Motoman XRC 2001 Manual
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Motoman XRC 2001 Manual

For up/sp-series robots
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See also: Operator's Manual
Enlarged version
Motoman XRC 2001 Controller
Search Function
Manual
for UP/SP-Series Robots
Part Number:
Revision:
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
147768-1CD
0

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  • Page 1 Motoman XRC 2001 Controller Search Function Manual for UP/SP-Series Robots Part Number: 147768-1CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
  • Page 2 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp 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.

  • Page 3: Table Of Contents

    Mechanical Safety Devices ................... 2-4 Installation Safety ......................2-5 Programming Safety ..................... 2-5 Operation Safety ......................2-6 Maintenance Safety....................... 2-7 SEARCH FUNCTION Function ......................1-1 Search Wiring........................... 2-1 Instructions........................3-1 Registration of Instructions................... 4-1 Alarm List ........................5-1 Instruction List......................6-1 MOTOMAN Search Function...
  • Page 4 NOTES Search Function MOTOMAN...

  • Page 5: Introduction

    • Motoman UP130/165, XRC 2001 Manipulator Manual (P/N 145967-1) Customer Service Information If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Robot Type (UP6, UP50, etc.) •...
  • Page 6 INTRODUCTION NOTES Search Function MOTOMAN...

  • Page 7: Safety

    We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: •...

  • Page 8: Standard Conventions

    NOTE: Information appearing in a NOTE caption provides additional information which is helpful in understanding the item being explained. Search Function MOTOMAN...

  • Page 9: General Safeguarding Tips

    • Safety fences and barriers • Light curtains • Door interlocks • Safety mats • Floor markings • Warning lights Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately. MOTOMAN Search Function...

  • Page 10: Installation Safety

    Do not make any modifications to PART 1. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! • Some operations require standard passwords and some require special passwords.

  • 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 SEARCH 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 The YASNAC XRC operator’s manuals above correspond to specific usage.
  • Page 14 M A N D A T O R Y • This manual explains the search function of the YASNAC XRC. Read this manual carefully and be sure to understand its contents before handling the YASNAC XRC. • General items related to safety are listed in Section 1: Safety of the Setup Manual.
  • 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: Search Function

    Search Function Wiring 2.1 Direct IN Signal Connection to XRC ....2-1 2.2 Confirmation of Direct IN Signal Status ... . .2-2 2.2.1 RIN Input Status Display .
  • Page 20 viii...

  • Page 21: Search Function

    1 Search Function The search function moves the manipulator to a specified position and stops it when a speci- fied direct input signal comes ON. Position data at the point the manipulator stops can be taken-in. This information can be used with other instructions, for instance, to obtain the distance from a goal position and modify operation accordingly.
  • Page 22 3. On the base of the calculated difference, the program is modified to proceed the oper- ation.

  • Page 23: Wiring

    2.1 Direct IN Signal Connection to XRC 2 Wiring The output signal of the sensor is connected to the direct-input signal input port of XRC. The signal input from this port is called a direct IN signal. The output signal of the sensor can be connected via a sequencer to the direct-input signal input port.

  • Page 24: Confirmation Of Direct In Signal Status

    2.2 Confirmation of Direct IN Signal Status YASNAC XRC JZRCR-XCO02B (JARCR-XCU01B) +24V +24VU CN44 EXDIN1+ DIN1 EXDIN1- EXDIN2+ Direct IN DIN2 EXDIN2- EXDIN3+ DIN3 EXDIN3- EXDIN4+ DIN4 EXDIN4- Note: EXDIN4 is for future use. 024VU Fig 2 Direct IN Signals Connection Diagram Confirmation of Direct IN Signal Status Check the status of direct-input signal on the RIN input status display.

  • Page 25: Instructions

    3.1 SRCH (Search Instruction) 3 Instructions SRCH (Search Instruction) The SRCH is an instruction to execute the search function. It is set as an additional item to the move instruction. Format : MOVL <position type variable> <V = Speed> SRCH RIN# (direct IN No. ) = <status><T = time>...

  • Page 26: System Variables

    3.3 CNVRT (Position Type Variable Conversion Instruction) 3.2.1 System Variables The GETS is the only instruction that refers to system variables written by the controller sys- tem. System Variable Type Explanation $B002 : Specifies detected/not detected of $B type B type the SRCH instruction 0 : Not detected 1 : Detected $PX000 : Current pulse...

  • Page 27: Px Variables

    3.3 CNVRT (Position Type Variable Conversion Instruction) 3.3.1 PX Variables The PX variables are a group of position type variables that are defined by the control group specified in the job header. • When the control group is R1, PX000 indicates P000. •...
  • Page 28 3.3 CNVRT (Position Type Variable Conversion Instruction)

  • Page 29: Registration Of Instructions

    4.1 SRCH Instruction 4 Registration of Instructions SRCH Instruction Operation Move the cursor to the instruction area Move the cursor to the move instruction where SRCH instruction is to be registered Press [SELECT] two times Select {UNTIL} Select {SRCH} Set each item on the detail edit display of SRCH instruction Press [ENTER] Press [ENTER] two times Explanation...

  • Page 30: Gets Instruction

    4.2 GETS Instruction GETS Instruction Operation Move the cursor to the address area Move the cursor to the line where GETS instruc- tion is to be registered Press [INFORM LIST] Select {GETS} Press [ENTER] two times Set variables in the detail edit display of GETS instruction Press [ENTER] two times Explanation The instruction list dialog is displayed.

  • Page 31: Cnvrt Instruction

    4.3 CNVRT Instruction CNVRT Instruction Operation Move the cursor to the address area Move the cursor to the line where CNVRT instruc- tion is to be registered Press [INFORM LIST] Select {CNVRT} Press [ENTER] two times Set variables on the detail edit display of CNVRT instruction Press [ENTER] two times Explanation The instruction list dialog is displayed.
  • Page 32 4.3 CNVRT Instruction...

  • Page 33: Alarm List

    5 Alarm List Alarm Message Cause Remedy WRONG CON- A jump call was made to a job Call job to the control TROL GROUP which is different from the control group which includes 4474 AXIS group. the control group to be called.

  • Page 35: Instruction List

    6 Instruction List < > shows number or character data. When there are more than one item in the additional item, choose one. Function Executes a search function. Addi- RIN#(<direct IN No.>) = <status> Direct IN No. : tional 1 to 3 item Status : ON, OFF, B <vari-...
  • Page 36 Function Converts a pulse data position type data of Data 2 into a Carte- sian data position type variable using a specified coordinate system, then saves in Data 1. Format : CNVRT <Data 1><Data 2> coordinate system Addi- Data 1 PX <variable No.>...
  • Page 38 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. 7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076, P.R. China Phone 86-10-6788-0551...

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