YASKAWA DX200 Instructions Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. Motoman DX200
  6. Instructions manual

YASKAWA DX200 Instructions Manual

Options instructions for pendant oscilloscope function
Hide thumbs Also See for DX200:
Table of Contents

Quick Links

See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
FOR PENDANT OSCILLOSCOPE FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 Operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
Revision:
MANUAL NO.
HW1481803
165467-1CD
1
1 of 48
1
Table of Contents
loading

Related Manuals for YASKAWA DX200

Summary of Contents for YASKAWA DX200

  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE MANUAL The DX200 Operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 165467-1CD Revision: MANUAL NO.
  • Page 2 Copyright © 2015, Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
  • Page 3 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 4 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 Pendant Oscilloscope Function Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX200. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates an imminent hazardous...
  • Page 6 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 DX200. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX200 Instructions before operating the manipulator: Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables.
  • Page 8 Programming Pendant’s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} - {VERSION} • Robot Serial Number Located on the robot data plate • Robot Sales Order Number Located on the DX200 controller data plate viii 8 of 48 HW1481803...
  • Page 9 165467-1CD Pendant Oscilloscope Table of Contents Function Table of Contents 1 Overview ............................1-1 1.1 Pendant Oscilloscope Function ..................1-1 1.2 Specification ........................1-2 1.3 Setup ..........................1-2 2 Setting and Operation for Data Measurement ................2-1 2.1 Startup of Pendant Oscilloscope Function................. 2-1 2.2 Main Screen Configuration ....................
  • Page 10 165467-1CD Pendant Oscilloscope Table of Contents Function 4.3 Job Step No. Saving Function ................... 4-6 4.3.1 Channel Setting ....................4-7 4.3.2 Adjustment of Acquisition Time of Job Name and Step No........4-7 4.4 Operation Function by Dedicated Input ................4-8 4.4.1 Dedicated Input Signal..................

  • Page 11: Overview

    165467-1CD Pendant Oscilloscope Overview Function 1.1 Pendant Oscilloscope Function Overview Pendant Oscilloscope Function Pendant Oscilloscope Function (hereinafter referred to as “PP oscilloscope”) is the monitoring function of speed reference, torque reference, as well as of concurrent I/O signals of each robot axis on the Programming Pendant.

  • Page 12: Specification

    To activate the function, the optional parameters of the pendant oscilloscope function need to be effective (note that the user cannot change the parameter setting). For the parameter setting other than specified above, contact a Yaskawa sales representative. 12 of 48...

  • Page 13: Setting And Operation For Data Measurement

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.1 Startup of Pendant Oscilloscope Function Setting and Operation for Data Measurement This chapter describes setting and operation required for the measurement. Basically the PP oscilloscope is operated by touching on the screen; for pull-down selection box or entry box, however, the Cursor Keys enable the cursor operation, and [SELECT], [ENTER] or [CANCEL] key enables selection, determination, or cancel,...

  • Page 14: Main Screen Configuration

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement 2.2 Main Screen Configuration Function Main Screen Configuration Here explains the configuration of the Main screen. The PP oscilloscope is displayed on the entire screen of Programming Pendant. The main screen has two types of modes; in-measurement and without not in-measurement (Waiting), in which functions or availability of some buttons are changed.

  • Page 15: Main Screen (In-Measurement Mode)

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.2 Main Screen Configuration 2.2.2 Main Screen (In-measurement Mode) Main screen of In-measurement mode is shown in Fig. 2-3. In this mode, the states of some buttons are changed. Here describes such buttons; Fig.

  • Page 16: Setting Measurement Conditions

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement 2.3 Setting Measurement Conditions Function Setting Measurement Conditions Here describes how to set the measurement conditions on the channel setting window and the condition setting panel. 2.3.1 Channel Setting Window Pressing the {CH} button on the Main screen opens the channel setting window.
  • Page 17 When {Servo} is selected at the option : Select speed reference, speed feedback, or torque reference. When {I/O signal} is selected at the option : Input signal number of concurrent I/O. For the details of concurrent I/O, refer to “DX200 Concurrent I/O Instruction Manual (165294-1CD).” Requirements on Concurrent I/O Signal The concurrent I/O signal is updated in every 4.0 [ms].
  • Page 18 165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement 2.3 Setting Measurement Conditions Function Table 2-1: Relationship between the number of servo board and the physical axis number (Sheet 2 of 2) No. of servo board Physical axis number of the board SV#4 28 to 36 SV#5...
  • Page 19 165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.3 Setting Measurement Conditions ○7-axis dual-arm robot (such as SDA) Target axis Axis selection No. (R1) Axis selection No. (R2) Target axis Axis selection No. (S1) EX1 in this table corresponds to the waist axis (external axis) of dual-arm robot.

  • Page 20: Ch Display Setting Panel

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement 2.3 Setting Measurement Conditions Function 2.3.2 CH Display Setting Panel With the data measurement stopped, select (touch) the {ChCondition} tab on the condition setting panel. Fig. 2-5 shows the typical display example of the CH display setting panel.
  • Page 21 165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.3 Setting Measurement Conditions  Position Sets the zero position of target channel. Specify the zero point within the range of -5.0 to 5.0 [div] in the vertical axis of waveform display area.

  • Page 22: Timescale Setting Panel

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement 2.3 Setting Measurement Conditions Function 2.3.3 TimeScale Setting Panel With the data measurement stopped, touch {TimeScale} tab on the condition setting panel. Fig. 2-7 shows the typical display example of TimeScale setting panel. Fig.

  • Page 23: Trigger Setting Panel

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.3 Setting Measurement Conditions 2.3.4 Trigger Setting Panel With the data measurement stopped, select (touch) {Trigger} tab on the condition setting panel. Fig. 2-8 shows the typical display example of Trigger setting panel.
  • Page 24 165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement 2.3 Setting Measurement Conditions Function  TrgType (Trigger type) Select the trigger type to use. Selectable options are Up, Down, Up&Down, and Alarm. When selecting Alarm, some of the setting parameters of Trigger Conditions are changed.
  • Page 25 165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.3 Setting Measurement Conditions  Level Specify the trigger level by the vertical division (-10.0 to +10.0). The current trigger level is shown by a marker on the left of the waveform display area (see Fig.
  • Page 26 {AlarmNo}. Input a valid alarm number here. When a non- existent alarm number is specified, an error occurs when the measurement starts. For details of alarm number, refer to “DX200 Maintenance manual (165293-1CD)”. Major alarms, when occur, may contain abnormal data...

  • Page 27: Starting And Ending Measurement

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.4 Starting and Ending Measurement Starting and Ending Measurement Here describes the step of actual data measurement. Ensure to start the measurement after completing the condition setting described in section 2.3 “Setting Measurement Conditions”...

  • Page 28: Trigger Mode

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement 2.4 Starting and Ending Measurement Function 2.4.2 Trigger Mode The Trigger mode automatically stops the measurement when the trigger condition is satisfied, and displays the waveform on the screen. Follow the step below: 1.

  • Page 29: Termination And Minimization Of Pendant Oscilloscope Function

    165467-1CD Pendant Oscilloscope Setting and Operation for Data Measurement Function 2.5 Termination and Minimization of Pendant Oscilloscope Function Termination and Minimization of Pendant Oscilloscope Function 2.5.1 Termination of PP Oscilloscope Pressing the {CLOSE} button on the Main screen terminates the PP oscilloscope.

  • Page 30: Saving And Loading The Measurement Data

    165467-1CD Pendant Oscilloscope Saving and Loading the Measurement Data 3.1 SaveMode Setting Panel Function Saving and Loading the Measurement Data This chapter describes the saving and loading of the measurement data. SaveMode Setting Panel With the data measurement stopped, select (touch) {Save} tab in the condition setting panel.

  • Page 31: Csv File

    165467-1CD Pendant Oscilloscope Saving and Loading the Measurement Data Function 3.1 SaveMode Setting Panel The file is automatically given a file name consisting of the time, date and the year when the save operation starts (yyymmdd_hhmmss.jpg). The JPG file is saved in the root folder in the external CF or USB memory of the pendant.

  • Page 32: Load Panel

    165467-1CD Pendant Oscilloscope Saving and Loading the Measurement Data 3.2 Load Panel Function Load Panel With the data measurement stopped, select (touch) {Load} tab on the condition setting panel. Fig. 3-2 shows the typical example of the Load panel. Fig. 3-2: Load Panel The Load panel loads the CSV file previously saved to recreate the waveform and setting parameters (those in Table 3-1) at that time.

  • Page 33: Other Functions

    165467-1CD Pendant Oscilloscope Other Functions Function 4.1 Zoom Function Other Functions Zoom Function With the data measurement stopped, select (touch) {Zoom} tab on the condition setting panel. Fig. 4-1 shows the typical example of the Zoom function setting panel. This panel enables to set and perform the zoom function. Fig.

  • Page 34: During Execution Of Zoom Function

    165467-1CD Pendant Oscilloscope Other Functions 4.1 Zoom Function Function  Width Specify the size of zoom range by width, with the center position specified in the Center. The width is shown in the waveform display area by a white line. In case the width of the range to be zoomed extended outside the waveform display area, the center position is automatically adjusted so that the width fits inside the range.

  • Page 35: Cursor Measurement Function

    165467-1CD Pendant Oscilloscope Other Functions Function 4.2 Cursor Measurement Function Cursor Measurement Function With the data measurement stopped, select (touch) the {Measure} tab on the condition setting panel. Fig. 4-3 shows the typical example of the Measure panel. Fig. 4-3: Measure Panel and Cursor Display (with Vertical Cursor) Measurement parameters Cursor...
  • Page 36 165467-1CD Pendant Oscilloscope Other Functions 4.2 Cursor Measurement Function Function The cursor is displayed by a white broken line on the waveform display area. When there is no target channel data within the specified cursor range, a part of the measurement parameters is not calculated. When this happens, the result is shown in hyphens (“-”).

  • Page 37: Cursor Measurement Parameters

    165467-1CD Pendant Oscilloscope Other Functions Function 4.2 Cursor Measurement Function 4.2.1 Cursor Measurement Parameters ○For horizontal cursor With the cursor measurement valid, the measurement parameters and the calculation result are automatically displayed at the upper left of waveform display area. The type of measurement parameters in the horizontal cursor is shown in Table 4-1.

  • Page 38: Job Step No. Saving Function

    165467-1CD Pendant Oscilloscope Other Functions 4.3 Job Step No. Saving Function Function Job Step No. Saving Function When “1” is set to S2C1242, the job step No. saving function is enabled. In this function, the job name and the step No. which are under execution at the time are added to the waveform data of the CSV file, and the waveform data and the job step No.

  • Page 39: Channel Setting

    165467-1CD Pendant Oscilloscope Other Functions Function 4.3 Job Step No. Saving Function 4.3.1 Channel Setting Only one control group can be specified at one measurement time as the control group which is targeted to acquire the job name and the step No. The setting can be performed in Channel Setting screen of the PP oscilloscope (Fig.

  • Page 40: Operation Function By Dedicated Input

    165467-1CD Pendant Oscilloscope Other Functions 4.4 Operation Function by Dedicated Input Function Operation Function by Dedicated Input When “1” is set to S2C1244, the signal operation function is enabled. This function makes the following operations performed on the programming pendant executable externally by the dedicated input signals.
  • Page 41 165467-1CD Pendant Oscilloscope Other Functions Function 4.4 Operation Function by Dedicated Input 40761: Pendant Oscilloscope Starting Measurement  Starts measurement. Rising This signal performs the same operation as the operation when pressing [START] of PP oscilloscope.  40762: Pendant Oscilloscope Saving CSV File Saves the measured data to the CSV file.

  • Page 42: Dedicated Output Signal

    165467-1CD Pendant Oscilloscope Other Functions 4.4 Operation Function by Dedicated Input Function 4.4.2 Dedicated Output Signal Displays PP oscilloscope operation status. When PP oscilloscope is not running, all signals are OFF. 50907 50906 50905 50904 50903 50902 50901 50900 SOUT#720 SOUT#719 SOUT#718 SOUT#717 SOUT#716...
  • Page 43 165467-1CD Pendant Oscilloscope Other Functions Function 4.4 Operation Function by Dedicated Input 51172: Pendant Oscilloscope IO Acceptance Ready  Notifies that PP oscilloscope is monitoring the start request State (40761) and the CSV file saving request (40762). Only when the following conditions are satisfied, this signal is turned ON.

  • Page 44: Supplementary Explanation

    165467-1CD Pendant Oscilloscope Supplementary Explanation 5.1 Division [div]: Unit for Measurement Screen Position Function Supplementary Explanation Here explains some of the terms used in this manual. Division [div]: Unit for Measurement Screen Position The PP oscilloscope includes the operation that specifies the various positions (or range) in the waveform display area, such as specifying zero point of measurement channel, specifying cursor range, or zoom range.

  • Page 45: Reference Unit

    165467-1CD Pendant Oscilloscope Supplementary Explanation Function 5.2 Reference Unit Reference Unit Here describes the reference unit. The data of measurement target has each unit, as shown in Table 5-1. Table 5-1: Unit of Data Data type Unit Speed [rpm] reference Rotating speed of target axis motor in a minute Speed [rpm]...

  • Page 46: Error Messages

    165467-1CD Pendant Oscilloscope Error Messages Function Error Messages The pendant oscilloscope can output the messages for confirming the operation or notifying the process completion. Especially when the data acquisition error or abnormal setting should occur, the application outputs error messages such as shown in Fig. 6-1 to notify the problem. When any error message is displayed, first check the content, touch {OK} to clear the message, and follow necessary countermeasures.
  • Page 47 165467-1CD Pendant Oscilloscope Error Messages Function Table 6-1: Error Messages and Countermeasures of PP Oscilloscope (Sheet 2 of 2) Error messages Countermeasures The acceptable delaying range of Process time for graph drawing is not graph drawing exceeded. Implement enough for the volume of measurement any of the following countermeasures.
  • Page 48 FOR PENDANT OSCILLOSCOPE 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...

Table of Contents