YASKAWA motoman dx100 Instruction Manual
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MOTOADMIN
DX100, NX100, AND XRC MANUAL
Upon receipt of the product and prior to installation, initial operation, or maintenance read these
instructions thoroughly and retain for future reference.
MOTOMAN INSTRUCTIONS
DX100, NX100, or XRC INSTRUCTIONS
DX100, NX100, or XRC OPERATOR'S MANUAL
DX100, NX100, or XRC MAINTENANCE MANUAL
The DX100, NX100, or XRC operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
150880-1CD
Revision:
1
MANUAL NO.
150880-1CD
1/55
1
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Table of Contents
Related Manuals for YASKAWA motoman dx100
Summary of Contents for YASKAWA motoman dx100
- Page 1 MOTOADMIN DX100, NX100, AND XRC MANUAL Upon receipt of the product and prior to installation, initial operation, or maintenance read these instructions thoroughly and retain for future reference. MOTOMAN INSTRUCTIONS DX100, NX100, or XRC INSTRUCTIONS DX100, NX100, or XRC OPERATOR’S MANUAL DX100, NX100, or XRC MAINTENANCE MANUAL The DX100, NX100, or XRC operator’s manual above corresponds to specific usage.
- Page 2 If such a modification is made, the manual number will also be revised. • If 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 150880-1CD MotoAdmin Program Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MotoAdmin Program. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” Indicates a potentially hazardous WARNING situation which, if not avoided, could result in death or serious injury to...
- Page 4 150880-1CD MotoAdmin Program WARNING • Before operating the MotoAdmin Program, check that servo power is turned OFF by pressing the EMERGENCY STOP button on the operator station or Programming Pendant (refer to Figure 1). When servo power is turned OFF, the SERVO ON LED on the Programming Pendant is turned OFF.
- Page 5 DX100, NX100, or XRC Controller Manual before operating the MotoAdmin Program. Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the DX100, NX100, or XRC controller, manipulator cables, the DX100, NX100, or XRC programming pendant (optional), and the DX100, NX100, or XRC programming pendant dummy connector (optional).
- Page 6 150880-1CD MotoAdmin Program Descriptions of the programming pendant keys, buttons, displays and keyboard of the PC are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on Pendant them are denoted with [ ]. e.g.
- Page 7 100 Concurrent I/O Interface Manual (P/N 155491-1CD) • NX100 Required Operations Manual • NX100 Maintenance Manual (P/N 150133-1CD) • NX100 Controller Manual (P/N 149201-1CD • NX100 Concurrent I/O Interface Manual (P/N149230-1CD) • Vendor manuals for system components not manufactured by Yaskawa Motoman 150880-1CD 7/55...
- Page 8 Yaskawa Motoman Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact Yaskawa Motoman Customer Support at the following e-mail address: techsupport@motoman.com When using e-mail to contact Yaskawa Motoman Customer Support, please provide a detailed description of your issue, along with complete contact information.
- Page 9 150880-1CD MotoAdmin Program Safety 2.1 Introduction Safety Introduction It is the purchaser's responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws NOTE 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 10 150880-1CD MotoAdmin Program Safety 2.2 General Safeguarding Tips 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.
- Page 11 150880-1CD MotoAdmin Program Safety 2.4 Installation Safety Installation Safety Safe installation is essential for protection of people and equipment. The 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 12 150880-1CD MotoAdmin Program Safety 2.6 Operation 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. •...
- Page 13 150880-1CD MotoAdmin Program Safety 2.7 Maintenance 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.
- Page 14 MotoAdmin 14/55...
- Page 15 "Software" shall also include any upgrades, modified versions, updates, additions, and copies of the Software licensed to you by YASKAWA Europe GmbH. This copy of the Software is licensed to you as the end user or to your employer or another third party authorized to permit your use of the Software.
- Page 16 Nothing contained in this Agreement shall prejudice the statutory rights of any party dealing as a consumer. Nothing contained in this Agreement limits YASKAWA Europe GmbH's li- ability to you in the event of death or personal injury resulting from YASKAWA Europe GmbH's negligence.
- Page 17 Telphone: +49 (0)8166-90-0 Telefax: +49 (0)8166-90-103 e-mail: software-technology@yaskawa.eu.com MOTOMAN is a trademark of Yaskawa Electric Corporation. Windows is a registered trade- mark of Microsoft Corporation. YOUR ACCEPTANCE OR DECLINE OF THE FOREGOING AGREEMENT WAS INDI- CATED BY CLICKING ON THE APPROPRIATE BOX DURING INSTALLATION.
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Page 18: Table Of Contents
Tools menu 3.4.1 Check connection... 3.4.2 Select language 3.4.3 Register licenses... Mode menu Menü Hilfe WORKING WITH MOTOADMIN Starting MotoAdmin Multiple Instances of MotoAdmin Establish a connection Close a connection Exit application Display working directory Yaskawa Europe GmbH 22.08.2011 18/55... - Page 19 Access variables 4.16 Watch I/O Signals 4.17 Saving, Loading and Deleting files 4.17.1 Jobs 4.17.2 System data 4.17.3 One-Button Backup 4.17.4 Deleting data 4.18 System Information 4.19 Read Alarm History KNOWN LIMITATIONS Linenumber display shows “?” 22.08.2011 Yaskawa Europe GmbH 19/55...
- Page 20 Alarm History .......................39 IST OF TABLES Table 1 Basic settings NX100/DX100 ................12 Table 2 Ethernet/http function ...................13 Table 3 CommandRemote mode settings NX100/DX100 ..........13 Table 4 Basic settings XRC....................14 Table 5 Context menu job window..................27 Yaskawa Europe GmbH 22.08.2011 20/55...
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Page 21: Introduction
File access, loading, saving and deleting of job files is possible. System data handling is limited. ► Backup profiles for One-Button-Backups can be used. ► Displaying and editing of global variables. ► Displaying of I/O signals (changing output signals is possible with modified ladder pro- gram). 22.08.2011 Yaskawa Europe GmbH 21/55... - Page 22 Therefore it is important that only well-trained staff members are consulted to work ith MotoAdmin. MotoAdmin base package is limited to 4 robot controllers. If more robot controllers should be anaged by MotoAdmin additional licences must be purchased. Yaskawa Europe GmbH 22.08.2011 22/55...
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Page 23: Installation And Basic Configuration
(optional USB port) of your computer. Please confirm selected interface is a parallel interface and not a 25pin serial one. 2.4 Uninstallation of MotoAdmin To unin stall MotoAdmin software open windows control panel and select Add/Remove pro- rams. 22.08.2011 Yaskawa Europe GmbH 23/55... -
Page 24: Connection Types
„YASNAC XRC Ethernet I/F Board Instructions”. NX100 and DX100 controllers are always equipped with an Ethernet port. Also PC system needs to have an Ethernet interface. Connection between PC and controller is established by using standard Ethernet hardware. Yaskawa Europe GmbH 22.08.2011 24/55... -
Page 25: Configuration Of Robot Controller
If software version of robot controller supports Ethernet/http this protocol can be used instead of Ethernet/Bsc. To activate Ethernet/Http some additional configuration must be done. Parameter Description Possible values RS232C Ethernet FD077 Ethernet/Http 0:disable Function 1:enable 22.08.2011 Yaskawa Europe GmbH 25/55... -
Page 26: Table 2 Ethernet/Http Function
► Login to Extended Mode. (For TCP/IP configuration ExtendedMode is suitable. For activating Ethernet function manufacturer mode („Yaskawa Modus“) is necessary. This mode can only be accessed by Motoman service staff members.) Execute System=>Security=>Select mode and Insert ID. ►... -
Page 27: Xrc
XRC robot controller support Ethernet configuration in maintenance mode with special user interface. This dialog is accessible by executing the following steps: ► Start maintenance mode. Maintenance mode is executed, if the TopMenu key is pressed during power on of con- troller. 22.08.2011 Yaskawa Europe GmbH 27/55... - Page 28 ► Login to Extended Mode. (For TCP/IP configuration ExtendedMode is suitable. For activating Ethernet function manufacturer mode („Yaskawa Modus“) is necessary. This mode can only be accessed by Motoman service staff members.) Execute Area key=> Security=>Select mode and Insert ID.
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Page 29: Management Functions In Main Menu
In case of serial communication the parameters of serial interface must be specified. This can be done by selecting Setup... button. These settings must correspond with the settings on robot controller side. Refer to Figure 3 for the default (factory) settings of Yasnac controllers serial port. 22.08.2011 Yaskawa Europe GmbH 29/55... -
Page 30: View Menu
Only one connection per time is possible in MotoAdmin. The name of the last selected profile is automatically stored in MotoAdmin. Figure 4 Selection of robot profile 3.3 View menu Use View menu to enable/disable Toolbar or Statusbar. Yaskawa Europe GmbH 22.08.2011 30/55... -
Page 31: Tools Menu
If more robots are neccessary additional licenses are available. The dialog is neccessary to update license information. Fill in the serial number of your prod- uct and a check number, which you will get after purchasing the license fee. 22.08.2011 Yaskawa Europe GmbH 31/55... -
Page 32: Mode Menu
If the entered password is valid for the selected security level the level will be changed. You can see the current security level in the title bar of the main window. Es existieren in MotoAdmin 3 Sicherheitsmodi: ► Operator Mode: Yaskawa Europe GmbH 22.08.2011 32/55... -
Page 33: Figure 10 Change Password
Do not move the robot if you cannot see the robot manipulator. Motoman robotec GmbH is not responsible for damages caused by using MotoAdmin. Info: The initial passwords of administrator and programmer level are set to motoadmin. 22.08.2011 Yaskawa Europe GmbH 33/55... -
Page 34: Menü Hilfe
Management functions in main menu 3.6 Menü Hilfe The help menu should be accessed if there are problems or questions concerning the functions of MotoAdmin. Yaskawa Europe GmbH 22.08.2011 34/55... -
Page 35: Working With Motoadmin
Select one robot profile out of the list of already defined robot profiles and push correspond- ing toolbar button. Figure 11 Establish connection In the status bar a message Connected is displayed. 4.4 Close a connection An active connection can be closed with the Disconnect button.. 22.08.2011 Yaskawa Europe GmbH 35/55... -
Page 36: Exit Application
In the working directory all data of the robot is stored. To display contents of working direc- tory in a windows explorer window, push the corresponding button. The working directory can be changed in the robot profile configuration dialog (Figure 2). Figure 13 Working directory Yaskawa Europe GmbH 22.08.2011 36/55... -
Page 37: Refresh Status
A special wiring is required for starting servo power from remote. XRC: At XRC controller connect:pin 5 - EXVON1+ and pin 6 - EXVON1 as well as pin 7 - EX- VON2+ and pin 8 – EXVON2 on XC001 board, connector CN05. 22.08.2011 Yaskawa Europe GmbH 37/55... -
Page 38: Change Operation Mode
Different button colors show the current status of job execution. 4.12 Display Jobs After connecting to MotoAdmin the current job of the main task is displayed. The job window is called by selecting Job button. Yaskawa Europe GmbH 22.08.2011 38/55... -
Page 39: Figure 15 Job Window
The job status line shows the active job of the selected task in addition to current line and Step number. Job window context menu Context menu of job window is displayed by pushing right mouse button. Some of the follow- ing commands are available, dependent on the current selected job line. Befehle Aktion 22.08.2011 Yaskawa Europe GmbH 39/55... -
Page 40: Edit Jobs
In the Edit window job content and also job header can edited without limitations. To store modificated job on robot controller select Save button.. Figure 17 Job Editor window for ascii based editing of jobs Yaskawa Europe GmbH 22.08.2011 40/55... -
Page 41: Job Liste Laden
To display a list of jobs stored in the robot controller click on the Job List button.. Figure 18 Display Job list Context menu of job list Context menu of job list can be used to select a job for execution or to display job content. 22.08.2011 Yaskawa Europe GmbH 41/55... -
Page 42: Access Variables
You can now enter the new value. To stop editing and transmit the new value to the controller press Enter. I f you want to cancel editing without ansmitting the entered value to the robot press Escape. Yaskawa Europe GmbH 22.08.2011 42/55... -
Page 43: Figure 20 Edit Variables
Initialization of position variables Position variables can be initialized by clicking on the type of the variable (****, Pulse, Ro- bot, Base etc.). If a position variable is reinitialized the old values get lost. The following message appears: 22.08.2011 Yaskawa Europe GmbH 43/55... -
Page 44: Figure 22 Confirm Initialization
In the next step the type of position variable has to be selected. Figure 23 Select type of position variable The display is static. To update the variable values you have to click on the Refresh button. Press Close to return to main window. Yaskawa Europe GmbH 22.08.2011 44/55... -
Page 45: Watch I/O Signals
24 I/O Signals The display of the I/O signals is static. To update the displayed values you have to click on the Refresh button. Select Close to return to the main window of the application. 22.08.2011 Yaskawa Europe GmbH 45/55... -
Page 46: Saving, Loading And Deleting Files
Transmit data from PC to Robot. ► Delete: Delete data on PC or Robot (only jobs). Loading data is only accessible in programmer or administrator mode. In the second step you have to select the data type. Yaskawa Europe GmbH 22.08.2011 46/55... -
Page 47: Jobs
(load) are displayed. Figure 27 Job selection for saving jobs You can select the desired jobs by clicking on the job name in the list. Hold the Shift or Ctrl key to select multiple jobs. 22.08.2011 Yaskawa Europe GmbH 47/55... -
Page 48: System Data
Robot controller (software, installed options) there might be files which cannot be loaded or saved. Figure 28 Saving of system data A window is displayed where you can see if operation was successful or not. Figure 29 Message window Yaskawa Europe GmbH 22.08.2011 48/55... -
Page 49: One-Button Backup
*.bkp file extension.. The saved data is stored in subfolders of the working direc- tory. The folder names contain a time and data information in addition to the backup defini- tion file name. Figure 31 Naming of One-Button-Backup folders 22.08.2011 Yaskawa Europe GmbH 49/55... -
Page 50: Deleting Data
Deleting data If the Floppy menu item Delete is selected, you can choose whether to delete a file on Robot or on PC: Figure 32 Deleting data Only jobs can be deleted on Robot side. Yaskawa Europe GmbH 22.08.2011 50/55... -
Page 51: System Information
The System Information dialog is displayed after slecting Info button. This dialog contains basic information of selected robot controller. ► Software version, ► Robot type, ► Base axis and external axis, ► Current pulse and cartesian position, ► Installed functions. Figure 33 System Information 22.08.2011 Yaskawa Europe GmbH 51/55... -
Page 52: Read Alarm History
Working with MotoAdmin 4.19 Read Alarm History Alarm History can be accessed by selecting AlarmHistory button. The Alarm History is sorted by date/time so that newest item are listed on top. Figure 34 Alarm History Yaskawa Europe GmbH 22.08.2011 52/55... -
Page 53: Known Limitations
To enable linenumber display a specific entry has to be added to the corresponding configura- tion section in file robot.ini: [Boot] Name=default [Robot0] Name=default IPaddr=HTTP.192.168.11.230 Path=\\motoman.local\Data\MMU- Develop\MotoSoft_Standard\MotoAdmin\V2.10_beta\Source Controller=4 ShowLinenumber=true [Robot1] …. … 22.08.2011 Yaskawa Europe GmbH 53/55... - Page 54 Known Limitations Imprint Yaskawa Europe GmbH Kammerfeldstraße 1 85391 Allershausen Germany Phone 00498166900 0049816690103 Yaskawa Europe GmbH 22.08.2011 54/55...
- Page 55 MOTOADMIN DX100, NX100, AND XRC MANUAL Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. 150880-1CD 55/55...