YASKAWA MOTOMAN DX100 Manual de usuario

MANUAL NO.

HW1480091

DX100 OPTIONS

INSTRUCTIONS

FOR I/O TRACE FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

DX100 INSTRUCTIONS

DX100 OPERATOR’S MANUAL

DX100 MAINTENANCE MANUAL

The DX100 operator’s manuals above correspond to specific usage.

Be sure to use the appropriate manual.

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Part Number: 159118-1CD

Revision: 0

DX100

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MANDATORY

• This manual explains the details on I/O trace function of the DX100.

Read this manual carefully and be sure to understand its contents

before handling the DX100.

• General items related to safety are listed in Chapter 1: Safety of the

DX100 INSTRUCTIONS. To ensure correct and safe operation,

carefully read the DX100 Instructions before reading this manual.

CAUTION

• Some drawings in this manual are shown with the protective covers

or shields removed for clarity. Be sure all covers and shields are

replaced before operating this product.

• The drawings and photos in this manual are representative

examples and differences may exist between them and the

delivered product.

• YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in

specifications. 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.

• YASKAWA is not responsible for incidents arising from

unauthorized modification of its products. Unauthorized modification

voids your product’s warranty.

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DX100

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or

inspection of the DX100.

In this manual, the Notes for Safe Operation are classified as

“WARNING,” “CAUTION,” “MANDATORY,” or ”PROHIBITED.”

Even items described as “CAUTION” may result in a serious accident in

some situations. At any rate, be sure to follow these important items

WARNING Indicates a potentially hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

CAUTION Indicates a potentially hazardous

situation which, if not avoided, could

result in minor or moderate injury to

personnel and damage to equipment.

It may also be used to alert against

unsafe practices.

MANDATORY Always be sure to follow explicitly the

items listed under this heading.

PROHIBITED Must never be performed.

NOTE To ensure safe and efficient operation at all times, be sure

to follow all instructions, even if not designated as “CAU-

TION” and “WARNING.”

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WARNING

• Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the

DX100 and the programming pendant.

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. The manipulator

should not be used if the emergency stop buttons do not function.

Fig. : Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all

items which could interfere with the operation of the manipulator.

Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Fig. : Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the

manipulator:

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the

manipulator’s unexpected motion toward you.

– Ensure that you have a safe place to retreat in case of

emergency.

Improper or unintended manipulator operation may result in injury.

• 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 DX100.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the

manipulator during operation. Always press an emergency stop button

immediately if there is a problem.

The emergency stop buttons are located on the right of front door of the

DX100 and the programming pendant.

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DX100

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Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.

The manipulator usually consists of the controller, the programming

pendant, and supply cables.

In this manual, the equipment is designated as follows.

CAUTION

• Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair them

immediately, and be sure that all other necessary processing has

been performed.

– Check for problems in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the DX100

cabinet after use.

The programming pendant can be damaged if it is left in the P-point maximum

envelope of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the

DX100 Instructions before operating the manipulator.

Equipment Manual Designation

DX100 Controller DX100

DX100 Programming Pendant Programming Pendant

Cable between the manipulator and DX100 Manipulator Cable

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Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "

means that the cursor is moved to the object item and the SELECT key is

pressed, or that the item is directly selected by touching the screen.

Equipment Manual Designation

Programming

Pendant

Character

Keys

The keys which have characters printed on

them are denoted with [ ].

ex. [ENTER]

Symbol Keys The keys which have a symbol printed on them

are not denoted with [ ] but depicted with a

small picture.

ex. page key

The cursor key is an exception, and a picture is

not shown.

Axis Keys

Numeric Keys

“Axis Keys” and “Numeric Keys” are generic

names for the keys for axis operation and

number input.

Keys pressed

simultaneously

When two keys are to be pressed

simultaneously, the keys are shown with a “+”

sign between them, ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming

pendant is denoted with { }.

ex. {JOB}

BACK

PAGE

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DX100 Contents

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1 I/O Trace Function .......................................................................................................................... 1-1

2 Basic Specification.......................................................................................................................... 2-1

3 Setting of I/O Trace Function .......................................................................................................... 3-1

3.1 Window .............................................................................................................................. 3-1

3.2 Operation Procedure ......................................................................................................... 3-2

3.3 Specified I/O Signal ........................................................................................................... 3-3

3.3.1 Specified Input Signal........................................................................................... 3-3

3.3.2 Specified Output Signal ........................................................................................ 3-3

4 I/O Trace Log Data ......................................................................................................................... 4-1

4.1 Window .............................................................................................................................. 4-1

4.2 Operation Procedure ......................................................................................................... 4-2

5 External Memory............................................................................................................................. 5-1

5.1 Operation Procedure ......................................................................................................... 5-1

5.2 Data Format....................................................................................................................... 5-2

6 I/O TraceViewer (Optional) ............................................................................................................. 6-1

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1 I/O Trace Function

DX100

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1 I/O Trace Function

I/O trace function is a function that can trace the signal status used by the

robot controller after synchronizing it to the concurrent I/O scanning

without using any measuring devices.

The trace log data can be saved in CSV format and utilize it in variety of

situations depending on the purpose of use.

For example, when setting up the system or a failure occurred, problems

can be easily analyzed to find their solutions by using the log data traced

by this function and thus the time to solve the problem is reduced.

Also, by using the PC software IO TraceViewer, the waveform of the

saved log data can be displayed and analyze it without any difficulty.

Fig. 1-1: System Configuration

No mearsuring

device required

Back up PC Software

I/OTraceViewer(Optional)

Log data

DX100

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2 Basic Specification

DX100

2-1

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2 Basic Specification

Item Specification

Trace cycle 4 m sec (Synchronized to concurrent I/O cycle)

Trace target Concurrent I/O number

·General input

·General output

·External input

·External output

·Specific input

·Specific output

·Interface panel input

·Auxiliary relay

·Control status

·Pseudo Input

·Network Input

·Network output

(#00010 to #02567)

(#10010 to #12567)

(#20010 to #22567)

(#30010 to #32567)

(#40010 to #41607)

(#50010 to #52007)

(#60010 to #60647)

(#70010 to #79997)

(#80010 to #80647)

(#82010 to #82207)

(#25010 to #27567)

(#35010 to #37567)

Number of trace signal 16 signals at maximum

Trigger Edge (up and down)

Pre-trigger Specify the triggering point of the trace log data

(0 % to 100 %)

0 %: Save the log data for 10 sec from the

trigger point.

50 %: Save the log data for 10 sec from 5sec

previous to the trigger point.

100 %: Save the log data for 10 sec from 10 sec

previous to the trigger point.

Amount of log data Save the log data for 10sec including the trigger

point.

Trace start/end operation Can be operated by the programming pendant or a

specific input signal (#40600)

Tracing status Can be verified with the programming pendant or a

specific input signal (#50900)

NOTE

The trace log data is cleared with ON/OFF button.

Please backup the necessary trace log data to the external

memory device before turning OFF the control power

supply.

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3 Setup of I/O Trace

DX100 3.1 Window

3-1

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3 Setup of I/O Trace

3.1 Window

A. TRACE STOP/ START

Displays the tracing status

B. No. 1 to 16

Up to 16 tracing conditions can be set

C. SIGNAL

Set the concurrent I/O signal (#0xxxxx to #9xxxxx)

The tracing condition is cleared when “0” is input

D. SIGNAL STATUS

Show the signal status. ●: Signal is ON ○: Signal is OFF

E. TRIGGER

Set “VALID” or “INVALID” of the trigger condition

F. EDGE

Set “UP” or “DOWN” of the trigger condition edge

G. DETECT

Show the trigger detecting status

●: Trigger is detected ○: Trigger is undetected

H. NAME

Can set the signal name with up to 16 letters

I. COMMENT

Can set the I/O trace comment with up to 32 letters

10/20

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