YASKAWA MOTOMAN FS100 User manual

MANUAL NO.
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YASKAWA ELECTRIC CORPORATION
FS100 OPTIONS
INSTRUCTIONS
FOR ANALOG OUTPUT FUNCTION CORRESPONDING TO SPEED
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
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Part Number: 159638-1CD
Revision: 0

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MANDATORY
• This manual explains the analog output function corresponding to
speed 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 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
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 “CAUTION”
and “WARNING.”
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WARNING
• Before operating the manipulator, check that servo power is turned
off when the emergency stop button on the programing pendant is
pressed.
When the servo power is turned off, the SERVO ON LED on the
programing 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
• 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
prepare 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.
• 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 EM
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 you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
The emergency stop button is located on the programing 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 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
• 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 FS100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the working envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there are problems.
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 P-point
maximum envelope of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
FS100 Instructions before operating the manipulator.
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, 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 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,
ex. SHIFTkey +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 { }.
ex. {JOB}
PC Keyboard The name of the key is denoted
ex. Ctrl key on the keyboard
GO BACK
PAGE
SHIFT
TOOL SEL
COORD
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FS100 Contents
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1 Analog Output Function Corresponding to Speed .......................................................................... 1-1
2 Instructions...................................................................................................................................... 2-1
2.1 Instructions for Analog Output Function Corresponding to Speed .................................... 2-1
2.1.1 ARATION ............................................................................................................. 2-1
2.1.2 ARATIOF.............................................................................................................. 2-2
2.2 Registration of Instructions ................................................................................................ 2-3
2.2.1 ARATION ............................................................................................................. 2-3
2.2.2 ARATIOF.............................................................................................................. 2-5
2.3 Analog Output Display....................................................................................................... 2-6
3 Examples ........................................................................................................................................ 3-1
3.1 Examples of Output Characteristics .................................................................................. 3-1
3.2 Example of Variation of Operating Speed and Analog Output Value ................................ 3-2
4 Filter Process.................................................................................................................................. 4-1
4.1 When Parameter is Set to “0” ............................................................................................ 4-1
4.2 When Parameter is Set to Values Other Than “0”............................................................. 4-1
4.3 Parameter Setting.............................................................................................................. 4-2
5 Precautions..................................................................................................................................... 5-1
5.1 When Analog Output Corresponding to Speed is Interrupted ........................................... 5-1
5.2 When More than One Manipulator is Used........................................................................ 5-1
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1 Analog Output Function Corresponding to Speed
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1 Analog Output Function Corresponding to Speed
The analog output function corresponding to speed changes the analog
output value automatically, according to the manipulator operating speed.
This function does not need resetting of the analog output value according
to the operating speed, so that the time required for job teaching can be
reduced.
For example, when the thickness of sealing or painting should be
constant, the discharged amount of seals or paints can be controlled by
the manipulator operating speed.
Speed : slow
Discharged amount : small
Speed : fast
Discharged amount : large
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2 Instructions
FS100 2.1 Instructions for Analog Output Function Corresponding to Speed
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2 Instructions
2.1 Instructions for Analog Output Function Corresponding
to Speed
The instructions, ARATION and ARATIOF, are used for the analog output
function corresponding to speed.
2.1.1 ARATION
The analog output function corresponding to speed is performed after
executing ARATION instruction. This instruction is valid during circular
interpolation, linear interpolation or spline interpolation. It is executed only
at playback or FWD key operation; it is not executed during axis
operation.
This instruction is also used when each set value for the analog output
function corresponding to speed is to be changed.
ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00
   
Output port number
General analog output port to execute the analog output corresponding
to speed
Setting range : 1 to 40
Basic voltage
Voltage to be output at the speed set with the basic speed.
Basic speed
Operating speed which becomes the basis for when the set voltage is
output.
Offset voltage
Analog voltage when the operating speed is 0.
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2 Instructions
FS100 2.1 Instructions for Analog Output Function Corresponding to Speed
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According to the set value of the ARATION instruction, the output
characteristics for the relation between the operating speed and the
analog voltage are calculated. The analog output function corresponding
to speed is executed depending on these output characteristics.
The following graph shows the output characteristics.
Fig. 2-1: Output Characteristics When Analog Output Function Corresponding to
Speed is Used
2.1.2 ARATIOF
When the ARATIOF instruction is executed, the analog output
corresponding to speed is completed, and the set offset voltage becomes
the fixed output.
ARATIOF AO#(1)

Output port number
General analog output port to end the analog output corresponding to
speed
Setting range : 1 to 40
NOTE When the analog output value exceeds ± 10.00 V because
of the operating speed, the value is limited within ± 10.00 V.
Analog voltage
Operating
speed
Basic
speed
Basic
voltage
Offset
voltage
10V
0
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2 Instructions
FS100 2.2 Registration of Instructions
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2.2 Registration of Instructions
The instructions can be registered when the cursor is in the address area
on the job content display in teach mode. Perform the following
operations before registering an instruction.
1. Select {JOB} under the main menu
2. Select {JOB CONTENT}
3. Move the cursor to the address area
2.2.1 ARATION
1. Move the cursor to one line above the place to register the ARATION
instruction
2. Press [INFORM LIST]
3. Select [IN/OUT]
– The instruction list dialog appears.
4. Select “ARATION”
– The ARATION instruction is indicated in the input buffer line.
A
ddress
area Instruction
area
The line above the
place to register
ARATION instruction.
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2 Instructions
FS100 2.2 Registration of Instructions
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5. Change any additional items and numerical values
– <Register without changes>
To register without changes, perform operation of step 6.
– <Register with addition or change of the additional items>
• To change the output port number
In case of using [SHIFT] and the cursor key, move the cursor to
the output port number, and then press [SHIFT] and the cursor
key simultaneously, to change the output port number.
In case of using the number keys, move the cursor to the output
port number, and press [SELECT] to display an input buffer line.
Enter the number, and then press [ENTER] to change the number
displayed.
• To change the basic voltage, the speed, and the offset voltage
Move the cursor to the instruction in the input buffer line, and then
press [SELECT]. The detail edit display is shown.
Move the cursor to “UNUSED” of the additional item to be
changed, and then press [SELECT]. The selection dialog is dis-
played.
Move the cursor to the additional item to be changed, and press
[SELECT].
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2 Instructions
FS100 2.2 Registration of Instructions
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When the additional item is changed, press [ENTER]. The detail
edit window closes, and the job content window appears.
6. Press [INSERT] and [ENTER]
– The instruction indicated in the input buffer line is registered.
2.2.2 ARATIOF
1. Move the cursor to one line above the place to register ARATIOF
instruction
2. Press [INFORM LIST]
3. Select [IN/OUT]
– The instruction list dialog appears.
4. Select “ARATIOF”
– The ARATIOF instruction is indicated in the input buffer line.
5. Press [INSERT] and [ENTER]
– The ARATIOF instruction is registered.
The line where
A
RATION
instruction is
registered.
The line above the
place to register
ARATIOF instruction.
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2 Instructions
FS100 2.3 Analog Output Display
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2.3 Analog Output Display
The current settings can be confirmed on the analog output window.
Terminal
General analog output port
OUTPUT (V)
Indicates the voltage which is currently output.
BASIC (V)
Indicates the basic voltage used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
TRAIT
Indicates the current output characteristics of the output port.
SP RAT : during execution of the analog output corresponding to speed
STATIC : fixed output status
OFFSET (V)
Indicates the offset voltage used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
BASIC SPD
Indicates the basic speed used for the analog output corresponding to
speed.
This value is used until a new value is set by ARATION instruction.
ROBOT
Indicates the manipulator number for the analog output corresponding
to speed.
1. Select {IN/OUT} from the main menu
2. Select {ANALOG OUTPUT}
– The analog output window appears.
The output terminal numbers which follow
the AOUT4 can be switched and dis-
played by pressing the page key.
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3 Examples
FS100 3.1 Examples of Output Characteristics
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3Examples
3.1 Examples of Output Characteristics
The graph below shows the change in the output characteristics when the
following job is done.
Output Voltage (V)
MOVJ VJ=50.00
ARATION AO#(1) BV=7.00 V=150.0 OFV=-10.00 7.00
MOVL V=50.0 -4.33
MOVC V=100.0 1.33
MOVC V=100.0 1.33
MOVC V=100.0 1.33
MOVL V=200.0 10.00
Analog voltage
(V)
Operating speed
(mm/s)
Basic
speed
Basic
voltage
Offset
voltage
0100 50 150 200
-5
-10
5
10
7
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3Examples
FS100 3.2 Example of Variation of Operating Speed and Analog Output Value
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3.2 Example of Variation of Operating Speed and Analog
Output Value
The following graph shows the change of the analog output accord-
ing to the speed variation.
MOVL V=200.0
ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00
MOVC V=150.0
MOVC VR=20.0 (When the tool center point speed is 100 mm/s)
MOVC V=150.0
MOVL V=180.0
MOVL (When the tool center point speed is 180 mm/s)
AOUT AO#(1) 10.00
Fig. 3-2: Analog Voltage according to Speed
NOTE
• Since the analog output corresponding to speed is made
for the calculated speed, there may be little difference
from the actual operating speed of the manipulator.
• When a posture speed is specified, the analog output cor-
responding to speed is made for the operating speed at
the tool center point with the posture speed.
Time
Analog
voltage (V) Operating
speed (mm/s)
10
8.8
7
4
200
180
150
100
1
2
3
4
56
7
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4 Filter Process
FS100 4.1 When Parameter is Set to “0”
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4 Filter Process
In the analog output function corresponding to speed, the output analog
signal can be filtered by setting a filter constant at the parameters.
4.1 When Parameter is Set to “0”
The analog signal according to the speed reference (the speed
determined by a path operation) is output.
4.2 When Parameter is Set to Values Other Than “0”
The analog signal according to the speed of filtered speed reference is
output. By the filter process, the output signal can be close to the
manipulator’s actual speed.
Time
Analog output signal
Manipulator actual speed
SpeedVoltage
Time
Analog output signal
Manipulator actual speed
SpeedVoltage
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4 Filter Process
FS100 4.3 Parameter Setting
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4.3 Parameter Setting
Adjust the settings of parameters during actual operations.
Parameter
Number
Analog Output Content Unit
S3C1111
S3C1112 Analog output No.1 Analog output No.1 Primary filter constant Secondary filter constant [msec] [msec]
S3C1113
S3C1114 Analog output No.2 Analog output No.2 Primary filter constant Secondary filter constant [msec] [msec]
S3C1115
S3C1116 Analog output No.3 Analog output No.3 Primary filter constant Secondary filter constant [msec] [msec]
S3C1117
S3C1118 Analog output No.4 Analog output No.4 Primary filter constant Secondary filter constant [msec] [msec]
S3C1119
S3C1120 Analog output No.5 Analog output No.5 Primary filter constant Secondary filter constant [msec] [msec]
S3C1121
S3C1122 Analog output No.6 Analog output No.6 Primary filter constant Secondary filter constant [msec] [msec]
S3C1123
S3C1124 Analog output No.7 Analog output No.7 Primary filter constant Secondary filter constant [msec] [msec]
S3C1125
S3C1126 Analog output No.8 Analog output No.8 Primary filter constant Secondary filter constant [msec] [msec]
S3C1127
S3C1128 Analog output No.9 Analog output No.9 Primary filter constant Secondary filter constant [msec] [msec]
S3C1129
S3C1130 Analog output No.10 Analog output No.10 Primary filter constant Secondary filter constant [msec] [msec]
S3C1131
S3C1132 Analog output No.11 Analog output No.11 Primary filter constant Secondary filter constant [msec] [msec]
S3C1133
S3C1134 Analog output No.12 Analog output No.12 Primary filter constant Secondary filter constant [msec] [msec]
S3C1135
S3C1136 Analog output No.13
Analog output No.13 Primary filter constant Secondary filter constant [msec] [msec]
S3C1137
S3C1138 Analog output No.14 Analog output No.14 Primary filter constant Secondary filter constant [msec] [msec]
S3C1139
S3C1140 Analog output No.15 Analog output No.15 Primary filter constant Secondary filter constant [msec] [msec]
S3C1141
S3C1142 Analog output No.16 Analog output No.16 Primary filter constant Secondary filter constant [msec] [msec]
S3C1143
S3C1144 Analog output No.17 Analog output No.17 Primary filter constant Secondary filter constant [msec] [msec]
S3C1145
S3C1146 Analog output No.18 Analog output No.18 Primary filter constant Secondary filter constant [msec] [msec]
S3C1147
S3C1148 Analog output No.19 Analog output No.19 Primary filter constant Secondary filter constant [msec] [msec]
S3C1149
S3C1150 Analog output No.20 Analog output No.20 Primary filter constant Secondary filter constant [msec] [msec]
S3C1151
S3C1152 Analog output No.21 Analog output No.21 Primary filter constant Secondary filter constant [msec] [msec]
S3C1153
S3C1154 Analog output No.22 Analog output No.22 Primary filter constant Secondary filter constant [msec] [msec]
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4 Filter Process
FS100 4.3 Parameter Setting
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The standard parameter settings are as follows.
• For small capacity robot with a payload 6 kg and 16 kg
Primary filter constant : 50 msec
Secondary filter constant : 50 msec
• For large capacity robot with a payload 60 kg and 130 kg
Primary filter constant : 100 msec
Secondary filter constant : 100 msec
S3C1155
S3C1156 Analog output No.23 Analog output No.23 Primary filter constant Secondary filter constant [msec] [msec]
S3C1157
S3C1158 Analog output No.24 Analog output No.24 Primary filter constant Secondary filter constant [msec] [msec]
S3C1159
S3C1160 Analog output No.25 Analog output No.25 Primary filter constant Secondary filter constant [msec] [msec]
S3C1161
S3C1162 Analog output No.26 Analog output No.26 Primary filter constant Secondary filter constant [msec] [msec]
S3C1163
S3C1164 Analog output No.27 Analog output No.27 Primary filter constant Secondary filter constant [msec] [msec]
S3C1165
S3C1166 Analog output No.28 Analog output No.28 Primary filter constant Secondary filter constant [msec] [msec]
S3C1167
S3C1168 Analog output No.29 Analog output No.29 Primary filter constant Secondary filter constant [msec] [msec]
S3C1169
S3C1170 Analog output No.30 Analog output No.30 Primary filter constant Secondary filter constant [msec] [msec]
S3C1171
S3C1172 Analog output No.31 Analog output No.31 Primary filter constant Secondary filter constant [msec] [msec]
S3C1173
S3C1174 Analog output No.32 Analog output No.32 Primary filter constant Secondary filter constant [msec] [msec]
S3C1175
S3C1176 Analog output No.33 Analog output No.33 Primary filter constant Secondary filter constant [msec] [msec]
S3C1177
S3C1178 Analog output No.34 Analog output No.34 Primary filter constant Secondary filter constant [msec] [msec]
S3C1179
S3C1180 Analog output No.35 Analog output No.35 Primary filter constant
Secondary filter constant [msec] [msec]
S3C1181
S3C1182 Analog output No.36 Analog output No.36 Primary filter constant Secondary filter constant [msec] [msec]
S3C1183
S3C1184 Analog output No.37 Analog output No.37 Primary filter constant Secondary filter constant [msec] [msec]
S3C1185
S3C1186 Analog output No.38 Analog output No.38 Primary filter constant Secondary filter constant [msec] [msec]
S3C1187
S3C1188 Analog output No.39 Analog output No.39 Primary filter constant Secondary filter constant [msec] [msec]
S3C1189
S3C1190 Analog output No.40 Analog output No.40 Primary filter constant Secondary filter constant [msec] [msec]
Parameter
Number
Analog Output Content Unit
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5Precautions
FS100 5.1 When Analog Output Corresponding to Speed is Interrupted
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5 Precautions
5.1 When Analog Output Corresponding to Speed is
Interrupted
If the manipulator is stopped for some reason and the editing operation is
performed, the analog output corresponding to speed is interrupted. This
interruption is performed in all output terminals, and the analog voltage
fixed immediately before the interruption is output to each output terminal.
The analog output corresponding to speed is not interrupted in any other
cases.
5.2 When More than One Manipulator is Used
The attribute of the job where the instruction is executed determines the
manipulator where the analog output corresponding to speed is
performed.
For a coordinated job, the analog output corresponding to speed is
performed at the operating speed of the manipulator at the slave side.
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