YASKAWA NX100 Instructions Manual
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YASKAWA NX100 Instructions Manual

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NX100 OPTIONS
INSTRUCTIONS
FOR CONVEYOR SYNCHRONIZED FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR'S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
Revision:
MANUAL NO.
HW0482711
174074-1CD
0
1 of 86
1
Table of Contents
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  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 174074-1CD Revision: MANUAL NO. 1 of 86...
  • Page 2 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.
  • Page 3 174074-1CD MANDATORY • This manual explains the search function of the NX100. Read this manual carefully and be sure to understand its contents before handling the NX100. • General items related to safety are listed in Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual.
  • Page 4 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.
  • Page 5 174074-1CD Notes for Safe Operation Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or ”PROHIBITED.” Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel.
  • Page 6 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 the front door of the NX100 and the programming pendant.
  • Page 7 -Check for damage to insulation and sheathing of external wires. • Always return the programming pendant to the hook on the NX100 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.
  • Page 8 174074-1CD Description of the Operation Procedure Descriptions of the programming pendant keys, buttons, and windows are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on them are Pendant 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.
  • Page 9 174074-1CD Customer Support Information Customer Support Information If you need assistance with any aspect of your Conveyor Synchronized system, please contact Motoman Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact Motoman Customer Support at the following e- mail address: [email protected] When using e-mail to contact Motoman Customer Support, please provide a detailed description of...

  • Page 10: Table Of Contents

    2.1 Required Boards and Setup ......2-1 2.2 Connecting NCP02 and NSL01 Boards to NX100 . . 2-1 2.3 Connecting Conveyor Home-Position Signals...
  • Page 11 174074-1CD Table of Contents Settings for Conveyor Condition File 4.1 Conveyor Condition File ......4-1 4.2 Editing Conveyor Condition File .
  • Page 12 174074-1CD Table of Contents 5.4 Circular Interpolation Steps ......5-11 5.5 Teaching ......... . 5-11 5.6 Teaching After Interruption of Playback in Synchronized Operation .
  • Page 13 174074-1CD Table of Contents Turntable Synchronized Function 9.1 Setting Up the Turntable Synchronized System ..9-1 9.1.1 Settings for Conveyor Condition File .....9-1 9.1.2 Calibration between Manipulator and Turntable .

  • Page 14: Conveyor Synchronized Operation

    1 Conveyor Synchronized Function 1 Conveyor Synchronized Function System Configuration Example A basic system configuration example using NX100 conveyor synchronized function is shown below. The manipulator detects the conveyor moving amount by the encoder mounted on the conveyor. Conveyor Conveyor home-position...
  • Page 15 174074-1CD 1 Conveyor Synchronized Function Conveyor Synchronized Operation The position tracking type conveyor synchronized operation function modifies the taught path in conveyor non-moving state according to the conveyor moving amount so that the manipulator performs follow-up motion in the conveyor moving direction with constant speed relative to the workpiece. For example, teach P1 to P7 (P2 to P6 are the points in synchronization) with the conveyor stopped.
  • Page 16 174074-1CD 1 Conveyor Synchronized Function 1.2.1 Conveyor Home-position Limit Switch The conveyor home-position limit switch turns ON the conveyor home-position input signal when a workpiece is detected by a sensor. 1.2.2 Conveyor Home-position Input Signal When the conveyor home-position input signal is input, the conveyor current value is automatically reset to 0 mm.
  • Page 17 174074-1CD 1 Conveyor Synchronized Function If the SYSTART instruction is executed before the input of conveyor home-position input signal, the manipulator waits until the conveyor home-position input signal is input and the conveyor reaches the synchronization start position, then starts the synchronized operation. If the conveyor home-position input signal is input before the execution of SYSTART instruction, the manipulator waits until the conveyor reaches the synchronization start position, then enters in synchronized operation status.
  • Page 18 174074-1CD 1 Conveyor Synchronized Function A job example of conveyor synchronized operation is shown. Refer to Section 5.11 “Job Example”. 0000 NOP  0001 SYEND CV#(1) Resets the conveyor home-position registration status  0002 MOVJ Moves to the stand-by position near the conveyor ...
  • Page 19 1.3.3 Conveyor Distance for Follow-up With the conveyor synchronized function of NX100, a manipulator can synchronize a conveyor continuously over a maximum distance of 21 m within the manipulator working envelop. Since the distance more than 21 m can not be processed internally, if the moving distance reaches 21 m during synchronized operation, the alarm 5022 “CONVEYOR POSITION LIMIT”...

  • Page 20: Hardware Specifications

    Three encoder signal input ports are provided on the NSL01 board. (Note that the connectors are unified in one.) Up to three conveyor encoders can be connected to a single NSL01 board. Connecting NCP02 and NSL01 Boards to NX100 JANCD-NCP02 Axis board...
  • Page 21 174074-1CD 2 Hardware Specifications 7SEG- +24V Input 7SEG- PG Input (1, 2, 3-axes) RS-232/RS-422 Analog I/O +24V I/O JANCD-NCP02 JANCD-NSL01 CNSL01 CNAＴ Connecting CN4 and CN4 of CPS unit supplies 24V power to the NCP02 board. The JANCD-NSL01 board is connected to the CNSL01 of JANCD-NCP02 board. Conveyor JANCD-NSL01 Conveyor...

  • Page 22: Connecting Conveyor Home-Position Signals

    It is recommended to connect the conveyor home position signal from the conveyor home-position limit switch directly to the NX100 so as to eliminate dispersion caused by sequencer scan time errors. Input the conveyor home-position limit switch signals to the corresponding conveyor port channels as shown in the figure below so that each signal will not be received while the corresponding channel is executing synchronization.
  • Page 23 174074-1CD 2 Hardware Specifications Applicable Encoder and Connection Specification For the conveyor synchronized function, use conveyor encoders with following specifications. • Incremental type • Power supply voltage: DC5V • Line driver output (RS422 or equivalent) • Two-phase output NOTE Encoders of open collector output type nor single-phase output type cannot be used. The connection of encoder to the NSL01 board is as shown below.

  • Page 24: Connection Example Of One Conveyor

    174074-1CD 2 Hardware Specifications Connection Example of One Conveyor A connection example of one conveyor is shown below. Use a cable of 0.2 pt size. NX100 JANCD-NSL01 Board CN6 Connector Shell Shield Conveyor encoder +24V ST11 ST12 Detecting Encoder Cable Disconnection With the conveyor synchronized function, at disconnection of encoder cable, the alarm 1400 “ENCODER ERROR (CONVEYOR)”...

  • Page 25: Connector Connection

    3 Connector Connection Opening the Front Door Open the front door of the NX100. 1. Turn the two door locks on the front face of the NX100 clockwise by 90 ° by using a coin or flat tip screwdriver. Door lock...

  • Page 26: Sensor Cable Connection

    174074-1CD 3 Connector Connection Sensor Cable Connection Connect the cable from the sensor to the NSL01 board. JANCD-NCP02 Axis board Power supply CPS-420F +JANCD-NSL01 SGDR-AXA01A (Fuji Electric Hi-Tech Corp.) Side cover CPU board NIF unit JANCD-NCP01 TYPE JANCD-NCP01 POWER SUPPLY DATE CPS-420F DATE...

  • Page 27: Closing The Front Door

    1. Gently close the door of the NX100. Main power supply switch 2. Turn the two door locks counterclockwise by 90°. Counterclockwise Door lock Flat tip screwdriver NOTE To ensure the dust resistance, be sure to securely close the door of the NX100. 27 of 86 HW0482711...
  • Page 28 For proper operation of conveyor synchronized function, the data of conveyor must be provided to the NX100 by setting them in the conveyor condition files. There are six conveyor condition files from File No. 1 to 6. Up to three files can be used for each JANCD-NSL01 board for conveyor synchronized operation.
  • Page 29 174074-1CD 4 Settings for Conveyor Condition File DATA EDIT DISPLAY UTILITY CONVEYOR COND FILE  FILE NO.: 1 / 3  USED STATUS NOT USED  PORT NO.  BROKEN LINE DETECT  ENCODER INPUT ENCODER  ENCODER SIGN FORWARD ...
  • Page 30 174074-1CD 4 Settings for Conveyor Condition File ENCODER SIGN (FORWARD/REVERSE)  Select whether to invert the sign of encoder position pulse input from encoder or not. When “REVERSE” is specified, the signs of data on the windows of conveyor position and conveyor speed are inverted, and the synchronized direction of the manipulator is reversed.
  • Page 31 Register these user coordinates in “USER COORD NO.” of the conveyor condition file so that the manipulator synchronizing direction is the conveyor moving direction. • For registration of user coordinates, refer to “NX100 INSTRUCTIONS”. SUPPLE- • For details of circular tacking, refer to chapter 9 “Turntable Synchronized Function”.
  • Page 32 174074-1CD 4 Settings for Conveyor Condition File Base axis: Select a base axis (servo track) among X, Y, or Z-axis, which is parallel to the conveyor. In this case, the conveyor moving direction does not need to be defined in a user coordinate. The relations of the base axis, X, Y and Z, the conveyor, and the robot coordinate axis are shown below.
  • Page 33 174074-1CD 4 Settings for Conveyor Condition File USER COORD NO. (1 to 24)   When “ROBOT AXIS” is selected in , specify with which X-axis direction of user coordinate is to be carried out for the synchronization by selecting the user coordinate number.
  • Page 34 174074-1CD 4 Settings for Conveyor Condition File AVERAGED TRAVEL TIME (0 to 3000 ms) At sudden change in the conveyor moving amount, the moving amounts is automatically averaged so that the manipulator moves smoothly. However, the synchronization responsiveness is lowered in this case. When the conveyor motion is not smooth, set the value to approx.
  • Page 35 174074-1CD 4 Settings for Conveyor Condition File ALARM: When the conveyor averaged speed is so lowered that it becomes below the set value in “CONVEYOR LOWER LIMIT SPD” of the conveyor condition file continuously for 0.1 second, an alarm occurs and the manipulator stops. This mode is used where a conveyor stop detection mechanism does not exist in the conveyor control board.
  • Page 36 174074-1CD 4 Settings for Conveyor Condition File VIRTUAL ENCODER INPUT (IN#000 to IN#1024) When the general purpose input signal of the number which is set in “VIRTUAL ENCODER INPUT” is input, the encoder input enters the virtual encoder mode. The virtual encoder input signal is used to operate the manipulator with the conveyor stopped in the simulation of conveyor system operation.

  • Page 37: Displaying Conveyor Condition File

    174074-1CD 4 Settings for Conveyor Condition File Editing Conveyor Condition File 4.2.1 Displaying Conveyor Condition File Operation Explanation Select {ROBOT} under the top menu. Select {CV CONDITION}. Display a desired conveyor GO BACK condition file. Press the page key . The next file No. is called. PAGE GO BACK Press [SHIFT] + the page key...

  • Page 38: Editing "Broken Line Detect"

    174074-1CD 4 Settings for Conveyor Condition File  Editing “BROKEN LINE DETECT” Operation Explanation Select "BROKEN LINE DETECT". "OFF" and "ON" switch alter- nately.  Editing “ENCODER INPUT” Operation Explanation Select "ENCODER INPUT". “ENCODER” and “VIR- TUAL ENCDR” switch alter- nately.

  • Page 39: Editing "Base Axis"

    174074-1CD 4 Settings for Conveyor Condition File  Editing “BASE AXIS” Operation Explanation Select "BASE AXIS". Editable only if "BASE AXIS" has been selected as a tracking method. The selection dialog appears. Select a desired axis.  Editing “POSITIONAL RESOLUTION” Operation Explanation Select "POSITIONAL RESO-...

  • Page 40: Editing "Conveyor Speed Down Mode"

    174074-1CD 4 Settings for Conveyor Condition File  Editing “CONVEYOR SPEED DOWN MODE” Operation Explanation Select "CONVEYOR SPEED DOWN MODE". The selection dialog appears. Select a desired mode.  Editing “CONVEYOR LOWER LIMIT SPD” Operation Explanation Select "CONVEYOR LOWER LIMIT SPD". Enter a value using the numeric keys.
  • Page 41 The conveyor positional resolution is set in units of μ. For example, when the positional resolution is 30 μ/pulse, set “30.00” in POSITIONAL RESOLUTION”. The setting range is from 0 to 999.99 μ. Since the NX100 internally quadruples every encoder pulse number, the actual conveyor positional resolution for the conveyor encoder is up to 3999.96 μ/pulse.

  • Page 42: Setting Conveyor Positional Resolution

    174074-1CD 4 Settings for Conveyor Condition File 4.3.1 Setting Conveyor Positional Resolution Set the conveyor positional resolution in the following manner. Operation Explanation Select {ROBOT} under the top The conveyor position window appears. menu, then select {CV MONI- TOR}. Take note of the current value At this moment, the conveyor should be in stop status.

  • Page 43: Resolution

    174074-1CD 4 Settings for Conveyor Condition File 4.3.2 Verifying and Adjusting Conveyor Positional Resolution After the setting has been completed, verify and adjust the conveyor positional resolution in the following operations. Prepare a job as shown below. This job is to perform a synchronized operation at execution of TIMER ...
  • Page 44 174074-1CD 4 Settings for Conveyor Condition File On the contrary, when the conveyor resolution value is not appropriate, the tool center point is  dislocated farther from the point as the follow-up time elapses as shown in Fig. 4-5 and Fig. 4-6, the conveyor resolution value is too big.

  • Page 45: Systart Instruction

    174074-1CD 5 Teaching 5 Teaching Registering Instructions The instructions can be registered when the cursor is in the address area on the job content window in teach mode. Operation Explanation Select {JOB} under the top menu. Select {JOB CONTENT}. Move the cursor to the EDIT DISPLAY UTILITY...

  • Page 46: Format

    174074-1CD 5 Teaching $B008 to 0. The system variable $B008 is 1 when the operation has been normally completed. The system variable $B008 can not be directly referenced. Copy to the variable Bxxx by NOTE GETS instruction and refer. GETS B000 $B0008 JUMP ∗NG IF B000 <1 ...
  • Page 47 174074-1CD 5 Teaching Operation Explanation Select "SYSTART". An instruction SYSTART is displayed in the input buffer line. EDIT DISPLAY UTILITY JOB CONTENT JOB NAME: TEST STEP NO: 000 CONTROL GROUP: R1 TOOL: 0000 0001 ’TEST 0002 MOVJ VJ=50.00 0003 MOVJ VJ=12.50 0004 MOVL V=276.0 0005 TIMER T=1.00 0006 DOUT OT#(1) ON...

  • Page 48: Syend Instruction

    174074-1CD 5 Teaching Operation Explanation (Cont’d from previous page) To add a tolerance, select “UNUSED” in OVER LIMIT. The Change additional items. selection dialog appears. Select “OL =”. EDIT DISPLAY UTILITY DETAIL EDIT SYSTART CONVEYOR FILE CV#( ) 1 STP=0.000 SYNC START POS OVER LIMIT =>...

  • Page 49: Registering Syend Instruction

    174074-1CD 5 Teaching  Registering SYEND Instruction Operation Explanation Move the cursor to the line just above the place where a SYEND instruction is to be registered. Press [INFORM LIST]. The instruction list dialog appears. EDIT DISPLAY UTILITY JOB CONTENT IN/OUT PRIOR JOB NAME: TEST...

  • Page 50: Symov¨ Instruction

    174074-1CD 5 Teaching 5.1.3 SYMOV Instruction  Function These move instructions perform the conveyor synchronized motion. Except that the conveyor position at the time of teaching is registered as CTP (conveyor teaching position), these instructions are the same as ordinary move instructions. Joint motion, linear interpolation, and circular interpolation can be performed in the same way as the ordinary move instructions.

  • Page 51: Operation

    174074-1CD 5 Teaching 5.1.4 Interpolation Mode for Conveyor Synchronized Operation The interpolation mode of move instructions for conveyor synchronized operation differs from that of ordinary move instructions. Therefore, teaching is performed in “interpolation mode for conveyor synchronized operation”. Switch the interpolation mode in the following manner. Since the conveyor positions at teaching is registered, they must be properly set up in relation to the conveyor home-position (the position where the conveyor home-position limit switch is ON).
  • Page 52 174074-1CD 5 Teaching Motion Speed Generally, teaching in the direction opposite to the conveyor moving direction gives such a result as a manipulator can move more easily and slowly in playback operation. In the conveyor synchronized operation, the manipulator motion speed is the teaching speed added the conveyor motion speed.
  • Page 53 174074-1CD 5 Teaching Conveyor speed 10 m/s Manipulator motion speed Manipulator motion speed = Teaching speed = Teaching speed + Conveyor speed = Vr (m/s)  +2 V  V  cos : Angle between conveyor moving direction and teaching direction When the conveyor moves When the conveyor stops Fig.
  • Page 54 174074-1CD 5 Teaching Wrist Posture in Synchronization In the synchronization section, the wrist maintains its taught posture while the manipulator is synchronizing the conveyor. Teach a posture so that the wrist can be moved in the conveyor moving direction. R-axis T-axis T-axis Fig.
  • Page 55 174074-1CD 5 Teaching Circular Interpolation Steps Continuous circular interpolation steps should be performed on the same conveyor position. When continuous circular interpolation steps are taught on different conveyor positions, a path different from the taught path may be resulted in the synchronized operation. Teaching Since the conveyor positions at teaching are registered in a job, they must be properly set up in relation to the conveyor home-position (the position where the conveyor home-position limit switch is ON).
  • Page 56 174074-1CD 5 Teaching  DATA EDIT DISPLAY UTILITY CV TRACKING STATUS INPUT STATUS TRACKING STATUS LS#01 CV#01 LS#02 CV#02 LS#03 CV#03  Confirm by FWD operation, and add or change the step. Add or change PAGE SYMOVL V=1000 CV#(1) CTP=200.000 Main Menu Short Cut Perform teaching after having confirmed that the conveyor is completely stopped.
  • Page 57 174074-1CD 5 Teaching Operation Explanation Move the conveyor. Move the conveyor, and after the conveyor home-position limit switch is ON, stop the workpiece at the teaching position. At the moment the conveyor home-position limit switch is ON, “CURR POS (PULSE)” in the conveyor position window is reset to “0”, which confirms that the counter is reset.

  • Page 58: When Adding Or Changing Step After Interruption Of

    174074-1CD 5 Teaching Teaching After Interruption of Playback in Synchronized Operation When the synchronized operation is interrupted by hold operation or switching to teach mode and so on during playback in synchronized operation, if another conveyor home-position is attempted to be registered, a conveyor home-position input signal is not accepted.
  • Page 59 174074-1CD 5 Teaching  DATA EDIT DISPLAY UTILITY CV TRACKING STATUS INPUT STATUS TRACKING STATUS LS#01 CV#01 LS#02 CV#02 LS#03 CV#03  Confirm by FWD operation, and add or change the step. Add or change PAGE SYMOVL V=1000 CV#(1) CTP=200.000 Main Menu Short Cut 5.6.2...
  • Page 60 174074-1CD 5 Teaching Operation Explanation Confirm that TRACKING DATA EDIT DISPLAY UTILITY STATUS in the conveyor CV TRACKING STATUS tracking status window is OFF INPUT STATUS TRACKING STATUS  (marked with LS#01 CV#01 LS#02 CV#02 LS#03 CV#03 PAGE Main Menu Short Cut ...

  • Page 61: Notes On Operation

    174074-1CD 5 Teaching Notes on Operation The conveyor synchronized move instructions are special instructions for registering a conveyor position together with a manipulator position. Therefore, different from ordinary move instructions such as MOVJ, these instructions have the following restrictions on operations. 5.7.1 Confirming Reach to Step When the manipulator reaches the target step in FWD/BWD operation or test run (step motion mode)

  • Page 62: Job Example

    174074-1CD 5 Teaching Job Example A basic job example is shown below. Instruction Explanation SYEND CV#(1) Resets the conveyor home-position registered status. After then, a conveyor home-position limit switch signal is accepted. MOVJ After the job is started, the manipulator moves to its stand-by position.

  • Page 63: Playback

    174074-1CD 6 Playback 6 Playback Conveyor Speed Down When the conveyor slows down while the manipulator is synchronizing the conveyor, the manipulator will react according to the mode setting in the conveyor condition data file: CONVEYOR SPEED DOWN MODE : EXECUTE CONVEYOR LOWER LIMIT SPD : 0 mm/sec Conveyor Condition File Window...

  • Page 64: Accuracy

    (such as swings with a hanger conveyor). • Differences between the manipulator actual dimensions and the dimensions registered in NX100. • Conversion resolution error that occurs when converting the conveyor motion pulse (number of pulses) from the conveyor encoder to the conveyor moving amount (mm).

  • Page 65: Continuance Of Parallel Shift Status

    174074-1CD 6 Playback Restarting Synchronization After Manipulator Stops When a manipulator stops during the conveyor synchronized operation in the following cases, the synchronized operation is restarted by restarting the manipulator: • Minor failure alarm (excluding occurrence of alarm related to the conveyor synchronized function) •...

  • Page 66: Conveyor Monitoring Windows

    174074-1CD 7 Conveyor Monitoring Windows 7 Conveyor Monitoring Windows There are three windows for conveyor monitoring as follows: • Conveyor position window. • Conveyor speed window. • Conveyor tracking status window. Call each window in the following manner. Operation Explanation Select {ROBOT} under the top menu.
  • Page 67 174074-1CD 7 Conveyor Monitoring Windows Conveyor Position Window DATA EDIT DISPLAY UTILITY CONVEYOR POSITION CURR POS (PULSE) CURR POS CV#01 0.000 mm CV#02 0.000 mm CV#03 0.000 mm    PAGE Main Menu Short Cut Conveyor Condition File No. ...
  • Page 68 The manipulator follows up the conveyor with a certain delay time to the input conveyor position. Therefore, performing the follow-up motion according to the conveyor current position causes a follow-up error. With the NX100, the follow-up motion is performed according to the conveyor position compensated for the follow-up error. This compensated conveyor position is displayed here.
  • Page 69 174074-1CD 7 Conveyor Monitoring Windows Conveyor Tracking Status Window DATA EDIT DISPLAY UTILITY CV TRACKING STATUS INPUT STATUS TRACKING STATUS LS#01 CV#01 LS#02 CV#02 LS#03 CV#03     PAGE Main Menu Short Cut  Conveyor Home-Position Input Signal No. The conveyor home-position input signal Nos.

  • Page 70: Virtual Encoder Mode

    174074-1CD 8 Virtual Encoder Mode 8 Virtual Encoder Mode Virtual Encoder Pulse Count When the manipulator is stopped during operation with a virtual encoder, the virtual encoder pulse counting is stopped as well as the manipulator. Since the virtual encoder continues counting pulses by restarting the manipulator, the manipulator can be restarted from the position where it stopped.

  • Page 71: Setting Up The Turntable Synchronized System

    174074-1CD 9 Turntable Synchronized Function 9 Turntable Synchronized Function Functional Overview This function enables interpolation motion of the manipulator, synchronized with circular conveyor and turntable. Setting Up the Turntable Synchronized System 9.1.1 Settings for Conveyor Condition File  To use this function, set the TRACKING ( ) in CONVEYOR COND FILE window to "CIRCULAR".

  • Page 72: Calibration Between Manipulator And Turntable

    174074-1CD 9 Turntable Synchronized Function 9.1.2 Calibration between Manipulator and Turntable The manipulator-turntable calibration is a setting required before carrying out a synchronized operation of manipulator and turntable. Before the synchronized operation, register their positional correlation following the procedures explained in this section. ...

  • Page 73: Teaching Calibration Position

    174074-1CD 9 Turntable Synchronized Function  Teaching Calibration Position Operation Explanation Define a desired point (P-point) on turntable. P-point Adjust the manipulator control point to the P-point, and register C1. Rotate the turntable to desirable extent. (Make sure to rotate it in direction of normal rotation.) Adjust the manipulator control Rotate...

  • Page 74: Operating Calibration

    174074-1CD 9 Turntable Synchronized Function  Operating Calibration Operation Explanation Select {ROBOT} under the top menu. Select {CONVEYOR The CONVEYOR CALIBRATION window appears. CALIBRATION}. DATA EDIT DISPLAY UTILITY CONVEYOR CALIBRATION CV FILE NO. : 1 / 3 TOOL: 00 SET POS. <...
  • Page 75 174074-1CD 9 Turntable Synchronized Function Operation Explanation (Continued from the previous Select a manipulator from a drop-down listbox. page.) DATA EDIT DISPLAY UTILITY CONVEYOR CALIBRATION CV FILE NO. : 1 / 3 TOOL: 00 SET POS. R1:ROBOT1 R2:ROBOT2 < SATUS > C1 : C2 : C3 :...
  • Page 76 174074-1CD 9 Turntable Synchronized Function Operation Explanation Select {COMPLETE}. The calibration position is registered. The taught coordinates are registered in the user coordinate number which is specified in the conveyor condition file. The registered data can be modified by inputting numbers. DATA EDIT DISPLAY...
  • Page 77 174074-1CD 9 Turntable Synchronized Function Modifying Instructions In case of using the turntable synchronized function, the units used for distance and speed are changed from mm (μ) to pulse. The instructions are modified accordingly as follows: • SYSTART Instruction [Linear Conveyor Synchronization] SYSTART CV (#1) STP=50.000 OL=10.0 [Turntable Synchronization] SYSTART CV (#1) STPP=5000 OLP=100...
  • Page 78 174074-1CD 10 Manual Conveyor Function 10 Manual Conveyor Function Manual Conveyor Function is a manual setting function for conveyor position. This function enables the conveyor position to be set from the programming pendant without moving the conveyor to modify the taught job. With this function, instead of moving the conveyor to move the workpiece to the teaching position, by removing a fastening device such as a dog and moving the workpiece to the desired position on the conveyor, the conveyor position can be input to modify the taught job.

  • Page 79: Settings For Manual Conveyor Function

    174074-1CD 10 Manual Conveyor Function 10.1 Settings for Manual Conveyor Function 10.1.1 Setting the Conveyor Position Operation Explanation Move the cursor to the desired value in the column of the {SET (mm)}. Enter a value using the numeric keys. 10.1.2 Enabling/Disabling the Setting Operation Explanation...
  • Page 80 174074-1CD 11 Manual Setting Function for Conveyor Home-Position Limit Switch 11 Manual Setting Function for Conveyor Home-Position Limit Switch When the conveyor home-position limit switch cannot be turned ON, it can be pseudonymously turned ON in the following manner: Operation Explanation Open the CV TRACKING DATA...
  • Page 81 174074-1CD 12 Instruction List 12 Instruction List “< >” indicates numerical or alphabetical data. If one or more items are shown in one section, select one of them. Function Starts the conveyor synchronized operation. Instruction CV# () 1 to 6 items STP= ...
  • Page 82 174074-1CD 12 Instruction List Function Ends the conveyor synchronized operation. Instruction CV# () 1 to 6 SYEND items Example SYEND CV#(1) SYMOVJ can be used only when synchronizing with a base axis. 12-2 82 of 86 HW0482711...
  • Page 83 If the alarm occurs [10], Decimal Data; 2: The robot axis for tracking again, contact your 0 to 255 robot axis does not exist. YASKAWA 4530 3: The base axis does not exist in representative. the job for tracking the base axis.
  • Page 84 ERROR then back ON. [10], Decimal Data, If the alarm occurs 4533 0 to 255 again, contact your YASKAWA representative. CAN NOT USE SYMOVJ was executed when a SYMOVJ can be used SMOVJ DURING robot axis was used for only when the base axis...
  • Page 85 174074-1CD 14 Sensor Parameters (SxE) 14 Sensor Parameters (SxE) Use the sensor parameters with their initial value settings. Contents Initial Value Application designation Time to recognize the input of start signal Reference time to recognize the occurrence of speed down Time for averaging the speed variation amount Time to recognize the falling edge of start...
  • Page 86 FOR CONVEYOR SYNCHRONIZED FUNCTION HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

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