Yaskawa MOTOMAN DX100 Manuals

YASKAWA MOTOMAN DX100 Operator's Manual (554 pages)

FOR MATERIAL HANDLING, PRESS TENDING, CUTTING, AND OTHER APPLICATIONS

Brand: YASKAWA | Category: Controller | Size: 46.78 MB

Table of Contents
13
1 Introduction

29
- DX100 Overview
  29
- Programming pendant
  30
  - Programming pendant Overview
    30
  - Key Description
    31
    
    Axis Keys and Numeric Keys
    31
    
    Character Keys
    31
    
    Keys Pressed Simultaneously
    31
    
    Symbol Keys
    31
  - Programming pendant Keys
    32
  - Programming pendant Display
    39
    
    Five Display Areas
    39
    
    General-Purpose Display Area
    40
    
    Main Menu Area
    41
    
    Status Display Area
    41
    
    Human Interface Display Area
    44
    
    Menu Area
    44
  - Screen Descriptions
    45
  - Character Input Operation
    46
    
    Character Input
    46
    
    Operation
    46
    
    Alphanumeric Input
    47
    
    Symbol Input
    48
    
    Register Word Function
    49
- Mode
  57
  - Teach Mode
    57
  - Play Mode
    57
  - Remote Mode
    57
  - Teach Mode Priority
    57
- Security Mode
  58
  - Types of Security Modes
    58
  - Changing Security Modes
    63
2 Manipulator Coordinate Systems and Operations

65
- Control Groups and Coordinate Systems
  65
  - Control Group
    65
  - Types of Coordinate Systems
    66
- General Operations
  67
  - Check Safety
    67
  - Select Teach Mode
    67
  - Select Control Group
    67
  - Select Coordinate System
    67
  - Select Manual Speed
    68
  - Servo on
    68
  - Axis Operation
    68
  - High Speed
    68
- Coordinate Systems and Axis Operation
  69
  - Joint Coordinates
    69
  - Cartesian Coordinates
    70
  - Cylindrical Coordinates
    71
  - Tool Coordinates
    73
    
    Selecting Tool
    75
  - User Coordinates
    76
    
    Selecting User Coordinates
    77
    
    Examples of User Coordinate Utilization
    78
  - External Axis
    78
  - Control Point Operation
    79
    
    Control Point Change
    82
3 Teaching

84
- Preparation for Teaching
  84
  - Checking Emergency Stop Buttons
    84
  - Setting the Teach Lock
    84
  - Registering a Job
    85
    
    Registering Job Names
    85
    
    Registering Jobs
    85
    
    Registering Comments
    86
    
    Registering Control Groups
    86
    
    Switching to the Teaching Window
    87
- Teaching Operation
  88
  - Teaching Window
    88
  - Interpolation Type and Play Speed
    89
    
    Joint Interpolation
    89
    
    Linear Interpolation
    90
    
    Circular Interpolation
    91
    
    Spline Interpolation
    92
  - Teaching Steps
    94
    
    Registering Move Instructions
    94
    
    Registering Reference Point Instructions
    101
    
    Registering Timer Instructions
    102
  - Overlapping the First and Last Steps
    105
- Checking Steps
  106
  - FWD/BWD Key Operations
    106
    
    Precautions When Using FWD / BWD Operations
    107
    
    Selecting Manual Speed
    109
    
    Moving to Reference Point
    110
    
    Test Operations
    110
    
    Machine Lock Operation
    111
- Modifying Steps
  112
  - Displaying the JOB CONTENT Window for Editing
    116
    
    Calling up Other Jobs
    116
    
    Currently Called up Job
    116
  - Inserting Move Instructions
    117
  - Deleting Move Instructions
    119
  - Modifying Move Instructions
    120
    
    Modifying Interpolation Type
    120
    
    Modifying Position Data
    120
  - Undo Operation
    121
  - Modifying Reference Point Instructions
    122
    
    Deleting Reference Point Instructions
    122
  - Modifying Timer Instructions
    123
    
    Deleting Timer Instructions
    123
- Modifying Jobs
  124
  - Calling up a Job
    124
  - Windows Related to Job
    124
  - JOB HEADER Window
    124
  - JOB CONTENT Window
    126
    
    Switching the Address Area
    127
  - COMMAND POSITION Window
    131
  - JOB CAPACITY Window
    132
- Editing Instructions
  133
  - Instruction Group
    134
  - Inserting Instructions
    135
  - Deleting Instructions
    138
  - Modifying Instructions
    138
  - Modifying Additional Numeric Data
    142
  - Modifying Additional Items
    143
  - Inserting Additional Items
    144
  - Deleting Additional Items
    146
- Editing Jobs
  147
  - Selecting the Range
    149
  - Copying
    150
  - Cutting
    150
  - Pasting
    151
  - Reverse Pasting
    152
- Test Operations
  153
  - Test Operation Procedures
    153
- Other Job-Editing Functions
  154
  - Editing Play Speed
    154
    
    Modification of Speed Type
    154
    
    Relative Modification
    154
    
    Modification by TRT (Traverse Time)
    156
  - Editing Interpolation Type
    158
  - Editing Condition Files
    159
  - User Variables
    160
    
    Setting Byte, Integer, Double Precision Integer, and Real Type Variables
    161
    
    Setting Character Type Variables
    163
    
    Registering Variable Name
    165
    
    Displaying Position Variables
    166
    
    Setting Position Variables
    167
    
    Setting Position Variables Using the Numeric Keys
    168
    
    Setting Position Variables Using the Axis Keys
    170
    
    Checking Positions by Position Variables
    171
    
    Deleting Data Set of Position Variables
    171
    
    Manipulator Types
    172
  - Flip/No Flip
    173
  - R-Axis Angle
    173
  - T-Axis Angle
    174
    
    Front/Back
    174
    
    S-Axis Angle
    176
    
    Upper Arm/Lower Arm
    176
    
    Editing Local Variables
    177
    
    Setting the Number of Local Variables
    179
    
    Search
    181
    
    Line Search
    182
    
    Step Search
    183
    
    Label Search
    184
    
    Instruction Search
    186
    
    Tag Search
    188
4 Playback

190
- Preparation for Playback
  190
  - Selecting a Job
    190
    
    Calling a Job
    190
    
    Registering the Master Job
    191
    
    Calling the Master Job
    193
  - The PLAYBACK Window
    195
    
    Display of Cycle Time
    195
    
    Operation Cycle
    196
- Playback
  197
  - Playback Operation
    199
    
    Selecting the Start Device
    199
    
    Servo on
    199
    
    Start Operation
    199
  - Special Playback Operations
    200
    
    Low Speed Operation
    200
    
    Dry-Run Speed Operations
    201
    
    Limited Speed Operations
    201
    
    Check Mode Operation
    202
    
    Machine Lock Operation
    202
    
    Weaving Prohibit Setting During Check Mode Operation
    202
    
    Cancel All Special Operations
    203
- Stop and Restart
  204
  - Hold
    204
    
    Using an External Input Signal (System Input)
    204
    
    Using the Programming pendant
    204
  - Emergency Stop
    205
    
    Restart after Emergency Stop
    206
  - Stop by Alarm
    207
  - Others
    208
    
    Temporary Stop by Mode Change
    208
    
    Temporary Stop by the PAUSE Instruction
    208
- Modifying Play Speed
  209
  - Speed Override
    209
    
    Setting Speed Overrides
    210
    
    Canceling Speed Override Settings
    211
    
    Modifying Play Speed
    211
- Playback with Reserved Start
  212
  - Preparation for Reserved Start
    212
    
    Enabling Reserved Start
    213
    
    Registering Reserved Start I/O Signal
    215
    
    Registering Jobs to Stations
    217
    
    Deleting Registered Jobs from Stations
    219
  - Playback from Reserved Start
    220
    
    Start Operation
    220
    
    Checking Job Reservation Status
    221
    
    Resetting Job Reservation
    222
  - Hold Operation
    223
    
    Hold by External Input Signal (System Input)
    223
    
    HOLD] on the Programming pendant
    223
    
    Hold at the Station
    224
- Displaying Job Stack
  225
5 Editing Jobs

227
- Copying Jobs
  228
  - Copying Jobs on the JOB CONTENT Window
    228
  - Copying Jobs on the JOB LIST Window
    229
- Deleting Jobs
  231
  - Deleting Jobs on the JOB CONTENT Window
    231
  - Deleting Jobs on the JOB LIST Window
    232
- Modifying Job Names
  233
  - Modifying Job Names on the JOB CONTENT Window
    233
  - Modifying Job Names on the JOB LIST Window
    235
- Editing Comments
  237
- Setting Edit Lock on Individual Job Units
  239
- Enabling the Modification of Position Data Only
  240

YASKAWA MOTOMAN DX100 Operator's Manual (520 pages)

Brand: YASKAWA | Category: Control Systems | Size: 49.45 MB

Table of Contents
7
Introduction
22
DX100 Overview
22
Programming Pendant
23
Programming Pendant Overview
23
Key Description
24
Character Keys
24
Symbol Keys
24
Axis Keys and Numeric Keys
24
Keys Pressed Simultaneously
24
Programming Pendant Keys
25
Programming Pendant Display
32
Five Display Areas
32
General-Purpose Display Area
33
Main Menu Area
34
Status Display Area
34
Human Interface Display Area
37
Menu Area
37
Screen Descriptions
38
Character Input Operation
39
Character Input
39
Operation
39
Alphanumeric Input
40
Symbol Input
41
Mode
42
Teach Mode
42
Play Mode
42
Remote Mode
42
Select Control Group
51
Select Coordinate System
51
Select Manual Speed
52
Servo on
52
Axis Operation
52
High Speed
52
Coordinate Systems and Axis Operation
53
Joint Coordinates
53
Cartesian Coordinates
54
Cylindrical Coordinates
55
Tool Coordinates
57
Selecting Tool
59
User Coordinates
60
Selecting User Coordinates
61
Examples of User Coordinate Utilization
62
External Axis
62
Control Point Operation
63
Control Point Change
66
Teaching
68
Preparation for Teaching
68
Checking Emergency Stop Buttons
68
Setting the Teach Lock
68
Registering a Job
69
Registering Job Names
69
Registering Jobs
69
Registering Comments
70
Registering Control Groups
70
Switching to the Teaching Window
71
Teaching Operation
72
Teaching Window
72
Interpolation Type and Play Speed
73
Joint Interpolation
73
Linear Interpolation
74
Circular Interpolation
75
Spline Interpolation
76
Teaching Steps
78
Registering Move Instructions
78
Registering Reference Point Instructions
84
Registering Timer Instructions
85
Overlapping the First and Last Steps
88
Checking Steps
89
FWD/BWD Key Operations
89
Precautions When Using FWD / BWD Operations
90
Selecting Manual Speed
92
Moving to Reference Point
93
Test Operations
93
Machine Lock Operation
94
Modifying Steps
95
Displaying the JOB CONTENT Window for Editing
99
Currently Called up Job
99
Calling up Other Jobs
99
Inserting Move Instructions
100
Deleting Move Instructions
102
Modifying Move Instructions
103
Modifying Position Data
103
Modifying Interpolation Type
103
Undo Operation
104
Modifying Reference Point Instructions
105
Deleting Reference Point Instructions
105
Modifying Timer Instructions
106
Deleting Timer Instructions
106
Modifying Jobs
107
Calling up a Job
107
Deleting Additional Items
124
Selecting the Range
127
Copying
128
Cutting
128
Pasting
129
Reverse Pasting
130
Test Operations
131
Test Operation Procedures
131
Other Job-Editing Functions
132
Editing Play Speed
132
Modification of Speed Type
132
Relative Modification
132
Modification by TRT (Traverse Time)
134
Editing Interpolation Type
136
Editing Condition Files
137
User Variables
138
Setting Byte, Integer, Double Precision Integer, and Real Type Variables
139
Setting Character Type Variables
141
Registering Variable Name
142
Displaying Position Variables
143
Setting Position Variables
144
Setting Position Variables Using the Numeric Keys
145
Setting Position Variables Using the Axis Keys
147
Deleting Data Set of Position Variables
148
Checking Positions by Position Variables
148
Manipulator Types
149
Flip/No Flip
150
R-Axis Angle
150
T-Axis Angle
151
Front/Back
151
Upper Arm/Lower Arm
153
S-Axis Angle
153
Editing Local Variables
154
Setting the Number of Local Variables
156
Search
157
Line Search
158
Step Search
159
Label Search
160
Instruction Search
162
Tag Search
164
Playback
166
Preparation for Playback
166
Selecting a Job
166
Calling a Job
166
Registering the Master Job
167
Calling the Master Job
169
The PLAYBACK Window
171
Display of Cycle Time
171
Operation Cycle
172
Playback
175
Playback Operation
175
Selecting the Start Device
175
Servo on
175
Start Operation
175
Special Playback Operations
176
Low Speed Operation
176
Limited Speed Operations
177
Dry-Run Speed Operations
177
Machine Lock Operation
178
Check Mode Operation
178
Weaving Prohibit Setting During Check Mode Operation
178
Cancel All Special Operations
179
Stop and Restart
180
Hold
180
Preparation for Reserved Start
188
Enabling Reserved Start
189
Registering Reserved Start I/O Signal
191
Registering Jobs to Stations
193
Deleting Registered Jobs from Stations
195

YASKAWA MOTOMAN DX100 Maintenance Manual (729 pages)

Brand: YASKAWA | Category: DC Drives | Size: 7.01 MB

YASKAWA MOTOMAN DX100 Instructions Manual (328 pages)

Brand: YASKAWA | Category: Robotics | Size: 35.29 MB

Table of Contents
8
1 Safety

16
- For Your Safety
  16
- Special Training
  17
- Motoman Manual List
  17
- Personnel Safety
  18
- Motoman Safety
  20
  - Installation and Wiring Safety
    20
  - Work Area Safety
    24
  - Operation Safety
    25
- Notes for Moving and Transferring the MOTOMAN
  28
- Notes on MOTOMAN Disposal
  29
2 Product Confirmation

30
- Contents Confirmation
  30
- Order Number Confirmation
  31
3 Installation

32
- Handling Procedure
  32
  - Using a Crane to Move the Controller
    32
  - Using a Forklift to Move the Controller
    33
- Place of Installation
  34
- Location
  35
- Mounting the Controller
  36
4 Connection

37
- Notes on Cable Junctions
  38
- Power Supply
  39
- Connection Methods
  42
- 5 Turning on and off the Power Supply
  
  49
  - Turning on the Main Power Supply
    49
    
    Initial Diagnosis
    50
    
    When Initial Diagnosis Are Complete
    50
  - Turning on the Servo Power
    51
    
    During Play Mode
    51
    
    During Teach Mode
    51
  - Turning off the Power Supply
    53
    
    Turning off the Main Power
    53
    
    Turning off the Servo Power (Emergency Stop)
    53
- 6 Test of Program Operation
  
  54
  - Movement of the Axes
    55
- 7 Security System
  
  58
  - Protection through Security Mode Settings
    58
    
    Security Mode
    58
    
    Changing the Security Mode
    62
    
    Changing User ID
    64
    
    User ID
    64
- 8 System Setup
  
  66
  - Home Position Calibration
    67
    
    Calibrating Operation
    69
    
    Registering All Axes at One Time
    69
    
    Registering Individual Axes
    72
    
    Changing the Absolute Data
    73
    
    Clearing Absolute Data
    73
    
    Home Position of the Robot
    75
  - Setting the Second Home Position (Check Point)
    76
    
    Purpose of Position Check Operation
    77
    
    Procedure for the Second Home Position Setting (Check Point)
    79
    
    Procedure after the Alarm
    81
  - Tool Data Setting
    83
    
    Number of Tool Files
    83
    
    Registering Coordinate Data
    83
    
    Registering Tool Files
    83
    
    Registering Tool Angle
    86
    
    Setting the Tool Load Information
    87
  - Tool Calibration
    88
    
    Setting of Tool Calibration Method
    88
    
    Teaching of Calibration Point
    89
    
    Clearing Calibration Data
    94
    
    Checking the TCP
    96
  - Automatic Measurement of the Tool Load and the Center of Gravity
    97
    
    What Is the Automatic Measurement of the Tool Load and the Center of Gravity
    97
    
    Measurement of the Tool Load and the Center of Gravity
    98
  - ARM Control
    103
    
    ARM CONTROL Window
    103
    
    Robot Setup Condition
    103
    
    How to Calculate Tool Load Information
    108
    
    Tool Load Information
    108
    
    Tool Load Information Setting
    108
    
    Tool Load Information Registering
    114
  - Work Home Position
    117
    
    Setting Work Home Position
    117
    
    What Is the Work Home Position
    117
    
    Work Home Position Window
    117
    
    Registering/Changing the Work Home Position
    119
    
    Output of the Work Home Position Signal
    120
    
    Returning to the Work Home Position
    120
  - Interference Area
    121
    
    Cube Setting Method
    121
    
    Cubic Interference Area
    121
    
    Setting Operation
    123
    
    Axis Interference Area
    129
    
    Setting Operation
    130
    
    Clearing the Interference Area Data
    137
  - Shock Detection Function
    139
    
    Shock Detection Function Setting
    139
    
    Shock Detection Level Setting
    139
    
    Instruction of Shock Detection Function
    142
    
    Tool Load Information Setting
    142
    
    Resetting the Shock Detected
    147
  - User Coordinate Setting
    148
    
    User Coordinates
    148
    
    Selecting the User Coordinate File
    149
    
    Teaching the User Coordinates
    150
    
    Clearing the User Coordinates
    152
  - Overrun / Tool Shock Sensor Releasing
    153
  - Soft Limit Release Function
    155
  - All Limit Release Function
    156
  - Instruction Level Setting
    158
    
    Instruction Set
    158
    
    Setting Contents
    158
    
    Learning Function
    159
    
    Setting the Instruction Set Level
    159
    
    Setting the Learning Function
    161
  - Setting the Controller Clock
    162
  - Setting the Play Speed
    163
  - Numeric Key Customize Function
    165
    
    Allocatable Functions
    165
    
    Key Allocation (EACH)
    165
    
    What Is the Numeric Key Customize Function
    165
    
    Key Allocation (SIM)
    166
    
    Allocating an Operation
    167
    
    Allocation Window
    167
    
    Instruction Allocation
    168
    
    Display Allocation
    170
    
    Job Call Allocation
    170
    
    Alternate Output Allocation
    172
    
    Momentary Output Allocation
    173
    
    Pulse Output Allocation
    173
    
    Analog Output Allocation
    174
    
    Group (4-Bit/8-Bit) Output Allocation
    174
    
    Analog Incremental Output Allocation
    175
    
    Allocation of I/O Control Instructions
    176
    
    Executing the Display Allocation
    177
    
    Executing the I/O Control Allocation
    177
    
    Executing the Instruction/Output Control Allocation
    177
    
    Executing the Job Call Allocation
    177
    
    Execution of Allocation
    177
    
    Changing the Output Status
    179
    
    Changing the Parameter Setting
    181
    
    File Initialization
    184
    
    Initializing Job File
    184
    
    Initializing Data File
    185
    
    Initializing Parameter File
    186
    
    Initializing I/O Data
    187
    
    Initializing System Data
    189
    
    Applicable Range for the Font Size Change
    191
    
    Display Setting Function
    191
    
    Font Size Setting
    191
    
    Settable Font Size
    191
    
    Setting the Font Size
    191
    
    Applicable Range for the Button Size Change
    195
    
    Operation Button Size Setting
    195
    
    Settable Button Size
    195
    
    Setting the Button Size
    195
    
    Initialization of Screen Layout
    199
    
    Initializing the Screen Layout
    199
    
    Layout Storage
    201

YASKAWA MOTOMAN DX100 Instructions Manual (124 pages)

Brand: YASKAWA | Category: Industrial Equipment | Size: 12.48 MB

Table of Contents
15
1 Introduction

19
- Overview
  19
  - Seam Finding
    20
  - Macro Jobs
    21
- Features
  22
  - Improved Control
    22
- About this Document
  22
- System Requirements
  23
- Learning Seam Finding with Macro Jobs
  23
- Reference to Other Documentation
  23
2 Setup and Operation

24
- Touch Sense
  24
- Accufast
  24
  - Setting the Q1 Focal Length
    25
- Accufast II
  27
  - Setting the GO Focal Length
    27
  - Using the Zero Shift Function (if Temperature Variance Is a Concern)
    29
- Job Setup
  30
- Autoteach
  33
3 TCH Macro, One Touch (1TCH) Routine

34
- Features
  34
  - Limitations
    35
- Autoteach Mode
  36
- Macro Job Setup
  37
- Interface
  39
- Programming Instructions
  40
4 TCH Macro, Two Touch (2TCH) Routine

42
- Features
  42
  - Limitations
    43
- Autoteach Mode
  44
- Macro Job Setup
  46
- Interface
  48
- Programming Instructions
  49
5 EDGE: Edge Finding Routine

51
- Features
  51
- Limitations
  52
- Macro Job Setup
  53
- Interface
  55
- Programming
  58
- Autoteach
  60
  - Autoteach 1 (Robot Position 2)
    61
  - Autoteach 2 (Robot Position 3)
    65
6 R1 CIRCLE: Circle Touch Routine

73
- Features
  73
  - Three Touch Routine
    73
  - Shift Amount - Center of Circle
    73
  - Autoteach Mode
    73
  - Limitations
    74
- Programming Requirements
  74
- Job Setup
  75
- Interface
  77
- Programming
  79
  - Programming Autoteach for the R1CIRCLE Macro
    79
    
    Setup Macro Instruction and Detect Robot Position 1
    80
    
    Detect Robot Position 2
    83
    
    Detect Robot Position 3
    83

YASKAWA MOTOMAN DX100 Instructions Manual (125 pages)

OPTIONS, FOR DATA TRANSMISSION FUNCTION

Brand: YASKAWA | Category: Robotics | Size: 5.29 MB

Table of Contents
8
1 Outline

12
- DCI Function
  13
- Stand-Alone Function
  14
- Host Control Function
  15
2 For Using Data Transmission Function

17
601 DCI Function

29
- Outline
  29
- Commands for Job Transmission
  30
  - Loadj
    30
    
    Configuration
    30
    
    Configuration
    31
    
    Savej
    31
    
    Configuration
    32
    
    Deletej
    32
    
    Swait
    32
  - Commands for Variable Transmission
    33
    
    Configuration
    33
    
    Loadv
    33
    
    Savev
    33
  - Registering DCI Instruction
    34
  - Concurrent Tasks from Multiple Jobs
    38
  - DCI Parallel Execution
    39
    
    Parallel Execution Using NWAIT
    39
    
    Parallel Execution Using PSTART (Optional)
    40
  - Transmission Procedure
    41
    
    Job Transmission
    41
    
    Saving Procedure
    41
    
    Loading Procedure
    42
    
    Loading Procedure
    43
    
    Saving Procedure
    43
    
    Variable Transmission
    43
  - Axis Data Transmission Format
    46
  - Alarm Codes
    47
- 4 Stand-Alone Function
  
  49
  - Outline
    49
  - Operation Flow
    50
  - Operation
    51
    
    Selecting External Memory Unit
    51
    
    Save
    52
    
    Saving Job
    52
    
    Saving File
    54
  - Load
    56
    
    Loading Job
    56
    
    Loading File
    57
  - Job Selection Mode
    59
    
    Related Selection Mode
    59
    
    Single Selection Mode
    59
    
    Switching Selection Mode
    60
  - Selecting Job and Data File
    61
    
    BATCH Selection
    61
    
    EACH Selection
    61
  - Transmission Procedure
    61

YASKAWA MOTOMAN DX100 Instruction Manual (88 pages)

FIELDBUS PCI-CARD

Brand: YASKAWA | Category: PCI Card | Size: 3.64 MB

Instruction Manual
7
Table of Contents
9
1 General

13
- About this Manual
  13
- Copyright
  13
- System Requirements
  13
- NX100 Software
  13
- DX100/DX200 Software
  13
- In Manual Included Fieldbus PCI-Cards and Nettools
  13
- Safety
  14
- Handling ESD Sensitive Devices
  15
- Manufacturer
  15
- Introduction
  15
- Terms
  16
- Fieldbus Systems
  16
- Introduction to the Fieldbus PCI-Cards
  16
- Hardware Compatibility
  16
2 Installation

17
- General
  17
- Specification
  17
- Technical Specification
  17
- Compliances and Conformances
  17
- Hardware Installation
  17
- NX100 Installation
  18
- DX100/DX200 Installation
  18
3 Software Configuration

21
- Settings
  21
- Manual I/O Allocation (FD 134)
  25
- I/O Map
  26
- Fieldbus Input Data Map
  26
- Fieldbus Output Data Map
  26
- Fieldbus Status Byte
  27
4 General Installation in IP-Based Networks

28
- Ping
  28
- No Answer from Ping
  28
- Only One Ethernet Cable Used
  28
- Logical Networks
  28
- Anybus Ipconfig
  29
- The Module Is Not Shown
  30
- The Module Has IP Address 0.0.0.0
  31
- Reg.no. ME00107EN-02 Page
  31
5 Profibus DPV1 Slave AB3601

32
- Profibus Interface Details
  32
- Card
  32
- Status Leds
  32
- Connectors 9-Pin D-Sub
  33
- PROFIBUS Network Setup
  34
- GSD-File
  34
6 Profibus DPV1 Master AB3602

35
- Profibus Interface Details
  35
- Card
  35
- Status Leds
  35
- PROFIBUS Network Setup
  37
- Anybus Nettool for PROFIBUS
  37
- Termination
  37
- Node Settings
  37
- Configuration Online
  38

YASKAWA MOTOMAN DX100 Instructions Manual (119 pages)

OPTIONS; FOR HIGH-SPEED ETHERNET SERVER FUNCTION

Brand: YASKAWA | Category: Controller | Size: 1.42 MB

YASKAWA MOTOMAN DX100 Instructions Manual (92 pages)

For laser-tracking function: MOTOEYE-LT

Brand: YASKAWA | Category: Controller | Size: 1.9 MB

YASKAWA MOTOMAN DX100 Instruction Manual (55 pages)

Brand: YASKAWA | Category: Telephone Accessories | Size: 2.67 MB

Table of Contents
18
1 Introduction

21
- Figure 1 Main Window Motoadmin
  21
2 Installation and Basic Configuration

23
- Components
  23
- System Requirements
  23
- Installation of Motoadmin
  23
- Uninstallation of Motoadmin
  23
- Connection Types
  24
- Configuration of Robot Controller
  25
  - NX100 and DX100
    25
  - Table 1 Basic Settings NX100/DX100
    25
  - Table 2 Ethernet/Http Function
    26
  - Table 3 Commandremote Mode Settings NX100/DX100
    26
  - Xrc
    27
  - Table 4 Basic Settings XRC
    27
3 Management Functions in Main Menu

29
- File Menu
  29
- Settings Menu
  29
  - Robot Setup
    29
  - Figure 2 Robot Profile
    29
- View Menu
  30
- Figure 3 Com Port Settings
  30
- Figure 4 Selection of Robot Profile
  30
- Tools Menu
  31
  - Check Connection
    31
  - Select Language
    31
  - Register Licenses
    31
  - Figure 5 Check Connection
    31
  - Figure 6 Language Selection
    31
- Mode Menu
  32
- Figure 7 Register Licenses
  32
- Figure 8 Mode Menu
  32
- Figure 9 Change Security Level
  32
- Figure 10 Change Password
  33
- Menü Hilfe
  34
4 Working with Motoadmin

35
- Starting Motoadmin
  35
- Multiple Instances of Motoadmin
  35
- Establish a Connection
  35
- Close a Connection
  35
- Figure 11 Establish Connection
  35
- Exit Application
  36
- Display Working Directory
  36
- Figure 12 Close Connection
  36
- Figure 13 Working Directory
  36
- Refresh Status
  37
- Switch on Servo Power
  37
- Figure 14 Status
  37
- Change Operation Mode
  38
- Cycle Mode
  38
- Job Execution / Job Control
  38
- Display Jobs
  38
- Figure 15 Job Window
  39
- Figure 16 Multitasking Task-Selection
  39
- Edit Jobs
  40
- Figure 17 Job Editor Window for Ascii Based Editing of Jobs
  40
- Table 5 Context Menu Job Window
  40
- Job Liste Laden
  41
- Figure 18 Display Job List
  41
- Access Variables
  42
- Figure 19 Global Variables
  42
- Figure 20 Edit Variables
  43
- Figure 21 Initialization of Position Variables
  43
- Figure 22 Confirm Initialization
  44
- Figure 23 Select Type of Position Variable
  44
- Watch I/O Signals
  45
- Figure 24 I/O Signals
  45
- Saving, Loading and Deleting Files
  46
  - Figure 25 Floppy Function
    46
  - Figure 26 File Group
    47
  - Figure 27 Job Selection for Saving Jobs
    47
  - Jobs
    47
  - Figure 28 Saving of System Data
    48
  - Figure 29 Message Window
    48
  - System Data
    48
  - Figure 30 Backup Definition Files
    49
  - Figure 31 Naming of One-Button-Backup Folders
    49
  - One-Button Backup
    49
  - Deleting Data
    50
  - Figure 32 Deleting Data
    50
- System Information
  51
- Figure 33 System Information
  51
- Read Alarm History
  52
- Figure 34 Alarm History
  52

YASKAWA MOTOMAN DX100 Instructions Manual (74 pages)

Motoman Industrial Robots

Brand: YASKAWA | Category: Robotics | Size: 2.59 MB

Table of Contents
14
1 Product Confirmation

16
- Contents Confirmation
  16
- Order Number Confirmation
  17
2 Transporting

18
- Transporting Method
  18
  - Using a Crane
    19
  - Using a Forklift
    20
- Shipping Bolts and Brackets
  21
3 Installation

22
- Installation of the Safeguarding
  23
- Mounting Procedures for Manipulator Base
  23
  - Mounting Example
    24
- Types of Mounting
  25
- Location
  26
4 Wiring

27
- Grounding
  27
- Cable Connection
  28
  - Connection to the Manipulator
    28
  - Connection to the DX100/NXC100
    29
5 Basic Specifications

32
6 Allowable Load for Wrist Axis and Wrist Flange

35
- Allowable Wrist Load
  35
- Wrist Flange
  36
- 7 System Application
  
  37
  - Peripheral Equipment Mounts
    37
    
    Allowable Load
    37
  - Internal User I/O Wiring Harness and Air Lines
    38
- 8 Electrical Equipment Specification
  
  40
  - Internal Connections
    40
- 9 Maintenance and Inspection
  
  45
- 10 Recommended Spare Parts
  
  61
- 11 Parts List
  
  63
  - S-Axis Unit
    63
  - L-, U-Axes Unit
    66
  - R-Axis Unit
    69
  - Wrist Unit
    71

YASKAWA MOTOMAN DX100 Instruction Manual (56 pages)

Programming Pendant Cheat Sheet

Brand: YASKAWA | Category: Telephone Accessories | Size: 1.58 MB

Table of Contents
8
1 Introduction

10
- About this Document
  10
- System Configuration
  11
  - Major Components
    12
- Reference Documentation
  12
- Customer Support Information
  13
2 Safety

14
- Introduction
  14
- Important Advisory Information
  15
- General Safeguarding Tips
  15
- Mechanical Safety Devices
  16
- Installation Safety
  16
- Programming, Operation, and Maintenance Safety
  17
3 Equipment Description

19
- Robot and Controller
  19
- Auto-Axcess DI/E Digital Power Supply
  19
- Software
  20
- Miller AA-40G Wire Feeder
  20
- Miller-Motoman Pendant Interface (HMI) Software
  20
  - Starting the HMI Software
    21
  - Welcome Screen
    21
  - Home Screen
    23
  - Program Selection Screen
    23
  - Program Sequence Setup Screen
    25
  - Live Weld Data Screen
    27
  - To Modify or Add a Welder
    28
  - Error Preferences
    29
  - Lock/Unlock Editing
    30
  - Backup & Load Settings
    31
- 4 Theory of Operation
  
  34
  - Miller HMI
    35
  - Pulse Mode
    36
- 5 Operation
  
  37
  - Set-Up Overview
    37
    
    Welder Condition File
    37
    
    Arc Start Files
    38
    
    Arc End Files
    38
    
    Calibration Verification
    39
    
    Selecting Weld Programs
    40
  - Robot Job Programming
    41
    
    Weld Program Selection
    41
  - Welder Front Panel Display
    41
  - Troubleshooting
    42
- 6 Miller Auto-Axcess E Digital
  
  43
  - Setting Proportional Speed Instruction
    43
    
    The "R*-SET-PROPORTIONAL-SPD.JBI
    43
  - MACRO Job Settings
    45
    
    MILLER-PROG-SEL Macro
    46
    
    MILLER-STRT-PART Macro
    47
    
    MILLER-CHNG-WELD Macro
    49
    
    MILLER-END-PART Macro
    50
    
    Example Weld Job Structure
    51
  - Error Reporting
    52
    
    Weld Error Reporting
    52
    
    Part Error Reporting
    53
  - Revision History
    55

YASKAWA MOTOMAN DX100 Instructions Manual (52 pages)

OPTIONS, FOR MULTI-LAYER WELDING FUNCTION

Brand: YASKAWA | Category: Robotics | Size: 3.82 MB

Table of Contents
7
Dx100

9
1 Outline

9
2 Basic Operations

11
- Robot Posture Control by Euler Angles
  11
  - Outline
    11
  - Operation
    12
    
    Cartesian Coordinate System
    12
    
    Tool Coordinate System
    13
- Point Variables
  13
- Memory and Playback Function
  24
  - Outline
    24
  - Instructions for Memory and Playback Function
    24
  - Application Example
    25
- Multi-Layer Welding Tool Shift Function
  27
  - Outline
    27
  - Tool Shift Coordinate System
    27
  - Registering
    28
- Search and Shift Function
  29
  - Outline
    29
  - Items to be Set for SRSFT Instruction
    30
  - Registering
    31
  - Application Example of SRSFT Instruction
    33
- Search Function for Sticking
  34
  - Outline
    34
  - Items to be Set for SRSTCK Instruction
    34
  - Registering
    36
- Shift Function
  38
  - Outline
    38
  - Continuity of Shift Function
    39
  - Shift Amount Display
    40
- Beveling Width Measuring Function
  41
  - Outline
    41
  - Items to be Set for SRGAP Instruction
    41
  - Registering
    42
- Overriding Welding Condition Function
  44
  - Outline
    44
  - Operation
    44
  - Welding Condition Adjustment Display
    45
  - Parameters for the Units to Adjust Conditions
    48
- Confirm the Welding Operation in Teach Mode
  49
  - Outline
    49
  - Operation
    49
  - Display
    49
- How to Restart after an Emergency Stop in the Middle of Weaving
  50

YASKAWA MOTOMAN DX100 Instructions Manual (56 pages)

Brand: YASKAWA | Category: Security Sensors | Size: 5.13 MB

Table of Contents
7
1 Function Overview

9
- Preface
  9
2 System Configuration

10
- Outline
  10
  - Functional Safety Unit
    10
  - Signal Distribution Board
    11
  - Communication I/F Gateway Unit
    12
  - Power on Unit
    13
- Overview of Unit Connection
  14
- Description of Unit Layout (Layout Drawing)
  15
- Spare Parts
  15
3 Setup (Safety Range Function for Robot)

16
4 Setup (Safety Range Function for each Axis)

34
5 Stop Position Monitoring Function

42
- Operating Condition Detection
  42
- Turning Stop Position Monitoring Function VALID/INVALID
  42
- 6 Data Protection
  
  45
  - Saving Dual Data
    45
  - Operation When VERIFY ERROR Occurs
    46
- 7 System Output Signal
  
  48
- 8 Alarm
  
  49
- 9 Restrictions
  
  54

YASKAWA MOTOMAN DX100 Instructions Manual (51 pages)

Handling Robot

Brand: YASKAWA | Category: Robotics | Size: 7.02 MB

YASKAWA MOTOMAN DX100 Instructions Manual (36 pages)

OPTIONS JARCR-XOI02B BOARD

Brand: YASKAWA | Category: Computer Hardware | Size: 0.77 MB

Table of Contents
9
1 Outline

10
- System Configuration Example
  10
2 Hardware Specifications

11
- Board External View
  11
- Board Specifications
  11
- User Input/Output Connectors
  12
3 Setting the Functions

13
- Function Setting Switches
  13
- Setting Method
  14
4 Mounting the XOI02B Board

15
5 O Signal Allocation

19
- I/O Module Setting
  19
- I/O Data
  23
6 O Circuits

24

YASKAWA MOTOMAN DX100 Instructions Manual (30 pages)

control of up to eight robots

Brand: YASKAWA | Category: Controller | Size: 1.45 MB

YASKAWA MOTOMAN DX100 Instructions Manual (38 pages)

STANDARD I/O SIGNAL ASSIGNMENT TABLE (PNP SPECIFICATION) FOR ROBOT I/F UNIT TYPE: JZNC-YIU02-E

Brand: YASKAWA | Category: I/O Systems | Size: 1.14 MB

YASKAWA MOTOMAN DX100 Instructions Manual (20 pages)

FOR I/O TRACE FUNCTION

Brand: YASKAWA | Category: Controller | Size: 0.63 MB

Table of Contents
7
1 O Trace Function

8
2 Basic Specification

9
- Window
  10
- Operation Procedure
  11
- Specified I/O Signal
  12
  - Specified Input Signal
    12
  - Specified Output Signal
    12
4 O Trace Log Data

13
- Window
  13
- Operation Procedure
  14
5 External Memory

16
- Operation Procedure
  16
- Data Format
  17
6 O Traceviewer (Optional)

18

YASKAWA MOTOMAN DX100 Instructions Manual (17 pages)

FOR MULTISTEP PRESSURE FUNCTION

Brand: YASKAWA | Category: Robotics | Size: 0.91 MB

YASKAWA MOTOMAN DX100 Instructions Manual (13 pages)

Brand: YASKAWA | Category: Robotics | Size: 0.69 MB

YASKAWA MOTOMAN DX100 Manuals

Table of Contents

1 Introduction

2 Manipulator Coordinate Systems and Operations

3 Teaching

4 Playback

5 Editing Jobs

Table of Contents

Table of Contents

1 Safety

2 Product Confirmation

3 Installation

4 Connection

5 Turning on and off the Power Supply

6 Test of Program Operation

7 Security System

8 System Setup

Table of Contents

1 Introduction

2 Setup and Operation

3 TCH Macro, One Touch (1TCH) Routine

4 TCH Macro, Two Touch (2TCH) Routine

5 EDGE: Edge Finding Routine

6 R1 CIRCLE: Circle Touch Routine

Table of Contents

1 Outline

2 For Using Data Transmission Function

601 DCI Function

4 Stand-Alone Function

Table of Contents

1 General

2 Installation

3 Software Configuration

4 General Installation in IP-Based Networks

5 Profibus DPV1 Slave AB3601

6 Profibus DPV1 Master AB3602

Table of Contents

1 Introductions

2 System Setting

Table of Contents

1 Laser-Tracking Function

2 Hardware Setup

3 Start-Up

4 Settings for Sensor Parameters and Job Files

5 Laser Sensor Calibration

6 Settings for Tracking Job

7 Settings for the Laser-Tracking Function File

8 Settings for Inspection Job before Starting Operations

9 Tool Offset Setting

10 Settings for the Gap Adaptation Function

11 Inspection before Starting Operations

12 Troubleshooting

Table of Contents

1 Introduction

2 Installation and Basic Configuration

3 Management Functions in Main Menu

4 Working with Motoadmin

Table of Contents

1 Product Confirmation

2 Transporting

3 Installation

4 Wiring

5 Basic Specifications

6 Allowable Load for Wrist Axis and Wrist Flange

7 System Application

8 Electrical Equipment Specification

9 Maintenance and Inspection

10 Recommended Spare Parts

11 Parts List

Table of Contents

1 Introduction

2 Safety

3 Equipment Description

4 Theory of Operation

5 Operation

6 Miller Auto-Axcess E Digital

Table of Contents

Dx100

1 Outline

2 Basic Operations