YASKAWA MOTOMAN-SDA User manual

MANUAL NO.
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YASKAWA ELECTRIC CORPORATION
FS100 OPTIONS
INSTRUCTIONS
SUPPLEMENTARY FOR MOTOMAN-SDA TYPE
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: 160765-1CD
Revision: 0

FS100 Contents
ii
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1 System Configuration......................................................................................................................1-1
2 Axis Operation.................................................................................................................................2-1
2.1 Control Point Fixed Motion During Base Axis Operation ...................................................2-1
2.1.1 Control Point Fixed Base Axis Operation for Single Arm......................................2-3
2.1.2 Control Point Fixed Base Axis Operation for Dual- Arm.......................................2-5
2.2 Axis Operation in Cartesian Coordinate System................................................................2-7
2.2.1 Setting Method .....................................................................................................2-8
3 Job Configuration............................................................................................................................3-1
4 Note ................................................................................................................................................4-1
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1 System Configuration
FS100
1-1
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1 System Configuration
The dual-arm system in the FS100 system, the rotation axis, which is
commonly used to R1 (left arm) and R2 (right arm), is registered as the
base axis (B1 and B2). Following fig. 1-1 “Configuration of Dual-Arm
System in the FS100 System” shows the control group configuration of
the dual-arm system in which the shared base axis is used.
Fig. 1-1: Configuration of Dual-Arm System in the FS100 System
NOTE
The job created by the former DX100 system configuration
whose rotation axis is registered as S1 cannot be used in
the FS100 system in which the shared base axis is
employed.
NOTE
Th
In the FS100 system, up to “4” axes can be controlled,
therefore, to the shared axis used dual-arm operation
FS100 system, the external axes cannot be added.
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2 Axis Operation
FS100 2.1 Control Point Fixed Motion During Base Axis Operation
2-1
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2 Axis Operation
2.1 Control Point Fixed Motion During Base Axis Operation
Since the rotation axis is registered as the base axis, by operating the
rotation base axis in the cartesian coordinate, the rotation axis can be kept
moving with each manipulator’s control point at fixed point.
Following figures fig. 2-1, fig. 2-2 and fig. 2-3 show the manipulator’s
control point fixed operation during the base axis operation.
Fig. 2-1: Control Point Fixed Rotation Base Axis Operation: Single Arm
(R1)
Fig. 2-2: Control Point Fixed Rotation Base Axis Operation: Single Arm
(R2)
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2 Axis Operation
FS100 2.1 Control Point Fixed Motion During Base Axis Operation
2-2
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Fig. 2-3: Control Point Fixed Rotation Base Axis Operation: Dual- Arm (R1
and R2)
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2 Axis Operation
FS100 2.1 Control Point Fixed Motion During Base Axis Operation
2-3
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2.1.1 Control Point Fixed Base Axis Operation for Single Arm
1. Select {SETUP} in the Main Menu.
2. Select {JOG CONDITION SETTING}.
– JOG CONDITION SETTING window appears.
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2 Axis Operation
FS100 2.1 Control Point Fixed Motion During Base Axis Operation
2-4
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3. Select {CONTROL POINT OPERATION (BASE)}.
– Selection dialog box appears.
(1) Select “VALID”.
4. Select B1 (or B2) as its control group. For the control group selecting
method, please refer to “2.2.0.3 Select Control Group” in “FS100
OPERATOR’S MANUAL (RE-CSO-A043)”.
Also, select “cartesian coordinates” for the operating coordinate
system. For its selecting method, please refer to “2.2.0.4 Select
Coordinate System” in “FS100 OPERATOR’S MANUAL (RE-CSO-
A043)”.
5. Turn the servo ON, press [X-] or [X+] and then, operate B1 (or B2)
axis. At this time, the rotation base axis moves while the control point
of R1 (of R2) is fixed.
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2 Axis Operation
FS100 2.1 Control Point Fixed Motion During Base Axis Operation
2-5
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2.1.2 Control Point Fixed Base Axis Operation for Dual- Arm
1. Select {SETUP} in the Main Menu.
2. Select {JOG CONDITION SETTING}.
– JOG CONDITION SETTING window appears.
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2 Axis Operation
FS100 2.1 Control Point Fixed Motion During Base Axis Operation
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3. Select {CONTROL POINT OPERATION (BASE)}.
– Selection dialog box appears.
(1) Select “VALID ALL”.
4. Select B1 (or B2) as its control group. For the control group selecting
method, please refer to “2.2.0.3 Select Control Group” in “FS100
OPERATOR’S MANUAL (RE-CSO-A043)”.
Also, select “cartesian coordinates” for the operating coordinate
system. For its selecting method, please refer to “2.2.0.4 Select
Coordinate System” in “FS100 OPERATOR’S MANUAL (RE-CSO-
A043)”.
5. Turn the servo ON, press [X-] or [X+] and then, operate B1 (or B2)
axis. At this time, the rotation base axis moves while the control point
of R1 and R2 are fixed.
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2 Axis Operation
FS100 2.2 Axis Operation in Cartesian Coordinate System
2-7
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2.2 Axis Operation in Cartesian Coordinate System
At the dual-arm system in the FS100 system, the rotation axis is
registered as the base axis. Therefore, the base coordinate (the world
coordinate) is fixed to the ground even if the rotation axis is operated.
On the other hand, the manipulator moves on the basis of the base
coordinate when it is operated in the cartesian coordinate system.
In this consequence, when the manipulator is operated in the cartesian
coordinate system while the rotation axis is moved from the home position
as shown in fig. 2-4 “Base Coordinate-Based Axis Operation Direction” ,
the manipulator will move in accordance with the ground fixed base
coordinate system.
In this case, it might be difficult for the operator to confirm the
manipulator’s moving direction.
To clear this problem, setting of the robot coordinate to the reference
coordinate when the manipulator is operated in the cartesian coordinate is
made possible.
As described above, when the robot coordinate is set to the reference
coordinate and the manipulator is operated in the cartesian coordinate
system, as shown in fig. 2-5 “Robot Coordinate-Based Axis Operation
Direction” , regardless of the rotation axis position, the manipulator’s front
facing direction is recognized as X-axis direction.
Fig. 2-4: Base Coordinate-Based Axis Operation Direction
Fig. 2-5: Robot Coordinate-Based Axis Operation Direction
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