinsically safe cable through the cable inlets for intrinsically
safe cable so that the intrinsically safe cable is separated from other cables.
The performance of explosion proof cannot be maintained.
･
･･
･The intrinsically safe cable must be fixed on the support, which is already mounted,
after tied with the cable tie.
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6 Operation
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6 Operation (Initial Start-Up Included)
Prior to start operations of the manipulator, refer to the INSTRUCTIONS for
explosion-proof specifications.
Before using this product, read this manual and all other documents carefully
to ensure knowledge about the product and safety, including all the cautions.
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7 Maintenance
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7 Maintenance
Conduct daily and periodic inspections to ensure the long life of the
manipulator and its performance.
Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation.
For the details of maintenance and inspections such as inspection
intervals, inspection items, and operations, refer to the INSTRUCTIONS
for explosion-proof specifications
WARNING
・Turn OFF the power supply before opening the DX200 doors.
Failure to observe this caution may result in electric shock.
・To prevent anyone inadvertently turning ON the power supply during maintenance,
put up a warning sign such as "DO NOT TURN ON THE POWER" at the primary
power supply (knife switch, wiring circuit breaker, etc.) and at the DX200 and
related controllers and use accepted lockout/tag out Procedures.
Failure to observe this caution may result in electric shock or injury.
• After maintenance is completed, carefully check that no tools are left inside the
DX200 and that the doors are securely closed.
Failure to observe this caution may result in electric shock or injury.
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.
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Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.
0
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone [phone] Fax [phone]
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone [phone] Fax [phone]
YASKAWA America Inc. (Motoman Robotics Division)
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone [phone] Fax [phone]
YASKAWA Europe GmbHRobotics Divsion )
Phone [phone] Fax [phone]
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone [phone] Fax [phone]
YASKAWA Electric (Singapore) PTE Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone [phone] Fax [phone]
YASKAWA SHOUGANG ROBOT Co. Ltd.
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Fax [phone]Phone [phone]
YASKAWA India Private Ltd. (Robotics Division)
YASKAWA Electric (China) Co., Ltd.
22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone [phone] Fax 㸩86-21-5385-3299
YASKAWA Electric (Thailand) Co., Ltd.
59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone [phone] Fax [phone]
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Fax [phone]Phone [phone]
YASKAWA Electric Taiwan Corporation
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Fax [phone]Phone [phone]
PT. YASKAWA Electric Indonesia
Phone [phone] Fax [phone]
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
YASKAWA Electric Korea Corporation
MOTOMAN-MPO10
INSTRUCTIONS
FOR EXPLOSION-PROOF SPECIFICATIONS
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