YASKAWA Motoman DX200 Manual de usuario

MANUAL NO.

HW1484081

Part Number: 180367-1CD

Revision: 0

DX200

INSTRUCTIONS

FOR EXPLOSION-PROOF SPECIFICATIONS

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

retain for future reference.

MOTOMAN-□□□ INSTRUCTIONS

DX200 INSTRUCTIONS

DX200 OPERATOR’S MANUAL

DX200 MAINTENANCE MANUAL

THE DX200 OPERATOR’S MANUAL ABOVE CORRESPONDS TO A SPECIFIC USAGE.

BE SURE TO USE THE APPROPRIATE MANUAL.

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180367-1CD

HW1484081

DX200 Explosion-Proof

Specification

YASKAWA customers to assist in the operation of Motoman robots,

related equipment and software This manual is copyrighted property of

YASKAWA and may not be sold or redistributed in any way. You are

welcome to copy this document to your computer or mobile device for

easy access but you may not copy the PDF files to another website, blog,

cloud storage site or any other means of storing or distributing online

content.

Printed in the United States of America

First Printing, 2017

YASKAWA America, Inc.

Motoman Robotics Division

100 Automation Way

Miamisburg, OH 45342

Phone: 937-847-6200

www.motoman.com

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1 Safety Information

DX200 Explosion-Proof

Specification

1 Safety Information

MANDATORY

• This instruction manual is intended to explain mainly the

mechanical part of the DX200 Explosion-Proof Specification for the

application to the actual operation and for proper maintenance and

inspection. It describes on safety and handling, details on

specifications, necessary items on maintenance and inspection, to

explain operating instructions and maintenance procedures. Be

sure to read and understand this instruction manual thoroughly

before installing and operating the manipulator.

• 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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1 Safety Information

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DX200 Explosion-Proof

Specification

1.1 Safety Standards for Industrial Robots and Robot

Systems

We suggest that you obtain and review a copy of the ANSI/RIA National

Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA

R15.06-2012). You can obtain this document from the Robotic Industries

Association (RIA) at the following address:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: (734) 994-6088

FAX: (734) 994-3338

www.roboticsonline.com

Ultimately, well-trained personnel are the best safeguard against

accidents and damage that can result from improper operation of the

equipment. The customer is responsible for providing adequately trained

personnel to operate, program, and maintain the equipment. NEVER

ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR

REPAIR THE EQUIPMENT!

We recommend approved YASKAWA training courses for all personnel

involved with the operation, programming, or repair of the equipment.

This equipment has been tested and found to comply with the limits for a

Class A digital device, pursuant to part 15 of the FCC rules. These limits

are designed to provide reasonable protection against harmful

interference when the equipment is operated in a commercial

environment. This equipment generates, uses, and can radiate radio

frequency energy and, if not installed and used in accordance with the

instruction manual, may cause harmful interference to radio

communications.

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DX200 Explosion-Proof

Specification

1.2 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 “DANGER”,

“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.

DANGER

Indicates an imminent hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

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 “DANGER”,

“CAUTION” and “WARNING”.

DANGER

• Maintenance and inspection must be performed by specified

personnel.

Failure to observe this caution may result in electric shock or injury.

• For disassembly or repair, contact your YASKAWA representative.

• Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or

serious injury from unexpected turning of the manipulator's arm.

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Specification

1.3 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 the manipulator cables.

In this manual, the equipment is designated as follows:

1.4 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 TM are omitted.

1.5 Safeguarding Tips

All operators, programmers, maintenance personnel, supervisors, and

anyone working near the system must become familiar with the operation

of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. General

safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to

the equipment. Only trained personnel familiar with the operation of

this equipment, the operator's manuals, the system equipment, and

options and accessories should be permitted to operate this

equipment.

• Improper connections can damage the equipment. All connections

must be made within the standard voltage and current ratings of the

equipment.

• The system must be placed in Emergency Stop (E-Stop) mode

whenever it is not in use.

• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of

Energy, use lockout/tagout procedures during equipment

maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),

Occupational Safety and Health Standards for General Industry

(OSHA).

Equipment Manual Designation

DX200 controller Controller

DX200 programming pendant Programming pendant

Cable between the manipulator and the

DX200

Manipulator cable

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DX200 Explosion-Proof

Specification

1.6 Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility.

The conditions under which the equipment will be operated safely should

be reviewed by the user. The user must be aware of the various national

codes, ANSI/RIA R15.06-2012 safety standards, and other local codes

that may pertain to the installation and use of this equipment.

Additional safety measures for personnel and equipment may be required

depending on system installation, operation, and/or location. The following

safety equipment is provided as standard:

• Safety barriers

• Door interlocks

• Emergency stop palm buttons located on operator station

Check all safety equipment frequently for proper operation. Repair or

replace any non-functioning safety equipment immediately.

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DX200 Explosion-Proof

Specification

1.7 Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and

anyone working near the system must become familiar with the operation

of this equipment. Improper operation can result in personal injury and/or

damage to the equipment. Only trained personnel familiar with the

operation, manuals, electrical design, and equipment interconnections of

this equipment should be permitted to program, or maintain the system.

All personnel involved with the operation of the equipment must

understand potential dangers of operation.

• Inspect the equipment to be sure no potentially hazardous conditions

exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment

for proper operation. Repair or replace any non-functioning safety

equipment immediately.

• Check the E-Stop button on the operator station for proper operation

before programming. The equipment must be placed in Emergency

Stop (E-Stop) mode whenever it is not in use.

• Back up all programs and jobs onto suitable media before program

changes are made. To avoid loss of information, programs, or jobs, a

backup must always be made before any service procedures are

done and before any changes are made to options, accessories, or

equipment.

• Any modifications to the controller unit can cause severe personal

injury or death, as well as damage to the robot! Do not make any

modifications to the controller unit. Making any changes without the

written permission from YASKAWA will void the warranty.

• Some operations require a standard passwords and some require

special passwords.

• The equipment allows modifications of the software for maximum

performance. Care must be taken when making these modifications.

All modifications made to the software will change the way the

equipment operates and can cause severe personal injury or death,

as well as damage parts of the system. Double check all

modifications under every mode of operation to ensure that the

changes have not created hazards or dangerous situations.

• This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller and other

equipment. Disconnect and lockout/tagout all electrical circuits

before making any modifications or connections.

• Do not perform any maintenance procedures before reading and

understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the equipment. All connections

must be made within the standard voltage and current ratings of the

equipment.

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1 Safety Information

DX200 Explosion-Proof

Specification

1.8 Maintenance Safety

Turn the power OFF and disconnect and lockout/tagout all electrical

circuits before making any modifications or connections.

Perform only the maintenance described in this manual. Maintenance

other than specified in this manual should be performed only by

YASKAWA-trained, qualified personnel.

1.9 Summary of Warning Information

This manual is provided to help users establish safe conditions for

operating the equipment. Specific considerations and precautions are also

described in the manual, but appear in the form of Dangers, Warnings,

Cautions, and Notes.

It is important that users operate the equipment in accordance with this

instruction manual and any additional information which may be provided

by YASKAWA. Address any questions regarding the safe and proper

operation of the equipment to YASKAWA Customer Support.

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DX200 Explosion-Proof

Specification

1.10 Customer Support Information

If you need assistance with any aspect of your DX200 Explosion-Proof

Specification system, please contact YASKAWA Customer Support at the

following 24-hour telephone number:

For routine technical inquiries, you can also contact YASKAWA Customer

Support at the following e-mail address:

When using e-mail to contact YASKAWA Customer Support, please

provide a detailed description of your issue, along with complete contact

information. Please allow approximately 24 to 36 hours for a response to

your inquiry.

Please have the following information ready before you call Customer

Support:

[email protected]

NOTE

Please use e-mail for routine inquiries only. If you have an

urgent or emergency need for service, replacement parts,

or information, you must contact YASKAWA Customer

Support at the telephone number shown above.

• System DX200 Explosion-Proof

Specification

• Primary Application ___________________________

• Controller DX200

• Software Version Access this information on the

Programming Pendant’s LCD

display screen by selecting {MAIN

MENU} - {SYSTEM INFO} -

{VERSION}

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200 controller

data plate

(937) 847-3200

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