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

YASKAWA DX200 Instructions Manual

Options for motofit function engineering support tool
Hide thumbs Also See for DX200:
Table of Contents

Quick Links

See also: Operator's Manual , Instruction Manual
DX200/FS100 OPTIONS
INSTRUCTIONS
For MotoFit Function Engineering Support Tool
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
FS100 INSTRUCTIONS
FS100 OPERATOR'S MANUAL
FS100 MAINTENANCE MANUAL
The DX200 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.
The FS100 OPERATOR'S MANUAL above is applicable to both FS100 and FS100L controllers.
164254-1CD
4
MANUAL NO.
HW1481731
7
1/104
Table of Contents
loading

Related Manuals for YASKAWA DX200

Summary of Contents for YASKAWA DX200

  • Page 1 FS100 INSTRUCTIONS FS100 OPERATOR’S MANUAL FS100 MAINTENANCE MANUAL The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. The FS100 OPERATOR’S MANUAL above is applicable to both FS100 and FS100L controllers. 164254-1CD 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 HW1481731 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the DX200/FS100. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates an imminent hazardous DANGER...
  • Page 4 17 pin of the robot system signal connector (CN2). • Upon shipment of the DX200, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to supply a new connector, and then input it.
  • Page 5 HW1481731 WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop button on the programming pendant is pressed. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency.
  • Page 6 Injury may result if anyone enters the manipulator’s operating range during operation. Always press an emergency stop button immediately if there are problems. The emergency stop button is located on the right side of the DX200/ FS100 programming pendant. CAUTION •...
  • Page 7 HW1481731 Definition of Terms Used Often in This Manual (DX200) The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables. In this manual, the equipment is designated as follows:...
  • Page 8 HW1481731 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 [ ]. e.g. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a...

  • Page 9: Table Of Contents

    HW1481731 Contents 1 Outline of Function.......................... 1-1 1.1 MotoFit Function Engineering Support Tool ..............1-1 1.2 Automatic Adjustment Function of Force Control Parameter ..........1-2 1.2.1 Force control ......................1-2 1.2.2 Adjustment Method ....................1-3 1.3 MotoFit Teach Guidance Function..................1-5 1.4 Function for Calculation of Force Detection Threshold............
  • Page 10 HW1481731 Contents 6.2 Adjustment Condition Data ....................6-2 6.3 MotoFit Command Argument Data ..................6-3 6.4 Backup of Teach Data ....................... 6-6 6.5 Data for Setting Detection Threshold................. 6-8 7 Error of Automatic Adjustment Function of Force Control Parameter..........7-1 8 Alarm List of FSE-Tools ........................

  • Page 11: Outline Of Function

    INSTRUCTIONS for MotoFit (HW1481732)). During the force control, the robot moves based on the force condition file in DX200/FS100. On the other hand, during the operation of each command, the robot moves based on the command argument. The MotoFit Function Engineering Support Tool (abbreviated as FSE- Tool) is a tool to support teaching the MotoFit function.

  • Page 12: Automatic Adjustment Function Of Force Control Parameter

    HW1481731 Outline of Function Automatic Adjustment Function of Force Control Parameter Automatic Adjustment Function of Force Control Parameter 1.2.1 Force control In the MotoFit function, the impedance control is used as a model of force control. The impedance control parameter has M (Mass parameter)[kg,kgm2], D (Damping parameter) [Ns/m,Nms] and K (Spring parameter) [N/m,Nm] as shown in the following figure.

  • Page 13: Adjustment Method

    HW1481731 Outline of Function Automatic Adjustment Function of Force Control Parameter 1.2.2 Adjustment Method The operation of the automatic adjustment function of force control parameter consists of the following two steps. 1. Tuning Step 1 Obtains a limit value of damping parameter to maintain the stable contact condition of the workpiece with a small force, without divergent.
  • Page 14 HW1481731 Outline of Function Automatic Adjustment Function of Force Control Parameter By executing the Tuning Steps 1 and 2, adjust three translational axes (X, Y, Z) and three rotational axes (Rx, Ry, Rz). Both adjustment operations, translational and rotational, are shown in the figure below.

  • Page 15: Motofit Teach Guidance Function

    MotoFit Teach Guidance Function In the parameters of MotoFit function commands, the following values should be set (for details, refer to DX200/FS100 OPTIONS INSTRUCTIONS for MotoFit (HW1481732). Among them, the parameters with the asterisk mark* need to be the values suitable for the shape of workpiece.

  • Page 16: Function For Calculation Of Force Detection Threshold

    This can be used for the error detection such as the case that the different force from the normal state is applied as described below. For details, refer to DX200/ FS100 OPTIONS INSTRUCTIONS for MotoFit (HW1481732).

  • Page 17: System Configuration

    HW1481731 System Configuration System Configuration System Configuration System Configuration The MotoFit function consists of the robot, the robot controller, the 6-axis force sensor, the Interface panel on the programming pendant and PC for teaching which is prepared by user. Fig. 2-1: System Configuration of MotoFit Function Table 2-1: Components Device Note...

  • Page 18: Operation Procedure

    3. When starting FSE-Tool,Connect the DX200/FS100 (CPU board:ANCD-YCP21-E(CN104(LAN))) and the PC by LAN cable and double-click the FSE-Tool icon created on the desktop. If the DX200/FS100 and the PC is not connected by LAN cable or the setting of IP address is inappropriate, the mes- NOTE sage “Communication error”...

  • Page 19: Setting The Ip Address

    Setting the IP address Setting the IP address 1. Make sure the IP address of PC is in the same network of the IP address of the DX200/FS100. The network service screen is displayed only when the NOTE security mode is management mode.
  • Page 20 HW1481731 Operation Procedure Setting the IP address *Below is the procedure for Windows 7.For other OSs, please refer to the general setting method of the IP address from external document. 2. Change the PC's IP address so that the robot controller and the PC are in the same network.
  • Page 21 HW1481731 Operation Procedure Setting the IP address 4. On the Network tab, select "Internet Protocol Version 4 (TCP/IPv4)" in "This connection uses the following items:" box, and then press {Properties}. On the General tab, select "Use the following IP address” and input a value into IP address and sub net mask item.

  • Page 22: Operation For Creating Fitting Job

    HW1481731 Operation Procedure Operation for Creating Fitting JOB Operation for Creating Fitting JOB 3.3.1 Outline of Operation Step The outline of teach operation step is shown in the following flow schematic diagram. For details, refer to the next section. All the teach operations are given in the Teach mode.

  • Page 23: Detailed Operation Step

    HW1481731 Operation Procedure Operation for Creating Fitting JOB 3.3.2 Detailed Operation Step 3.3.2.1 Startup of FSE-Tool 1. Double-click the FSE-Tool icon created on the desktop. 2. The Main Menu of FSE-Tool opens. There are two modes prepared: Standard and Extension. In the Standard mode, teaching of simple fit operation is available.
  • Page 24 HW1481731 Operation Procedure Operation for Creating Fitting JOB To change the operation condition arbitrarily to allow further complicated teaching operation, the Extension mode is useful. In this mode, items on the screen (within the frame of chain line in the later figures) can be changed.

  • Page 25: Setting Force Condition File

    HW1481731 Operation Procedure Operation for Creating Fitting JOB 3.3.2.2 Setting Force Condition File 1. Operate the system according to the instruction on the Guidance Menu. On the Guidance Menu, pages can be switched by the {Back} / {Next} buttons. Check the display on the Guidance Menu, execute necessary operations, and click the {Next} button to advance to the next operation.
  • Page 26 Operation for Creating Fitting JOB 3. Click the {Receive} button. The force condition data of the selected No. is received from the force condition file in DX200/FS100. The received data is output to the force condition file data in the right part of the screen.
  • Page 27 HW1481731 Operation Procedure Operation for Creating Fitting JOB 5. Select the target robot to use the fit function (R1/R2). 6. Select the coordinate when using the fit function (Robot/Tool). Based on the coordinate selected here, the force control parameter automatic adjustment and MotoFit command argument setting will be executed later.
  • Page 28 HW1481731 Operation Procedure Operation for Creating Fitting JOB 7. Select the Tool No. when using the fit function. In advance, register the tool information of the status when the workpiece is being held. 8. Select the Insert in direction (X+, X-, Y+, Y-, Z+, Z-). HW1481731 28/104 3-11...
  • Page 29 HW1481731 Operation Procedure Operation for Creating Fitting JOB 9. Select the axis in which the force control is valid (X, Y, Z, Rx, Ry, Rz). Plural axes can be selected. 10. Click the {Open Auto Tuning Menu} button. The operation screen for the automatic adjustment function of force control parameter appears.

  • Page 30: Automatic Adjustment Of Force Control Parameter

    HW1481731 Operation Procedure Operation for Creating Fitting JOB 3.3.2.3 Automatic Adjustment of Force Control Parameter 1. According to the instruction on the Guidance Menu, perform operations. On the Guidance Menu, pages can be switched by the {Back} / {Next} buttons. Check the display on the Guidance Menu, execute necessary operations, and click the {Next} button to advance to the next operation.
  • Page 31 HW1481731 Operation Procedure Operation for Creating Fitting JOB 2. From now, perform the auto tuning of the force control parameter by contacting the workpiece, which is held by the robot, with the flat table. Programming Pendant will be hereinafter referred to as "PP", and the interface panel "I/F Panel".
  • Page 32 HW1481731 Operation Procedure Operation for Creating Fitting JOB 4. Input the force command value. Input the approximate force value to be used for the fit operation. Input both translational force and rotational force values ([Reference Force] and [Reference Moment]). For a metal workpiece fit operation, for example, typical values are 20 [N] for [Reference Force] and 0.5 [Nm] for [Reference Moment].
  • Page 33 HW1481731 Operation Procedure Operation for Creating Fitting JOB 6. Execution of Tuning Step 1 – Switch the Tuning Step to 1, and click the {Complete Setting} button. – The message "Operate from PP." appears. Click the {OK} button. HW1481731 33/104 3-16...
  • Page 34 HW1481731 Operation Procedure Operation for Creating Fitting JOB – The [TUNESTEP1 COMP SET] LED lights up in the I/F Panel of PP. HW1481731 34/104 3-17...
  • Page 35 HW1481731 Operation Procedure Operation for Creating Fitting JOB – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. The adjustment operation starts. At this time, the {START} button does not activate unless the OPERATION is set to PERM.
  • Page 36 HW1481731 Operation Procedure Operation for Creating Fitting JOB – During the adjustment operation, the [RUNNING] LED on the I/F Panel turns ON. To stop the operation such as when changing the adjustment condition, press the {STOP} button. To resume the adjustment, first return to the start position, and execute the operation.
  • Page 37 HW1481731 Operation Procedure Operation for Creating Fitting JOB – When the adjustment is completed, the {STEP1} LED of the adjustment direction on the turns ON, and the "Minimum of Damping Param" is output as the result of adjustment. When the amplitude of force becomes constant or converged into force command, the adjustment is correctly completed.
  • Page 38 HW1481731 Operation Procedure Operation for Creating Fitting JOB 7. Execution of Tuning Step 2 – Switch the Tuning Step to 2, and click the {Complete Setting} button. – The message "Operate from PP." appears. Click the {OK} button. HW1481731 38/104 3-21...
  • Page 39 HW1481731 Operation Procedure Operation for Creating Fitting JOB – The [TUNESTEP2 COMP SET] LED turns ON on the I/F Panel of – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. The adjustment operation starts. –...
  • Page 40 HW1481731 Operation Procedure Operation for Creating Fitting JOB – When the adjustment operation completes, the [TUNESTEP2 COMP SET] LED and the [RUNNING] LED turn OFF. – When the adjustment is completed, the [TUNESTEP2 COMP SET] LED of the adjustment direction turns ON, and "Damping Param, Settling time, Stop time threshold, Stop speed threshold"...
  • Page 41 9. Return to Main Menu, and check that the result of the latest adjustment is reflected. Click the {Send} button to send the force condition file data that has completed the adjustment to DX200/FS100. There are two {Send} buttons, and both can be used.

  • Page 42: Touch Command Teach

    HW1481731 Operation Procedure Operation for Creating Fitting JOB 3.3.2.4 TOUCH Command Teach 1. Performs the MotoFit setting. Click the {Creating MotoFit JOB} tab, and the {Open MotoFit Command Setup Menu} button. 2. The [MotoFit Command Setup Menu] appears. Sets the arguments of TOUCH. According to the guidance, perform the settings in Tuning operation at the lower part of the screen.
  • Page 43 HW1481731 Operation Procedure Operation for Creating Fitting JOB 3. Note that the force condition file No. of Arg1 has the number selected in chapter 3.3.2 “Detailed Operation Step” , step (2). 4. The values displayed on the Guidance Menu are set as initial values. However, when the values are changed in Main Menu, the changed values are reflected.
  • Page 44 HW1481731 Operation Procedure Operation for Creating Fitting JOB 5. Teach the fitting start position P1 (a few mm above the hole) by PP. This position will be used while setting TOUCH, FIT, and INSERT. Also teach the posture visually. 6. Teach the position P2 horizontally displaced from P1 about a few mm (the position out of the hole).
  • Page 45 HW1481731 Operation Procedure Operation for Creating Fitting JOB 7. Teach the position P3 horizontally displaced from P1 (within 2 mm) by PP in consideration of the position differences at the operation. This position will be used whole setting FIT. 8. Measurement of the touch length of Arg6 –...
  • Page 46 HW1481731 Operation Procedure Operation for Creating Fitting JOB – The message "Operate from PP." appears. Click the {OK} button. – The [TOUCH COMP SET] LED turns ON on the I/F Panel of PP. – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel.
  • Page 47 HW1481731 Operation Procedure Operation for Creating Fitting JOB – During the TOUCH operation, the [RUNNING] LED turns ON on the I/F Panel. – When the TOUCH operation completes, the [TOUCH COMP SET] LED and the [RUNNING] LED turn OFF. HW1481731 47/104 3-30...
  • Page 48 HW1481731 Operation Procedure Operation for Creating Fitting JOB – When the TOUCH is completed, the touch length is output as the measurement result. This result is set as Arg6. When the [Detect contact] LED is not turned ON, increase the force command value and execute the sequence again.
  • Page 49 HW1481731 Operation Procedure Operation for Creating Fitting JOB 10. TOUCH operation check 2 (the same operation as (8)) – Move the robot to P2, and click the {Completion of setting} button. – The message "Operate from PP." appears. Click the {OK} button. –...

  • Page 50: Fit Command Teach

    HW1481731 Operation Procedure Operation for Creating Fitting JOB 3.3.2.5 FIT Command Teach 1. Sets the arguments of FIT. According to the guidance, perform the settings in Tuning operation at the lower part of the screen. Check the display on the Guidance Menu, execute necessary operations, and click the {Next} button to advance to the next operation.
  • Page 51 HW1481731 Operation Procedure Operation for Creating Fitting JOB 3. The values displayed on the Guidance Menu are set as initial values. However, when the values are changed in Main Menu, the changed values are reflected. 4. Setting of search vibration cycle of Arg6 –...
  • Page 52 HW1481731 Operation Procedure Operation for Creating Fitting JOB – The message “Operate from PP.” appears. Click the {OK} button. – The [TOUCH COMP SET] LED and the [FIT COMP SET] LED turn ON on the I/F Panel of PP. HW1481731 52/104 3-35...
  • Page 53 HW1481731 Operation Procedure Operation for Creating Fitting JOB – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. Operations of TOUCH and FIT start. In the sequence, after TOUCH is completed, FIT is executed continuously.
  • Page 54 HW1481731 Operation Procedure Operation for Creating Fitting JOB – When the TOUCH operation ends, the [TOUCH COMP SET] LED turns OFF. When the FIT operation ends, the [FIT COMP SET] LED and the [RUNNING] LED turn OFF. – Adjust the search vibration cycle so that the workpiece enters into the hole.
  • Page 55 HW1481731 Operation Procedure Operation for Creating Fitting JOB 5. FIT operation check (the same operation as (4)) – Move the robot to P3, and click the {Completion of setting} button. – The message "Operate from PP." appears. Click the {OK} button. –...

  • Page 56: Insert Command Teach

    HW1481731 Operation Procedure Operation for Creating Fitting JOB 3.3.2.6 INSERT Command Teach 1. Sets the arguments of INSERT. According to the guidance, perform the settings in Tuning operation at the lower part of the screen. Check the display on the Guidance Menu, execute necessary operations, and click the {Next} button to advance to the next operation.
  • Page 57 HW1481731 Operation Procedure Operation for Creating Fitting JOB 3. The values displayed on the Guidance Menu are set as initial values. However, when the values are changed in Main Menu, the changed values are reflected. 4. Setting of insertion length threshold 1 of Arg3 and insertion length threshold 2 of Arg4 –...
  • Page 58 HW1481731 Operation Procedure Operation for Creating Fitting JOB – The message "Operate from PP." appears. Click the {OK} button. – The [TOUCH COMP SET] LED, the [FIT COMP SET] LED, and the [INSERT COMP SET] LED turn ON on the I/F Panel of PP. HW1481731 58/104 3-41...
  • Page 59 HW1481731 Operation Procedure Operation for Creating Fitting JOB – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. Operations of TOUCH, FIT, and INSERT start. In the sequence, after TOUCH is completed, FIT is executed continuously, and then INSERT is executed continuously.
  • Page 60 HW1481731 Operation Procedure Operation for Creating Fitting JOB – When the TOUCH operation ends, the [TOUCH COMP SET] LED turns OFF. When the FIT operation ends, the [FIT COMP SET] LED and the [RUNNING] LED turn OFF. When the INSERT operation ends, the [INSERT COMP SET] LED and the [RUNNING] LED turn OFF.
  • Page 61 HW1481731 Operation Procedure Operation for Creating Fitting JOB – Set the threshold so that the output insertion length is within the range of thresholds 1 and 2, in consideration of the variance. When the sequence stops during the insertion operation, increase the Force command value.
  • Page 62 HW1481731 Operation Procedure Operation for Creating Fitting JOB 6. INSERT operation check – Move the robot to P1, and click the {Completion of setting} button. – The message "Operate from PP." appears. Click the {OK} button. – The [TOUCH COMP SET] LED, the [FIT COMP SET] LED, and the [INSERT COMP SET] LED turn ON on the I/F Panel of PP.
  • Page 63 HW1481731 Operation Procedure Operation for Creating Fitting JOB 8. The setting of the INSERT command arguments are completed. Click the {Close} button to close the screen. HW1481731 63/104 3-46...

  • Page 64: Creating Motofit Job

    HW1481731 Operation Procedure Operation for Creating Fitting JOB 3.3.2.7 Creating MotoFit JOB 1. In closing the MotoFit Command Setup Menu, setting result of TOUCH, FIT, and INSERT is reflected on the center of screen. HW1481731 64/104 3-47...
  • Page 65 HW1481731 Operation Procedure Operation for Creating Fitting JOB 2. Add the MotoFit command to the JOB in the DX200/FS100. Input the JOB name, and click the {Receive} button. Only single-byte alphanumeric character is available for the JOB name. The JOB contents received are displayed on the JOB Screen.
  • Page 66 {INSERT} button. The commands of SET, TOUCH, and WAIT are added in the JOB Screen. Change the output number of WAIT command by referring to DX200/FS100 OPTIONS INSTRUCTIONS for MotoFit (HW1481732). When the TOUCH command is added, the existed line will be moved to the next line automatically. The SET command is used for the judgment when the fit operation is failed.
  • Page 67 HW1481731 Operation Procedure Operation for Creating Fitting JOB 5. Click the {INSERT} tab. Change the insertion line, and click the {Insert} button. The INSERT command is added in the JOB Screen. When the INSERT is successful, 1 is output to the B variable 99. 6.
  • Page 68 {Delete} button. If there is no command selected in the specified line, deletion is not available. 8. The JOB added with the MotoFit command is sent to the DX200/ FS100. Click the {Send} button. The message "The JOB of the same name already exists.
  • Page 69 HW1481731 Operation Procedure Operation for Creating Fitting JOB 9. The MotoFit JOB is created in the DX200/FS100. HW1481731 69/104 3-52...

  • Page 70: Chage Of Unit Scale (Only For The Fs100)

    Argument Data” .) To change the scale, a command which changes the scale is also added when TOUCH Command is newly added to JOB. (For the details of scale changing command, refer to DX200/FS100 OPTIONS INSTRUCTIONS for MotoFit HW1481732). Item...

  • Page 71: Teach Of Force Sense Basic Command

    HW1481731 Operation Procedure Teach of Force Sense Basic Command Teach of Force Sense Basic Command 3.4.1 Outline of Teach Operation of Force Sense Basic Command The outline of the teach operation is shown in the following flow schematic diagram. For details, refer to the next section. Perform the teach operation in the Teach mode after the initial settings described in the chapter 3.2 “Setting the IP address”...
  • Page 72 HW1481731 Operation Procedure Teach of Force Sense Basic Command 1. Teach the initial position P1. 2. Teach the end position P2. Use UNTIL to set the manipulator to stop when the general output is turned ON. The general input No. is 991 for R1, and 992 for R2.

  • Page 73: Threshold Setting By Data Logging

    HW1481731 Operation Procedure Teach of Force Sense Basic Command 3.4.2.2 Threshold Setting by Data Logging In this section, it is explained how to set the argument of the FDET command based on the logged data. 1. Start the FSE-Tool on the PC. 2.
  • Page 74 HW1481731 Operation Procedure Teach of Force Sense Basic Command 4. Press the {Monitor} tab. 5. After pressing the {Start monitoring} button, execute the JOB consecutively in the normal state (without any protrusions under the tape). The maximum and minimum value of the force and the impulse are stored as the log data.
  • Page 75 HW1481731 Operation Procedure Teach of Force Sense Basic Command 6. Press the {Stop monitoring} button, and then press the {Setting detection threshold} tab. 7. The log data is displayed in the graph, and Average of Fmax, Standard Deviation, and Recommended value of the log data are output. For the details of the data to be output, refer to the chapter 6.5 “Data for Setting Detection Threshold”...
  • Page 76 HW1481731 Operation Procedure Teach of Force Sense Basic Command 8. Set the output Recommended value as the argument of the FDET command. For the force detection, set the Recommended value (+ Side) of Fmax as the argument. This value is the maximum force value in consideration of the tolerance during the normal operation.
  • Page 77 HW1481731 Operation Procedure Teach of Force Sense Basic Command For the Impulse detection, set the Recommended value (+ Side) of Impulse as the argument. This value is the maximum Impulse value in consideration of the tolerance during the normal operation. Therefore, since the force over this Recommended value is applied in the error state, it is considered to be detected.

  • Page 78: Operation Check

    HW1481731 Operation Procedure Teach of Force Sense Basic Command 3.4.2.3 Operation Check 1. Set 1(force detection) or 2 (impulse) for the Arg1 of FDET in the JOB. Execute the JOB. When there are no protrusions under the tape, the manipulator reaches to the end position P2. The universal output 991 remains OFF.

  • Page 79: Interface Panel

    HW1481731 Interface Panel Interface Panel The interface screen is configured as in the following figure. For I/O assignment of the button switches and status display LEDs, refer to the table below. Do not use the general output No. in the table if FSE-Tool is used. 1.
  • Page 80 HW1481731 Interface Panel General Signal Name Contents Output No. 11266 Tuning Step 1 With the {TUNESTEP1 COMP SET} button Setting pressed on PC: LED ON completed Operation end: LED OFF 11267 Tuning Step 2 With the {TUNESTEP2 COMP SET} button Setting pressed on PC: LED ON completed...

  • Page 81: Monitor Information

    HW1481731 Monitor Information Monitor Information In executing the adjustment operation, the MotoFit operation or Force Sense Basic Command operation, status is displayed on the screen by LED and graph waveform. The common items of each graph are shown as follows. Name Contents Graph legend...
  • Page 82 HW1481731 Monitor Information Details of the graph pallet is the following. Item Contents When the mouse cursor is placed on the graph, the mouse cursor changes to a cross cursor. The menu of enlargement/reduction of the graph is shown. The area selected by the cursor is enlarged. The selected area is enlarged only in the direction of the horizontal axis.
  • Page 83 HW1481731 Monitor Information The following shows details of the monitor information. 1. When a JOB of the MotoFit or the force sensor basic command is executed, the execution status of R1 and R2 can be monitored. – Button Name Contents Start Starts monitoring monitoring...
  • Page 84 10: Approaches to the workpiece with Minimum value of communication a constant speed cycle 12: Presses with the specified force DX200: 12ms command after contact FS100: 10ms) 14: Ends as the insertion length reaches the threshold -12: Ends by timeout before the...
  • Page 85 Impulse(RY)[Nms]: Impulse of Ffb(Ry) communication cycle Impulse(RZ)[Nms]: Impulse of Ffb(Rz) DX200: 12 ms Impulse(XYZ)[Ns]: Impulse of Ffb(XYZ) FS100: 10ms) Impulse(RxRyRz)[Nms]: Impulse of Ffb(RxRyRz) Communication FS100: 10,20,..., 100 ms (increases by10 ms) cycle DX200: 12, 24,...,120 ms (increases by12 ms) HW1481731 85/104...
  • Page 86 Adjustment incomplete: LED OFF – Graph waveform Name Contents Force Fref[N,Nm]: Force command to adjustment direction (Horizontal axis: Sampling, Ffb [N, Nm]: Force feedback to adjustment Minimum value of communication direction cycle DX200: 12ms FS100: 10ms) Tuning Process Damping parameter [Ns/m,Ns] HW1481731 86/104...
  • Page 87 Fref[N,Nm]: Force command to adjustment direction (Horizontal axis: Sampling, Ffb [N, Nm]: Force feedback to adjustment Minimum value of communication direction cycle DX200: 12ms FS100: 10ms) Tuning Process Damping parameter [Ns/m,Ns] Frequency of Ffb [count] Horizontal axis: Sampling, Settling time of Ffb [ms]...
  • Page 88 HW1481731 Monitor Information 4. Arguments Setting of MotoFit command When setting the arguments of MotoFit command, the status of the force, position data and fitting operation can be monitored. – Status display LED Name Contents Controller Status Servo ON Servo ON: LED ON, Servo OFF: LED OFF Force Force Control ON: LED ON,...
  • Page 89 Minimum value of Fref(RY)[Nm]: Force command to the RY direction communication cycle Fref(RZ)[Nm]: Force command to the RZ direction DX200: 12ms FS100: 10ms) Ffb(X)[N]: Force feedback to the X direction Ffb(Y)[N]: Force feedback to the Y direction Ffb(Z)[N]: Force feedback to the Z direction...

  • Page 90: Operation Condition Data

    Coordinate Robot 1: Robot, 2: Tool Tool No. FS100: 0 to 15 DX200: 0 to 63 Insert Dir. 0: X+, 1: X-, 2: Y+, 3: Y-, 4: Z+, 5: Z- Force control activate - D0: X, D1: Y, D2: Z,...

  • Page 91: Adjustment Condition Data

    HW1481731 Operation Condition Data Adjustment Condition Data Adjustment Condition Data The range of adjustment condition data is shown in the table below. Table 6-2: Adjustment Condition Data Item Unit Initial value Range Remarks Tuning Dir. X+, X-, Auto Tuning Menu (Common to Step1, Step2) Y+, Y-, Z+, Z-,...

  • Page 92: Motofit Command Argument Data

    MotoFit Command Argument Data MotoFit Command Argument Data The range of MotoFit command argument data is shown in the table below. For the meaning of each parameter, refer to DX200/FS100 OPTIONS INSTRUCTIONS for MotoFit (HW1481732). 1. TOUCH Table 6-3: TOUCH Command Argument...
  • Page 93 HW1481731 Operation Condition Data MotoFit Command Argument Data 2. FIT Table 6-4: FIT Command Argument Variable Initial value Range Range Range Range Range (Normal) (0.01 times) (0.1 times) (10 times) FIT Arg2 10.0 0.0 to 0.000 to 0.00 to 0 to Force (Force command value [N]) 99.9...
  • Page 94 HW1481731 Operation Condition Data MotoFit Command Argument Data 3. INSERT Table 6-5: INSERT Command Argument Variable Initial value Range Range Range Range Range (Normal) (0.01 times) (0.1 times) (10 times) INSERT Arg2 20.0 0.0 to 0.000 to 0.00 to 0 to Force (Force command value [N]) 99.9...

  • Page 95: Backup Of Teach Data

    HW1481731 Operation Condition Data Backup of Teach Data Backup of Teach Data During the teach operation of FSE-Tool, the force condition file data and the MotoFit command argument data can be saved. 1. Saving the data – Click the {Save} button in the [Main Menu] screen. –...
  • Page 96 HW1481731 Operation Condition Data Backup of Teach Data 2. Loading the data – To use the data previously saved, click the {Load} button. – Select the file, and click the {OK} button. HW1481731 96/104...

  • Page 97: Data For Setting Detection Threshold

    HW1481731 Operation Condition Data Data for Setting Detection Threshold Data for Setting Detection Threshold The data of the number of JOB execution can be logged (up to 50 data). Contents to be logged are Fmax, Fmin, and Impulse. Pressing the [Stop monitoring] button will output the respective Average, Standard Deviation, Recommended value on the screen.
  • Page 98 HW1481731 Operation Condition Data Data for Setting Detection Threshold HW1481731 98/104...

  • Page 99: Error Of Automatic Adjustment Function Of Force Control Parameter

    Error of Automatic Adjustment Function of Force Control Parameter Error description is shown in the table below. The alarms and errors related to the MotoFit function are displayed on the PP. For details, refer to DX200/FS100 OPTIONS INSTRUCTIONS for MotoFit (HW1481732). Table 7-1: Error List Error...

  • Page 100: Alarm List Of Fse-Tools

    CMOS.BIN in the maintenance mode and tell the situation of the alarm occurrence (such as the operation procedures) to your YASKAWA representative. 8003 When the controller receives Software (1) Check the followings and FSETOOL the data from PC with using (Setting then turn ON the power again.
  • Page 101 (2) If this alarm occurs again, error) save CMOS.BIN in the maintenance mode and tell the situation of the alarm occurrence (such as the operation procedures) to your YASKAWA representative. 8805 ALM SEND Communication interrupted. Hardwar Confirm Ethernet connection. COMM...

  • Page 102: How To Check The Version

    HW1481731 How to Check the Version How to Check the Version In the user's PC, right-click on the FSE-Tool.exe.and click [Properties]. Select “General” tab, and the version is shown in “Description”. HW1481731 102/104...

  • Page 103: Precautions

    HW1481731 Precautions 10.1 Operation during Force Control 10 Precautions 10.1 Operation during Force Control During the execution of adjustment operation or MotoFit function, the position compensation function works by the force sense feedback; the operation does not necessarily follow the teach position or teach track. 10.2 Cancel Operation during Execution of Adjustment Operation or MotoFit Function...
  • Page 104 For MotoFit Function Engineering Support Tool 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 )

This manual is also suitable for:

Fs100

Table of Contents