YASKAWA FS100 Instructions Manual

YASKAWA FS100 Instructions Manual

For conveyor coordinated function
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FS100 OPTIONS
INSTRUCTIONS
FOR CONVEYOR COORDINATED FUNCTION
• Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
• This instruction is applicable to both FS100 and FS100L controllers.
MOTOMAN INSTRUCTIONS
(FOR SMALL -SIZED MANIPULATORS)
MOTOMAN- INSTRUCTIONS
FS100 INSTRUCTIONS
FS100 OPERATOR'S MANUAL
FS100 MAINTENANCE MANUAL
The FS100 OPERATOR'S MANUAL above is applicable to both FS100 and FS100L controllers.
(FOR LARGE AND MEDIUM-SIZED MANIPULATORS)
MOTOMAN- INSTRUCTIONS
FS100L INSTRUCTIONS
FS100L
OPERATOR'S MANUAL
FS100L MAINTENANCE MANUAL
Part Number:
Revision:
MANUAL NO.
HW1483164
174512-1CD
0
1 of 28

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Summary of Contents for YASKAWA FS100

  • Page 1 MOTOMAN- INSTRUCTIONS FS100 INSTRUCTIONS FS100L INSTRUCTIONS FS100 OPERATOR’S MANUAL FS100L OPERATOR’S MANUAL FS100 MAINTENANCE MANUAL FS100L MAINTENANCE MANUAL The FS100 OPERATOR’S MANUAL above is applicable to both FS100 and FS100L controllers. Part Number: 174512-1CD Revision: MANUAL NO. 1 of 28 HW1483164...
  • Page 2 Copyright © 2015, Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
  • Page 3 • 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 4 ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
  • Page 5 Notes for Safe Operation Function Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the FS100. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY” or ”PROHIBITED”. Indicates an imminent hazardous...
  • Page 6 17 pin of the robot system signal connector (CN2). • Upon shipment of the FS100, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to supply a new connector, and then input it.
  • Page 7 Confirm that no person is present in the manipulator’s operating range and that you are in a safe location before: – Turning ON the power for the FS100. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • Page 8 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the FS100 controller, manipulator cables, the FS100 programming pendant (optional), and the FS100 programming pendant dummy connector (optional).
  • Page 9 174512-1CD Conveyor Coordinated Description of the Operation Procedure Function 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.
  • Page 10 Programming Pendant’s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} - {VERSION} • Robot Serial Number Located on the robot data plate • Robot Sales Order Number Located on the FS100 & FS100L controller data plate 10 of 28 HW1483164...
  • Page 11: Table Of Contents

    174512-1CD Conveyor Coordinated Table of Contents Function Table of Contents 1 Conveyor Coordinated Function ..................... 1-1 1.1 Conveyor Coordinated Function ..................1-1 1.2 Configuration of Conveyor Coordinated Function.............. 1-1 2 Setting............................. 2-1 2.1 Setting the Mechanical Specification for the Conveyor Coordinated Axis ......2-1 2.1.1 Confirmation of the “Mechanical Specifications”...
  • Page 12: Conveyor Coordinated Function

    The conveyor coordinated function is what the conventional conveyor synchronized function is expanded. It became possible to use a station axis of the FS100 as a conveyor axis. (Hereinafter, a station axis used as a conveyor is described as a “conveyor coordinated axis”.) In the same way as the usual station axis, a conveyor coordinated axis is moved by the move instruction of the job.
  • Page 13 174512-1CD Conveyor Coordinated Conveyor Coordinated Function Function 1.2 Configuration of Conveyor Coordinated Function When using both the external conveyor and the conveyor coordinated axis, CNTR-01R is necessary. Fig. 1-1: External Conveyor and Conveyor Coordinated Axis CV#1 CV#2 Conveyor Coordinated Conveyor Axis (S1) When using only the conveyor coordinated axis, CNTR-01R is not necessary.
  • Page 14 This manual explains only the contents specific to the conveyor coordinated function. For the conventional conveyor synchronized function, refer to the following manuals. FS100 OPTIONS INSTRUCTIONS FOR CONVEYOR SYNCHRONIZED FUNCTION (161365-1CD) NOTE FS100 OPTIONS INSTRUCTIONS FOR CONVEYOR...
  • Page 15: Setting

    174512-1CD Setting Conveyor Coordinated 2.1 Setting the Mechanical Specification for the Conveyor Coordinated Function Axis Setting Setting the Mechanical Specification for the Conveyor Coordinated Axis To coordinate the manipulator and the conveyor coordinated axis accurately, the conveyor coordinated axis is registered as a specific station type.
  • Page 16 174512-1CD Conveyor Coordinated Setting 2.1 Setting the Mechanical Specification for the Conveyor Coordinated Function Axis “MECHANICAL SPEC” window appears. Confirm the following values are set. MOTION RANGE (+) 360.000 deg MOTION RANGE (-) -360.000 deg REDUCTION RATIO (NUMER) 1.000 REDUCTION RATIO (DENOM) 9999.000 16 of 28 HW1483164...
  • Page 17: Setting Conveyor Coordinate Mechanical Specification

    174512-1CD Setting Conveyor Coordinated 2.1 Setting the Mechanical Specification for the Conveyor Coordinated Function Axis 2.1.2 Setting Conveyor Coordinate Mechanical Specification The following settings are necessary to move the conveyor. Perform the setting in the following procedure. <Setup procedure> 1. Select {SYSTEM}, {SETTING} and then “CONVEYOR COORDINATE MECHA SPEC”...
  • Page 18 174512-1CD Conveyor Coordinated Setting 2.1 Setting the Mechanical Specification for the Conveyor Coordinated Function Axis <Rotation Ratio> After the normal setup and on-line (normal) startup, if the conveyor coordinated axis rotates one time from where the pulse is “0” in the jog operation, the axis comes where the NOTE pulse is “0”.
  • Page 19: Setting For The Conveyor Synchronization Operation

    174512-1CD Setting Conveyor Coordinated 2.2 Setting for the Conveyor Synchronization Operation Function Setting for the Conveyor Synchronization Operation 2.2.1 Conveyor Condition File By setting the conveyor condition file, the conveyor coordinated axis can be recognized as the synchronizing target conveyor. When using the usual conveyor, “CN1”...
  • Page 20: Conveyor Home Position Signal (Ls Signal)

    174512-1CD Conveyor Coordinated Setting 2.2 Setting for the Conveyor Synchronization Operation Function 2.2.2 Conveyor Home Position Signal (LS Signal) Conveyor home position signal (LS signal) for the conveyor specified as the conveyor coordinated axis can be turned ON by inputing the specific input.
  • Page 21: Conveyor Coordinated Axis Operation

    174512-1CD Conveyor Coordinated Conveyor Coordinated Axis Operation Function Conveyor Coordinated Axis Operation The conveyor coordinated axis can be operated by the jog operation or the move instruction (MOVJ) in the same way as the usual station axis. The position pulse of the conveyor coordinated axis is automatically changed to a value between -180 degrees and +180 degrees when one rotation of the conveyor is regarded as 360 degrees.
  • Page 22: Job Example

    Job Example System Configuration Assume the following system configuration here. The conveyor coordinated axis (CV#1) controlled by the FS100 is the bucket conveyor. The workpiece throwing device puts workpieces in the buckets from the upper stream of the bucket conveyor. After putting the workpieces in the bucket, the workpiece throwing device sends the “bucket sending request”...
  • Page 23: Conveyor Coordinated Axis Job

    174512-1CD Conveyor Coordinated Job Example Function 4.2 Conveyor Coordinated Axis Job Conveyor Coordinated Axis Job Following is how to create the conveyor coordinated axis job that turns ON the conveyor home position signal when receiving the “bucket sending request” signal, and moves the conveyor for one bucket amount and outputs the “bucket sending completion”...
  • Page 24 174512-1CD Conveyor Coordinated Job Example 4.2 Conveyor Coordinated Axis Job Function The following job example is to teach the conveyor to input the home position signal every time it moves 10 degrees in the condition that the conveyor installed 36 buckets moves 10 degrees for one bucket. ‘...
  • Page 25: Manipulator Job

    174512-1CD Conveyor Coordinated Job Example Function 4.3 Manipulator Job Manipulator Job The manipulator job executes the picking operation between CV#(1) and CV#(2). The same job for the picking operation in the usual “continuous operation conveyor synchronized function” can be used. (Whether the conveyor is the usual conveyor or the conveyor coordinated axis, the manipulator job is the same.) Operation home position...
  • Page 26: Master Job

    174512-1CD Conveyor Coordinated Job Example 4.4 Master Job Function Master Job The aforementioned “conveyor coordinated axis job” and “manipulator job” should be operated independently. Start respective jobs from the master job by the independent control function. In the actual system, the home positioning of the manipulator and conveyor should be taken into consideration when the system starts.
  • Page 27: Supplementary Contents

    174512-1CD Conveyor Coordinated Supplementary Contents Function 5.1 Adjusting the Conveyor Coordinated Axis Accuracy Supplementary Contents Adjusting the Conveyor Coordinated Axis Accuracy When setting the “delay time correction” to adjust the accuracy of the relative relationship between the conveyor coordinated axis and the manipulator, perform the following procedure.
  • Page 28 FOR CONVEYOR COORDINATED 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...

This manual is also suitable for:

Fs100l

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