YASKAWA Motoman DX200 Manual de usuario

MANUAL NO.

HW1481811

Part Number: 165259-1CD

Revision: 0

DX200 OPTIONS

INSTRUCTIONS

FOR THE INTERRUPT JOB 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 manuals above correspond to specific usage.

Be sure to use the appropriate manual.

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MANDATORY

• This manual explains the interrupt job function of the DX200 system

and general operations. Read this manual carefully and be sure to

understand its contents before handling the DX200.

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

DX200 Instructions. To ensure correct and safe operation, carefully

read the DX200 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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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.”

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

personnelanddamagetoequipment.

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 “CAUTION”

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

DX200 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.

Figure 1: 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.

Figure 2: 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 DX200.

– 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

DX200 and the programming pendant.

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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.

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 DX200

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

DX200 Instructions before operating the manipulator.

Equipment Manual Designation

DX200 controller DX200

DX200 programming pendant Programming pendant

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Descriptions of the programming pendant, 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.

Registered Trademark

In this manual, names of companies, corporations, or products are

trademarks, registered trademarks, or bland names for each company or

corporation. The indications of (R) and

are omitted.

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

Number Keys “Axis Keys” and “Number 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}

PAGE

GO BACK

PAGE

GO BACK

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Table of Contents

1 What is the Interrupt Job Function?................................................................................................1-1

2 Setting of the Interrupt Job Function...............................................................................................2-1

2.1 Interruption Table Display..................................................................................................2-1

2.2 Setting of Interruption Table ..............................................................................................2-3

2.2.1 Setting of Signals .................................................................................................2-3

2.2.2 Setting of Job Names...........................................................................................2-4

2.3 Setting of Interruption Levels.............................................................................................2-5

3 Registration of Instructions ............................................................................................................. 3-1

3.1 EI (Enable Interruption) Instruction....................................................................................3-1

3.2 DI (Disable Interruption) Instruction...................................................................................3-3

4 Execution of an Interrupt Job..........................................................................................................4-1

4.1 Interruption Signal Detection .............................................................................................4-1

4.2 Timing for Interrupt Job Execution.....................................................................................4-1

4.3 Deceleration Before Interrupt Job Execution.....................................................................4-1

4.4 Interruption Signal Entered During Another Interrupt Job..................................................4-1

4.5 Output Signal of “Interrupt Job in Execution”.....................................................................4-2

4.6 Automatic Interruption Disabled Status .............................................................................4-2

4.7 Job Call Stack....................................................................................................................4-2

4.8 If an interrupt job cannot be executed ...............................................................................4-2

5 Application Examples...................................................................................................................... 5-1

5.1 Interruption During Timer Instruction.................................................................................5-1

5.2 Interruption During Move Instruction..................................................................................5-1

5.3 Interruption During Move Instruction with NWAIT..............................................................5-2

5.4 Interruption During Circular Interpolation Move Instruction (MOVC)................................5-3

6 System with Independent Control...................................................................................................6-1

7 Instruction List.................................................................................................................................7-1

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1 What is the Interrupt Job Function?

The interrupt job function is a kind of call job. When a signal to interrupt

the job is sent from a peripheral device or another system, this function

momentarily suspends a job in progress, and executes the job

corresponding to the signal.

This function is useful when an error occurs in a peripheral device or in

another system, or when the manipulator should be withdrawn in an

emergency.

An interruption table defines the relation among the interruption levels

(priority of an interruption signal), the interruption signals, and the

interrupting jobs.

Sending a user input signal specified in the table calls, a job

corresponding to that signal. When interrupt job is completed, the

suspended job is restarted from the instruction line where the cursor was

at the time of interruption.

The smaller the interruption level number becomes, the higher the priority

of the processing becomes.

Since the DX200 determines which interrupt job is to be executed

according to this interruption table, make sure the settings for this table

are correct. The system engineer sets up this interruption table.

NOTE

If an interruption signal is received while the manipulator is in

the “step” cycle, the manipulator stops at once, and then the

next starting operation starts the interrupt job.

Interrupt job Job in progress

NOP

END

NOP

END

Interruption

INTERRUPT JOB

LEVEL SIGNAL JOB NAME

IN#01 JIG STOP

NOP

END

Interrupt job

"JIG STOP" NOP

END

Job in progress

Interruption

signal IN#01

Interruption table

INTERRUPT JOB

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1 What is the Interrupt Job Function?

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NOTE

An interrupt job can be executed when the start lamp is ON

and between the execution of the EI (enable interruption)

instruction and the DI (disable interruption) instruction.

A different interruption level can be specified for both EI and

DI.

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2 Setting of the Interrupt Job Function

2.1 Interruption Table Display

2 Setting of the Interrupt Job Function

2.1 Interruption Table Display

1. Select {JOB} under the main menu.

2. Select {INTERRUPT JOB} in the sub menu.

TABLE NO. (Initial value: 1)



OUTPUT SIGNAL (Initial value: no setting)

A user output signal that is turned ON during the execution of an inter-

rupt job.



LEVEL

The interruption level indicates the priority of the interruption signal.

The smaller the interruption level number becomes, the higher the prior-

ity of the processing becomes. Eight levels from 0 to 7 can be set.



SIGNAL (Initial value: no setting)

A user input signal serves as an interruption signal.



JOB NAME (Initial value: no setting)

A job name corresponding to an interruption signal



PERMIT

Interruption enabled or disabled status (for diagnosis)

(Enabled): Interruption enabled by the execution of the EI instruction

(Disabled): Interruption disabled

567

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