YASKAWA MOTOMAN DX200 Instructions Manual
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YASKAWA MOTOMAN DX200 Instructions Manual

For conveyor synchronized function with shift functions
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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
FOR CONVEYOR SYNCHRONIZED FUNCTION WITH SHIFT FUNCTIONS
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:
165553-1CD
Revision:
3
MANUAL NO.
HW1482183
3
1 of 98
Table of Contents
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Summary of Contents for YASKAWA MOTOMAN DX200

  • Page 1 DX200 OPTIONS INSTRUCTIONS FOR CONVEYOR SYNCHRONIZED FUNCTION WITH SHIFT FUNCTIONS 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.
  • Page 2 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. You are welcome to copy this document to your computer or mobile device for...
  • 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 165553-1CD Notes for Safe Operation Conveyor Synchronized Funciton with Shift Functions 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”.
  • Page 6 165553-1CD Notes for Safe Operation Conveyor Synchronized Funciton with Shift Functions WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX200 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • 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 supply cables.
  • Page 8 165553-1CD Description of the Operation Procedure Conveyor Synchronized Funciton with Shift Functions Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or its Pendant /Symbol Keys symbol printed on them are denoted with [ ].
  • Page 9 165553-1CD Safeguarding Tips Conveyor Synchronized Funciton with Shift Functions Safeguarding Tips All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation.
  • Page 10 Do not make any modifications to the controller unit. Making any changes without the written permission from YASKAWA will void the warranty. • Some operations require a standard passwords and some require special passwords.
  • Page 11 It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by YASKAWA. Address any questions regarding the safe and proper operation of the equipment to YASKAWA Customer Support.
  • Page 12 Funciton with Shift Functions system, please contact YASKAWA Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address: [email protected] When using e-mail to contact YASKAWA Customer Support, please provide a detailed description of your issue, along with complete contact information.

  • Page 13: Table Of Contents

    165553-1CD Table of Contents Conveyor Synchronized Funciton with Shift Functions Table of Contents 1 Conveyor Synchronized Function with Shift Functions..............1-1 1.1 Conveyor Synchronized Function with Shift Functions............1-1 1.2 Start Shift Function ......................1-2 1.3 WORK ID Shift Function ....................1-3 1.4 WORK IN/NOT Shift Function ...................
  • Page 14 165553-1CD Table of Contents Conveyor Synchronized Funciton with Shift Functions 3.1.4 CVQUE Instruction ....................3-6 3.1.5 Interpolation Mode for Conveyor Synchronized Motion........3-7 3.2 Manipulator Motion Speed ....................3-8 3.3 Wrist Posture in Conveyor Synchronized Section ............. 3-8 3.4 Changing Circular Steps ....................3-8 3.5 Teaching ..........................
  • Page 15 165553-1CD Table of Contents Conveyor Synchronized Funciton with Shift Functions 5 Conveyor Monitoring Displays for the Shift Functions ..............5-1 5.1 CV (SYNCHRONIZATION) MONITOR Display..............5-2 5.1.1 Switching the Reference Workpiece for Synchronization........5-3 5.1.2 Deleting a Data of Conveyor Synchronized Section..........5-5 5.1.3 Deleting the Shift Data and the Data of Conveyor Synchronized Section....

  • Page 16: Conveyor Synchronized Function With Shift Functions

    165553-1CD Conveyor Synchronized Function with Shift Functions Conveyor Synchronized 1.1 Conveyor Synchronized Function with Shift Functions Funciton with Shift Functions Conveyor Synchronized Function with Shift Functions Conveyor Synchronized Function with Shift Functions In the conveyor synchronized function of the position tracking type, the taught motion path of the manipulator is corrected according to the conveyor travel amount so that the manipulator performs follow-up motion in the conveyor moving direction at a constant relative speed to the...

  • Page 17: Start Shift Function

    165553-1CD Conveyor Synchronized Function with Shift Functions Conveyor Synchronized 1.2 Start Shift Function Funciton with Shift Functions Start Shift Function When the conveyor home-position limit switch is not installed near the manipulator, the second workpiece may pass the conveyor home-position limit switch before the first workpiece, which passed the conveyor home- position limit switch, enters the conveyor synchronized section.

  • Page 18: Work Id Shift Function

    165553-1CD Conveyor Synchronized Function with Shift Functions Conveyor Synchronized 1.3 WORK ID Shift Function Funciton with Shift Functions WORK ID Shift Function When the workpieces are conveyed sequentially and the WORK ID detecting limit switch is turned ON, the DX200 reads the WORK ID of each workpiece by the predefined general-purpose input signal.

  • Page 19: Work In/Not Shift Function

    165553-1CD Conveyor Synchronized Function with Shift Functions Conveyor Synchronized 1.4 WORK IN/NOT Shift Function Funciton with Shift Functions WORK IN/NOT Shift Function In the system that workpieces are conveyed in skits, the WORK IN/NOT detecting limit switch is activated when a skit passes, and the DX200 reads whether a workpiece is in or not from the predefined general- purpose input signal.

  • Page 20: Precautions On Using Conveyor Synchronized Function With Shift Functions

    165553-1CD Conveyor Synchronized Function with Shift Functions Conveyor Synchronized 1.5 Precautions on Using Conveyor Synchronized Function with Shift Funciton with Shift Functions Functions Precautions on Using Conveyor Synchronized Function with Shift Functions With the conveyor synchronized function with shift functions, the shift data such as Start Shift, WORK ID, and WORK IN/NOT in the synchronized section and shift section are all erased when the power is OFF.

  • Page 21: Conveyor Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.1 Conveyor Condition File Funciton with Shift Functions Conveyor Condition File Conveyor Condition File To execute the conveyor synchronized function with shift functions properly, the conveyor data must be set to the DX200. The data are set in the conveyor condition file, start shift condition file, WORK ID condition file, and WORK IN/NOT condition file.
  • Page 22 165553-1CD Conveyor Condition File Conveyor Synchronized 2.1 Conveyor Condition File Funciton with Shift Functions (10) (11) (12) (13) (14) (15) (16) (17) (18) (19) (1) FILE NO. The conveyor condition file number is shown below. (2) USED STATUS (USED/NOT USED) Specify whether to use or not to use the conveyor condition file.
  • Page 23 165553-1CD Conveyor Condition File Conveyor Synchronized 2.1 Conveyor Condition File Funciton with Shift Functions (7) CORRECTION (FORWARD/REVERSE) Specify if the direction of the follow-up motion should be reversed or not. If “REVERSE” is selected, the sign of the correction position on the conveyor speed display is reversed and the manipulator executes the follow-up motion in the reversed direction.
  • Page 24 165553-1CD Conveyor Condition File Conveyor Synchronized 2.1 Conveyor Condition File Funciton with Shift Functions (13) AVERAGED TRAVEL TIME (0 to 3000 ms) Set a time to average the travel amount so that the manipulator moves smoothly at the sudden change of the conveyor speed. When using the conveyor with large pulsation, set the value between 300 and 500.
  • Page 25 165553-1CD Conveyor Condition File Conveyor Synchronized 2.1 Conveyor Condition File Funciton with Shift Functions (17) VIRTUAL ENCODER IN (0 to 4096) Set the general-purpose input signal number to be set for the virtual encoder. When this signal is input, the encoder input enters the virtual encoder mode.

  • Page 26: Editing Conveyor Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.2 Editing Conveyor Condition File Funciton with Shift Functions Editing Conveyor Condition File 2.2.1 Display the Conveyor Condition File Select {ROBOT} under the main menu  Select {CV CONDITION}  Display a desired conveyor condition file 1 Press the [PAGE] to display the next file number.
  • Page 27 165553-1CD Conveyor Condition File Conveyor Synchronized 2.2 Editing Conveyor Condition File Funciton with Shift Functions  Selecting “BASE AXIS” Select “BASE AXIS”  The selection dialog box appears  Select a desired axis  Specifying “RESOLUTION” Select “RESOLUTION”  Enter a value by pressing [Numeric keys] ...

  • Page 28: Setting Conveyor Resolution

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.3 Setting Conveyor Resolution Funciton with Shift Functions Setting Conveyor Resolution The encoder mounted on the conveyor sends the pulse amount to the DX200 as the conveyor current position data. In order that the manipulator recognizes this pulse amount as the conveyor travel amount for its follow-up motion, this pulse amount must be converted into a distance.

  • Page 29: Detection Function For Broken Line Detect Status (Conveyor Pulse)

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.4 Detection Function for BROKEN LINE DETECT Status (Conveyor Funciton with Shift Pulse) Functions Detection Function for BROKEN LINE DETECT Status (Conveyor Pulse) When “BROKEN LINE DETECT” in the CONVEYOR COND FILE display is set ON (enabled), an alarm occurs if the broken line detection status signal for conveyor pulse is detected.

  • Page 30: Conveyor Supplemental Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.5 Conveyor Supplemental Condition File Funciton with Shift Functions Conveyor Supplemental Condition File To use the conveyor synchronized function with shift functions, the conveyor supplemental condition file “CV TRACKING COND SUPP.” must be set in addition to the conveyor condition file. The CV TRACKING COND SUPP.

  • Page 31: Start Shift Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.6 Start Shift Condition File Funciton with Shift Functions Start Shift Condition File (1) FILE NO. Displays the start shift condition file number. (2) USED STATUS (USED/NOT USED) Specify whether the start shift condition file is used or not. (3) PORT NO.
  • Page 32 165553-1CD Conveyor Condition File Conveyor Synchronized 2.6 Start Shift Condition File Funciton with Shift Functions (5) CHATTERING PRVNT TIME (0 to 999.9 seconds) Until the chattering prevention time pass from the moment that the conveyor home-position input signal is input, the next conveyor home- position signal input is ignored.
  • Page 33 165553-1CD Conveyor Condition File Conveyor Synchronized 2.6 Start Shift Condition File Funciton with Shift Functions (7) START SHIFT DISTANCE (0 to 99999mm) When the conveyor home-position limit switch cannot installed within the manipulator working envelope, the home-position limit switch ON signal is shifted in synchronization with the conveyor movement to the manipulator working envelope.

  • Page 34: Editing The Start Shift Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.7 Editing the Start Shift Condition File Funciton with Shift Functions Editing the Start Shift Condition File 2.7.1 Display of the Start Shift Condition File Select {ROBOT} under the main menu  Select {CONVEYOR COND SUPP.}  Select {DISPLAY} ...

  • Page 35: Work Id Shift Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.8 WORK ID SHIFT Condition File Funciton with Shift Functions WORK ID SHIFT Condition File (2 ) (3 ) (5 ) (6 ) (7 ) (8 ) (1) FILE NO. Displays the WORK ID SHIFT condition file. (2) USED STATUS (USED/NOT USED) Specify whether the WORK ID SHIFT condition file is used or not.
  • Page 36 165553-1CD Conveyor Condition File Conveyor Synchronized 2.8 WORK ID SHIFT Condition File Funciton with Shift Functions (6) WORK SHIFT POS (0 to 99999 mm) Set the distance from the WORK ID detecting limit switch to the shift end position. • For the shipment before DN1.60-00, set the value of the distance from the WORK ID detecting limit switch to the manipulator start position subtracted by 1/2 of the minimum workpiece pitch.
  • Page 37 165553-1CD Conveyor Condition File Conveyor Synchronized 2.8 WORK ID SHIFT Condition File Funciton with Shift Functions (7) MAX. WORK CNT (1 to 99 workpieces) Set the maximum number of workpieces that are set between the WORK ID detecting limit switch to the reference workpiece for synchronization start.

  • Page 38: Editing The Work Id Shift Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.9 Editing the WORK ID SHIFT Condition File Funciton with Shift Functions Editing the WORK ID SHIFT Condition File 2.9.1 Display the WORK ID SHIFT Condition File Select {ROBOT} under the main menu  Select {CONVEYOR COND SUPP.}  Select {DISPLAY} ...

  • Page 39: Work In/Not Shift Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.10 WORK IN/NOT SHIFT Condition File Funciton with Shift Functions 2.10 WORK IN/NOT SHIFT Condition File (1) FILE NO. Displays the WORK IN/NOT SHIFT condition file number. (2) USED STATUS (NOT USED/USED) Specify whether the WORK IN/NOT SHIFT condition file is used or not. (3) PORT NO.
  • Page 40 165553-1CD Conveyor Condition File Conveyor Synchronized 2.10 WORK IN/NOT SHIFT Condition File Funciton with Shift Functions (6) WORK SHIFT POSITION (0 to 99999mm) Set the distance from the WORK IN/NOT detecting limit switch to the shift end position. • For the shipment before DN1.60-00, set the value of the distance from the WORK IN/NOT detecting limit switch to the manipulator start position subtracted by 1/2 of the minimum workpiece pitch.
  • Page 41 165553-1CD Conveyor Condition File Conveyor Synchronized 2.10 WORK IN/NOT SHIFT Condition File Funciton with Shift Functions (7) MAX. WORK CNT (1 to 99) Set the maximum number of workpieces that are set between the WORK IN/NOT detecting limit switch to the reference workpiece for synchronization start.

  • Page 42: Editing The Work In/Not Shift Condition File

    165553-1CD Conveyor Condition File Conveyor Synchronized 2.11 Editing the WORK IN/NOT SHIFT Condition File Funciton with Shift Functions 2.11 Editing the WORK IN/NOT SHIFT Condition File 2.11.1 Display the WORK IN/NOT SHIFT Condition File Select {ROBOT} under the main menu  Select {CONVEYOR COND SUPP.}  Select {DISPLAY} ...

  • Page 43: Teaching

    165553-1CD Teaching Conveyor Synchronized 3.1 Registering Instructions Funciton with Shift Functions Teaching Registering Instructions The instructions can be registered when the cursor is in the address area on the job content display in teach mode. Select {JOB} under the main menu Select {JOB CONTENT} Move ...
  • Page 44 165553-1CD Teaching Conveyor Synchronized 3.1 Registering Instructions Funciton with Shift Functions When the SYSTART instruction has been executed and then another SYSTART instruction is executed in the middle of the job, the manipulator completes the execution of the previous move instruction, and tracks the conveyor in the stand-by posture until the conveyor reaches the synchronization start position for the next SYSTART instruction.
  • Page 45 165553-1CD Teaching Conveyor Synchronized 3.1 Registering Instructions Funciton with Shift Functions 3 Perform the operation 4. •To change the conveyor condition file number or/and the synchronization start position Move the cursor to CONVEYOR FILE or SYNC START POS, and press [SELECT].

  • Page 46: Syend Instruction

    165553-1CD Teaching Conveyor Synchronized 3.1 Registering Instructions Funciton with Shift Functions 3.1.2 SYEND Instruction  Function The SYEND instruction ends the conveyor synchronized control. The synchronized operation ends at the step where this instruction is registered. Executing a SYEND clears the conveyor home-position data. When the conveyor home-position limit switch is ON after the conveyor home- position data is cleared, the conveyor home position data will be updated.

  • Page 47: Symov □ Instruction

    165553-1CD Teaching Conveyor Synchronized 3.1 Registering Instructions Funciton with Shift Functions The conveyor synchronized motion can be suspended in the middle of a job. To suspend the conveyor synchronized motion, insert the SYEND instruction added with a tag CONT (continuity attribute). The manipulator completes the execution of the previous move instruction of the SYEND instruction with a tag CONT, and stops to wait until the NOTE...

  • Page 48: Cvque Instruction

    165553-1CD Teaching Conveyor Synchronized 3.1 Registering Instructions Funciton with Shift Functions  Precautions on Executing the SYMOVJ Instruction The SYMOVJ instruction calculates the orbit based on the conveyor speed when beginning to operate. The robot operation changes according to the conveyor speed changes to maintain a relative position of robot and conveyor (work) positions.
  • Page 49 165553-1CD Teaching Conveyor Synchronized 3.1 Registering Instructions Funciton with Shift Functions  Format CVQUE CV#(1)  Conveyor condition file number Set the conveyor condition file number to be used. For the shipment before DN1.60-00, when the CVQUE instruction is executed, the first information of the WORK ID shift data and WORK IN/NOT shift data are set to the system variables and deleted from each shift data.

  • Page 50: Manipulator Motion Speed

    165553-1CD Teaching Conveyor Synchronized 3.2 Manipulator Motion Speed Funciton with Shift Functions Manipulator 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 conveyor synchronized operation, the manipulator motion speed is the teaching speed added to the conveyor speed.

  • Page 51: Teaching

    165553-1CD Teaching Conveyor Synchronized 3.5 Teaching Funciton with Shift Functions Teaching The conveyor positions at teaching are registered in a job. The conveyor position is defined as follows: • When the start shift function is not used, the distance from the conveyor home-position (the position where the conveyor home- position limit switch turns ON) to the synchronization start position.
  • Page 52 165553-1CD Teaching Conveyor Synchronized 3.5 Teaching Funciton with Shift Functions Perform teaching after having confirmed that the conveyor NOTE is completely stopped. Teaching while the conveyor moves may cause an error or segment over alarm. Select {ROBOT} under the main menu Select {CV MONITOR} ...

  • Page 53: Teaching After Interruption Of Synchronized Motion In Playback Operation

    165553-1CD Teaching Conveyor Synchronized 3.6 Teaching After Interruption of Synchronized Motion in Playback Funciton with Shift Operation Functions 0005 = SYMOVL V=100.0 CV#(1) CTP=1000.000 Proceed the rest of the teaching in the same manner as the normal teaching. To use a move instruction for synchronizing to the conveyor after having changed to the standard interpolation mode, the operation to select the interpolation mode for conveyor synchronized move instruction is necessary.

  • Page 54: Notes On Operation

    165553-1CD Teaching Conveyor Synchronized 3.7 Notes on Operation Funciton with Shift Functions Notes on Operation The conveyor synchronized move instructions are special instructions to register the conveyor positions together with the manipulator positions. Therefore, the conveyor synchronized move instructions are different from standard move instructions such as MOVJ, and these instructions have the following restrictions on operations.

  • Page 55: Job Examples

    165553-1CD Teaching Conveyor Synchronized 3.8 Job Examples Funciton with Shift Functions Job Examples 3.8.1 Job Example for the Conveyor Synchronized Function without Shift Functions An example of the job without using the start shift is given below. Use this example as the basic programming for application to various system. Instruction Description 0000...

  • Page 56: Job Example When Using The Start Shift Function

    165553-1CD Teaching Conveyor Synchronized 3.8 Job Examples Funciton with Shift Functions 3.8.2 Job Example when Using the Start Shift Function An example of the job using the start shift function is given below.  Master Job Instruction Description 0000 0001 SYEND CV#(1) Resets the registered status of the conveyor’s home position.
  • Page 57 165553-1CD Teaching Conveyor Synchronized 3.8 Job Examples Funciton with Shift Functions  Work Job Instruction Description 0000 0001 SYSTART CV#(1) STP=200.00 Waits for the synchronization start of the module 1. The manipulator moves following up the conveyor until the conveyor reaches the specified position. 0002 SYMOVL CV#(1) CTP=200.00 Move instruction for the conveyor synchronized motion...

  • Page 58: Job Example Using The Start Shift, Work Id Shift, And Work In/Not Shift Functions (Shipment Before Dn1.60-00)

    165553-1CD Teaching Conveyor Synchronized 3.8 Job Examples Funciton with Shift Functions 3.8.3 Job Example Using the Start Shift, WORK ID Shift, and WORK IN/ NOT Shift Functions (Shipment Before DN1.60-00) An example of the job using all the shift functions (Start Shift, WORK ID Shift, and WORK IN/ NOT Shift) is given as follows.
  • Page 59 165553-1CD Teaching Conveyor Synchronized 3.8 Job Examples Funciton with Shift Functions The system variables are defined as follows: $I000 to $I005: Stores the WORK IN/NOT shift completion status. $I000: Corresponds to the WORK IN/NOT characteristic file 1. $I005: Corresponds to the WORK IN/NOT characteristic file 6. $I006 to $I011: Stores the WORK ID shift completion status.
  • Page 60 165553-1CD Teaching Conveyor Synchronized 3.8 Job Examples Funciton with Shift Functions When the first workpiece for the WORK IN/NOT shift completes the shift section, (1) is set to the system variable $I000. When the first workpiece for the WORK ID shift completes the shift section, (1) is set to the system variable $I006.

  • Page 61: Job Example Using The Start Shift, Work Id Shift, And Work In/Not Shift Functions (New Shipment At Dn1.60-00 Or Later)

    165553-1CD Teaching Conveyor Synchronized 3.8 Job Examples Funciton with Shift Functions 3.8.4 Job Example Using the Start Shift, WORK ID Shift, and WORK IN/ NOT Shift Functions (New Shipment at DN1.60-00 or Later) An example of the job using all the shift functions (Start Shift, WORK ID Shift, and WORK IN/ NOT Shift) is given as follows.

  • Page 62: Manual Setting Function For Conveyor Position

    165553-1CD Teaching Conveyor Synchronized 3.9 Manual Setting Function for Conveyor Position Funciton with Shift Functions Manual Setting Function for Conveyor Position With the manual setting function for conveyor position, the conveyor position can be set from the programming pendant without moving the conveyor to modify the taught job.

  • Page 63: Manual Setting Procedure For The Conveyor Position

    165553-1CD Teaching Conveyor Synchronized 3.9 Manual Setting Function for Conveyor Position Funciton with Shift Functions 3.9.1 Manual Setting Procedure for the Conveyor Position  Setting the Conveyor Position Move the cursor to the desired value in the column of the {SET (mm)}  Enter a value using [Numeric keys] ...

  • Page 64: Test Run Without Moving The Conveyor

    165553-1CD Teaching Conveyor Synchronized 3.10 Test Run without Moving the Conveyor Funciton with Shift Functions 3.10 Test Run without Moving the Conveyor CAUTION • During the test run using a virtual encoder, the manipulator moves in the pseudo conveyor synchronization. Therefore, the manipulator motion may be different from the taught motion.
  • Page 65 165553-1CD Teaching Conveyor Synchronized 3.10 Test Run without Moving the Conveyor Funciton with Shift Functions The test run starts by pressing [INTERLOCK] and [TEST START] at the same time. To assure the safe operation, the manipulator moves only while these keys are pressed. For a job where a start shift distance (WORK SHIFT POS) is set, the distance can be temporally changed to “0.”...

  • Page 66: Manual Setting Function For Pseudo On Of The Conveyor Home-Position Limit Switch

    165553-1CD Teaching Conveyor Synchronized 3.11 Manual Setting Function for Pseudo ON of the Conveyor Home- Funciton with Shift position Limit Switch Functions 3.11 Manual Setting Function for Pseudo ON of the 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.

  • Page 67: Playback

    165553-1CD Playback Conveyor Synchronized 4.1 Conveyor Speed Down Funciton with Shift Functions Playback Conveyor Speed Down When the conveyor slows down while the manipulator moves in synchronization with the conveyor, the manipulator will react according to the mode setting in the conveyor condition file: Fig.

  • Page 68: Accuracy

    165553-1CD Playback Conveyor Synchronized 4.2 Accuracy Funciton with Shift Functions Accuracy In the operation by the conveyor synchronized control, the manipulator motion path taught on the conveyor in stop status is reproduced on the conveyor in run status. Therefore, the accuracy of the operation is determined by the amount of difference between the taught motion path and the synchronized motion path.

  • Page 69: Restarting Synchronization After Manipulator Stops

    165553-1CD Playback Conveyor Synchronized 4.4 Restarting Synchronization After Manipulator Stops Funciton with Shift Functions Restarting Synchronization After Manipulator Stops When a manipulator stops during the synchronized operation in the following cases, the manipulator restarts the synchronized motion when the operation is restarted. •...

  • Page 70: Detection Of The Position Beyond The Specified Maximum-Workpiece-Position

    165553-1CD Playback Conveyor Synchronized 4.8 Detection of the Position beyond the Specified Maximum-workpiece- Funciton with Shift position Functions Detection of the Position beyond the Specified Maximum- workpiece-position When a workpiece passes over the specified point (MAX. WORK POSITION) on the conveyor of the synchronized section without execution of the CVQUE instruction or the switching of workpieces, the position information, WORK ID information, and WORK IN/NOT information of the workpiece are automatically deleted from the job queue...

  • Page 71: Conveyor Monitoring Displays For The Shift Functions

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized Funciton with Shift Functions Conveyor Monitoring Displays for the Shift Functions To monitor the conveyor synchronized status when using the shift functions, use the following display. • CV (SYNCHRONIZATION) display To monitor each shift status, use the following four displays.

  • Page 72: Cv (Synchronization) Monitor Display

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.1 CV (SYNCHRONIZATION) MONITOR Display Funciton with Shift Functions CV (SYNCHRONIZATION) MONITOR Display *Not displayed in new units shipped with version DN1.60-000 and later. CV# Displays the conveyor characteristic file number. CONVEYOR AVERAGE SPEED (mm/s) Displays the conveyor average speed per 0.1 second.

  • Page 73: Switching The Reference Workpiece For Synchronization

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.1 CV (SYNCHRONIZATION) MONITOR Display Funciton with Shift Functions 5.1.1 Switching the Reference Workpiece for Synchronization To switch the reference workpiece for synchronization from the currently objective workpiece to the next workpiece at teaching, follow the operation procedure below.
  • Page 74 165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.1 CV (SYNCHRONIZATION) MONITOR Display Funciton with Shift Functions Execute “SYNCHRONIZATION SWITCH” switches the objective workpiece to the next workpiece as shown in the figure below. Manipulator start position Conveyor moving direction Workpiece for synchronization after having executed...

  • Page 75: Deleting A Data Of Conveyor Synchronized Section

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.1 CV (SYNCHRONIZATION) MONITOR Display Funciton with Shift Functions 5.1.2 Deleting a Data of Conveyor Synchronized Section Delete a data of conveyor synchronized section in the following manner. Press the area key  Select {DATA}  Select “CLEAR DATA” ...

  • Page 76: Deleting The Shift Data And The Data Of Conveyor Synchronized Section

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.1 CV (SYNCHRONIZATION) MONITOR Display Funciton with Shift Functions 5.1.3 Deleting the Shift Data and the Data of Conveyor Synchronized Section Delete the shift data and the data of conveyor synchronized section at a time in the following manner.

  • Page 77: Cv Start Shift Status Display

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.2 CV START SHIFT STATUS Display Funciton with Shift Functions CV START SHIFT STATUS Display CV# Displays the conveyor start shift characteristic file number. CONVEYOR AVERAGE SPEED (mm/s) Displays the conveyor average speed per 0.1 second. FIND CNT Displays the number of workpieces that are detected by the start shift function and in the start shift section.

  • Page 78: Deleting A Conveyor Start Shift Data

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.2 CV START SHIFT STATUS Display Funciton with Shift Functions 5.2.1 Deleting a Conveyor Start Shift Data *Cannot be used on new models shipped with version DN1.60-00 or later. Delete a conveyor start shift data in the following manner. Press the area key ...

  • Page 79: Deleting The Shift Data And The Data Of Conveyor Synchronized Section

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.2 CV START SHIFT STATUS Display Funciton with Shift Functions 5.2.2 Deleting the Shift Data and the Data of Conveyor Synchronized Section Delete the shift data and the data of conveyor synchronized section at a time in the following Press the area key ...

  • Page 80: Cv Work Id Shift Status Display

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.3 CV WORK ID SHIFT STATUS Display Funciton with Shift Functions CV WORK ID SHIFT STATUS Display CV# Displays the conveyor WORK ID shift characteristic file number. CONVEYOR AVERAGE SPEED (mm/s) Displays the conveyor average speed per 0.1 second.

  • Page 81: Deleting A Conveyor Work Id Shift Data

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.3 CV WORK ID SHIFT STATUS Display Funciton with Shift Functions 5.3.1 Deleting a Conveyor WORK ID Shift Data *Cannot be used on new models shipped with version DN1.60-00 or later. Delete a conveyor WORK ID shift data in the following manner.

  • Page 82: Deleting The Shift Data And The Data Of Conveyor Synchronized Section

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.3 CV WORK ID SHIFT STATUS Display Funciton with Shift Functions 5.3.2 Deleting the Shift Data and the Data of Conveyor Synchronized Section Delete the shift data and the data of conveyor synchronized section at a time in the following manner.

  • Page 83: Cv Work In/Not Shift Status Display

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.4 CV WORK IN/NOT SHIFT STATUS Display Funciton with Shift Functions CV WORK IN/NOT SHIFT STATUS Display CV# Displays the conveyor WORK IN/NOT shift characteristic file number. CONVEYOR AVERAGE SPEED (mm/s) Displays the conveyor average speed per 0.1 second.

  • Page 84: Deleting A Conveyor Work In/Not Shift Data

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.4 CV WORK IN/NOT SHIFT STATUS Display Funciton with Shift Functions 5.4.1 Deleting a Conveyor WORK IN/NOT Shift Data *Cannot be used on new models shipped with version DN1.60-00 or later. Delete a conveyor WORK IN/NOT shift data in the following manner.

  • Page 85: Cv Shift Monitor Display

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.5 CV SHIFT MONITOR display Funciton with Shift Functions CV SHIFT MONITOR display *Displayed in new units shipped with version DN1.60-000 and later. CV# Displays the conveyor characteristic file number. CONVEYOR AVERAGE SPEED (mm/s) Displays the conveyor average speed per 0.1 second.

  • Page 86: Switching The Reference Workpiece For Synchronization

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.5 CV SHIFT MONITOR display Funciton with Shift Functions 5.5.1 Switching the Reference Workpiece for Synchronization To switch the reference workpiece for synchronization from the currently objective workpiece to the next workpiece at teaching, follow the operation procedure below.

  • Page 87: Deleting A Data Of Conveyor Synchronized Section

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.5 CV SHIFT MONITOR display Funciton with Shift Functions 5.5.2 Deleting a Data of Conveyor Synchronized Section Delete a data of conveyor synchronized section in the following manner. Press the area key  Select {DATA}  Select “CLR TRACKING DATA” ...

  • Page 88: Deleting A Data Of Conveyor Shift Section

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.5 CV SHIFT MONITOR display Funciton with Shift Functions 5.5.3 Deleting a Data of Conveyor Shift Section Delete a data of conveyor shift section in the following manner. Press the area key  Select {DATA}  Select “CLR SHIFT DATA” ...

  • Page 89: Deleting The Shift Data And The Data Of Conveyor Synchronized Section

    165553-1CD Conveyor Monitoring Displays for the Shift Functions Conveyor Synchronized 5.5 CV SHIFT MONITOR display Funciton with Shift Functions 5.5.4 Deleting the Shift Data and the Data of Conveyor Synchronized Section Delete the shift data and the data of conveyor synchronized section at a time in the following manner.

  • Page 90: Instruction List

    165553-1CD Instruction List Conveyor Synchronized Funciton with Shift Functions Instruction List The instructions used for the conveyor synchronized control with shift functions are listed below. The numerical data to be set is explained in < >. SYSTART Function Starts the conveyor synchronized operation. Additional CV# () 1 to 3...

  • Page 91: Alarm List

    ERROR other than 0, 1, and 2. If the alarm occurs again, [Decimal Data; 0 to 2: The robot axis specified for tracking contact your YASKAWA 255] does not exist. representative. 3: The base axis specified for tracking does not exist in the job.
  • Page 92 165553-1CD Alarm List Conveyor Synchronized Funciton with Shift Functions Alarm No. Message Causes Corrective Actions 4637 NO MORE The CVQUE instruction is executed, Check the workpieces in the WORKPIECE IN SYN but there is no more workpiece in the synchronization section and SECTION synchronization section.
  • Page 93 165553-1CD Alarm List Conveyor Synchronized Funciton with Shift Functions Alarm No. Message Causes Corrective Actions 5072 START SHIFT DATA Start shift data overflow Check the shift data and the OVERFLOW actual workpiece status. If any inconsistency is found, delete the shift data and prepare newly the shift data.

  • Page 94: Specific I/O Signals

    165553-1CD Specific I/O Signals Conveyor Synchronized 8.1 Specific Input Signals “4xxxx” Funciton with Shift Functions Specific I/O Signals Specific Input Signals “4xxxx”  40700 to 40702: Conveyor Home-position Limit Switch Input When this signal turns ON, the conveyor home-position limit State switch turns ON.
  • Page 95 165553-1CD Specific I/O Signals Conveyor Synchronized 8.2 Specific Output Signals “5xxxx” Funciton with Shift Functions  51410: SYMOVJ in Execution Indicates that the move instruction “SYMOVJ” for the conveyor State synchronized motion is being executed.  51420: Conveyor Speed Down Indicates that the conveyor speed falls below the lower limit of State the speed that is set in the Conveyor Condition File.

  • Page 96: Conveyor Parameters

    165553-1CD Conveyor Parameters Conveyor Synchronized Funciton with Shift Functions Conveyor Parameters  S3C1210: Conveyor Model Speed for SYMOVJ Specifies the conveyor speed at the execution of the SYMOVJ instruction when “ROBOT AXIS” is selected for “TRACKING” in the Conveyor Condition File. If “0” is set, the DX200 refers to the actual conveyor speed immediately before the execution of SYMOVJ.

  • Page 97: Sensor Parameters (Sxe)

    165553-1CD 10 Sensor Parameters (SxE) Conveyor Synchronized Funciton with Shift Functions 10 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 signal...
  • Page 98 FOR CONVEYOR SYNCHRONIZED FUNCTION WITH SHIFT FUNCTIONS 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 )

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