YASKAWA DX100 Instructions Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. MOTOMAN DX100
  6. Instructions manual

YASKAWA DX100 Instructions Manual

Control of up to eight robots
Hide thumbs Also See for DX100:
Table of Contents

Advertisement

Quick Links

See also: Instruction Manual
DX100 OPTIONS
INSTRUCTIONS
FOR SERVOFLOAT FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-
INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator's manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA ELECTRIC CORPORATION
Part Number: 156437-1CD
Revision: 2
MANUAL NO.
HW0482946
2
1/30

Advertisement

Table of Contents
loading

Related Manuals for YASKAWA DX100

Summary of Contents for YASKAWA DX100

  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. Part Number: 156437-1CD Revision: 2 YASKAWA ELECTRIC CORPORATION MANUAL NO. HW0482946...
  • 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 HW00482946 DX100 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”. Indicates a potentially hazardous WARNING...
  • Page 4 Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: – Turning on the power for the DX100. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • 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 DX100 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 HW0482946 DX100 Descriptions of the programming pendant keys, buttons, and dis- plays 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 7: Table Of Contents

    HW0482946 DX100 Contents 1 Servofloat Function ......................... 1-1 1.1 Link Servofloat Function ....................1-1 1.2 Linear Servofloat Function ....................1-2 1.3 Using the Link Servofloat Function and the Linear Servofloat Function ......1-2 2 The Servofloat Function ........................2-1 2.1 Moving with the Move Instruction..................2-2 2.2 Moving with the TIMER and WAIT Instructions ..............

  • Page 8: Servofloat Function

    DX100 Link Servofloat Function Servofloat Function The servofloat function of the DX100 consists of the link servofloat function and the linear servofloat function. The link servofloat function controls the torque independently for each axis; and the linear servofloat function controls the torque on the Cartesian coordinates. Select these two functions by setting the servofloat instructions accordingly.

  • Page 9: Linear Servofloat Function

    • For the tool load information, refer to Section “9.11.3 Tool Load Information Setting” in the DX100 INSTRUCTIONS (manual number: RE-CTO-A215) to correctly set the tool load information.

  • Page 10: The Servofloat Function

    HW0482946 The Servofloat Function DX100 The Servofloat Function Enable the servofloat function with the servofloat function start instruction FLOATON. It remains enabled until one of the following conditions is established. • Performing the a servofloat function end instruction FLOATOF • Performing the FWD/BWD key operation, jogging, or a job startup after the cursor is moved •...

  • Page 11: Moving With The Move Instruction

    HW0482946 The Servofloat Function DX100 Moving with the Move Instruction Moving with the Move Instruction If an external force prevents manipulator operation, the manipulator does not reach the taught position when the servofloat function is enabled. Even though the manipulator does not actually reach the taught position, the instruction that would be activated at that position are nonetheless enabled, so the move instruction terminated.

  • Page 12: Moving With The Timer And Wait Instructions

    HW0482946 The Servofloat Function DX100 Moving with the TIMER and WAIT Instructions Moving with the TIMER and WAIT Instructions When the servofloat function is enabled, torque control can be performed even during the TIMER and WAIT instructions. These instructions end when time is up or when a condition described in page 2-1 is established.

  • Page 13: Turning Servo On Again During Servofloat Operation

    HW0482946 The Servofloat Function DX100 Turning Servo ON Again During Servofloat Operation Turning Servo ON Again During Servofloat Operation When the servo power has been turned OFF due to an emergency stop during servofloat operation and turns ON again, press the [SERVO ON READY] on the playback panel until this servo recognizes that the power supply is turned ON.

  • Page 14: Servofloat Condition Files

    HW0482946 Servofloat Condition Files DX100 Link Servofloat Condition File Servofloat Condition Files CAUTION • If the values for the maximum force and maximum torque are set too low, gravity may cause an arm to drop. The arm drop may cause an accident or damage to the devices.

  • Page 15: Link Servofloat Condition Setting

    HW0482946 Servofloat Condition Files DX100 Link Servofloat Condition File 3.1.2 Link Servofloat Condition Setting A. FUNC Enables/Disables the linear servofloat function for each axis. “ ” indicates that the function is enabled; “ ” indicates that the function is disabled.

  • Page 16: Linear Servofloat Condition File

    HW0482946 Servofloat Condition Files DX100 Linear Servofloat Condition File Linear Servofloat Condition File 3.2.1 Procedures 1. Select {ROBOT} from the main menu. 2. Select {LNR. SERVOFLOAT} – The linear servofloat window appears. 3. Select an item to be set, and set the value.

  • Page 17: Linear Servofloat Condition Setting

    HW0482946 Servofloat Condition Files DX100 Linear Servofloat Condition File 3.2.2 Linear Servofloat Condition Setting A. COORDINATE Sets a coordinate system for the linear servofloat function. Select the ROBOT coordinates, BASE coordinates, USER coordinates or TOOL coordinates. The selection dialog box appears by pressing [SELECT]. Select a coordinate system to be set.
  • Page 18 HW0482946 Servofloat Condition Files DX100 Linear Servofloat Condition File D. (+) MAX. TORQUE / (-) MAX. TORQUE Limits the amount of torque generated for keeping control of the position of R-, B-, and T-axes. Set the value for each axis using the ratios (%) of the positive and negative sides of the motor to the motor rated torque.

  • Page 19: Instructions For The Servofloat Function

    HW0482946 Instructions for the Servofloat Function DX100 FLOATON Instruction Instructions for the Servofloat Function FLOATON Instruction FLOATON is an instruction to enable and start the link servofloat function or the linear servofloat function. Additional items for the FLOATON instruction are as follows:...

  • Page 20: Registration Of Instruction

    HW0482946 Registration of Instruction DX100 FLOATON Instruction Registration of Instruction When in the job content display in teach mode, register an instruction with the cursor in the address area. 1. Select {JOB} from the main menu. 2. Select {JOB CONTENT} –...
  • Page 21 HW0482946 Registration of Instruction DX100 FLOATON Instruction 4. Change any additional items and numerical values. – < To register without change> To register the instruction displayed in the input buffer line without any changes, go to step 5. – < To edit the additional items>...

  • Page 22: Floatof Instruction

    HW0482946 Registration of Instruction DX100 FLOATOF Instruction FLOATOF Instruction 1. Move the cursor to the line where “FLOATOF” is to be registered. Press [INFORM LIST] – The instruction dialog box appears. 3. Select “FLOATOF” – The “FLOATOF” instruction appears in the input buffer line.

  • Page 23: Addition Of Spdl Tag To A Move Instruction

    HW0482946 Registration of Instruction DX100 Addition of SPDL Tag to a Move Instruction Addition of SPDL Tag to a Move Instruction When in the job content display in teach mode, add an SPDL tag to a move instruction, with the cursor in the instruction area.

  • Page 24: Application Example Of The Servofloat Function

    HW0482946 Application Example of the Servofloat Function DX100 Movement Example Application Example of the Servofloat Function When removing a workpiece from a die-casting machine, a large external force is applied to the manipulator during extraction after grasping it. In such a case, the following example is applicable using the servofloat function.
  • Page 25 HW0482946 Application Example of the Servofloat Function DX100 Movement Example 4. After having grasped a workpiece, the “start extraction instruction” signal is output, and the manipulator performs an extracting motion. 5. The “start extraction instruction” signal starts the extraction operation of the die-casting machine.
  • Page 26 HW0482946 Application Example of the Servofloat Function DX100 Movement Example 7. The manipulator returns to its normal motion and performs an extraction motion with the workpiece. 8. Then, it returns to the home position. HW0482946 26/30...

  • Page 27: Job Example

    HW0482946 Application Example of the Servofloat Function DX100 Job Example Job Example Explanation Instruction Moves to the waiting point. MOVJ VJ=50.0 Moves to the workpiece grasping point. MOVL V=300.0 Stops and waits for 0.5 seconds. TIMER T=0.50 Starts the linear servofloat function.

  • Page 28: A Setting Example In The Linear Servofloat Condition File

    HW0482946 Application Example of the Servofloat Function DX100 A Setting Example in the Linear Servofloat Condition File A Setting Example in the Linear Servofloat Condition File For the example described in chapter 6.1 “Movement Example” at page 6-1 “. In the example, the extracting direction corresponds to that of the Y-axis of the robot coordinates.

  • Page 29: A Setting Example For The Link Servofloat Condition File

    HW0482946 Application Example of the Servofloat Function DX100 A Setting Example for the Link Servofloat Condition File A Setting Example for the Link Servofloat Condition File For the example described in chapter 6.1 “Movement Example” at page 6-1, specify the link servofloat condition file by specifying LF# as the FLOATON instruction file.
  • Page 30 FOR SERVOFLOAT FUNCTION HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan Phone +81-93-645-7745 Fax +81-93-645-7746 YASKAWA America Inc. MOTOMAN Robotics Division 805 Liberty Lane, West Carrollton, OH 45449, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Nordic AB Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden...

Table of Contents