YASKAWA DX200 Instructions Manual
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YASKAWA DX200 Instructions Manual

Options, form cutting function, robot controller
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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
FORM CUTTING 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
DX200 MAINTENANCE MANUAL
The DX200 Operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
165468-1CD
Revision:
0
MANUAL NO.
HW1481987
1/49
0
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Summary of Contents for YASKAWA DX200

  • Page 1 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 DX200 MAINTENANCE MANUAL The DX200 Operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 165468-1CD Revision: MANUAL NO. HW1481987...
  • 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 165468-1CD Form Cutting 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 “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates a potentially hazardous...
  • Page 4 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 5 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 6 165468-1CD Form Cutting Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character The keys which have characters printed on Pendant Keys them are denoted with [ ]. ex. [ENTER] Symbol The keys which have a symbol printed on them Keys are not denoted with [ ] but depicted with a small picture.

  • Page 7: Table Of Contents

    165468-1CD Form Cutting Table of Contents 1 Form Cutting Motion ........................1-1 2 Patterns for Cutting ......................... 2-1 3 Teaching ............................3-1 3.1 How to Teach a Pattern ..................... 3-1 3.2 Tool Position and Cutting Pattern ..................3-5 3.3 Cutting Width Correction Function..................3-6 3.4 Example of Form Cutting Function ..................

  • Page 8: Form Cutting Motion

    165468-1CD Form Cutting Form Cutting Motion Form Cutting Motion The form cutting motion cuts workpieces according to a pattern with a tool such as a laser cutting machine handled by a manipulator. In the form cutting function, there may be some differences between the set design and the actual cutting motion path, depending on the calibration, ambient temperature, and NOTE...

  • Page 9: Patterns For Cutting

    165468-1CD Form Cutting Patterns for Cutting Patterns for Cutting Five patterns, circle, rectangle (including square), ellipse, pentagon, and hexagon are available. The minimum and maximum set values of a pattern can be set at the following parameters. Parameter Contents Initial Value 1,000 m S1C G63 Minimum set value...

  • Page 10: Teaching

    165468-1CD Form Cutting Teaching 3.1 How to Teach a Pattern Teaching Follow the example of teaching shown below to teach a motion instruction for cutting a form * The items to be set in the form cut setting file are shown in " ". How to Teach a Pattern With the form cutting function, teaching can be done by registering the FORMAPR and FORMCUT instructions.
  • Page 11 165468-1CD Form Cutting Teaching 3.1 How to Teach a Pattern Move to the shelter point Move to the starting point of the pattern Cutting Move to the shelter point Do not register any move instruction (MOVJ, MOVL, etc.) between the FORMAPR and FORMCUT instructions. NOTE If any move instruction is registered, normal operation is disabled or an alarm occurs.
  • Page 12 165468-1CD Form Cutting Teaching 3.1 How to Teach a Pattern When the center is set as the "START POINT" When a specified point is set to as the "START POINT" When a specified point is set as the "START POINT", the position is set with "CUT IN LENGTH"...
  • Page 13 165468-1CD Form Cutting Teaching 3.1 How to Teach a Pattern Only when the center is set as the "START POINT", the starting point position (the center of the pattern) can be set by a move instruction (MOVL, MOVJ, etc.) other than FORMAPR instruction. If so, the FORMCUT instruction can be carried out with the registered position as the center.

  • Page 14: Tool Position And Cutting Pattern

    165468-1CD Form Cutting Teaching 3.2 Tool Position and Cutting Pattern Tool Position and Cutting Pattern The following figures show the relation between the tool position each the cutting pattern. : Tool coordinate system : Tool coordinate system X-axis direction Y-axis direction Overlap Overlap Overlap...

  • Page 15: Cutting Width Correction Function

    165468-1CD Form Cutting Teaching 3.3 Cutting Width Correction Function Cutting Width Correction Function The cutting width correction function shifts the scale of the cutting width of the laser for the cutting path when cutting the form according to the pattern. The following parameter is used for the setting. Parameter Contents Initial Value...

  • Page 16: Example Of Form Cutting Function

    165468-1CD Form Cutting Teaching 3.4 Example of Form Cutting Function Example of Form Cutting Function 3.4.1 Example of a Job An example of a job for cutting the following pattern is shown. 0000 NOP 0001 MOVJ VJ=100.00 0002 MOVJ VJ=100.00 0003 FORMAPR FCF#(1)Move to the starting point (center) 0004 CALL LASERONInstruction to a laser, etc.

  • Page 17: Example Of A Motion Path

    165468-1CD Form Cutting Teaching 3.4 Example of Form Cutting Function 0025 MOVL V=50 0026 MOVJ VJ=100.00 0027 END * Set the same file No. 3.4.2 Example of a Motion Path By setting the "END POINT" to PATH or to PLACEMENT in the form cut setting file, the FORMCUT instruction can be used to cut in on the pattern path or inwards from the path to complete a cutting motion.

  • Page 18: Motion Example 1

    165468-1CD Form Cutting Teaching 3.4 Example of Form Cutting Function 3.4.2.1 Motion Example 1 Conditions FIGURE : RECTANGLE START POINT : CENTER END POINT : PATH ROTATION DIRECTION : CW Center of pattern 1. The starting point is the center of pattern. 2.

  • Page 19: Motion Example 2

    165468-1CD Form Cutting Teaching 3.4 Example of Form Cutting Function 3.4.2.2 Motion Example 2 Conditions FIGURE : RECTANGLE START POINT : PLACEMENT END POINT : PLACEMENT ROTATION DIRECTION : CW Starting point 1. The starting point is the point near the form cutting Center of pattern pattern.

  • Page 20: Form Cutting Start Motion Instruction

    165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.1 FORMAPR Instruction (Form Cutting Start Motion Instruction) Form Cutting Start Motion Instruction FORMAPR Instruction (Form Cutting Start Motion Instruction) The FORMAPR instruction is to move the manipulator to the position where the form cutting motion starts according to the conditions set in the form cut setting file.
  • Page 21 165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.1 FORMAPR Instruction (Form Cutting Start Motion Instruction) Set the same value for both the FORMAPR and FORMCUT NOTE instruction tag values (form cut setting file No., etc.) except for "SPEED". If the values are different, the FORMAPR instruction tag value is validated.

  • Page 22: Registering Instructions

    165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.2 Registering Instructions Registering Instructions You can register the FORMAPR instruction in two different ways depending on how the position was specified: Registration by teaching the center position and registration by variables. 4.2.1 Registering by Teaching 1.
  • Page 23 165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.2 Registering Instructions – To add or change any additional items, move the cursor to the instruction in the input buffer line. Then press [SELECT] to call up the detailed editing dialog box. –...
  • Page 24 165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.2 Registering Instructions – To register the form cut file No. in variables, select The dialog box opens. Select the variable. HW1481987 24/49...
  • Page 25 165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.2 Registering Instructions – To change a variable No., select the variable to be changed. Type the new variable No., press [ENTER], and the number changes. – To add the radius, select {UNUSED} for {RADIUS}. A selection dialog box is displayed.

  • Page 26: Registering In Variables

    165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.2 Registering Instructions 4.2.2 Registering in Variables 1. Move the cursor to the previous line where the FORMCUT instruction to be registered. 2. Press [INFORM LIST]. – The instruction list dialog box opens. 3.
  • Page 27 165468-1CD Form Cutting Form Cutting Start Motion Instruction 4.2 Registering Instructions 5. Change the numerical data. – Refer to Section 4.2 “Registering Instructions” on page 4-3 for how to change the numbers. 6. Press [ADD] and then [ENTER]. – The instruction displayed in the input buffer line has been registered. To register the center of the pattern in position variables, NOTE select the FORMAPR instruction from the [INFORM LIST].

  • Page 28: Form Cutting Instruction

    165468-1CD Form Cutting Form Cutting Instruction 5.1 FORMCUT (Form Cutting Motion Instruction) Form Cutting Instruction FORMCUT (Form Cutting Motion Instruction) The FORMCUT instruction is to execute the form cutting motion according to the conditions set in the form cut setting file. The additional items to the FORMCUT instruction are as follows.
  • Page 29 165468-1CD Form Cutting Form Cutting Instruction 5.1 FORMCUT (Form Cutting Motion Instruction) Set the same value for both the FORMAPR and FORMCUT instruction tag values (form cut setting file No., etc.) except for "SPEED". If the values are different, the FORMAPR instruction tag value is validated.

  • Page 30: Registering Instructions

    165468-1CD Form Cutting Form Cutting Instruction 5.2 Registering Instructions Registering Instructions 1. Move the cursor to the previous line of which FORMCUT instruction to be registered. 2. Press [INFORM LIST]. – The instruction list dialog box opens. 3. Select {DEVICE}. –...
  • Page 31 165468-1CD Form Cutting Form Cutting Instruction 5.2 Registering Instructions 5. Change the numerical data. – Press [ADD] and then [ENTER] to register the instruction in the input buffer line without changing it. – To change the numerical data of the additional items, move the cursor to the number to be changed and the number is highlighted.
  • Page 32 165468-1CD Form Cutting Form Cutting Instruction 5.2 Registering Instructions – To change the form cut setting file, select the number of "FORM CUT FILE". Type the file No. in the input buffer line, press [ENTER] and the number changes. The dialog box opens. Select the variable. HW1481987 32/49...
  • Page 33 165468-1CD Form Cutting Form Cutting Instruction 5.2 Registering Instructions To change a variable No., select the variable to be changed. – To register the form cut file No. in variables, select Type the new variable No., press [ENTER], and the number changes.
  • Page 34 165468-1CD Form Cutting Form Cutting Instruction 5.2 Registering Instructions When the additional items are added or changed, press [ENTER]. The detailed editing dialog box is closes, and the job text display opens. To add the radius, select {UNUSED} for {RADIUS}. A selection dialog box is displayed.

  • Page 35: Form Cut Setting File

    165468-1CD Form Cutting Form Cut Setting File Form Cut Setting File The form cut setting file is to set the conditions for a form cutting motion and used in the FORMAPR and FORMCUT instructions. Up to 200 files can be registered. Fig.

  • Page 36: Settings

    165468-1CD Form Cutting Form Cut Setting File 6.1 Settings Settings The details of the settings in the form cut setting file are: FORMAPR FCF#(1) V=66 Form cut setting file No. 1 FORMCUT FCF#(1) Form cut setting file No. 1  FORM CUT SETTING COND NO. (1 to 200) ...
  • Page 37 165468-1CD Form Cutting Form Cut Setting File 6.1 Settings  START POINT Select the starting point. The "CENTER", "PLACEMENT" or "AUTO" are choices for selecting a starting point. When "CENTER" is selected, the cutting motion starts from the center of the cutting pattern.
  • Page 38 165468-1CD Form Cutting Form Cut Setting File 6.1 Settings ROTATION ANGLE Set the rotational angle. The "ROTATION ANGLE" uses the center point of the cutting pattern as the center of rotation. The forward direction is clockwise for the Z-axis of the tool coordinate in the positive direction when the center point of the cutting pattern is registered.

  • Page 39: Details Of File Settings

    165468-1CD Form Cutting Form Cut Setting File 6.2 Details of File Settings Details of File Settings 6.2.1 Specifying the ROUNDNESS ERR The manipulator operates within the set value of "ROUNDNESS ERR" and completes a cutting motion inward from the taught path as shown by the dashed line circle in the figure below.

  • Page 40: Specifying The Rotation Direction

    165468-1CD Form Cutting Form Cut Setting File 6.2 Details of File Settings 6.2.3 Specifying the ROTATION DIRECTION Specify the rotational direction (cutting direction) for a form cutting motion. Specify the direction in "ROTATION DIRECTION". Pattern: Rectangle Counterclockwise Clockwise 6.2.4 Specifying the ROTATION ANGLE Specify the rotational angle for the center of the cutting pattern.

  • Page 41: Examples Of File Setting For Each Pattern

    165468-1CD Form Cutting Form Cut Setting File 6.3 Examples of File Setting for Each Pattern Examples of File Setting for Each Pattern The examples of file setting for each pattern are shown. 6.3.1 Circle Items to be Set CUTTING SPEED Clockwise RADIUS ROUNDNESS ERR...

  • Page 42: Rectangle Including Squares

    165468-1CD Form Cutting Form Cut Setting File 6.3 Examples of File Setting for Each Pattern 6.3.2 Rectangle Including Squares Items to be Set CUTTING SPEED WIDTH Clockwise HEIGHT CORNER RADIUS First stop time position Amount of START POINT overlap End point Cut in length (arc) Cut in length (arc) (path)

  • Page 43: Ellipse

    165468-1CD Form Cutting Form Cut Setting File 6.3 Examples of File Setting for Each Pattern 6.3.3 Ellipse Items to be Set CUTTING SPEED Clockwise RADIUS ROUNDNESS ERR WIDTH First stop time position Amount of START POINT overlap End point Cut in length (arc) Cut in length (arc) END POINT (path)

  • Page 44: Pentagon

    165468-1CD Form Cutting Form Cut Setting File 6.3 Examples of File Setting for Each Pattern 6.3.4 Pentagon Items to be Set Clockwise CUTTING SPEED RADIUS First stop time position Amount of overlap START POINT Cut in length (arc) Cut in length (arc) End point END POINT (path)

  • Page 45: Hexagon

    165468-1CD Form Cutting Form Cut Setting File 6.3 Examples of File Setting for Each Pattern 6.3.5 Hexagon Items to be Set CUTTING SPEED Clockwise RADIUS First stop time position Amount of START POINT overlap End point Cut in length (arc) Cut in length (arc) END POINT (path)

  • Page 46: Displaying And Editing File

    165468-1CD Form Cutting Form Cut Setting File 6.4 Displaying and Editing File Displaying and Editing File 1. Select the application menu under the main menu. – The application menu differs depending on the robot application : • For arc welding : {ARC WELDING} •...

  • Page 47: Alarm Message List

    165468-1CD Form Cutting Alarm Message List Alarm Message List Alarm Alarm Meaning Cause Remedy Number Name Code 4595 CAN'T DO The setting for radius is incorrect. Setting error (1)Check the following settings. FIXED FORM (1) For a circle, it is incorrectly set as: radius ·Setting of the radius data ≤...

  • Page 48: Hw1481987

    165468-1CD Form Cutting Alarm Message List Alarm Alarm Meaning Cause Remedy Number Name Code Although "PLACEMENT" or "AUTO" is set Setting error (1)Check the following settings. for the start point designation on the FORM ·Execute the FORMAPR instruction. CUT SETTING window, the FORMAPR instruction was not executed.
  • Page 49 DX200 OPTIONS INSTRUCTIONS FORM CUTTING FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW1481987 49/49...

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