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XRC and XRC 2001 Controller
Twin Drive
Function Manual
for UP/SKX-Series Robots
Part Number 148308-1
July 15, 2003
MOTO MAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-HOUR SERVICE HOTLINE: (937) 847-3200
The information contained within this document is the proprietary property of Motoman, Inc., and may
not be copied, reproduced or transmitted to other parties without the expressed written authorization of
Motoman, Inc.
©2003 by MOTO MAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without notice.
MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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Summary of Contents for YASKAWA Motoman XRC
- Page 1 Motoman, Inc. ©2003 by MOTO MAN All Rights Reserved Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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Page 3: Table Of Contents
TABLE OF CONTENTS Section Page INTRODUCTION About this Document ....................1-1 Reference to Other Documentation................1-1 Customer Service Information..................1-1 SAFETY Introduction ........................2-1 Standard Conventions....................2-2 General Safeguarding Tips.................... 2-4 Mechanical Safety Devices.................... 2-4 Installation Safety......................2-5 Programming Safety ..................... 2-5 Operation Safety...................... - Page 4 NOTES Twin Drive Function Manual MOTO MAN...
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Page 5: Introduction
SECTION 1 INTRODUCTION About this Document This manual provides information on how to use the Twin Drive Function on the XRC controller. This manual is organized as follows: SECTION 1 – INTRODUCTION General information about this manual, a list of reference documents, and customer service information. - Page 6 INTRODUCTION NOTES Twin Drive Function Manual MOTO MAN...
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Page 7: Safety
SECTION 2 SAFETY Introduction It is the purchaser's responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed. We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems. -
Page 8: Standard Conventions
SAFETY Standard Conventions This manual includes information essential to the safety of personnel and equipment. As you read through this manual, be alert to the four signal words: • DANGER • WARNING • CAUTION • NOTE Pay particular attention to the information provided under these headings which are defined below (in descending order of severity). -
Page 9: General Safeguarding Tips
SAFETY General Safeguarding Tips All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot 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: •... -
Page 10: Installation Safety
SAFETY Installation Safety Safe installation is essential for protection of people and equipment. following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. -
Page 11: Operation Safety
SAFETY • Inspect the robot and work envelope 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 the E-STOP button on the teach pendant for proper operation before programming. -
Page 12: Maintenance Safety
SAFETY Maintenance Safety All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. Maintenance tips are as follows: •... - Page 13 YASKAWA YASNAC XRC OPTIONS INSTRUCTIONS FOR TWIN DRIVE FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN-¨¨¨ INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR’S MANUAL YASNAC XRC OPERATOR’S MANUAL for BEGINNERS...
- Page 14 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 rep- resentative to order a new copy. The representatives are listed on the back cover.
- Page 15 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”,or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, W A R N I N G could result in death or serious injury to personnel.
- Page 16 W A R N I N G • Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the playback panel or program- ming pendant are pressed. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned off.
- Page 17 • Read and understand the Explanation of the Alarm Display in the setup manual before operating the manipulator. 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 playback panel, the programming pen- dant, and supply cables.
- Page 18 Descriptions of the programming pendant and playback panel keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on them are Pendant 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.
- Page 19 Outline Applicable Stations Operation 3.1 Axis Operation ........3-1 3.1.1 Twin Motion Mode .
- Page 20 viii...
- Page 21 1 Outline When configurating the station axes in the XRC and using a single motor to control an axis with a heavy load applied during an operation, a large-capacity motor with sufficient capacity and torque is required. In this case, the station axis becomes very large and requires a wide space for equipment installation.
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Page 23: Applicable Stations
2 Applicable Stations The twin drive function is valid only for the station axes that have been configured for the twin drive. The following table lists the configurations and the three types of stations where the twin drive can be used. Configuration Station type Remarks... - Page 24 2nd station axis 3rd station axis 2nd station axis 3rd station axis 1st station axis 1st station axis Fig A TWIN-3A Fig B TWIN-3B 2nd station axis 1st station axis Fig C TWIN-2...
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Page 25: Operation
3.1 Axis Operation 3 Operation When the station axis with the twin drive is selected for the axis operation, the twin-driven axes (master axis and slave axis) can be operated at the same time by a single instruction. Station axis operation and teaching can be easily performed when teaching. During playback, the axes move according to the taught job data. -
Page 26: Twin Motion Mode
3.1 Axis Operation 3.1.1 Twin Motion Mode When using the twin drive, the axes can move in twin motion mode. When the specified external input status is OFF, the axes move in the twin (concurrent) motion mode. [Example] For TWIN-2 Press the 1st axis key to move the 2nd axis and the 1st axis at the same time. -
Page 27: Single Motion Mode
3.1 Axis Operation 3.1.2 Single Motion Mode In this mode, the master axis and the slave axis move individually. When the specified external input status is ON, each axis moves in a single motion. [Example] For TWIN-2 Press the 1st axis key or the 2nd axis key to move the corresponding axis only. Slave axis Master axis Pressing the master axis key... - Page 28 3.1 Axis Operation...
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Page 29: Setting Parameters
4 Setting Parameters In the twin drive, the status of external general-purpose input signal determines the mode as the twin motion or single motion. The following parameters specify the general-purpose input numbers. Parameter Contents S4C040 Station 1 S4C041 Station 2 S4C042 Station 3 General-purpose input... -
Page 31: Status Display
5 Status Display The application status of the twin drive function can be confirmed. Operation Select {ROBOT} from the menu Select {TWIN DRIVE} Explanation The twin drive display appears. T W I N D R I V E MASTER INPUT NO. MODE 1-AXIS 3-AXIS... -
Page 33: Precautions
6.1 Precautions when selecting Motor 6 Precautions Observe the following precautions when using the twin drive. Precautions when selecting Motor When using the twin drive, both twin-driven axes have to move in the same way and the same level for both axis operation and playback. Use the same motors for the twin-driven axes. -
Page 34: Setting The Rotating Direction
6.3 Setting the Home Position 6.2.3 Setting the Rotating Direction When using the twin drive, specify the same motor rotating direction for both twin-driven axes. Specifying a different direction for each axis may damage a jig and break down the system. Before using the twin drive, confirm the rotating direction of the twin-driven axes to set the cor- rect rotating direction. - Page 35 TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan Phone 886-2-2563-0010 Fax 886-2-2567-4677 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD. 30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083 Phone 86-10-6233-2782 Fax 86-10-6232-1536 SHOUGANG MOTOMAN ROBOT CO., LTD.