YASKAWA DX200 Instructions Manual
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YASKAWA DX200 Instructions Manual

Robot controller
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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
FOR MACRO COMMAND FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions below thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
166242-1CD
Revision:
1
MANUAL NO.
HW148204
1 of 21
1

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  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE MANUAL The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 166242-1CD Revision: 1 of 21 MANUAL NO.
  • Page 2 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.
  • Page 3 166242-1CD Macro Command 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”. Indicates an imminent hazardous...
  • Page 4 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 DX200 and the programming pendant. 4 of 21...
  • Page 5 – 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 manipulator's work area, on the floor, or near fixtures.
  • Page 6 166242-1CD Macro Command 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 brand names for each company or...

  • Page 7: Table Of Contents

    166242-1CD Macro Command Table of Contents Table of Contents 1 Outline ............................1-1 1.1 Features ..........................1-1 2 Preparation of Macro Commands ....................2-1 2.1 Preparing a Macro Job ...................... 2-1 2.2 Teaching a Macro Job ....................... 2-3 2.2.1 GETARG Instruction..................... 2-3 2.2.1.1 Function ....................

  • Page 8: Outline

    With the macro command function, system integrators who apply various MOTOMAN robot systems can freely create INFORM (a robot programming language used in DX200) that corresponds to each system. The macro command function enables an easier robot system with use of the key customize function.

  • Page 9: Preparation Of Macro Commands

    166242-1CD Macro Command Preparation of Macro Commands 2.1 Preparing a Macro Job Preparation of Macro Commands The execution sequence of a macro command is registered as a macro job. The macro command function is enabled only when the NOTE security mode is in the management mode. Preparing a Macro Job Depending on the applications, there are three types of macro jobs as follows:...
  • Page 10 166242-1CD Macro Command Preparation of Macro Commands 2.1 Preparing a Macro Job 5. Point the cursor to “JOB TYPE”, and press [SELECT]. – A selection list appears. – Select “ROBOT MACRO” or “CONCURRENT MACRO”. 6. Select “EXECUTE”. – A macro job is prepared, and the JOB CONTENT window appears. 10 of 21 HW148204...

  • Page 11: Teaching A Macro Job

    For the setting procedure of the local variables, refer to section 3.9.11 “Editing Local Variables” described in the SUPPLE- MENT “DX200 OPERATOR'S MANUAL”. In a macro job, job execution instructions such as JUMP, NOTE CALL, and PSTART cannot be registered.

  • Page 12: Job Example

    166242-1CD Macro Command Preparation of Macro Commands 2.2 Teaching a Macro Job 2.2.1.3 Job Example Robot Job Macro Job: SEALON MOVJ VJ=100.00 GETARG LI000 IARG#(1) Stores the first argument WAIT IN#(1)=ON DOUT OT#(10) ON data "8" in the local variable MOVJ VJ=50.00 MUL LI000 10 LI000.

  • Page 13: Registration Of Macro Commands

    166242-1CD Macro Command Registration of Macro Commands Registration of Macro Commands To register the macro job prepared in section 2.1 “Preparing a Macro Job” on page 2-1 as a macro command, display the MACRO (ROBOT) window or MACRO (CONCURRENT) window following the procedure below. The macro command function is enabled only when the NOTE security mode is in the management mode.

  • Page 14: Setting An Execution Macro Job

    166242-1CD Macro Command Registration of Macro Commands 3.1 Setting an Execution Macro Job Setting an Execution Macro Job The execution macro jobs are macro jobs in which the operations to be carried out by a macro command are programmed. Note that the JOB CONTENT window of a macro command displays the names of the jobs which are specified as execution macro jobs.
  • Page 15 166242-1CD Macro Command Registration of Macro Commands 3.1 Setting an Execution Macro Job 3. Select the desired macro job. – The selected macro job is registered as an execution macro job. Even if the macro job registration is canceled, the argument setting of the macro command still remains.

  • Page 16: Setting The Contents Of Argument Tag Added To The Macro Command

    166242-1CD Macro Command Registration of Macro Commands 3.2 Setting the Contents of Argument Tag Added to the Macro Command Setting the Contents of Argument Tag Added to the Macro Command Set the contents of argument tag to be added to the registered macro command.
  • Page 17 166242-1CD Macro Command Registration of Macro Commands 3.2 Setting the Contents of Argument Tag Added to the Macro Command  COMMENT 1 (Up to 16 characters) Point the cursor to COMMENT 1 and press [SELECT]. A character input window appears. Enter the contents of the argument tag added to the macro command in the “COMMENT 1"...
  • Page 18 166242-1CD Macro Command Registration of Macro Commands 3.2 Setting the Contents of Argument Tag Added to the Macro Command  DISPLAY Select whether to display the expression in the EXPRES'N column. Pressing [SELECT] displays “ON” and “OFF” alternately: “ON” displays the expression;...

  • Page 19: Setting An Interruption Macro Job

    166242-1CD Macro Command Registration of Macro Commands 3.3 Setting an Interruption Macro Job Setting an Interruption Macro Job If a post-processing is required when a macro command is interrupted, add an interruption macro job (SUSPEND JOB) to the program. The interruption macro job is carried out when a macro command that includes an interruption macro job (SUSPEND JOB) is interrupted by being putting on a status such as hold, emergency stop, or mode switching.
  • Page 20 166242-1CD Macro Command Registration of Macro Commands 3.3 Setting an Interruption Macro Job 3. Select the desired macro job. – The selected macro job is registered as the interruption macro job. If the following infinite loop is programmed in the interrup- NOTE tion macro job, the start lamp stays lit but no operation is carried out.
  • Page 21 FOR MACRO COMMAND FUNCTION HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

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