YASKAWA FS100 Instructions Manual
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YASKAWA FS100 Instructions Manual

YASKAWA FS100 Instructions Manual

Options, for pmt function
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See also: Maintenance Manual , Instruction Manual
FS100 OPTIONS
INSTRUCTIONS
FOR PMT FUNCTION
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
YASKAWA ELECTRIC CORPORATION
Part Number:
161366-1CD
Revision:
0
MANUAL NO.
HW1480742
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Summary of Contents for YASKAWA FS100

  • Page 1 FOR PMT FUNCTION 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 Part Number: 161366-1CD Revision: YASKAWA ELECTRIC CORPORATION MANUAL NO.
  • Page 2 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.
  • Page 3 161366-1CD FS100 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”. Indicates a potentially hazardous WARNING...
  • Page 4 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.
  • Page 5 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).
  • Page 6 161366-1CD FS100 Descriptions of the programming pendant keys, buttons, displays and keyboard of the PC are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on Pendant them are denoted with [ ]. ex. [ENTER]...
  • Page 7 161366-1CD FS100 Contents 1 PMT Function..........................1-1 2 Data Conversion by PMT Function ....................2-2 2.1 Outline ..........................2-2 2.1.1 PMT data conversion by instruction ..............2-2 2.1.2 PMT data conversion by programming pendant........... 2-3 2.2 PMT Data Conversion by Instruction ................. 2-5 2.2.1 Registering GETTOOL Instruction................

  • Page 8: Pmt Function

    161366-1CD PMT Function FS100 PMT Function The PMT function corrects the position data when the tool is deformed during operation (PMT: Position Modification for Tool Deformation). When a tool inadvertently collides with peripheral jigs or walls during operation and is deformed, the tool center point will be dislocated and the taught position of the job programmed would be shifted;...

  • Page 9: Data Conversion By Pmt Function

    161366-1CD Data Conversion by PMT Function FS100 Outline Data Conversion by PMT Function Outline When the PMT function is used, the tool dimensions and the NOTE job taught position data are rewritten. In order to secure the data, prepare the backup files beforehand.

  • Page 10: Pmt Data Conversion By Programming Pendant

    161366-1CD Data Conversion by PMT Function FS100 Outline 2.1.2 PMT data conversion by programming pendant The following outline describes how to convert the data by using the programming pendant. Refer to chapter 2.3 “PMT Data Conversion by Programming Pen- dant” for more information.
  • Page 11 161366-1CD Data Conversion by PMT Function FS100 Outline 3. Set the new tool constants to be used after the tool’s deformation. 4. Convert the data of WORK1 using the PMT function. HW1480742...

  • Page 12: Pmt Data Conversion By Instruction

    161366-1CD Data Conversion by PMT Function FS100 PMT Data Conversion by Instruction PMT Data Conversion by Instruction 2.2.1 Registering GETTOOL Instruction 1. Press [INFORM LIST] 2. Select the instruction group “ARITH” 3. Select “GETTOOL” – The instruction appears, with the same additional items that were previously set, in the input buffer line.

  • Page 13: Registering Settool Instruction

    161366-1CD Data Conversion by PMT Function FS100 PMT Data Conversion by Instruction 2.2.2 Registering SETTOOL Instruction 1. Press [INFORM LIST] 2. Select the instruction group “ARITH” 3. Select “SETTOOL” – The instruction appears, with the same additional items that were previously set, in the input buffer line.

  • Page 14: Registering Pmt Instruction

    161366-1CD Data Conversion by PMT Function FS100 PMT Data Conversion by Instruction 2.2.3 Registering PMT Instruction NOTE Add PMT instructions for the number of jobs to be con- verted. 1. Press [INFORM LIST] 2. Select the instruction group “ARITH” 3. Select “PMT” instruction –...
  • Page 15 161366-1CD Data Conversion by PMT Function FS100 PMT Data Conversion by Instruction (2) Move the cursor to the name of the job of which data is to be con- verted, and press [SELECT]. A list of jobs appears. (3) Select the job subject to conversion for PMT function.
  • Page 16 161366-1CD Data Conversion by PMT Function FS100 PMT Data Conversion by Instruction (5) When the name of the job to save the data does not have to be specified, move the cursor to “PMT,” and press [SELECT]. The DETAIL EDIT window appears.

  • Page 17: Pmt Data Conversion By Programming Pendant

    161366-1CD Data Conversion by PMT Function FS100 PMT Data Conversion by Programming Pendant PMT Data Conversion by Programming Pendant When the PMT function is used, the tool dimensions and the NOTE job taught position data are rewritten. In order to secure the data, prepare the backup files before- hand.
  • Page 18 {TOOL CALIBRATION} of {UTILITY}. – For details of methods to set tool dimensions, refer to “8.3 Tool Data Setting” of the FS100 Instruction manual. (2) Confirm the tool dimensions before and after the PMT conversion (ORIGINAL TOOL and ORIENTATION TOOL), then select “EXE- CUTE”.
  • Page 19 When the jobs related to the specified job are to be converted together, select “RELATED” from “CONVERSION MODE”. • Method 3: ALL When all the jobs registered in FS100 are to be converted, select “ALL” from “CONVERSION MODE”. 6. Select the job for conversion –...

  • Page 20: Parameter

    161366-1CD Data Conversion by PMT Function FS100 PMT Data Conversion by Programming Pendant For a job after conversion, be sure to confirm the path after NOTE conversion by performing FWD/BWD operations. If the steps beyond the manipulator’s range of motion are created, “/0V”...

  • Page 21: Tool Data Backup History

    161366-1CD Tool Data Backup History FS100 Tool Backup Window Tool Data Backup History The modification history of the tool constants can be viewed in the TOOL BACKUP window. The history of the tool data backup is updated when a GETTOOL instruction with “PMTDATA”...

  • Page 22: Instruction List For Pmt Function

    161366-1CD Instruction List for PMT Function FS100 Instruction List for PMT Function GETTOOL Function Gets the data from a tool file. − Additional items Tool data storage directory P, PMTDATA Tool file 0 to 15 TL# () Example...
  • Page 23 161366-1CD Parameter FS100 Parameter Parameter No. Meaning Units Initial Value S3C1192 The allowable difference (values of X, Y, and Z) 0.001mm 20000 between the present tool constant and the tool data automatic setting in the operation of a SETTOOL instruction.

  • Page 24: Alarm List

    (parameter set Refer to page 5-1 value). 4126 CANNOT 1,2 : SYSTEM error 1,2 : Please contact YASKAWA EXECUTE AUTO 3 : Prohibition of editing of jobs subject representative. to conversion 3,4 : Please check the job header. [decimal data] 4 : Prohibition of editing of jobs saved 5,7 : Please delete unnecessary jobs.
  • Page 25 FS100 OPTIONS INSTRUCTIONS FOR PMT FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. YASKAWA ELECTRIC CORPORATION MANUAL NO. HW1480742...

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