YASKAWA MOTOMAN DX100 Manual de usuario

MANUAL NO.

HW0485767

YASKAWA ELECTRIC CORPORATION

DX100 OPTIONS

INSTRUCTIONS

FOR MULTISTEP PRESSURE 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 manual above corresponds to specific usage.

Be sure to use the appropriate manual.

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Part Number: 159046-1CD

Revision: 0

DX100

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MANDATORY

• This manual explains the multistep pressure function of the DX100

system. 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 "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

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 the 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 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 DX100

cabinet after use.

The programming pendant can be damaged if it is left in the

manipulator's work area, 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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DX100

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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.

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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DX100 Contents

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1 Multistep pressure function .............................................................................................................1-1

1.1 Features.............................................................................................................................1-1

1.2 Restrictions ........................................................................................................................1-3

2 How to Use the Multistep Pressure Function..................................................................................2-1

2.1 Setting the Functions of the Multistep Pressure Function..................................................2-1

2.1.1 Pressure File Window...........................................................................................2-1

2.1.2 DETAIL EDIT Window ..........................................................................................2-2

2.1.3 Details of the SVSPOT Instruction........................................................................2-4

2.1.4 Details of the SVSPOTMOV Instruction ...............................................................2-5

2.2 Corrective Action in the Event that a WELD COMPLETE SIGNAL ERROR Alarm Occurs

...........................................................................................................................................2-6

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1 Multistep pressure function

DX100 1.1 Features

1-1

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1 Multistep pressure function

The conventional DX100 spot welding instruction (SVSPOT/

SVSPOTMOV) was ended, and the motor gun was opened, when one

welding completion signal was received. The multistep pressure function

is an extension of the conventional welding command. It starts the power

source multiple times (maximum of four times) during the first opening and

closing operation of the motor gun, enabling high quality spot welding to

be realized.

1.1 Features

The multistep pressure function has the functions and features indicated

in the table below.

The operation of the motor gun during multistep pressurization, and the

relationship between the gun pressure and the signal are as shown in the

figure below.

Motor gun operation (SVSPOTMOV, 2-Step pressure)

No. Functions and Features Advantages

1 It extends the SVSPOT/

SVSPOTMOV instruction, and

permits multistage pressurization in

up to four steps.

Higher quality spot welding can be

realized.

2 The number of pressurization steps

can be specified in the DETAIL EDIT

window for the SVSPOT/

SVSPOTMOV instruction.

The number of pressurization steps

can be varied between one and four

times.

3 Multiple “END WAIT” settings can

be made in the pressure file window. The pressure value at each step of

multistep pressurization can be set in

detail.

Movable

electrode

(Close operation) (First pressurization) (Second pressurization) (Open motion)

1 SVSPOTMOV 2 SVSPOTMOV 3 SVSPOTMOV 4 SVSPOTMOV

Fixed

electrode

clearance file.

The gun stroke is set in the

teaching.

points is done by pressurization

Teaching of the pressurization A welding command is output twice,

and welding takes place twice.

Welding is completed at the second

welding completion signal.

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1 Multistep pressure function

DX100 1.1 Features

1-2

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Relationship between the gun pressure and the signal

When the pressure reaches the first pressure value after the motor gun

touched the workpiece, the welding start signal is output to the timer.

As soon as the first welding completion signal is input from the timer, the

motor gun proceeds to the second pressure value.

After the second pressure value is reached, the second welding start

signal is output.

As soon as the second welding completion signal is input from the timer,

the motor gun stops pressurization, and then opens.

value

pressure

First value

pressure

Second

Gun stroke

start signal

Welding

(Robot →Timer)

signal

completion

Welding

(Timer →Robot)

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1 Multistep pressure function

DX100 1.2 Restrictions

1-3

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1.2 Restrictions

cThe maximum number of multistep pressurizations in this function is the

upper limit (four) of the number of pressurization settings in “Pressure

file.”

dThe “welding conditions group output: WGO=” is common for one

multistep pressurization welding operation.

(The welding conditions group output value in each welding condition

output cannot be changed during multistep pressurization welding.)

eWhen multistep pressurization welding is taking place, I/O output

control of the power source start signal according to "WELD INST

OUTPUT TYPE" and "OUTPUT TIMING (WST)" in the Power Source

condition file is applied only to the first start signal output. The second

and subsequent start signal outputs are assumed to level-output

"WELDING COND (WTM)" and "WELDING COMMAND" at the same

timing.

fThe execution timing for bending correction is the same as that of the

current DX100.

(Bending correction does not take place during the second and

subsequent pressurization welding phases.)

gWhen the power source is restarted after being interrupted during

multistep pressurization welding, the welding sequence from the first

pressurization is reattempted.

hThe actual pressure values in the case where the pressure rises from

the first pressure value to the Nth pressure value may differ from the

corresponding values in the case where the pressure falls, due friction

torque, for example, even when the set pressure values on the gun

pressure window are the same.

10/17

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