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
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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
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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
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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
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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
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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
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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
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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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2 Axis Operation
FS100 2.2 Axis Operation in Cartesian Coordinate System
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2.2.1 Setting Method
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 2.2 Axis Operation in Cartesian Coordinate System
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3. Select {RECTANGULAR JOG COORDINATE}.
– [BASE] and [ROBOT] alternate each time [SELECT] is pressed.
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. At this time, R1 (or R2) moves in accordance with
the coordinate set at RECTANGULAR JOG COORDINATE.
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3 Job Configuration
FS100
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3 Job Configuration
The dual-arm system in the FS100 system, creation of jobs specified by
the control groups shown below are possible. Movements shown in the
table 3-1 “Job Configuration” at page 3-1 can be created by the
combination of the groups. For the registration method of the group
combination, please refer to “5.2 Group Combination” in “FS100
OPTIONS INSTRUCTION FOR INDEPENDENT/COORDINATED
CONTROL FUNCTION (RE-CKI-A461)”.
Table 3-1: Job Configuration
No. Combination of
control groups Movements
1 R1 (B1) Interpolation at R1 control point including B1 movement
2 R2 (B2) Interpolation at R2 control point including B2 movement
3 R1 (B1) + R2 (B2)
: R1 master -Interpolation at R1 control point including B1 movement
-Interpolation at R2 control point including B2 movement
-R2 coordinated interpolation movement on
R1 tool coordinate
4 R1 (B1) + R2 (B2)
: R2 master -Interpolation at R1 control point including B1 movement
-Interpolation at R2 control point including B2 movement
-R1 coordinated interpolation movement on
R2 tool coordinate
NOTE
The dual-arm system in the FS100 system, the rotation axis
motor is commonly used to B1 and B2.
When respective jobs are executed by R1 and R2 parallel to
each other, the base axis (rotation axis) moves on the basis
of a job’s taught position data previously started by
“PSTART” instruction.
On the other hand, when R1 (left arm) and R2 (right arm)
are to be simultaneously moved while the base axis (rota-
tion axis) is rotating, do not move the respective jobs of R1
and R2 in parallel by validating the independent control
function but use the coordinated job (shown in No. 3 or No.
4 in table 3-1 “Job Configuration” ).
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4Note
FS100
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4Note
(1) Creation of a job only for the base axis is impossible. If the rota-
tion axis is to be rotated, create a job for “R1” or “R2”.
(2) When operating the both arm (R1 and R2) simultaneously with the
base axis in motion, create a job for “R1 + R2”.
(3) During the job of “R1 + R2”, the taught points for B1 and B2 in the
step should be the same position.
Use text editor, etc. to edit the job’s base axis position. If the
taught positions of B1 and B2 differ even in the same step, follow-
ing alarm occurs at the time the moving instruction of this step is
executed.
“AL4523: SHARED BASE AXIS CONTROL ERROR [1]”
(4) In the dual-arm system in which the shared base axis is used, the
station twin synchronous function cannot be validated. The follow-
ing alarm occurs at the time “PSTART SYNC” instruction to start
the station twin synchronous operation is executed.
“AL4529: TWIN COORDINATED ERROR [9]”
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MANUAL NO.
Printed in Japan December 2011 11-12
C
Specifications are subject to change without notice
for ongoing product modifications and improvements.
YASKAWA ELECTRIC CORPORATION
FS100 OPTIONS
INSTRUCTIONS
SUPPLEMENTARY FOR MOTOMAN-SDA TYPE
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