YASKAWA DX200 Instructions Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. Motoman DX200
  6. Instructions manual

YASKAWA DX200 Instructions Manual

Hide thumbs Also See for DX200:
Table of Contents

Advertisement

Quick Links

See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
FOR SENSOR 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:
165472-1CD
Revision:
0
MANUAL NO.
HW1482281
1/53
0

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the DX200 and is the answer not in the manual?

Questions and answers

Related Manuals for YASKAWA DX200

Summary of Contents for YASKAWA DX200

  • 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: 165472-1CD Revision: MANUAL NO. HW1482281 1/53...
  • 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 165472-1CD Sensor Function 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 a potentially hazardous...
  • 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 DX200. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • Page 5 Read and understand the Explanation of Warning Labels in the DX200 Instructions before operating the manipulator: Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.
  • Page 6 165472-1CD Sensor Function Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters or its Pendant /Symbol Keys symbol printed on them are denoted with [ ]. ex.

  • Page 7: Table Of Contents

    165472-1CD Sensor Function Table of Contents Table of Contents 1 Sensor Function..........................1-1 1.1 Real-time Path Correction Function................... 1-1 1.2 Real-time Speed Correction Function................1-1 1.3 Shift Amount Creation Function..................1-1 1.4 Search Function......................... 1-2 2 Wiring.............................. 2-1 2.1 Analog Input Signal Connection ..................2-1 2.2 Direct-in Signal Connection ....................
  • Page 8 165472-1CD Sensor Function Table of Contents 5 Shift Amount Creation Function ...................... 5-1 5.1 Shift Amount ........................5-1 5.2 Coordinate System and Sensor Input Channel for Shift Amount Creation ......5-1 5.3 GETSFT Instruction ......................5-2 5.3.1 Registration of the GETSFT Instruction..............5-3 6 Search Function ..........................

  • Page 9: Sensor Function

    The analog input signals from a sensor are connected to the DX200, and various controls are performed according to the input voltage. The signals from a sensor directly connect to the DX200, and therefore an external sequencer is not required.

  • Page 10: Search Function

    165472-1CD Sensor Function Sensor Function 1.4 Search Function Search Function The search function moves a manipulator according to the input signal from a sensor, and stops the manipulator when the input signal reaches a designated level. The sensor monitors the manipulator operation, and stops the manipulator at the moment of completing the operation.
  • Page 11 165472-1CD Sensor Function Sensor Function 1.4 Search Function 3. According to the calculated difference, the program is modified to proceed the operation. HW1482281 11/53...

  • Page 12: Wiring

    For the connection specification, see Fig. 2-1 Analog Input Signal Connection Diagram on page 2-2 to be described. 2. Turn OFF the main power supply by turning the DX200 to the OFF position. 3. Connect the sensor with an analog input cable to the analog input terminal: CN120 on the option base board: JANCD-YCP02.
  • Page 13 165472-1CD Sensor Function Wiring 2.1 Analog Input Signal Connection Fig. 2-1: Analog Input Signal Connection Diagram JANCD-YCP02 Sensor 1 CN120 Analog voltage output AIN 0 Analog output GND Sensor 2 AIN 1 Analog voltage output Analog output GND Sensor 3 AIN 2 Analog voltage output Analog output GND...

  • Page 14: Direct-In Signal Connection

    When the search function is not used, this wiring is not necessary. Wire according to the instructions described in the section " ■ Direct-in (Servo)1 to 6 of 14.6.14 Connection for Direct-in" in the DX200 INSTRUCTIONS (Part No. 165292-1CD). Then, set the channel No. to which the direct-in signal and the general output signal of the YCP02 board are connected, to the parameters as follows.
  • Page 15 165472-1CD Sensor Function Wiring 2.2 Direct-in Signal Connection Fig. 2-2: Direct IN Signal DIN1 Connection Optional base circuit board (JANCD-YCP02) CN120 21 POUT1 46 POUTCM1 20 POUT2 45 POUTCM2 19 POUT3 44 POUTCM3 18 POUT4 43 POUTCM4 Machine safety terminal Machine safety I/O Major Axes Control block circuit board...

  • Page 16: Real-Time Path Correction Function

    165472-1CD Sensor Function Real-time Path Correction Function Real-time Path Correction Function The real-time path correction function corrects the motion path of the manipulator according to the input signal from a sensor. To start path correction, execute a real-time path correction start instruction (ACORON).

  • Page 17: Correction Amount

    165472-1CD Sensor Function Real-time Path Correction Function 3.1 Correction Amount Correction Amount For the deviation of the analog input, the correction amount is calculated in the following formula. > V thresh offset nosens = R  ( V - ( V thresh offset nosens...

  • Page 18: Correction Direction

    165472-1CD Sensor Function Real-time Path Correction Function 3.2 Correction Direction Correction Direction The direction in which the path is to be corrected can be determined in the following three ways. • Tool coordinate • Forward direction • Optional direction The correction from the sensor is executed on the coordinates specified by ACORON and SACORON instructions (real-time path correction start instructions).

  • Page 19: Forward Direction

    165472-1CD Sensor Function Real-time Path Correction Function 3.2 Correction Direction 3.2.2 Forward Direction The correction is executed toward the forward direction of move instruction in execution. Correction Direction Sensor Input Channel (specify at registration of instruction) Forward direction Forward direction (CH1) STEP N STEP N+1...

  • Page 20: Monitoring Of Sensor Input Voltage

    165472-1CD Sensor Function Real-time Path Correction Function 3.3 Monitoring of Sensor Input Voltage Monitoring of Sensor Input Voltage To prevent the manipulator from deviating excessively from its path, the analog signals are monitored during the path correction. When the path correction starts, the signals are monitored according to a specified sensor monitor condition file.
  • Page 21 165472-1CD Sensor Function Real-time Path Correction Function 3.3 Monitoring of Sensor Input Voltage MOTION COND (0 to 2) Specifies the motion condition when an error is detected. 0: Generates an alarm to stop the manipulator. Error detected Manipulator motion path STEP N STEP N+1 Taught path...

  • Page 22: Display Of Sensor Monitor Condition File

    165472-1CD Sensor Function Real-time Path Correction Function 3.3 Monitoring of Sensor Input Voltage 3.3.2 Display of Sensor Monitor Condition File 1. Select {ROBOT} under the main menu. 2. Select [SENS MON COND]. 3.3.3 Editing of Sensor Monitor Condition File 1. Select an item to be changed. 2.

  • Page 23: Instructions For The Real-Time Path Correction Function

    165472-1CD Sensor Function Real-time Path Correction Function 3.4 Instructions for the Real-time Path Correction Function Instructions for the Real-time Path Correction Function 3.4.1 ACORON and SACORON Instructions The ACORON and the SACORON are instructions to start the real-time path correction. Use the SACORON in a coordinated job. <Format>...

  • Page 24: Registration Of The Acoron Instruction

    165472-1CD Sensor Function Real-time Path Correction Function 3.4 Instructions for the Real-time Path Correction Function 3.4.1.1 Registration of the ACORON Instruction 1. Move the cursor to the address area. 2. Press [INFORM LIST]. – The instruction list dialog box appears. 3.
  • Page 25 165472-1CD Sensor Function Real-time Path Correction Function 3.4 Instructions for the Real-time Path Correction Function 6. Set the conditions in the DETAIL EDIT display. – Set the correction conditions. • Editing in “CORRECT COORD” Move the cursor to the “CORRECT COORD”, and press [SELECT]. The following selection dialog box appears.

  • Page 26: Acorof And Sacorof Instructions

    165472-1CD Sensor Function Real-time Path Correction Function 3.4 Instructions for the Real-time Path Correction Function 3.4.2 ACOROF and SACOROF Instructions The ACOROF and the SACOROF are instructions to end the real-time path correction. Use the SACOROF in a coordinated job. <Format>...

  • Page 27: Acorch And Sacorch Instructions

    165472-1CD Sensor Function Real-time Path Correction Function 3.4 Instructions for the Real-time Path Correction Function 3.4.3 ACORCH and SACORCH Instructions The ACORCH and the SACORCH are instructions to change the real-time path correction conditions. <Format> ACORCH SCF#( ) TCH#( ) Sensor monitor condition file Sets a condition file when the input voltage from the sensor is monitored.

  • Page 28: Registration Of The Acorch Instruction

    165472-1CD Sensor Function Real-time Path Correction Function 3.4 Instructions for the Real-time Path Correction Function 3.4.3.1 Registration of the ACORCH Instruction 1. Move the cursor to the address area. 2. Press [INFORM LIST]. – The instruction list dialog box appears. 3.
  • Page 29 165472-1CD Sensor Function Real-time Path Correction Function 3.4 Instructions for the Real-time Path Correction Function 6. Set the conditions in the DETAIL EDIT display. – Set a condition to be changed. • Selecting a condition to be changed Move the cursor to either the “THRESHOLD CH” or “THRESHOLD VOLT”.

  • Page 30: Real-Time Speed Correction Function

    165472-1CD Sensor Function Real-time Speed Correction Function Real-time Speed Correction Function During playback of the manipulator, the real-time speed correction function corrects the speed according to the signals from a sensor. To start speed correction, execute a real-time speed correction start instruction (AOVRON).

  • Page 31: Override Ratio

    165472-1CD Sensor Function Real-time Speed Correction Function 4.1 Override Ratio Override Ratio The override ratio is calculated as follows. > V thresh offset nosens = 100 - 100 / R < V < V thresh offset nosens thresh offset nosens = R ...

  • Page 32: Instructions For The Real-Time Speed Correction Function

    165472-1CD Sensor Function Real-time Speed Correction Function 4.2 Instructions for the Real-time Speed Correction Function Instructions for the Real-time Speed Correction Function 4.2.1 AOVRON Instruction The AOVRON is an instruction to start the real-time speed correction. <Format> AOVRON TCH#( ) Threshold channel No.

  • Page 33: Registration Of The Aovron Instruction

    165472-1CD Sensor Function Real-time Speed Correction Function 4.2 Instructions for the Real-time Speed Correction Function 4.2.1.1 Registration of the AOVRON Instruction 1. Move the cursor to the address area. 2. Press [INFORM LIST]. – The instruction list dialog box appears. 3.
  • Page 34 165472-1CD Sensor Function Real-time Speed Correction Function 4.2 Instructions for the Real-time Speed Correction Function 6. Set the conditions in the DETAIL EDIT display. – Editing other items Select an item to be edited, and enter a value using the number keys.

  • Page 35: Aovrof Instruction

    165472-1CD Sensor Function Real-time Speed Correction Function 4.2 Instructions for the Real-time Speed Correction Function 4.2.2 AOVROF Instruction The AOVROF is an instruction to end the real-time speed correction. <Format> AOVROF 4.2.2.1 Registration of the AOVROF Instruction 1. Move the cursor to the address area. 2.

  • Page 36: Shift Amount Creation Function

    165472-1CD Sensor Function Shift Amount Creation Function 5.1 Shift Amount Shift Amount Creation Function The shift amount creation function detects a distance between a manipulator and a workpiece using a displacement sensor to calculate the shift amount on the base coordinate system. <Job Example>...

  • Page 37: Getsft Instruction

    165472-1CD Sensor Function Shift Amount Creation Function 5.3 GETSFT Instruction GETSFT Instruction The GETSFT is an instruction to create the shift amount. <Format> GETSFT TCH#( ) P,LP,..Threshold channel No. Specifies the sensor input channel to be used for the creation of the shift amount.

  • Page 38: Registration Of The Getsft Instruction

    165472-1CD Sensor Function Shift Amount Creation Function 5.3 GETSFT Instruction 5.3.1 Registration of the GETSFT Instruction 1. Move the cursor to the address area. 2. Press [INFORM LIST]. – The instruction list dialog box appears. 3. Select {SENSOR}. – The sensor instruction list dialog box appears. 4.
  • Page 39 165472-1CD Sensor Function Shift Amount Creation Function 5.3 GETSFT Instruction 6. Set the conditions in the DETAIL EDIT display. – Editing other items Select an item to be edited, and enter a value using the number keys. 7. Press [ENTER] two times. HW1482281 39/53...

  • Page 40: Search Function

    165472-1CD Sensor Function Search Function Search Function When the analog signal changes according to the position of manipulator, the search function monitors the analog signal while the manipulator moves in linear interpolation. When the detected value exceeds the set value, the detection result and the detected position are saved and the manipulator is stopped.

  • Page 41: Detection Results

    165472-1CD Sensor Function Search Function 6.1 Detection Results Detection Results After the search operation, the detection results are registered in the system variables. System Variable Contents $B02 Detection 0: Not detected 1: Detected $PX002 Detected position (pulse) $PX003 Detected position (base axis orthogonal value) Search Operation with Multiple Channels Normally in the search operation, one search detection channel is monitored.

  • Page 42: Asrch Instruction

    165472-1CD Sensor Function Search Function 6.3 ASRCH Instruction ASRCH Instruction The ASRCH is an instruction to start the search operation with a move instruction. <Format> ASRCH SCH#( ) RISE DIS= FALL Search detection channel No. Specifies the sensor input channel to be monitored in the search operation.

  • Page 43: Registration Of The Asrch Instruction

    165472-1CD Sensor Function Search Function 6.3 ASRCH Instruction 6.3.1 Registration of the ASRCH Instruction 1. Move the cursor to the instruction area. 2. Move the cursor to a move instruction where a search instruction is to be registered. 3. Press [SELECT] two times. 4.
  • Page 44 165472-1CD Sensor Function Search Function 6.3 ASRCH Instruction 6. Set the conditions in the DETAIL EDIT display. – Editing other items • Editing in “RISE/FALL” Move the cursor to the “RISE/FALL”, and then press [SELECT]. Select either “RISE” or “FALL”. The following dialog box appears.

  • Page 45: Calibration

    165472-1CD Sensor Function Calibration 7.1 SCALIB Instruction Calibration Some sensors have a characteristic that changes the analog output according to an external factor such as temperature change. With this function, the amount that an analog signal changes is set in the offset value for compensation, so each function can be used appropriately.

  • Page 46: Registration Of The Scalib Instruction

    165472-1CD Sensor Function Calibration 7.1 SCALIB Instruction 7.1.1 Registration of the SCALIB Instruction 1. Move the cursor to the address area. 2. Press [INFORM LIST]. – The instruction list dialog box appears. 3. Select {SENSOR}. – The sensor instruction list dialog box appears. 4.

  • Page 47: Entering An Offset Value

    165472-1CD Sensor Function Calibration 7.2 Entering an Offset Value 6. Set the conditions in the DETAIL EDIT display. – Editing other items • Editing in THRESHOLD CH Select “THRESHOLD CH”, and enter a value using the number keys. 7. Press [ENTER] two times. Entering an Offset Value Follow the explanation in the Section 8.2 “Editing in Sensor Output Status Display”...

  • Page 48: Sensor Output Status Display

    165472-1CD Sensor Function Sensor Output Status Display 8.1 Calling Sensor Output Status Display Sensor Output Status Display INPUT (-10.000 to 10.000 V) Displays the input voltage of the sensor input channel. OFFSET (-10.000 to 10.000 V) Displays the offset value of the sensor input channel. DEAD ZONE (0.000 to 10.000 V) Displays the dead zone of the sensor input channel.

  • Page 49: Calibration Of All Sensor Input Channels

    165472-1CD Sensor Function Sensor Output Status Display 8.3 Calibration of All Sensor Input Channels Calibration of All Sensor Input Channels 1. Select {DATA} under the main menu. – The calibration menu appears. 2. Select {ALL CH CALIBRATION}. – All sensor input channels are calibrated, and the offset voltages for all the sensor input channels are set.

  • Page 50: Sensor Parameters (Sxe)

    165472-1CD Sensor Function Sensor Parameters (SxE) Sensor Parameters (SxE) Contents Initial Setting Value Range Application specification Sensor input channel specification 0 : No specification 1: AN0 5: AN4 2: AN1 6: AN5 3: AN2 7: AN6 4: AN3 8: AN7 Resolution For real-time path correction, [0.01 mm/V] For real-time speed correction, [0.1 %/V]...
  • Page 51 165472-1CD Sensor Function Sensor Parameters (SxE) Contents Initial Setting Value Range Resolution for path control under individual resolution mode [0.01 mm/V] Path correction delay compensation, maximum correction speed 1000 [0.1 mm/s] HW1482281 51/53...

  • Page 52: Alarm List

    5030 SYSTEM ERROR An error occurs in the sensor system Needs investigation. (SENSOR) of the sensor function. Contact your Yaskawa [Decimal Data] The decimal data indicates the type of representative. State any error. observations, the alarm No. and data displayed.
  • Page 53 DX200 INSTRUCTIONS FOR SENSOR FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW1482281 53/53...

Table of Contents

Save PDF